JP2001205344A - Working control method for work in panel bender - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a working time of a work by operating a manipulator while operating a bend beam when continuously bending by a panel bender. SOLUTION: When a bend beam 33 is moved to the position C not interfering with a work W after first bending, the work W is moved to the bending position of next second bending by driving a manipulator 47.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling a workpiece processing by a panel bender, and more particularly, to reduce a processing time of a workpiece by operating a manipulator while operating a bend beam when performing continuous bending at a panel bender. And a work processing control method.

[0002]

2. Description of the Related Art Conventionally, when mass-producing products by automatically bending a workpiece, a panel bender called an ironing bending machine has been used.

[0003] This panel bender 30 (lower view in FIG. 1)
After the work W is conveyed and positioned by the front manipulator 47, the work W is sandwiched between the top die 31 and the bottom die 32, and the bend beam 33 is turned up and down to bend the work W.

[0004] In such a panel bender 30, there are two types of methods for processing the work W: forward bending and reverse bending. When these are combined and continuous bending is performed,
For example, when reverse bending is performed first and then forward bending is performed, the following is performed.

More specifically, as shown in FIG. 8, first, the reverse bending blade 33B of the bend beam 33 is moved to a preparation position A for reverse bending (FIG. 8 (A)). It is moved to the bending position B (FIG. 8B) to perform reverse bending, and then moved to the end position D (FIG. 8).
(C)).

After the reverse bending (FIG. 8C), the top die 31 is raised, and the manipulator 47 clamping the work W is moved forward through the upper turret 35 and the lower turret 36, The work W is positioned at a bending position in the next forward bending (FIG. 8D).

In this state, the normal bending blade 33A of the bend beam 33 is moved to the position for preparing the next normal bending (FIG. 8).
(E)) Then, after moving to the bending position (FIG. 8 (F)), normal bending is performed.

[0008]

[Problems to be solved by the invention]

However, the conventional work processing control method shown in FIG. 8 has a problem that the processing time is long and the efficiency is reduced.

That is, conventionally, reverse bending is completed (see FIG. 8).
(C)) When the reverse bending blade 33B of the bend beam 33 is at the end position D, the work W is still stopped, and the manipulator 47 clamping it moves to the bending position E in the previous reverse bending. is there.

Referring to FIG. 7B showing the velocity curves of the bend beam 33 and the manipulator 47, when the bend beam 33 is at the end position D, the manipulator 47 is still in the bending position of the last reverse bending. In E.

Therefore, the manipulator 47 moves for the first time to the bending position F of the next normal bending process with the time T after the bend beam 33 is positioned at the end position D (FIG. 7B). Below).

As a result, it is apparent that the processing time of the work W is lengthened by the time T, and the efficiency is reduced.

As described above, in the prior art (FIGS. 8 and 7)
(B)) Since the operations of the bend beam 33 and the manipulator 47 are performed independently, the processing time of the work W is prolonged, and the efficiency is reduced.

An object of the present invention is to reduce the processing time of a workpiece by operating a manipulator while operating a bend beam when performing continuous bending by a panel bender.

[0016]

[Means for Solving the Problems]

In order to solve the above problem, the present invention has a pair of bending blades 33A and 33B for bending a work W as shown in FIGS. , A clamp beam 37 having a top die 31 which cooperates with a bottom die 32 to clamp the work W, and which moves in the vertical direction.
In the panel bender composed of the manipulator 47 which is positioned and moves in the front-back direction, after the first bending process,
When the bend beam 33 is moved to a position C that does not interfere with the work W, the manipulator 47 is driven to move the work W to the next bending position for the second bending work. It has taken the technical measures.

Therefore, according to the configuration of the present invention, for example,
When performing continuous bending in which the first bending is reverse bending and the second bending is forward bending (FIG. 2),
After reverse bending (FIG. 2 (C)), the bend beam 33 is still in place.
Before the reverse bending blade 33B moves to the end position D,
When the work W is moved to the position C which does not interfere with the work W, the manipulator 47 can be driven to move the work W to the next bending position of the normal bending work, so that the processing time of the work W can be reduced by T. It can be done (lower figure in FIG. 7A).

Therefore, when performing continuous bending by a panel bender, it is possible to reduce the processing time of the work by operating the manipulator while operating the bend beam.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the present invention will be described by way of embodiments with reference to the accompanying drawings. FIG. 1 is an overall view of an embodiment of the present invention.

As described above, the panel bender 30 shown in FIG.
, The bend beam 33 is turned up and down to bend the workpiece W.

The top die 31 is supported by a clamp beam 37 which moves up and down by a Z-axis 24 driven by a motor.

