JP2005040841A - Method and device for manufacturing cylindrical formed-body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manufacturing method and a manufacturing device of a cylindrical formed-body by which the cylindrical formed-body such as a wheel rim is formable without generating wrinkles and breaking even in the case a metallic material having high breaking stress is used for a blank. <P>SOLUTION: The side edge of one side of the cylindrical blank B is fixed at the fixed position of the rotary frame 1 and the side edge of the other side is set movably by using a forming device having a rotary frame 1 and a forming blade 2 which is movable in the axial and radial directions of the rotary frame. Next, by contact pressing the forming blade 2 to the side of the outside diameter of the peripheral wall of the cylindrical blank while revolving the rotary frame 1 or contact pressing the forming blade 2 to the side of the inside diameter of the peripheral wall of the cylindrical blank, reciprocating the blade from the side edge of the fixed side to the inside in the radial direction and also moving the blade toward the side edge of the moving side, the cylindrical formed-body on which a recessed part or projecting part which is continued in at least one peripheral direction on the peripheral wall is formed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a method and apparatus for manufacturing a cylindrical molded body. More specifically, even when a metal material having a high breaking stress is used for a blank, a cylindrical molded body such as a wheel rim can be molded without causing wrinkles or fracture. The present invention relates to a method and an apparatus for manufacturing a cylindrical molded body.

  Generally, wheel rims for automobiles include those that are cast and those that are formed from a metal plate as disclosed in Patent Document 1 and the like. In the former casting method, it is necessary to manufacture a mold for each design, and it takes a long time from casting of molten metal to demolding, so that productivity is low. The latter sheet metal forming method is the same as the casting method in that it is necessary to manufacture a forming roller for each design, but it is advantageous in productivity because a molded product can be obtained in a shorter time than the casting method. There is an advantage.

When forming a cylindrical molded body such as a wheel rim by the sheet metal molding method, a blank obtained by processing a metal plate into a cylindrical shape in advance is used, and the peripheral wall of the cylindrical blank has mold surfaces opposite to each other for male and female. Molding is performed by sandwiching between a pair of molding rollers from inside and outside and applying a strong pressure. However, when processing a cylindrical molded body such as a wheel rim, a large plastic deformation is given to the side edge portion of the peripheral wall in particular. There is. In particular, a metal material having a large breaking stress is used for a part that supports a heavy object such as a wheel rim. However, the above-described tendency is more noticeable in a cylindrical blank made of a metal material having a large breaking stress. become.
JP-A-57-175401

  An object of the present invention is to provide a method and an apparatus for manufacturing a cylindrical molded body that can form a cylindrical molded body without causing wrinkles or breakage at the side edges even when a metal material having a high breaking stress is used. There is.

  The manufacturing method of the cylindrical molded body of the present invention uses a molding apparatus having a rotating frame and a molding blade movable in the axial direction and the radial direction of the rotating frame, and the cylindrical blank is placed on one side of the rotating frame. The edge is fixed at a fixed position, the other side edge is set to be movable, and the forming blade is brought into pressure contact with the outer diameter side of the cylindrical blank peripheral wall while rotating the rotating frame, and the fixed side is fixed. Reciprocating radially inward from the edge and moving toward the side edge on the moving side to form a cylindrical molded body having at least one circumferentially continuous recess formed in the peripheral wall. To do.

  Further, another method for manufacturing a cylindrical molded body of the present invention uses a molding apparatus having a rotary frame and a molding blade movable in the axial direction and the radial direction of the rotary frame, and a cylindrical blank is used for the rotary frame. One side edge is fixed at a fixed position, the other side edge is set so as to be movable, and the molding blade is brought into contact with the inner diameter side of the cylindrical blank peripheral wall while rotating the rotating frame, and the fixing is performed. Reciprocating radially outward from the side edge on the side and moving toward the side edge on the moving side to form a cylindrical molded body having at least one circumferentially continuous convex portion on the peripheral wall. It is characterized by this.

  Furthermore, the cylindrical molded body manufacturing apparatus of the present invention includes a rotating frame coupled to a rotating shaft and a forming blade movable in the axial direction and the radial direction of the rotating frame, and a cylindrical blank is provided on the rotating frame. One side edge is fixed at a fixed position, the other side edge is set to be movable, the forming blade is brought into contact with the outer diameter side or the inner diameter side of the cylindrical blank peripheral wall, and the fixed side edge And a controller that reciprocates radially inward or outward from the portion and moves toward the side edge on the moving side.

