JP2008023573A - Control method and controller for hot bending apparatus for metallic material, method of producing hot-bent product using them, and hot-bent product - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method etc. for a hot bending apparatus for metallic material by which the metallic material is accurately bent in such a manner that objective quality such as an objective shape can be obtained, and further work efficiency can be increased even without depending on an expert. <P>SOLUTION: The control method is used for the hot bending apparatus provided with: a feeding means 3 for intermittently or continuously feeding the metallic material 1 in the longitudinal direction thereof; a supporting means 2 for guiding and supporting the fed metallic material; a heating means 5 for locally heating the metallic material; and a holding means 4 for holding the metallic material by rolls rotatable along the longitudinal direction of the metallic material and applying a bending moment to the heated part in the metallic material. On the basis of a control pattern predetermined in such a manner that the hot-bent metallic material has the objective quality, the feeding means and the holding means are controlled, and further, at least one or more means selected from the supporting means, the heating means and the cooling means are controlled. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control method and a control device for a hot bending apparatus for a metal material, a manufacturing method of a hot bending product using these, and a hot bending product. More specifically, the heat of the metal material can be bent with high precision so that the target quality (shape, hardness, microstructure, etc.) can be obtained, and work efficiency can be improved without relying on a skilled worker. The present invention relates to a control method and a control device for a hot-bending device, a method for manufacturing a hot-bending product using these, and a hot-bending product.

  In recent years, light weight and high strength materials have been demanded as structural metal materials in consideration of the global environment. For example, in the automotive industry, demands for lighter and stronger automotive parts are becoming increasingly stringent from the perspective of improving fuel economy and collision safety. With the development of automotive parts, the structure of automotive parts A review is underway.

  In order to apply to a variety of automotive parts in this way, precision is achieved so that the target quality can be obtained with a wide variety of bending shapes, for example, metal materials with bending directions that are two-dimensionally and three-dimensionally different. There is a strong demand for the development of bending technology that can be processed well.

  Conventionally, various bending techniques have been proposed in order to respond to such development requests for bending techniques. For example, Patent Literature 1 proposes a high-frequency heating bender that is a push-bending type high-frequency heating bender and supports a push-bending roller movably in a three-dimensional direction. According to the high-frequency heating bender described in Patent Document 1, after bending a workpiece to be bent supported by a guide roller in one direction with a push-bending roller, when the bending work having a bending direction different from the one direction is started, Since the bending roller is moved to the side of the workpiece to be bent in the opposite direction across the workpiece to be abutted and bent, the bending direction is two-dimensionally different, for example, like S-shaped bending. Even in the case of continuous bending, there is an advantage that the setup work for rotating the workpiece to be bent by 180 degrees can be eliminated.

  However, since the high-frequency heating bender described in Patent Document 1 does not have means for clamping both sides of the workpiece to be bent on the push-bending roller, deformation is likely to occur due to residual stress due to cooling after high-frequency heating. For this reason, it is difficult to ensure a predetermined dimensional accuracy, the processing speed is restricted, and it is difficult to increase the degree of bending.

  Further, in Patent Document 2, a fixed die and a movable gyro die movable in a three-dimensional direction are provided instead of the guide roller and the push-bending roller of the high-frequency heating bender described in Patent Document 1, and a metal by the movable gyro die is provided. There has been proposed a metal member bending apparatus including heating means for heating a metal member to a temperature corresponding to the curvature of bending of the member, cooling fluid supply means for supplying a cooling fluid to a fixed die and a movable gyro die, and the like. .

  However, the fixed die and the movable gyro die provided in the bending apparatus described in Patent Document 2 are not configured to be rotatable along the longitudinal direction (extrusion direction) of the metal member that is the workpiece to be bent. The surface of the metal member is likely to be seized. Further, the bending apparatus described in Patent Document 2 supplies cooling fluid to the fixed die and the movable gyro die by the cooling fluid supply means, and avoids deterioration of the processing accuracy due to strength reduction and thermal expansion of both dies. It is not intended for quenching heat treatment of the bent metal member, and the strength of the metal member cannot be increased by quenching heat treatment.

  On the other hand, in order to accurately process a workpiece to be bent into a wide variety of bending shapes, various conditions such as heating conditions, cooling conditions, and processing amounts are determined at the current processing site by the intuition and skill of skilled workers. It's real.

However, in recent years, however, problems such as the aging of these skilled workers and the decrease in the number of workers associated therewith have become prominent, and it is possible to carry out work requiring skill without requiring special skills and processing. There is a demand for technology that can improve the capability.
JP 2000-158048 A Japanese Patent No. 3195083

  The present invention has been made to solve such problems of the prior art, and even when various bending shapes are required in hot bending of metal materials such as automobile parts, A control method and a control device for a hot bending apparatus for a metal material that can be bent with high accuracy so as to obtain a target quality such as a shape and the work efficiency can be improved without relying on an expert, and It is an object of the present invention to provide a method for producing a hot-bending product using these and a hot-bending product.

  In order to solve the above-mentioned problems, the present invention provides a feeding means for feeding a metal material intermittently or continuously in the longitudinal direction thereof, a support means for guiding and supporting the fed metal material, and heating the metal material locally. A heating means for cooling, a cooling means for cooling a portion of the heated metal material, and a bending moment applied to the heated metal material portion by sandwiching the metal material by a roll rotatable along the longitudinal direction of the metal material. The clamping means to be applied is a control method of a hot bending apparatus that is arranged along the longitudinal direction of the metal material and hot-bends the metal material intermittently or continuously, and after the hot-bending process And controlling the delivery means and the clamping means of the hot bending apparatus on the basis of a control pattern determined in advance so that the metal material has a target quality, the support means, the heating means and the cooling means Less There is provided a method of controlling a hot bending apparatus of the metal material, characterized by also controlling one or more means.

  In such an invention, each means included in the hot bending apparatus is arranged in the order of, for example, a delivery means, a support means, a heating means, a cooling means, and a clamping means from the upstream side in the direction of feeding the metal material. Then, for example, while guiding and supporting the metal material sent in the longitudinal direction by the delivery means, the metal material is locally heated at the place where the heating means is arranged, and the heated metal material is placed by the clamping means. By applying a bending moment and controlling each means so that the heated part of the metal material is cooled by the cooling means immediately thereafter, the metal material is subjected to hot bending. At this time, according to the present invention, using the clamping means (that is, in a state where both side surfaces of the metal material are clamped by rolls rotatable along the longitudinal direction of the metal material), Along with applying a bending moment, a hot-bending metal material (hot-bending product) is heated based on a control pattern determined in advance so as to have a target quality (shape, hardness, microstructure, etc.). Since each means constituting the bending apparatus is controlled, deformation and seizure due to residual stress is unlikely to occur as in the conventional case, and hot bending with high accuracy is possible. Moreover, once the control pattern for obtaining the target quality is determined, it is only necessary to control each means of the hot bending apparatus based on the determined control pattern, and it is necessary to rely on the intuition and skill of the skilled worker. Therefore, it is possible to increase the working efficiency of hot bending.

