JP2003220422A - Method and device for spinning process - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device being compact compared with a processed product in size which can perform spinning process of a complex-shaped product and improve accuracy in processing and aspects of a product surface. <P>SOLUTION: In the method, a polyarticular robot 9 allows a processing roller 5 to translationally move and pivot, achieving the spinning process of a work 1 rotated by a spindle motor 4. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a spinning method and apparatus.

[0002]

2. Description of the Related Art Spinning is a method in which a work of a plate material or a pipe material is centered on a molding die, rotated together with the molding die, and pressed by a machining roller to perform the molding work. Household containers, decorative crafts, lighting fixtures, communications (parabolic antennas, etc.), boilers, tanks, nozzles, engine parts,
Widely used for manufacturing parts and products such as tires and wheels.

In a conventional spinning processing apparatus, the processing rollers are mainly moved by a linear actuator such as a hydraulic cylinder. A typical machining roller moving mechanism is a linear actuator parallel to the workpiece rotation axis,
It is composed of a linear motion actuator that intersects with it, while the former linear motion actuator feeds the machining roller parallel to the workpiece rotation axis, while the latter linear motion actuator is moved forward or backward to press the machining roller against the workpiece to perform molding. .

[0004]

However, since the linear motion actuator whose stroke is limited by the cylinder length and the like is shorter than the actuator size is used, the size of the entire apparatus is generally large with respect to the movable range of the processing roller. Therefore, a very large processing device is required in comparison with the size of the product that can be molded.

Further, since it is composed of only a linear actuator, the processing roller cannot change its direction but only moves in translation. Therefore, in order to process a product having a complicated shape that requires the processing roller to wrap around, it is necessary to replace the processing roller with a different angle during processing.

Further, in the case of a product in which the inclination of the work surface with respect to the rotational axis changes, the angle of the processing roller with respect to the work surface changes, which may affect the processing accuracy and the property of the product surface.

The present invention is intended to solve the above-mentioned problems of the prior art, and realizes a method and an apparatus for performing a spinning process with a compact device as compared with the size of a product that can be molded. is there.

Further, the present invention is to realize a spinning method and apparatus capable of forming a product having a complicated shape by rotating a processing roller according to the shape of a workpiece being processed.

[0009]

In order to solve the above-mentioned problems, the present invention is characterized in that a multi-joint robot composed of a plurality of rotary joints carries out a spinning process by translating and rotating a machining roller. The spinning processing method is provided.

In order to solve the above problems, the present invention has a spindle motor for rotating a work and a plurality of rotary joints,
A multi-joint robot having a processing roller attached to a tip end thereof is provided, and the multi-joint robot provides a spinning processing device characterized by performing translational movement and rotation of the processing roller to perform spinning processing.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a spinning method and apparatus of the present invention will be described below based on embodiments with reference to the drawings. FIG. 1 is a diagram for explaining an embodiment of a spinning method and apparatus of the present invention. Work 1 is
It is centered on the mold 3 by the core push rod 2 and is rotated together with the mold 3 by the spindle motor 4.

The processing roller 5 is attached to the tip of a multi-joint robot 9 of a link mechanism having rotary joints 6 to 8 and is capable of translational movement and turning in a plane including the work rotation shaft 10. The rotary joints 6 to 8 of the articulated robot 9 are provided with angle sensors 11 to 13 such as encoders for detecting the rotation angle. The work 1 is pressed against the forming die 3 by the processing roller 5, and the work 1 is finally processed from the flat plate 1a having the initial shape to the shape 1b along the forming die.

FIG. 2 shows a control method, a device and its operation in the molding process of the present invention. A control device for operating the rotary joints 6 to 8 of the articulated robot 9 is provided,
This control device stores a locus data of the machining roller 5 being machined and a locomotive joint 6 to the locus data.
An arithmetic processing unit 15 for converting the target joint angles θ1 to θ3 of 8;
Joint controller 1 that specifically controls the rotary joints 6 to 8
6-18. These will be described in more detail.