  As described above, with one side edge of the cylindrical blank fixed to a fixed position on the rotating frame and the other side edge set to be movable, a molding blade is placed on the outer diameter side of the cylindrical blank peripheral wall. Press and reciprocate in the inner diameter direction from the fixed side edge, and move toward the movable side edge, or press the molding blade against the inner diameter side of the cylindrical blank peripheral wall, In order to reciprocate from the side edge part in the outer diameter direction and move toward the side edge part on the movable side, the fixed part of the side edge part of the cylindrical blank is not deformed, but only the intermediate region is reduced in diameter. Molding can be performed by expanding the diameter.

  Therefore, since molding is performed without concentrating strain such as compressive stress on the fixed part of the side edge part, even in the case of a cylindrical blank made of a metal material having a large breaking stress, wrinkles or breaks may occur on the side edge part. It is possible to form a cylindrical molded body having a concave or convex portion on the peripheral wall. And since the actual condition of shaping | molding is a bending process, since it can be set as a uniform thickness, hardly changing the thickness of a cylindrical blank, the cylindrical molded object excellent in durability can be obtained.

  Further, in the present invention, it is possible to manufacture a cylindrical molded body without manufacturing an expensive mold for each design.

  In the present invention, the cylindrical molded body is not particularly limited as long as it forms a cylindrical body in which concave portions or convex portions continuous in the circumferential direction are formed on the peripheral wall. For example, in addition to wheel rims used for automobile wheel parts, bellows tubes used for parts of fluid transport pipes, reinforcing rings used for parts of cylindrical containers and chemical reaction devices, etc. can be exemplified. .

  Moreover, a cylindrical blank means the intermediate blank material which consists of a metal material before shape | molding into a cylindrical molded object. The method for producing the cylindrical blank is not particularly limited, but preferably, a planar metal plate cut into a rectangle is bent into a roll shape, its both end portions are welded to each other, and the welded portion is polished smoothly. It is good. Alternatively, a tubular body may be obtained by cutting a steel pipe having a predetermined inner diameter into a predetermined width.

  The metal material constituting the cylindrical blank is not particularly limited as long as it has the durability required for applications such as a wheel rim, but in order to ensure a further excellent durability, the breaking stress is preferably 600 MPa or more, more preferably Is preferably a metal material of 800 to 1200 MPa, particularly steel. In the case of a metal material having a high breaking stress of 600 MPa or more, in the case of conventional press forming, when the side edge is drawn outward or inward in the radial direction, the side edge is wrinkled or broken. Although there is a disadvantage that it occurs, the processing method of the present invention can be molded without causing wrinkles or breakage.

  In the present invention, the shape of the peripheral wall of the cylindrical blank is not particularly limited, but preferably a planar shape in a cross section including the axis. That is, when the peripheral wall is formed into a concave shape, the outer diameter is substantially the same as the maximum outer diameter of the formed cylindrical molded body, and the peripheral wall is When forming into a convex shape, it is preferable that the inner diameter thereof is substantially the same as the minimum inner diameter of the formed cylindrical molded body. Thus, in the former, the outer diameter of the cylindrical blank is substantially the same as the maximum outer diameter of the molded cylindrical body, and in the latter, the inner diameter of the cylindrical blank is substantially equal to the minimum inner diameter of the molded cylindrical body after molding. By making them identical, it is only necessary to reduce or increase the diameter of the intermediate region without deforming the side edge portion of the peripheral wall, so that no compressive force or the like is applied to the side edge portion. Therefore, even if it is a metal material with a big fracture | rupture stress, a cylindrical molded object can be shape | molded without producing a wrinkle and a fracture | rupture in a side edge part.

  In the present invention, the thickness of the peripheral wall of the cylindrical blank is not particularly limited, but is preferably 1.0 to 2.0 mm. When the thickness is thinner than 1.0 mm, the workability is improved, but the durability of the cylindrical molded body is lowered. On the other hand, if the thickness is greater than 2.0 mm, the weight increases, so that the fuel consumption is deteriorated in applications such as wheel rims for automobiles.