  Preferably, the hot bending apparatus has a first shift mechanism for moving the clamping means along a uniaxial direction in a plane substantially perpendicular to the longitudinal direction of the metal material as the driving mechanism of the clamping means, A second shift mechanism for moving the clamping means along the other axis direction orthogonal to the one axis direction, a first tilt mechanism for tilting the clamping means about the one axis direction, and the clamping means about the other axis direction. Among the second tilt mechanisms for tilting, the at least one mechanism is provided, and the drive position of the drive mechanism of the clamping means is controlled.

  According to such a preferable aspect, the more the number of drive mechanisms of the clamping means that are rolls that can rotate along the longitudinal direction of the metal material, the more the bending shapes of the metal material are diversified, and the bending direction is two-dimensional. Even in the case of continuous bending that is different, or even in the case of continuous bending in which the bending directions are three-dimensionally different, it is possible to perform bending efficiently.

  Preferably, the hot bending apparatus includes a first rotation mechanism that rotates the clamping unit around a longitudinal direction of a metal material as a driving mechanism of the clamping unit, and the driving position of the first rotation mechanism is set. It is set as the aspect to control.

  According to such a preferable aspect, it is possible to impart torsional deformation to the metal material by rotating the clamping means around the longitudinal direction of the metal material.

  Further preferably, the hot bending apparatus includes a second rotation mechanism that rotates the support means around a longitudinal direction of a metal material as a drive mechanism of the support means, and sets the drive position of the second rotation mechanism. It is set as the aspect to control.

  According to such a preferable aspect, by rotating the supporting means, it is possible to impart torsional deformation to the metal material without rotating the clamping means around the longitudinal direction of the metal material. It is also possible to impart torsional deformation to the metal material by rotating the supporting means more or less while rotating the clamping means.

  Preferably, the hot bending apparatus has the heating means and / or the driving mechanism of the heating means and / or the cooling means along the uniaxial direction in a plane substantially perpendicular to the longitudinal direction of the metal material. A third shift mechanism for moving the cooling means; a fourth shift mechanism for moving the heating means and / or the cooling means along another axis direction orthogonal to the one axis direction in the plane; A third tilt mechanism for tilting the heating means and / or the cooling means, and a fourth tilt mechanism for tilting the heating means and / or the cooling means around the other axis direction, comprising at least one mechanism; The drive position of the drive mechanism of the heating means and / or the cooling means is controlled.

  According to such a preferable aspect, it is possible to synchronize the driving of the clamping unit and the driving of the heating unit and / or the cooling unit, and it is possible to perform bending with higher accuracy.

  Preferably, the heating output of the heating unit and / or the supply of the cooling medium by the cooling unit is controlled.

  According to such a preferable aspect, driving of the clamping means, heating output of the heating means (including on / off of the heating output in addition to increase / decrease of the output value) and / or supply of the cooling medium by the cooling means (of the supply amount) In addition to increase / decrease, including supply on / off) can be synchronized, and bending with higher accuracy becomes possible.

  The control pattern is, for example, controlled means of the hot bending apparatus associated with the elapsed time from the start of delivery of the metal material by the delivery means (that is, support means, heating means in addition to delivery means and clamping means) The control amount can be at least one of the means and the cooling means. Here, when the controlled means is a delivery means, the amount of metal feed, the delivery speed, and the like are the control amounts. When the controlled means is a clamping means, the control position is the driving position of the driving mechanism of the clamping means (corresponding to the position of the clamping means). When the controlled means is a support means, the drive position of the drive mechanism of the support means (corresponding to the rotational position of the support means) is the control amount. When the controlled means is a heating means, the control position is the drive position of the drive mechanism of the heating means (corresponding to the position of the heating means), the heating output of the heating means, and the like. Further, when the controlled means is a cooling means, the control position includes the driving position of the driving mechanism of the cooling means (corresponding to the position of the cooling means), the supply of the cooling medium by the cooling means, and the like.

  However, when the control amount of the controlled means associated with the elapsed time from the start of feeding the metal material is uniformly used as a control pattern (in other words, when the control amount of each controlled means is set based on the time) ) For example, due to the difference between the time responsiveness of the delivery means and the time responsiveness of the driving mechanism of the clamping means, a deviation occurs in the longitudinal portion of the metal material that should be originally bent, and the processing accuracy is reduced. There is also a risk of lowering.

  Therefore, preferably, the control pattern is a control amount of the controlled means of the hot bending apparatus associated with the time-related information regarding the metal material, and the time-related information regarding the detected metal material, The controlled means is controlled based on the control pattern.

  Here, the time-dependent information regarding the metal material relates to the movement of the metal material, such as the amount of feed of the metal material and the feed speed, as well as the load reaction force acting on the clamping means during bending of the metal material. Means information that changes over time. According to the preferable aspect, for example, the control amount of the sandwiching means associated with the delivery amount of the metal material is used as the control pattern, and the delivery amount of the metal material detected by an appropriate detection means and the control pattern are used. (That is, based on an appropriate control amount corresponding to the actually detected delivery amount), the clamping means is controlled. Therefore, as described above, even if there is a difference between the time responsiveness of the delivery means and the time responsiveness of the driving mechanism of the clamping means, a deviation occurs in the longitudinal direction portion of the metal material that should originally be bent. It is difficult to maintain good machining accuracy.

  Preferably, at least one or more of the displacement of the metal material in a plane substantially perpendicular to the longitudinal direction of the metal material, the temperature of the metal material in the vicinity of the heating means, and the temperature of the metal material in the vicinity of the cooling means is measured, The control pattern is corrected based on the measured value, and the controlled means of the hot bending apparatus is controlled based on the corrected control pattern.

  According to such a preferable aspect, for example, the displacement of the metal material in a plane substantially orthogonal to the longitudinal direction of the metal material is measured, and the control pattern for the heating means is corrected based on the measured value. The heating means is controlled based on the control pattern. More specifically, for example, based on the displacement of the metal material measured in the vicinity of the heating means, the control pattern (for example, the position of the heating means associated with the metal material feed amount) is corrected (for example, the metal material The position of the heating unit is changed so that the displacement is within the target range), and the position of the heating unit is controlled based on the corrected control pattern. For example, when the heating means is a heating coil that surrounds a cross section perpendicular to the longitudinal direction of the metal material, the target range of the metal material displacement should be determined so that the misalignment between the heating coil and the metal material is reduced. Good. As a result, in the control pattern before correction, even if the metal material cannot be heated uniformly in the circumferential direction due to the misalignment between the heating coil and the metal material, If the position of the heating coil is controlled based on this control pattern, the core misalignment between the heating coil and the metal material is reduced. As a result, uniform heating can be performed in the circumferential direction of the metal material, and consequently uneven hardness in the circumferential direction. It is possible to obtain a hot-bending product having no heat. Further, depending on the use of the product, it may be better to intentionally cause a misalignment between the heating coil and the metal material to generate hardness unevenness. Even in such a case, according to the preferable aspect, the control pattern (the position of the heating means associated with the feed amount of the metal material) is set so that the misalignment amount between the heating coil and the metal material becomes a desired value. The correction is effective in that desired hardness unevenness can be generated.