The bend beam 33 is formed by a forward bending blade 33.
It has an A and a reverse bending blade 33B, and is moved in the front-back direction and the up-down direction by an A-axis 20 and a D-axis 21 driven by a motor.

In front of the panel bender 30, a manipulator 47 as a work transfer / positioning device is installed via a front table 40.

The manipulator 47 vertically grips the work W with the upper turret 35 and the lower turret 36, and supplies the work W to the panel bender 30 while performing rotation indexing of the side to be processed by the servomotor 42.

A manipulator 47 is a ball screw (Y-axis) that is rotationally driven by a servomotor 45 via a nut 43.
44, and can be positioned to the panel bender 30 side.

The panel bender 30 having such a configuration
The control device includes an arithmetic unit 1, an input unit 2, a display unit 3, a sequencer 4, an A-axis control unit 5, a D-axis control unit 6, a Y-axis control unit 7, and a Z-axis control unit 8. Having.

The computing means 1 is, for example, a personal computer, which calls a program having contents of a machining procedure (FIG. 2) and a parameter having contents of basic data such as work information necessary for the machining and converts it into a control code. Sequencer 4
Transmit to

The sequencer 4 temporarily stores the control code transmitted from the arithmetic unit 1 and transmits the control code to the A-axis control unit 5 while adjusting the timing.

The A-axis control means 5 moves the bend beam 33 in the front-rear direction by controlling the A-axis 20, and comprises a positioning unit 5A, a servo amplifier 5B, a servomotor 5C, and an encoder 5D.

That is, the A-axis control means 5 gives a predetermined number of pulses to the servo motor 5C via the positioning unit 5A and the servo amplifier 5B, and determines the rotational position of the servo motor 5C via the encoder 5D. , The A-axis 20 is accurately controlled so that the error with the target value is minimized.

For example, when the reverse bending blade 33B of the bend beam 33 is moved to a position C which does not interfere with the work W after the reverse bending (FIG. 2C), the A-axis control means 5 controls the A-axis 20. Then, the bend beam 33 is moved backward.

The D-axis control means 6 moves the bend beam 33 in the vertical direction by controlling the D-axis 21, and is composed of a positioning unit 6A, a servo amplifier 6B, a servo motor 6C, and an encoder 6D.

That is, the D-axis control means 6 gives a predetermined number of pulses to the servo motor 6C via the positioning unit 6A and the servo amplifier 6B, and determines the rotational position of the servo motor 6C via the encoder 6D. , The D-axis 21 is accurately controlled so that the error from the target value is minimized.

For example, after the reverse bending (FIG. 2 (C)), when the reverse bending blade 33B of the bend beam 33 is moved to the position C where it does not interfere with the work W, the D-axis control means 6 sets
The axis 21 is controlled to raise the bend beam 33.

The Y-axis control means 7 moves the manipulator 47 in the front-rear direction by controlling the Y-axis 44,
It comprises a positioning unit 7A, a servo amplifier 7B, a servomotor 7C (servomotor 45 in the lower diagram of FIG. 1), and an encoder 7D.

That is, the Y-axis control means 7 gives a predetermined number of pulses to the servomotor 7C via the positioning unit 7A and the servo amplifier 7B, and determines the rotational position of the servomotor 7C via the encoder 7D. , The Y axis 44 is accurately controlled so that the error from the target value is minimized.

For example, when moving the workpiece W to the next bending position (FIG. 2C), the Y-axis control means 7
Bend beam 3 via axis control means 5 and D axis control means 6
When the third reverse bending blade 33B moves to the non-interference position C,
By controlling the Y axis 44, the manipulator 47 is driven to move forward.

The Z-axis control means 8 moves the clamp beam 37 in the vertical direction by controlling the Z-axis 24,
It comprises a positioning unit 8A, a servo amplifier 8B, a servomotor 8C, and an encoder 8D.

That is, the Z-axis control means 8 supplies a predetermined number of pulses to the servo motor 8C via the positioning unit 8A and the servo amplifier 8B, and determines the rotational position of the servo motor 8C via the encoder 8D. , The Z-axis 24 is accurately controlled so that the error from the target value is minimized.

For example, after reverse bending (FIG. 2C), Z
The axis control means 8 controls the Z axis 24 to control the clamp beam 3
The work W is released by raising the top die 7 and raising the top die 31.

Hereinafter, the operation of the present invention having the above configuration will be described with reference to FIG.

In the example shown in FIG. 2, the first bending is reverse bending (FIG. 2B), the second bending is forward bending (FIG. 2E), and the reverse bending is performed. And a case of performing a continuous bending process including a normal bending process.

(1) Reverse bending operation.