  The molding apparatus used in the manufacturing method of the present invention uses an apparatus that includes a rotary frame that is rotationally driven and a molding blade that is movable in the axial and radial directions of the rotary frame. The molding blade is moved on the outer side (outer diameter side) of the rotating frame when molding the peripheral wall of the cylindrical blank into a concave shape, and is moved on the inner side (inner diameter side) of the rotating frame when molding on the convex shape. The movement in the radial direction and the axial direction with respect to the rotating frame is controlled by numerical control (NC control) or the like.

  In order to form a cylindrical molded body having at least one concave portion or convex portion on the peripheral wall of the cylindrical blank using the molding device, first, the cylindrical blank is rotated coaxially with the rotating frame of the molding device. Set to rotate integrally with the frame. Further, when the cylindrical blank is set on the rotating frame, one side edge portion is fixed at a fixed position so as not to move relative to the rotating frame in either the radial direction or the axial direction. The other side edge is supported so as to be movable at least in the axial direction.

  The movable side edge is preferably allowed to move only in the axial direction and restricted so as not to move in the radial direction. More preferably, it is desirable to restrict to the same radial position as the side edge portion on the fixed position fixing side. As a means for regulating the movable side edge portion in this way, for example, a ring is provided on the inner side of the rotary frame so as to be slidable in the axial direction, and the movable side edge portion is connected to the ring. The ring may be urged toward the side edge on the fixed position fixing side by an actuator such as a spring or a hydraulic cylinder. Alternatively, when the peripheral wall is formed into a concave shape, the outer shape of the cylindrical molded body after molding is formed on the radially inner side of the cylindrical blank, and when the peripheral wall is formed with a convex shape, the outer side in the radial direction of the cylindrical blank. Even if an uneven mold having a corresponding shape is arranged, the movement of the side edge on the moving side can be restricted.

  When the cylindrical blank is set on the rotary frame as described above, the cylindrical blank in the rotary frame is moved and operated in the axial direction and the radial direction by the molding blade while the rotary frame is rotated. This movement operation, when forming the peripheral wall of the cylindrical blank in a concave shape, press the molding blade against the outer peripheral side of the peripheral wall of the cylindrical blank, reciprocate radially inward from the side edge on the fixed position fixed side, Move toward the side edge of the movable side. Also, when the peripheral wall of the cylindrical blank is formed into a convex shape, the forming blade is pressed against the inner peripheral side of the peripheral wall of the cylindrical blank, reciprocated radially outward from the side edge on the fixed position fixed side, and moved. Move toward the possible side edge. By the operation of moving the forming blade, the intermediate region of the peripheral wall of the cylindrical blank is reduced in diameter to the inside in the former, and the diameter is increased to the outside in the latter in the latter. Further, the movable side edge portion gradually moves toward the fixed-position-fixed side edge portion due to the reduced diameter or the enlarged diameter.

  By moving the forming blade from the side edge on the fixed position side to the side edge on the movable side in this way, the peripheral wall of the cylindrical blank is a concave part that is reduced in diameter or a convex part that is expanded outside. Part is molded. In this case, after finishing the forward path, the molding blade is moved from the movable side edge portion to the side edge portion on the fixed position side in the opposite direction to the forward path, so that the recessed portion or convex portion processed in the forward path is processed. The part may be reshaped. Further, if necessary, the above-described reciprocating molding may be repeated two or more times so that at least one reciprocating molding is performed. Such reciprocating molding is effective, for example, when the material of the cylindrical blank is made of a metal material having a high breaking stress, and enables processing with higher dimensional accuracy.

  Also, the side edge of the cylindrical blank is bent radially inward when the peripheral wall is formed into a concave shape with the corner (corner portion) of the fixed gripping portion as a fulcrum, and when the peripheral wall is formed into a convex shape Since it is bent to the outside of the radius, it is preferable to chamfer the corner in an arc shape. By this chamfering, the bending portion of the side edge portion is not bent with an excessive curvature radius, so that generation of wrinkles and damage due to stress concentration can be avoided. The radius of curvature of the chamfered portion at the corner is preferably about 2 to 10 mm.

  Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.

  FIG. 1 shows an apparatus for forming a wheel rim as a forming apparatus used in the present invention. That is, it is an apparatus which forms the recessed part which continues in the circumferential direction in the surrounding wall of a cylindrical blank.