  Moreover, according to the said preferable aspect, the temperature (temperature of the site | part heated by the heating means or the temperature of the site | part which adjoins the said site | part) in the vicinity of a heating means is measured, for example, and based on this measured value The control pattern for the heating means (for example, the heating output of the heating means associated with the metal material feed amount) is corrected (for example, the heating output of the heating means is changed so that the measured temperature is within the target range). Then, the heating means is controlled based on the corrected control pattern. As a result, appropriate heating based on the actually measured temperature instead of the set temperature (predicted temperature) is possible, and as a result, a hot-bending product with sufficient hardness can be obtained. Measure the temperature of the metal material in the vicinity of the cooling means (the temperature of the part cooled by the cooling means or the temperature of the part close to the part), and based on the measured value, correct the control pattern for the cooling means, A similar effect can be obtained when controlling the cooling means based on the corrected control pattern. The correction of the control pattern can be performed on the control pattern applied to the metal material currently being hot-bent, but the displacement measured for the metal material currently being hot-bended Based on the above, it is of course possible to carry out the control pattern provided to the metal material to be hot-bent after the next time.

  In order to solve the above-mentioned problems, the present invention provides a feeding means for feeding a metal material intermittently or continuously in the longitudinal direction thereof, a support means for guiding and supporting the fed metal material, and a metal material locally. A heating means for heating the metal material, a cooling means for cooling the heated metal material portion, and a sandwiching means for holding the metal material and applying a bending moment to the heated metal material portion. A device for controlling a hot bending apparatus arranged along a direction, storing a control pattern determined in advance so that a metal material after hot bending has a target quality, and storing the stored control Based on the pattern, the delivery means and the clamping means of the hot bending apparatus are controlled, and at least one of the support means, the heating means and the cooling means is controlled. Money to do It is also provided as a control device for a hot bending apparatus of the wood.

  The control pattern can be, for example, a control amount of the controlled means of the hot bending apparatus associated with the elapsed time from the start of delivery of the metal material by the delivery means.

  Alternatively, the control device includes a detecting unit that detects time-related information about the metal material, and the stored control pattern is the hot time associated with the time-related information about the metal material detected by the detecting unit. A control amount of the controlled means of the bending apparatus is used, and it is also possible to adopt a mode in which the controlled means is controlled based on the time-related information regarding the metal material detected by the detecting means and the control pattern. Is possible.

  Preferably, the control device includes a displacement measuring unit that measures a displacement of the metal material in a plane substantially orthogonal to the longitudinal direction of the metal material, a heating temperature measuring unit that measures the temperature of the metal material in the vicinity of the heating unit, And at least one measuring means among the cooling temperature measuring means for measuring the temperature of the metal material in the vicinity of the cooling means, correcting the stored control pattern based on the measured value of the measuring means, Based on the corrected control pattern, the controlled means of the hot bending apparatus is controlled.

  Furthermore, this invention includes the process of controlling the said hot bending apparatus using said control method, The manufacturing method of the hot bending process product characterized by the above-mentioned, and the hot bending process manufactured by this manufacturing method Also offered as a product.

  According to the present invention, the clamping means is used to apply a bending moment to the heated metal material portion, and based on a control pattern determined in advance so that the metal material after hot bending has a target quality. Since each means constituting the hot bending apparatus is controlled, deformation and seizure due to residual stress is unlikely to occur as in the prior art, and accurate hot bending can be performed. Moreover, once the control pattern for obtaining the target quality is determined, it is only necessary to control each means of the hot bending apparatus based on the determined control pattern, and it is necessary to rely on the intuition and skill of the skilled worker. Therefore, it is possible to increase the working efficiency of hot bending.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings as appropriate.
FIG. 1 is a diagram schematically showing an overall configuration of a hot bending apparatus to which a control method according to an embodiment of the present invention is applied and a control apparatus for carrying out the control method. As shown in FIG. 1, the hot bending apparatus 10 according to the present embodiment guides and supports a feeding means 3 that feeds the metal material 1 intermittently or continuously in the longitudinal direction thereof, and the fed metal material 1. Supporting means 2 for heating, heating means 5 for locally heating the metal material 1, cooling means 6 for cooling a portion of the heated metal material 1, and the heated metal material 1 sandwiching the metal material 1 The sandwiching means 4 for applying a bending moment to the part is arranged along the longitudinal direction of the metal material, and is configured to hot-bend the metal material 1 intermittently or continuously. In the present embodiment, the delivery means 3, the support means 2, the heating means 5, the cooling means 6, and the clamping means 4 are arranged in this order from the upstream side in the direction in which the metal material 1 is delivered.

  The metal material 1 shown in FIG. 1 is a tube having a round cross section, but the object to be hot bent by the hot bending apparatus 10 is not limited to this, and has various cross sectional shapes. Applicable to metal materials. For example, in addition to the round shape shown in FIG. 1, a closed cross-section material having a rectangular shape, trapezoidal shape, or other complicated shape, or an open cross-section material (channel) manufactured by roll forming as shown in FIG. The present invention can be applied to a modified cross-section material (channel) manufactured by extrusion as shown in 2 (b), or a bar material (round bar, square bar, atypical bar) having various cross-sectional shapes. However, it is necessary to design the shape of the support means 2 and the clamping means 4 according to the cross-sectional shape of the metal material 1 to be applied.

  As described above, in the present embodiment, a round tube is used as the metal material 1 to be subjected to hot bending, so that the support unit 2 can guide and support the round tube. Two pairs of opposing support rolls are employed. However, the support means 2 is not limited to this, and a support guide according to the cross-sectional shape of the metal material to be applied can also be adopted. Further, even when a support roll is employed as the support means 2, it is not limited to two pairs of support rolls as in the present embodiment, and one pair or a plurality of pairs of support rolls exceeding two pairs should be employed. Is also possible.

  In addition, the hot bending apparatus 10 according to the present embodiment includes a second rotating mechanism 21 that rotates the supporting means 2 around the longitudinal direction of the metal material 1 and sets the rotation position θSX as a driving mechanism for the supporting means 2. ing. The second rotation mechanism 21 can be composed of, for example, a drive source such as an AC servo motor or a hydraulic servo motor, or a mechanical element such as a rotation gear that transmits the power of the drive source to the support means 2. As for a more specific configuration of the second rotation mechanism 21, various known rotation mechanisms can be applied, and thus detailed description thereof is omitted. By driving the second rotating mechanism 21 and rotating the supporting means 2 around the longitudinal direction of the metal material 1, the metal means 1 can be operated without rotating the clamping means 4 around the longitudinal direction of the metal material 1 as will be described later. It is possible to impart torsional deformation to the material 1. It is also possible to impart torsional deformation to the metal material 1 by rotating the supporting means 2 more or less while rotating the clamping means 4.