First, in step 101 of FIG. 2, the reverse bending blade 33B of the bend beam 33 is moved to a preparation position A for reverse bending (FIG. 2A).
, The reverse bending blade 33B is moved to the bending position B (FIG. 2B) to perform reverse bending.

At this stage (FIG. 2B), the manipulator 47 having clamped the work W with the upper turret 35 and the lower turret 36 is stopped at the position E in the front-rear direction.

(2) After the reverse bending, the manipulator 47
When the workpiece W is moved to a bending position in the next forward bending process by driving the workpiece.

Next, in step 103 of FIG.
When the bend beam 33 is moved to the position C where it does not interfere with the work W (FIG. 2C), the work W is moved by the manipulator 47 to the next bending position.

In this case, the bend beam 33 is
As shown in (A), after performing the reverse bending at the bending position B, it moves to the end position D after deceleration, constant velocity, and acceleration.

In the present invention, before the bend beam 33 moves to the end position D and moves to the non-interfering position C which does not interfere with the workpiece W (FIG. 7A, FIG.
(C)), the manipulator 47 is driven to advance from the position E to the position F in the front-rear direction, and the work W is moved to a bending position in the next forward bending.

That is, as shown in FIG. 3A, when the reverse bending blade 33B of the bend beam 33 is located in the area K, even if the manipulator 47 is driven to move forward, the work W Therefore, the workpiece W cannot be moved to the next bending position.

However, the reverse bending blade 33 of the bend beam 33
When B is located in the region N, even if the manipulator 47 is driven to move forward, it does not interfere with the work W, and can move the work W to the next bending position.

Therefore, the position C, which is the boundary between the regions K and N (FIG. 3A), is the position of the bend beam 33 when the manipulator 47 can move the workpiece W to the next bending position, that is, the bend beam. It is assumed that a non-interference position C with respect to the work W is 33.

Then, the reverse bending blade 33 of the bend beam 33
B performs reverse bending at the bending position B (FIG. 3).
(B)) Then, when the workpiece W rises and moves to the non-interference position C, the manipulator 47 is driven to move the work W to the next bending position for the normal bending.

In this case, the calculating means 1 (FIG. 1) sends the value of the D axis (the number of pulses) required for the bend beam 33 to move in the vertical direction to the sequencer 4, and the value of the D axis is d.
_C (FIG. 3 (C), when the reverse bending blade 33B of the bend beam 33 reaches the non-interference position C), the manipulator 47 is driven to move the workpiece W to the next bending position in the normal bending process. Move to

[0057] The d _C is the Y-Z coordinate of FIG. 4 (A), when the Z-coordinate of the non-interference position C was Z _C, the value of the D-axis corresponding to the Z _C.

For this purpose, first, as shown in FIG. 4B, the reverse bending blade 33B of the bend beam 33 is moved to the preparation position A.
, The bending position B, and the end position D, the Z coordinate of each position is Z _A , Z _B , Z _C , and the A-axis value and D-axis value in each case, a1 and d1 , A2 and d2, a
3 and d3 are obtained.

Then, the values a1, a2,
In a3, calculated Z coordinate value of the D-axis corresponding to Z _C d4, d5, d6 at non-interfering position C geometric calculation, the maximum value of which the above d _C.

For example, in FIG. 5, it is assumed that the value of the D-axis 21 increases when the value of the A-axis is fixed as a1 and the bend beam 33 rises vertically and moves from the preparation position A to the non-interference position C. .

In this case, if the reverse bending blade 33B of the bend beam 33 moves from the preparation position A to the non-interference position C while the value of the A axis remains a1, the value of the D axis 21 becomes the increase from Z-coordinate Z _a corresponding to d1, since the d4 corresponding to the Z-coordinate Z _C of the non-interference position C, the d4
Is obtained by geometric calculation.

In this way, d4, d5 and d6 are sequentially obtained, and the maximum value among them is set as d _C.

Accordingly, the arithmetic means 1 (FIG. 1) activates the Y-axis control means 7 when the value of the D-axis 21 has reached the value d _C , as described above, thereby causing the manipulator 47 to operate.
Is driven (FIG. 2C) to move forward to a position F in the front-rear direction, and the work W is moved to a bending position for the next forward bending.

(3) Forward bending operation.

As described above, after the manipulator 47 is driven to move the work W to the next bending position for the forward bending, the reverse bending blade 33B of the bend beam 33 is moved to the end position D (FIG. 2). (C)).

Then, in step 104 of FIG. 2, the forward bending blade 33A of the bend beam 33 is moved to the position for preparing the next forward bending process (FIG. 2D). 33A is moved to the bending position, and the work W is subjected to normal bending (FIG. 2E).