  In the figure, 1 is a rotating frame and 2 is a forming blade. The rotating frame 1 has a cylindrical holding frame 1a. A disk-shaped support plate 1b is fixed to the back surface of the rotating frame 1, and is rotated by a drive shaft 3 connected to the axis of the support plate 1b. . On the other hand, the forming blade 2 is formed in a disk shape, and the cross section of the outer peripheral contact portion is formed in an arc shape. The forming blade 2 is driven to rotate by a drive shaft 4 and is moved by a drive unit 5 in the radial direction (X direction) and the axial direction (Y direction) of the rotary frame 1. The moving operation is numerically controlled (NC control) by a program set in advance in a control unit (not shown).

  A cylindrical blank B that is a workpiece is set in the holding frame 1 a of the rotating frame 1. The cylindrical blank B is fixed at a fixed position by a grip ring 6a and a bolt 6b with respect to the flange portion 1f at one side edge portion in the rotating frame 1 (holding frame 1a), and moves in the radial direction and the axial direction. Be regulated. Further, the other side edge portion is fixed to the ring 8 slidably inserted in the rotation frame 1 (holding frame 1 a) in the axial direction by the grip ring 7 a and the bolt 7 b, and can move in the axial direction together with the ring 8. It has become. On the holding surface of the flange 1f and the ring 8 facing the inner peripheral sides of the holding rings 6a and 7a, corner portions (corner portions) that serve as fulcrums when the side edge portions are bent are about 2 to 10 mm in radius of curvature. It is chamfered with an arc. Further, the ring 8 is urged by a spring 9 arranged uniformly in the circumferential direction of the support plate 1b, and the movable side edge is urged toward the fixed side edge (flange 1f). Yes.

  2 (A) to 2 (C) show a cylindrical molding in which the cylindrical blank B set on the rotating frame 1 (holding frame 1a) has an outer peripheral shape indicated by a chain line by a movement operation of the molding blade 2 as described above. The case where it shape | molds to the body M (wheel rim) is shown.

  First, as shown in FIG. 2A, the forming blade 2 is arranged on the outer diameter side of the peripheral wall of the cylindrical blank B supported by the rotating frame 1 (holding frame 1a), and the cylindrical blank B is in a fixed position. Press against the outer peripheral surface of the side edge of the fixed side (the side fixed to the bolt 6b).

  Next, as shown in FIGS. 2 (B) and 2 (C), the contact portion of the forming blade 2 is aligned with the outer peripheral surface shape (recessed portion) of the cylindrical molded body M indicated by the chain line, and the side edge on the fixed position fixing side. It is reciprocated so as to be reduced radially inward from the portion and moved in the axial direction, and the concave portion is formed in the circumferential wall of the cylindrical blank B so as to be continuous in the circumferential direction. In the process of forming the concave portion on the peripheral wall of the cylindrical blank B in this manner, the side edge portion on the moving side connected to the ring 8 gradually moves toward the fixed position fixing side by the biasing force of the spring 9. The movement changes according to the length of the movement locus formed by the forming blade 2. In this manner, as shown by a chain line in the figure, a cylindrical molded body M (wheel rim) having a concave portion corresponding to the rim on the radially outer side is formed.

  The operation of forming the cylindrical blank B according to the present invention into the cylindrical molded body M may be completed only in the forward path process of FIGS. 2A to 2C described above, but after the forward path process is completed, the molding is performed. The blade 2 may be moved in the opposite direction from the side edge on the movable side to the side edge on the fixed position fixed side, and the recessed portion that has been processed in the forward path process may be reshaped. Moreover, you may perform this reciprocation process at least once or more.

  The cylindrical molded body M molded according to the present invention supports the side edge of the cylindrical blank B in a fixed state in a fixed position, and deforms so that only the intermediate area of the peripheral wall is reduced in diameter. Substantially no deformation operation is applied. Therefore, a cylindrical molded body (wheel rim) can be molded without causing wrinkles or breakage of the side edges that have occurred in conventional press molding.