  The delivery means 3 according to the present embodiment is an extrusion device that extrudes the metal material 1 intermittently or continuously in the longitudinal direction to obtain an extrusion amount (feed amount) FX. Such an extruding device can be composed of, for example, a drive source such as an AC servo motor or a hydraulic servo motor, or a mechanical element such as a ball screw that converts the rotational power of the drive source into a linear motion. It is also possible to employ a cylinder device such as a hydraulic cylinder or an air cylinder. And the metal material 1 is extruded to a longitudinal direction by pressing the edge part of the metal material 1 with a ball screw, the piston rod of a cylinder apparatus, etc.

  The clamping means 4 according to the present embodiment is a pair of opposing rolls that can rotate along the longitudinal direction of the metal material 1. However, the clamping means 4 is not limited to this, and the cross-sectional shape of the metal material 1 to be applied is a roll that can be rotated along the longitudinal direction of the metal material and can hold the metal material 1. It is also possible to employ two pairs of opposing rolls or three or more rolls according to the above.

  In addition, the hot bending apparatus 10 according to the present embodiment is clamped along a uniaxial direction (horizontal direction in the present embodiment) in a plane substantially orthogonal to the longitudinal direction of the metal material 1 as a driving mechanism of the clamping means 4. The first shift mechanism 411 which moves the means 4 to the position KY, and moves the clamping means 4 along the other axis direction (vertical direction in the present embodiment) perpendicular to the one axis direction in the plane to obtain the position KZ. The second shift mechanism 412, the first tilt mechanism 413 tilting the clamping means 4 around the one axial direction to the rotational position θKY, and the first tilt mechanism 413 tilting the clamping means 4 around the other axis direction to the rotational position θKZ. Among the two tilt mechanisms 414, at least one mechanism is provided. The drive mechanism 41 of the clamping means 4 according to the present embodiment preferably includes all of the first shift mechanism 411, the second shift mechanism 412, the first tilt mechanism 413, and the second tilt mechanism 414 as a preferable configuration. Yes. By appropriately driving the mechanisms 411 to 414, the clamping means 4 shifts or tilts in a state where the metal material 1 is clamped, whereby the metal material 1 is heated by the heating means 5. A bending moment is applied as a fulcrum. And by appropriately selecting a combination and driving amount of each mechanism 411 to 414 to be driven, the bending shape of the metal material 1 is various, and the bending direction is two-dimensionally different. Even in the case of three-dimensionally different continuous bending, it is possible to perform bending efficiently.

  The first shift mechanism 411 and the second shift mechanism 412 are, for example, a drive source such as an AC servo motor or a hydraulic servo motor, a ball screw that converts the rotational power of the drive source into a linear motion, and transmits the linear motion to the clamping means 4. It is possible to comprise from the following mechanical elements. Further, the first tilt mechanism 413 and the second tilt mechanism 414 can be constituted by a mechanical element such as a driving source similar to the above or a rotating gear that transmits the power of the driving source to the clamping means 4. is there. As for more specific configurations of the mechanisms 411 to 414, various known mechanisms can be applied, and thus detailed description thereof is omitted. Naturally, for example, a general-purpose multi-axis robot connected to the holding means 4 can be used as the driving mechanism of the holding means 4.

  In addition, as a drive mechanism of the clamping means 4, it is possible to provide a first rotation mechanism that rotates the clamping means 4 around the longitudinal direction of the metal material 1 to set the rotational position θKX. Similarly to the first tilt mechanism 413 and the second tilt mechanism 414, the first rotation mechanism is also a mechanical element such as a rotation source that transmits the drive source similar to the above and the power of the drive source to the clamping means 4, for example. Can be configured. By driving this first rotation mechanism and rotating the clamping means 4 around the longitudinal direction of the metal material 1, it is possible to impart torsional deformation to the metal material 1.

  FIG. 3 is a longitudinal sectional view showing a schematic configuration of the heating means 5 and the cooling means 6 according to the present embodiment. As shown in FIG. 1 or FIG. 3, the heating means 5 according to the present embodiment includes a heating coil 51 made of a hollow conductive material surrounding a cross section perpendicular to the longitudinal direction of the metal material 1. And the metal material 1 will be heated locally by supplying a high frequency current to the heating coil 51. Moreover, the cooling means 6 according to the present embodiment includes a plurality of nozzles 61 arranged annularly inside the heating coil 51 so as to surround a cross section perpendicular to the longitudinal direction of the metal material 1. Then, by supplying (injecting) the cooling medium 611 from the nozzle 61 toward the metal material 1, the portion of the metal material 1 heated by the heating unit 5 is cooled. As shown in FIG. 3, in this embodiment, the heating means 5 and the cooling means 6 are integrated. That is, the nozzle 61 is formed by perforating a part of the inside of the conductive material constituting the heating coil 51, and directs the cooling medium 611 supplied to the hollow portion 52 of the heating coil 51 toward the metal material 1. And is configured to inject. However, the present invention is not limited to this, and it is of course possible to separate the heating means 5 and the cooling means 6 from each other.

  The hot bending apparatus 10 according to the present embodiment serves as a driving mechanism for the heating means 5 and the cooling means 6 along a uniaxial direction (horizontal direction in the present embodiment) in a plane substantially orthogonal to the longitudinal direction of the metal material 1. Then, the heating means 5 and the cooling means 6 are moved to move the third shift mechanism 521 to positions HY and CY, respectively, along the other axis direction (vertical direction in this embodiment) perpendicular to the one axis direction in the plane. The heating means 5 and the cooling means 6 are moved to move the positions HZ and CZ to the fourth shift mechanism 522, respectively, and the heating means 5 and the cooling means 6 are tilted around the one axis direction to be the rotational positions θHY and θCY, respectively. At least one or more of the third tilt mechanism 523 and at least one of the fourth tilt mechanisms 524 having the rotation positions θHZ and θCZ respectively inclined by tilting the heating means 5 and the cooling means 6 around the other axis direction. It has a structure. The drive mechanism 52 of the heating unit 5 and the cooling unit 6 according to the present embodiment includes all of the third shift mechanism 521, the fourth shift mechanism 522, the third tilt mechanism 523, and the fourth tilt mechanism 524 as a preferable configuration. It is configured. And by driving each mechanism 521-524 suitably, the drive of the clamping means 4 and the drive of the heating means 5 and the cooling means 6 can be synchronized, and a more accurate bending process is attained.