In the case of FIG. 2 described above, when the reverse bending blade 33B of the bend beam 33 is moved to the non-interference position C, it is not stopped at the non-interference position C (see the upper diagram in FIG. 7A). The manipulator 47 was driven.

However, as shown in FIG. 6, the reverse bending blade 33B of the bend beam 33 is moved from the preparation position A (FIG. 6A).
When the manipulator is moved to the non-interference position C, it is temporarily stopped at the non-interference position C (a speed curve shown by a broken line in the upper diagram of FIGS. 6B and 7A). The workpiece W may be moved to the bending position for the next forward bending by driving the workpiece 47 (FIGS. 6C and 7).
(A)).

The stopped bend beam 33 then rises and moves to the end position, and this time positions the forward bending blade 33A at the preparation position for the next forward bending process (FIG. 6).
(D)).

FIG. 2 shows an example of continuous bending when the first bending is reverse bending and the next second bending is forward bending. According to the present invention, the bend beam 33 is operated. By operating the manipulator 47 (FIG. 2 (C)), the processing time of the work W is reduced (FIG. 7 (A)).

However, the present invention is not limited to this, and the first bending is forward bending, the second bending is continuous bending of normal bending, and the first bending is reverse bending. The second bending is continuous bending of reverse bending,
Alternatively, the present invention can be applied to the case where the first bending process is a forward bending process and the second bending process is a continuous bending process of a reverse bending process.

[0072]

As described above, according to the present invention, when the bend beam is moved to a position that does not interfere with the work after the first bending work, the manipulator is driven to bend the work in the next second bending work. By moving to the position, for example, when performing a continuous bending process in which the first bending process is a reverse bending process and the second bending process is a normal bending process, after the reverse bending process, the bending beam is still not bent. Before the reverse bending blade moves to the end position, and when it moves to a position where it does not interfere with the work, the manipulator can be driven to move the work to the next bending position for forward bending, so the panel bender In the case of continuous bending work, by operating the manipulator while operating the bend beam, the effect of reducing the work processing time will be achieved. .

[0073]

[Brief description of the drawings]

FIG. 1 is an overall view showing an embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of the present invention.

FIG. 3 is a diagram illustrating details of step 103 in FIG. 2;

FIG. 4 is a view showing a bend beam 3 in step 103 of FIG. 2;
D axis 21 corresponding to the non-interference position C of the third reverse bending blade 33B
FIG. 4 is an explanatory diagram when a value d _C is obtained.

FIG. 5 is a diagram showing an example of FIG. 4;

FIG. 6 is a diagram showing another embodiment according to the present invention.

FIG. 7 is a comparison diagram between the effect of the present invention and the prior art.

FIG. 8 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 1 arithmetic means 2 input means 3 display means 4 sequencer 5 A axis control means 5A positioning unit 5B servo amplifier 5C servo motor 5D encoder 6 D axis control means 6A positioning unit 6B servo amplifier 6C servo motor 6D encoder 7 Y axis control means 7A positioning Unit 7B Servo amplifier 7C Servo motor 7D encoder 8 Z axis control means 8A Positioning unit 8B Servo amplifier 8C Servo motor 8D encoder 20 A axis 21 D axis 24 Z axis 30 Panel bender 31 Top die 32 Bottom die 33 Bend beam 33A Right bending blade 33B Reverse bending blade 35 Upper turret 36 Lower turret 40 Front table 42, 45 Servo motor 43 Nut 44 Ball screw (Y axis) W Work

Claims (3)

[Claims] 1. A bend beam having a pair of bending blades for bending a workpiece and moving in the front-rear direction and up and down, and a top die which cooperates with a bottom die to hold the work and moves in a vertical direction. Conveys clamp beam and work
In a panel bender configured by a manipulator that moves and moves in the front-rear direction, when the bend beam is moved to a position that does not interfere with the work after the first bending work, the manipulator is driven to move the work to the next second bending work. A workpiece processing control method in a panel bender, wherein the workpiece is moved to a bending position. 2. When the bend beam is moved to a position where the bend beam does not interfere with the work, the manipulator is driven to stop the bend beam at the non-interfering position or in a state where the bend beam is stopped, and the work is subjected to the next second bending. 2. The method according to claim 1, wherein the workpiece is moved to a bending position. 3. The first bending process is a reverse bending process, the second bending process is a forward bending process, the first bending process is a forward bending process, the second bending process is a forward bending process, First
The bending is reverse bending and the second bending is reverse bending, or the first bending is forward bending and the second bending is
2. The method according to claim 1, wherein the bending is reverse bending.