  In the present invention, this effect does not change even when a cylindrical blank made of a metal material having a breaking stress of 600 MPa or more is formed. However, when molding a cylindrical blank of such a high breaking stress metal material, 75 to 85% of the final shape is molded by the above-mentioned molding method, and then the inner side of the intermediate molded cylindrical molded body is formed. If the forming roller is pressed against the outside and finished to the final shape, it is possible to perform high-precision forming without further wrinkling or breaking.

  In addition, the operation of moving the forming blade in the illustrated example is performed by previously storing the outer peripheral shape of the cylindrical molded body M indicated by the chain line after forming in the control unit and performing numerical control based on the stored data. The movement of the edge is made to follow by the bias of the spring. However, for the movement operation of the side edge on the moving side, instead of the biasing force of the spring, an actuator such as a hydraulic cylinder may be connected and moved by this actuator. Further, the movement operation of the actuator may be based on the data related to the outer peripheral shape of the cylindrical molded body stored in advance in the control unit as described above, or the movement trajectory in the radial direction and the axial direction of the molding blade is detected. It is also possible to provide a sensor that performs the control based on the data of the movement trajectory detected by the sensor over time.

  FIG. 3 shows an apparatus for forming convex portions continuous in the circumferential direction on a peripheral wall of a cylindrical blank as a forming apparatus used in the present invention.

  In the molding apparatus of FIG. 3, the configuration of the rotary frame 1 and the molding blade 2 is the same as that of FIG. The difference from FIG. 1 is that the cylindrical blank B is set on the outer peripheral side of the holding frame 1 a of the rotating frame 1. However, the cylindrical blank B is set in such a manner that one side edge portion is fixed to a fixed position by the grip ring 6a and the bolt 6b with respect to the flange portion 1f, and the other side edge portion is the rotating frame 1 ( It is the same that the holding frame 1a) is fixed to the ring 8 slidably inserted in the axial direction by the grip ring 7a and the bolt 7b and is movable in the axial direction together with the ring 8.

  When the cylindrical blank B set in the holding frame 1 in this way is formed into a cylindrical molded body M ′ having an outer peripheral surface in which two concave portions are arranged in a bellows shape as indicated by a chain line, for example, the molding blade 2 is It is arranged on the outer peripheral side of the blank B and is brought into contact with the outer peripheral surface of the peripheral wall. While rotating the rotary frame 1, it is reciprocated radially inward from the side edge portion on the fixed position fixed side, and the movable side side. Move towards the edge. By this movement operation of the forming blade, the intermediate region of the peripheral wall of the cylindrical blank B is formed so as to have a concave diameter. The rest is almost the same as in the case of the apparatus of FIG. 1, and the same effect can be obtained. The method for controlling the movement operation of the forming blade 2 may be performed in the same manner as in FIG.

  INDUSTRIAL APPLICABILITY The present invention can be used to manufacture wheel rims used for automobile wheels and the like, as well as bellows pipes for fluid transport pipe parts, cylindrical containers, reinforcing rings for chemical reaction devices, and the like.

It is the schematic which illustrated embodiment of the shaping | molding apparatus used for this invention. (A)-(C) are explanatory drawings which show the process of shape | molding a cylindrical blank using the shaping | molding apparatus of FIG. It is the schematic which illustrated other embodiment of the shaping | molding apparatus used for this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Rotating frame 1a Holding frame 1b Support plate 1f Flange 2 Molding blade 3 Rotating shaft 5 Drive part 6,7 Bolt 8 Ring 9 Spring B Cylindrical blank M, M 'Cylindrical compact

Claims (19)