  The third shift mechanism 521 and the fourth shift mechanism 522 convert, for example, a drive source such as an AC servo motor or a hydraulic servo motor, and rotational power of the drive source into a linear motion and transmit it to the heating unit 5 and the cooling unit 6. It is possible to constitute from a mechanical element such as a ball screw. Further, the third tilt mechanism 523 and the fourth tilt mechanism 524 are composed of, for example, the same drive source as described above and mechanical elements such as a rotary gear that transmits the power of the drive source to the heating unit 5 and the cooling unit 6. It is possible. As for more specific configurations of these mechanisms 521 to 524, various known mechanisms can be applied, and thus detailed description thereof is omitted. Naturally, for example, a general-purpose multi-axis robot connected to the heating means 5 and the cooling means 6 can be used as a drive mechanism for the heating means 5 and the cooling means 6.

  In the present embodiment, since the heating means 5 and the cooling means 6 are integrated, the drive mechanism 52 that integrally drives both the means 5 and 6 is adopted and the drive mechanism is shared. In the case where the heating means 5 and the cooling means 6 are separated, an independent drive mechanism may be provided for each.

  Further, the hot bending apparatus 10 includes a heating unit setting unit 53 that sets the heating output of the heating unit 5 and / or a cooling unit setting unit 62 that sets the supply of the cooling medium by the cooling unit 6. In this embodiment, it is set as the structure provided with both the heating means setting part 53 and the cooling means setting part 62. FIG. The heating means setting unit 53 is composed of, for example, a high-frequency power source with variable energization amount and the like. Is set to be set. Further, the cooling means setting unit 62 is constituted by, for example, a flow rate adjusting valve provided in a pipe for supplying the cooling medium 611 to the cooling means 6 or an opening / closing valve of each nozzle 61 arranged in an annular shape. By adjusting the total supply amount (flow rate) of the cooling medium 611 supplied from the nozzle 61 (including supply on / off), and adjusting the opening and closing of each nozzle 61 by the on-off valve. The supply amount (flow rate) distribution of the cooling medium 611 in the direction is set. Then, by appropriately controlling the setting units 53 and 63, it is possible to synchronize the driving of the clamping unit 4 with the heating output of the heating unit 5 and the supply of the cooling medium by the cooling unit 6, so that the accuracy is further improved. Bending can be performed.

  The hot bending apparatus 10 according to the present embodiment is arranged between the delivery means 3 and the support means 2 in addition to the configuration described above, and grips one longitudinal end of the metal material 1 before delivery. A clamp 7 for attaching the other end to the delivery means 3 is provided. As a drive mechanism for the clamp 7, a clamp rotation mechanism 71 is provided that rotates the clamp 7 around the longitudinal direction of the metal material 1 to set the rotation position θX. The clamp rotation mechanism 71 can be composed of a drive element such as an AC servo motor or a hydraulic servo motor, or a mechanical element such as a rotation gear that transmits the power of the drive source to the clamp 7. It is possible to impart torsional deformation to the metal material 1 by driving the clamp rotation mechanism 71 and rotating the clamp 7 around the longitudinal direction of the metal material 1.

  Further, the hot bending apparatus 10 according to the present embodiment moves the clamping means 4, the heating means 5 and the cooling means 6 along the longitudinal direction of the metal material 1 as necessary, so that the positions KX and HX respectively. It is also possible to adopt a configuration including a shift mechanism for CX. Such a shift mechanism converts, for example, a drive source such as an AC servo motor or a hydraulic servo motor, or rotational power of the drive source into a linear motion and transmits the linear motion to each of the clamping means 4, the heating means 5, and the cooling means 6. It can be configured from a mechanical element such as a ball screw or a general-purpose robot.

  Each means which comprises the hot bending apparatus 10 which has the structure demonstrated above is controlled by the control apparatus 20, and a hot bending process is given to the metal material 1 by this. Basically, the control device 20 locally heats the metal material 1 at the place where the heating means 5 is disposed while guiding and supporting the metal material 1 delivered in the longitudinal direction by the delivery means 3 by the support means 2, and sandwiching means. 4. Each means which comprises the hot bending apparatus 10 so that a bending moment is given to the site | part of the said heated metal material 1 by 4 and the heated site | part of the metal material 1 is cooled by the cooling means 6 immediately after that. To control.

  Here, as the control device 20, a control computer in which a predetermined operation program is installed can be used, and an analog program setting device or the like can also be used. And the control apparatus 20 has memorize | stored the control pattern previously determined so that the metal material 1 (hot bending process product) after a hot bending process may become target quality (a shape, hardness, a microstructure, etc.). . More specifically, the metal material 1 is subjected to hot bending in advance based on various appropriate control patterns, and the shape and hardness of the obtained hot bending product are measured, the microstructure, etc. By observing the above, a good control pattern that achieves the target quality is selected and stored in the control device 20. The control device 20 controls the delivery means 3 and the clamping means 4 of the hot bending apparatus 10 based on the stored control pattern, and among the support means 2, the heating means 5 and the cooling means 6, It is characterized by controlling at least one means. Hereinafter, the specific configuration of the control device 20 will be described in more detail by giving a plurality of examples.

<First configuration example>
FIG. 4 is a block diagram showing a schematic configuration of a control apparatus which is a first configuration example of the present invention. As shown in FIG. 4, the control device 20 </ b> A of this configuration example is configured to control the delivery unit 3 and the clamping unit 4 of the hot bending apparatus 10 based on a control pattern that is determined and stored in advance. . And the control pattern memorize | stored in this structural example is the controlled means (sending means 3, clamping means) of the hot bending apparatus 10 matched with the elapsed time t from the delivery start of the delivery of the metal material 1 by the sending means 3. The control amount is 4).

More specifically, in the control device 20A of the present configuration example, the following control patterns (1) to (5) have a function format in which the elapsed time t (actually the number of clocks) is a variable, The time t and the control amount are stored as a table format associated with each other.
(1) 21 A of control patterns which consist of sending amount FXs of the sending means 3 matched with the elapsed time t
(2) The control pattern 22A composed of the driving position of the first shift mechanism 411 of the clamping means 4 associated with the elapsed time t (corresponding to the horizontal position of the clamping means 4) KYs.
(3) A control pattern 23A composed of the driving position (corresponding to the vertical position of the clamping means 4) KZs of the second shift mechanism 412 of the clamping means 4 associated with the elapsed time t.
(4) A control pattern 24A composed of the drive position of the first tilt mechanism 413 of the clamping means 4 associated with the elapsed time t (corresponding to the rotational position of the clamping means 4 around the left-right direction) θKYs.
(5) Control pattern 25A composed of the drive position of the second tilt mechanism 414 of the clamping means 4 associated with the elapsed time t (corresponding to the rotational position of the clamping means 4 around the vertical direction) θKZs.
Note that FXs, KYs, KZs, θKYs, and θKZs shown in FIG. 4 mean the set values of FX, KY, KZ, θKY, and θKZ shown in FIG. 1, respectively.