The trajectory data of the processing roller 5 during processing is represented by a feed amount x in the rotation axis direction, a feed amount y in the rotation radius direction, and a turning angle α of the processing roller in a plane including the work rotation axis 10. . Each component of x, y and α is based on the kinematic relationship between the position / posture of the tip of the articulated robot 9 and the joint angle, and the target joint angle θ1 to Converted to θ3.

The joint controllers 16 to 18 are rotary joints 6
The angle signals are acquired from the angle sensors 11 to 13 attached to 8 to 8, and the rotary joints 6 to 8 are servo-controlled based on the deviations from the target joint angles θ 1 to θ 3, respectively. As described above, the processing roller 5 is controlled along the target shape of the work 1 and is finally processed into a shape that comes into close contact with the molding die 3.

FIG. 3 shows a comparison of the movable range of the processing roller between the conventional spinning processing apparatus and the apparatus of the present invention. FIG. 3A is an example of a movable range of a conventional device. It becomes a parallelogram whose side is the stroke of the linear motion actuators 20 and 21 which drive the processing roller 19. Since the stroke of the linear motion actuator is limited to be smaller than the actuator size, it is considerably smaller than the installation area of the device.

FIG. 3B is an example of the movable range of the joint 8 in the device of the present invention. Limit joint angle from 0 to 180 °
And A semi-circle centered on the joint 7 is swept around the joint 6 to form a movable range, and thus can be wider than the size of the apparatus.

FIG. 4 shows an example of a product that requires turning of the processing roller. In the processing by the conventional processing method and apparatus shown in FIG. 4A, the processing roller 19 cannot be pressed against the work 1 at the portion A because the posture of the processing roller 19 is constant. It is necessary to reverse the work during processing or replace it with a processing roller having a different angle. In addition, since the angle of the processing roller with respect to the surface of the work also fluctuates in the processable portion, the processing accuracy and the property of the product surface may be affected.

In the processing by the processing method and apparatus of the present invention shown in FIG. 4 (b), since the processing roller 5 can be swung in accordance with the shape of the work 1 by the joint 8, all parts can be processed. Further, the processing roller 5 is the work 1
The angle of the processing roller with respect to the work surface at the point of contact with can be kept constant.

The embodiment of the spinning method according to the present invention has been described above with reference to the examples.
It is needless to say that the present invention is not limited to such an embodiment, and there are various embodiments within the technical scope of the claims.

[0021]

According to the present invention having the above configuration, the following effects are produced. (1) Spinning of a product having a size larger than the conventional size can be performed as compared with the size of the processing device. (2) By rotating the processing roller according to the shape of the workpiece being processed, it is possible to perform spinning of a product having a complicated shape that requires the processing roller to wrap around. (3) By keeping the angle of the processing roller with respect to the surface of the work constant, the processing accuracy and the properties of the product surface can be improved.

[Brief description of drawings]

FIG. 1 is a diagram for explaining an embodiment of a spinning method and device according to the present invention.

FIG. 2 is a diagram for explaining a control method, a control device, and its function during forming processing by the spinning method and device according to the present invention.

FIG. 3 is a diagram comparing a movable range of a processing roller between a conventional device and a device of the present invention.

FIG. 4 is a diagram showing a state in which an example of a product requiring turning of a processing roller is processed by a conventional apparatus and an apparatus of the present invention.

[Explanation of symbols]

1 work 1a Work initial shape 1b Work final shape 2 Mold 3 core push rod 4 Spindle motor 5 Processing roller 6-8 rotary joint 9 Articulated robot 10 Work rotation axis 11-13 Angle sensor 14 Memory 15 Arithmetic processing unit 16-18 Joint controller 19 Processing roller 20-21 Direct acting actuator

Claims (2)

[Claims] 1. A spinning processing method, wherein a spinning process is performed by translating and rotating a processing roller with a multi-joint robot composed of a plurality of rotary joints. 2. A spindle motor for rotating a work, and an articulated robot having a plurality of rotary joints and having a processing roller attached to a tip end thereof, wherein the articulated robot translates and rotates the processing roller. Spinning processing device characterized by performing spinning processing by performing.