  A molding apparatus having a rotating frame and a molding blade movable in the axial direction and the radial direction of the rotating frame is used, a cylindrical blank is fixed to the rotating frame at one side edge portion in a fixed position, and the other side The edge is movably set, while the rotating frame is rotated, the forming blade is brought into pressure contact with the outer diameter side of the cylindrical blank peripheral wall, reciprocated radially inward from the side edge on the fixed side, and A method for manufacturing a cylindrical molded body, wherein the cylindrical molded body is moved toward a moving side edge portion, and a cylindrical molded body in which at least one circumferentially continuous concave portion is formed on the peripheral wall is formed.   The manufacturing method of the cylindrical molded object of Claim 1 which makes the side edge part of the said fixed position fixed side the largest outer diameter of the said cylindrical molded object.   The manufacturing method of the cylindrical molded object of Claim 1 or 2 which has arrange | positioned the uneven | corrugated type | mold corresponding to the outer periphery shape of the said cylindrical molded object inside the radial direction of the said cylindrical blank.   A molding apparatus having a rotating frame and a molding blade movable in the axial direction and the radial direction of the rotating frame is used, a cylindrical blank is fixed to the rotating frame at one side edge portion in a fixed position, and the other side An edge is set to be movable, the forming blade is pressed against the inner diameter side of the cylindrical blank peripheral wall while rotating the rotary frame, and is reciprocated radially outward from the side edge on the fixed side. The manufacturing method of the cylindrical molded object which moves toward the side edge part of a side, and shape | molds the cylindrical molded object which formed the convex part which continued at least 1 circumferential direction on the said surrounding wall.   The manufacturing method of the cylindrical molded object of Claim 4 which makes the side edge part of the said fixed position fixed side the minimum internal diameter of the said cylindrical molded object.   The manufacturing method of the cylindrical molded object of Claim 4 or 5 which has arrange | positioned the uneven | corrugated type | mold corresponding to the outer periphery shape of the said cylindrical molded object on the outer side of the radial direction of the said cylindrical blank.   The cylindrical molded body according to any one of claims 1 to 6, wherein the movable side edge is constrained to the same position in the radial direction as the side edge on the fixed position fixing side and is movable in the axial direction. Manufacturing method.   The manufacturing method of the cylindrical molded object in any one of Claims 1-7 which applies urging | biasing force toward the said fixed position fixed side to the said movable side edge part.   The manufacturing method of the cylindrical molded object in any one of Claims 1-7 which provide an actuator in the said movable side edge part, and operate the said actuator according to the movement locus | trajectory of the radial direction of the said shaping | molding blade, and an axial direction. .   The cylindrical shape according to claim 9, wherein a sensor that detects a movement locus in the radial direction and the axial direction of the forming blade is provided, and movement of the movable side edge portion is controlled by the actuator based on detection data of the movement locus. Manufacturing method of a molded object.   The method for manufacturing a cylindrical molded body according to any one of claims 1 to 10, wherein a horizontal surface shape of the pressure contact end of the molding blade is an arc.   After the molding blade is moved from the side edge portion on the fixed position fixed side of the cylindrical blank to the movable side edge portion to form the concave portion or the convex portion, the molding blade is moved from the movable side edge portion. The cylindrical molding according to any one of claims 1 to 11, wherein the cylindrical molding according to any one of claims 1 to 11 is performed by moving in a reverse direction to a side edge portion on a fixed position fixed side to remold the concave portion or the convex portion, and repeating the reciprocating molding at least once. Body manufacturing method.   The cylindrical molded body according to any one of claims 1 to 12, wherein after the cylindrical molded body is molded, a molding roller is further pressed to the inner side and the outer side of the cylindrical molded body to finish the final shape. Manufacturing method.   The method for manufacturing a cylindrical molded body according to any one of claims 1 to 13, wherein the cylindrical blank is made of a metal material having a breaking stress of 600 MPa or more.   A rotating frame coupled to the rotating shaft, and a molding blade movable in the axial direction and the radial direction of the rotating frame, the cylindrical blank being fixed to the rotating frame at one side edge portion, and the other A side edge is set to be movable, the forming blade is pressed against the outer diameter side or inner diameter side of the cylindrical blank peripheral wall, reciprocated radially inward or outward from the fixed side edge, and moved. The manufacturing apparatus of the cylindrical molded object provided with the control part moved toward the side edge part of a side.   The manufacturing apparatus of the cylindrical molded object of Claim 15 which restrained the said movable side edge part to the position of the same radial direction as the side edge part of the said fixed position fixed side.   The manufacturing apparatus of the cylindrical molded object of Claim 15 or 16 which provided the spring which urges | biases toward the said fixed position fixed side at the said movable side edge part.   The manufacturing apparatus of the cylindrical molded object of Claim 15 or 16 which provided the actuator in the said movable side edge part. 19. The cylindrical molding according to claim 18, wherein a sensor that detects a movement trajectory in the radial direction and the axial direction of the molding blade is provided, and movement of the movable side edge portion is controlled by the actuator based on detection data of the movement trajectory. Body manufacturing equipment.

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