  The control device 20 includes a clock generator 201 that outputs a clock starting from an appropriate trigger signal indicating the start of delivery of the metal material 1. Then, the control amount setting values FXs and KYs determined according to the number of clocks output from the clock generator 201 (corresponding to the elapsed time t from the start of delivery of the metal material 1) and the control patterns 21A to 25A. , KZs, θKYs, θKZs are sequentially output to each controlled means. Specifically, the delivery amount FXs is output to the delivery means 3. Then, the sending means 3 drives an AC servo motor or the like that is a driving source by a driving amount set in advance so as to be a feeding amount of the metal material 1 corresponding to the inputted feeding amount FXs. The clock generator 201 of this configuration example has a variable clock rate as a preferred mode. Therefore, for example, when the control pattern 21A has a sending amount FXs proportional to the elapsed time t (number of clocks), if the clock rate of the clock generator 201 is increased, the control pattern 21A is output per unit time (real time). Since the number of clocks increases, the change in the delivery amount FXs per unit time (that is, the delivery speed) also increases. Conversely, when the clock rate is lowered, the delivery speed is reduced. In other words, according to the above preferred embodiment, it is possible to easily change the delivery speed of the metal material 1 simply by changing the setting of the clock rate of the clock generator 201.

  Similarly, the drive positions KYs, KZs, θKYs, and θKZs are output to the first shift mechanism 411, the second shift mechanism 412, the first tilt mechanism 413, and the second tilt mechanism 414 of the clamping unit 4, respectively. The mechanisms 411 to 414 are driven by the mechanisms 411 to 414 by a predetermined driving amount so that the mechanisms 411 to 414 are at the input driving positions KYs, KZs, θKYs, and θKZs. Drive.

  According to the control device 20A of the present configuration example described above, the hot bending device 10 is based on the control patterns 21A to 25A determined in advance so that the metal material 1 after the hot bending has the target quality. Since each means (the sending means 3 and the clamping means 4) that constitutes is controlled, hot bending with high accuracy is possible. Further, once the control patterns 21A to 25A for obtaining the target quality are determined, each means (the sending means 3 and the clamping means 4) of the hot bending apparatus 10 based on the determined control patterns 21A to 25A. Therefore, it is not necessary to rely on the intuition and skill of a skilled person, so that the work efficiency of hot bending can be increased.

  As described above, the sending unit 3 drives the drive source by a preset driving amount so that the control amount input from the control device 20 (the sending amount of the metal material 1 by the sending unit 3) can be obtained. To do. Similarly, the sandwiching means 4 also drives the drive source by a preset drive amount so that the control amount input from the control device 20 (drive position of the drive mechanism 41 of the sandwiching means 4) is obtained. As a drive control method for these drive sources, a general control method as shown in FIG. 13A may be employed. That is, when the drive amount corresponding to the control amount initially input from the control device 20 is S1, the vehicle is accelerated from the stop state to the drive speed V1, driven at the drive speed V1 for a predetermined time, and then decelerated. Then, stop again. Then, the drive speed V1 and the operation time T1 are set so that the hatched area corresponding to the above operation is equal to the drive amount S1. When the drive amount corresponding to the control amount input next from the control device 20 is S2, the vehicle is accelerated again from the stop state to the drive speed V2, driven at the drive speed V2 for a predetermined time, and then decelerated. To stop. Then, the drive speed V2 and the operation time T2 are set so that the area of the hatched portion corresponding to the above operation is equal to the drive amount S2. Hereinafter, the same operation is repeated, and a complicated bent product can be obtained. However, according to the control method shown in FIG. 13 (a), the operation repeats acceleration, constant speed, deceleration, and stop. Therefore, for a product that requires high dimensional accuracy, as shown in FIG. 14 (a). In addition, the drive position accuracy may be insufficient.

  On the other hand, when an AC servo motor or the like whose drive speed can be arbitrarily set is used as the drive source of the sending means 3 or the drive mechanism 41 of the clamping means 4 as in the present embodiment, FIG. It is possible to employ a control method as shown in 13 (b). That is, when the drive amount corresponding to the control amount initially input from the control device 20 is S1 ′, the vehicle is accelerated from the stop state to the drive speed V1 ′, and is driven at the drive speed V1 ′ for a predetermined time. . Then, the drive speed V1 'and the operation time T1' are set so that the hatched area corresponding to the above operation is equal to the drive amount S1 '. When the drive amount corresponding to the control amount inputted next from the control device 20 is S2 ′, the drive speed V1 ′ is accelerated (or decelerated) until it reaches the drive speed V2 ′, and at the drive speed V2 ′. Drive for a predetermined time. Then, the drive speed V2 'and the operation time T2' are set so that the hatched area corresponding to the above operation is equal to the drive amount S2 '. Hereinafter, the same operation is repeated. According to the method shown in FIG. 13B, as shown in FIG. 14B, the drive position can be approximated with high accuracy, so that high drive position accuracy can be ensured.

  Further, in the present configuration example, the first shift mechanism 411, the second shift mechanism 412, and the first tilt mechanism 413 of the clamping unit 4 can be subjected to bending processing in which the bending direction of the metal material 1 is three-dimensionally different. In the above description, the control of all of the second tilt mechanism 414 has been described. However, in the case where only bending processes in which the bending directions are two-dimensionally different are performed, control of any mechanism is omitted (or the mechanism itself is provided). It is possible to have a configuration that does not. Further, when the bending radius of the metal material 1 is large, control of the first tilt mechanism 413 and the second tilt mechanism 414 is omitted (or the first tilt mechanism 413 and the second tilt mechanism 414 themselves are not provided). It is also possible to

  Furthermore, when the hot bending apparatus 10 is configured to include a shift mechanism that moves the clamping means 4 along the longitudinal direction of the metal material 1 to the position KX, the control apparatus 20A has the same configuration as described above. Then, a control pattern consisting of a driving position of the shift mechanism of the clamping means 4 associated with the elapsed time t (corresponding to a position along the longitudinal direction of the metal material 1 of the clamping means 4) is stored in advance, and the control device 20A The sandwiching means 4 may be controlled based on the stored control pattern.

<Second configuration example>
FIG. 5 is a block diagram showing a schematic configuration of a control apparatus which is a second configuration example of the present invention. In FIG. 5, elements having substantially the same configuration and function as those of the first configuration example shown in FIG. 4 and parameters having the same meaning are denoted by the same reference numerals. As shown in FIG. 5, the control device 20 </ b> B of the present configuration example is also similar to the first configuration example, based on the control pattern determined and stored in advance, the sending means 3 and the clamping means 4 of the hot bending apparatus 10. It is set as the structure which controls. However, the control device 20B includes a sending amount detection means 202 for detecting time-lapse information related to the metal material 1 (in this configuration example, the sending amount FXi of the metal material 1 and corresponding to the detected value of FX shown in FIG. 1). It differs in the point to prepare. Further, the heat associated with the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 except the control pattern 21B for the delivery means 3 among the control patterns 21B to 25B stored in the control device 20B. It is also different in that it is a controlled variable of the controlled means (the clamping means 4) of the inter-bending apparatus 10. Furthermore, it is also different in that the controlled means (the clamping means 4) is controlled based on the delivery amount FXi of the metal material 1 detected by the delivery quantity detection means 202 and the control patterns 22B to 25B. As in the first configuration example, the control pattern 21B for the sending means 3 is the elapsed time t from the start of sending of the metal material 1 by the sending means 3 (actually, the clock output from the clock generator 201). The sending means 3 is controlled based on this control pattern 21B.

  As the delivery amount detection means 202, for example, a configuration in which the displacement in the driving direction of the mechanical elements of the delivery means 3 such as a ball screw and a piston rod is measured with a displacement meter to directly detect the delivery amount FXi, It is possible to adopt a configuration in which the rotation amount of an AC servo motor or the like that is a drive source of the means 3 is detected by an encoder, and this is converted into a displacement in the driving direction of a ball screw or the like to indirectly detect the feed amount FXi. Is possible.

  The control patterns 22B to 25B are stored as a function format in which the feed amount FXi of the metal material 1 detected by the feed amount detection means 202 is a variable, or a table format in which the feed amount FXi and the control amount are associated with each other. Similar to the first configuration example, the control pattern 21B is stored as a function format using the elapsed time t (actually the number of clocks) as a variable, or a table format in which the elapsed time t and the control amount are associated with each other.

  In addition, as a method for driving and controlling the driving source of the sending unit 3 and the driving source of the driving mechanism 41 of the clamping unit 4, the method shown in FIGS. 13A and 13B described above can be adopted in the first configuration. Similar to the example. However, the method for driving and controlling the drive source of the drive mechanism 41 is shown in FIGS. 13A and 13B because the control amount is associated with the feed amount FXi of the metal material 1 in this configuration example. The horizontal axis of the graph is the feed amount of the metal material 1, and the vertical axis is the drive amount per unit feed amount. Further, in the case where only bending processes in which the bending directions are two-dimensionally different are performed, it is possible to omit the control of any mechanism of the clamping means 4 (or a configuration in which the mechanism itself is not provided). When the bending radius of the metal material 1 is large, the control of the first tilt mechanism 413 and the second tilt mechanism 414 of the clamping means 4 is omitted (or the first tilt mechanism 413 and the second tilt mechanism 414 themselves are provided). This is also similar to the first configuration example.

  Moreover, when the hot bending apparatus 10 is a structure provided with the shift mechanism which moves the clamping means 4 along the longitudinal direction of the metal material 1 and makes it the position KX, similarly to the control patterns 22B to 25B described above, The drive position of the shift mechanism of the clamping means 4 associated with the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 is sent to the control device 20B (along the longitudinal direction of the metal material 1 of the clamping means 4). It is also possible to store a control pattern consisting of a position corresponding to the position in advance, and the control device 20B controls the clamping means 4 based on the stored control pattern.

  With the control device 20B of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of a skilled person, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20B of this configuration example, unlike the control device 20A of the first configuration example, the control amount of the clamping means 4 associated with the feed amount of the metal material 1 is used as the control patterns 22B to 25B. The clamping means 4 is controlled based on the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 and the control patterns 22B to 25B. Therefore, even if there is a difference between the time responsiveness of the sending means 3 and the time responsiveness of the driving mechanism of the clamping means 4, unlike the control device 20A of the first configuration example, the metal material that should be originally bent. It is difficult for a shift in the longitudinal direction portion of 1 and it is possible to maintain good processing accuracy.

<Third configuration example>
FIG. 6 is a block diagram showing a schematic configuration of a control apparatus which is a third configuration example of the present invention. In FIG. 6, elements having substantially the same configuration and function as those of the first configuration example shown in FIG. 4 and parameters having the same meaning are denoted by the same reference numerals. As shown in FIG. 6, the control device 20 </ b> C of this configuration example includes a support unit 2, a clamp, in addition to the delivery unit 3 and the clamping unit 4 of the hot bending apparatus 10, based on a control pattern determined and stored in advance. 7. The heating means 5 and the cooling means 6 are controlled. And the control pattern memorize | stored in this structural example is the controlled means (sending means 3, clamping means) of the hot bending apparatus 10 matched with the elapsed time t from the delivery start of the delivery of the metal material 1 by the sending means 3. 4, the control amount of the support means 2, the clamp 7, the heating means 5 and the cooling means 6).

More specifically, in the control device 20C of the present configuration example, the following control patterns (1) to (6) have a function format in which the elapsed time t (actually the number of clocks) is a variable, The time t and the control amount are stored as a table format associated with each other.
(1) 21 C of control patterns which consist of sending amount FXs of the sending means 3 matched with the elapsed time t
(2) The control pattern 22C (the driving position of the first shift mechanism 411 of the clamping means 4 associated with the elapsed time t (the clamping means), which consists of the driving position of the driving mechanism 41 of the clamping means 4 associated with the elapsed time t. 4), a control pattern consisting of KYs, a driving position of the second shift mechanism 412 of the clamping means 4 associated with the elapsed time t (corresponding to a vertical position of the clamping means 4), a control pattern consisting of KZs. , The driving position of the first tilt mechanism 413 of the clamping means 4 associated with the elapsed time t (corresponding to the rotational position around the horizontal direction of the clamping means 4) θKYs, and the elapsed time t. The driving position of the second tilt mechanism 414 of the clamping means 4 (corresponding to the rotational position around the vertical direction of the clamping means 4) θKZs)
(3) Control pattern 23C composed of θSXs, which is the drive position of the drive mechanism 21 of the support means 2 associated with the elapsed time t (corresponding to the rotational position of the support means 2 around the longitudinal direction of the metal material 1).
(4) A control pattern 24C composed of the drive position of the drive mechanism 71 of the clamp 7 associated with the elapsed time t (corresponding to the rotational position of the clamp 7 around the longitudinal direction of the metal material 1) θXs.
(5) A control pattern 25C composed of the drive position of the drive mechanism 52 of the heating means 5 associated with the elapsed time t (the drive position of the third shift mechanism 521 of the heating means 5 associated with the elapsed time t (heating means) 5), a control pattern consisting of HYs, a driving position of the fourth shift mechanism 522 of the heating means 5 corresponding to the elapsed time t (corresponding to a vertical position of the heating means 5), a control pattern consisting of HZs. , The driving position of the third tilt mechanism 523 of the heating means 5 associated with the elapsed time t (corresponding to the rotational position of the heating means 5 around the left and right direction) θHYs, and the elapsed time t Driving position of the fourth tilt mechanism 524 of the heating unit 5 (corresponding to a rotational position around the vertical direction of the heating unit 5) θHZs)
(6) A control pattern 26C (drive position of the third shift mechanism 521 of the cooling means 6 associated with the elapsed time t (cooling means) corresponding to the drive position of the drive mechanism 52 of the cooling means 6 associated with the elapsed time t. 6), a control pattern consisting of CYs, and a driving position of the fourth shift mechanism 522 of the cooling means 6 corresponding to the elapsed time t (corresponding to the vertical position of the cooling means 6) CZs. , The driving position of the third tilt mechanism 523 of the cooling means 6 associated with the elapsed time t (corresponding to the rotational position of the cooling means 6 around the left and right direction) θCYs, and the elapsed time t. Driving position of the fourth tilt mechanism 524 of the cooling means 6 (corresponding to the rotational position around the vertical direction of the cooling means 6) control pattern consisting of θCZs)

  Note that θSXs, θXs, HYs, HZs, θHYs, θHZs, CYs, CZs, θCYs, and θCZs shown in FIG. 6 are θSX, θX, HY, HZ, θHY, θHZ, CY, CZ, θCY, It means the set value of θCZ. Further, in the present embodiment, the heating means 5 and the cooling means 6 are integrated, and the drive mechanism 52 that integrally drives both the means 5 and 6 is employed, so that HYs = CYs, HZs = CZs, θHYs. = ΘCYs, θHZs = θCZs. However, when the heating unit 5 and the cooling unit 6 are separated and provided with independent drive mechanisms, it is possible to set HYs ≠ CYs, HZs ≠ CZs, θHYs ≠ θCYs, θHZs ≠ θCZs. is there.

  The control device 20C has a control amount setting value determined in accordance with the number of clocks output from the clock generator 201 (corresponding to the elapsed time t from the start of delivery of the metal material 1) and the control patterns 21C to 26C. FXs, KYs, KZs, θKYs, θKZs, θSXs, θXs, HYs, HZs, θHYs, θHZs, CYs, CZs, θCYs, and θCZs are sequentially output to each controlled unit. However, in this embodiment, since the drive mechanism 52 that integrally drives the heating unit 5 and the cooling unit 6 is employed, CYs, CZs, θCYs, and θCZs are not actually output. However, when the heating unit 5 and the cooling unit 6 are separated and are driven by separate drive mechanisms, CYs, CZs, θCYs, and θCZs are output to the drive mechanism of the cooling unit 6.

  Specifically, the drive position θSXs is output to the drive mechanism (second rotation mechanism) 21 of the support unit 2, and the second rotation mechanism 21 receives the drive position (rotation position) to which the second rotation mechanism 21 is input. ) The drive source of the second rotation mechanism 21 is driven by a drive amount set in advance so as to be θSXs. The drive position θXs is output to the drive mechanism (clamp rotation mechanism) 71 of the clamp 7, and the clamp rotation mechanism 71 is previously set so that the clamp rotation mechanism 71 becomes the input drive position (rotation position) θXs. The drive source of the clamp rotation mechanism 71 is driven by the set drive amount. In the present embodiment, since the clamp rotation mechanism 71 is driven synchronously with the second rotation mechanism 21, θXs = θSXs. Further, the drive positions HYs (= CYs), HZs (= CZs), θHYs (= θCYs), and θHZs (= θCZs) are respectively the third shift mechanism 521 and the fourth shift mechanism of the heating unit 5 (and the cooling unit 6). 522, the third tilt mechanism 523, and the fourth tilt mechanism 524. The mechanisms 521 to 524 are driven by the driving sources of the mechanisms 521 to 524 by a preset driving amount so that the mechanisms 521 to 524 become the input driving positions HYs, HZs, θHYs, θHZs. Drive.

  Note that the feed amount FXs of the metal material 1 by the feed means 3 and the drive positions KYs, KZs, θKYs, θKZs of the drive mechanism 41 of the clamping means 4 are the same as those in the first configuration example, and thus the description thereof is omitted.

  In addition, as a method for driving and controlling the driving source of the sending unit 3 and the driving source of the driving mechanism 41 of the clamping unit 4, the method shown in FIGS. 13A and 13B described above can be adopted in the first configuration. Similar to the example. In the present configuration example, the method shown in FIGS. 13A and 13B is also used for the drive mechanism 21 of the support means 2, the drive mechanism 71 of the clamp 7, the heating means 5 and the drive mechanism 52 of the cooling means 6. Thus, it is possible to drive and control the drive source. Further, in the case where only bending processes in which the bending directions are two-dimensionally different are performed, it is possible to omit the control of any mechanism of the clamping means 4 (or a configuration in which the mechanism itself is not provided). When the bending radius of the metal material 1 is large, the control of the first tilt mechanism 413 and the second tilt mechanism 414 of the clamping means 4 is omitted (or the first tilt mechanism 413 and the second tilt mechanism 414 themselves are provided). This is also similar to the first configuration example.

  Further, in the case where the hot bending apparatus 10 is configured to include a shift mechanism that moves the clamping means 4 along the longitudinal direction of the metal material 1 to the position KX, as in the first configuration example, the control apparatus 20C. In addition, a control pattern consisting of a driving position of the shift mechanism of the clamping means 4 associated with the elapsed time t (corresponding to a position along the longitudinal direction of the metal material 1 of the clamping means 4) is stored in advance, and the control device 20C However, it is also possible to control the clamping means 4 based on the stored control pattern. The hot bending apparatus 10 moves the heating means 5 and the cooling means 6 along the longitudinal direction of the metal material 1 to shift the positions HX and CX, respectively (in this embodiment, the heating means 5 and the cooling means). 6 is integrated, so that HX = CX and a shift mechanism that integrally drives both means 5 and 6) is also possible. is there.

  With the control device 20C of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of an expert, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20C of this configuration example, the driving of the clamping means 4 and the driving of the heating means 5 and the cooling means 6 can be synchronized, and bending with higher accuracy becomes possible. Further, by driving the drive mechanism 21 of the support means 2 and rotating the support means 2 around the longitudinal direction of the metal material 1, the drive mechanism 71 of the clamp 7 is further driven synchronously with the drive mechanism 21 of the support means 2 ( By rotating the clamp 7 with θXs = θSXs), it is possible to impart torsional deformation to the metal material 1 without rotating the clamping means 4 around the longitudinal direction of the metal material 1.

The torsional deformation of the metal material 1 is performed by fixing the rotation position of the metal material 1 without rotating the clamping means 4 around the longitudinal direction of the metal material 1 as in the present configuration example. In addition to being able to perform control by rotating 7 around the longitudinal direction of the metal material 1, it is also possible to perform the control by the following controls (1) to (3).
(1) Without rotating the support means 2 and the clamp 7 around the longitudinal direction of the metal material 1, the rotational position is fixed, while the clamping means 4 is rotated around the longitudinal direction of the metal material 1 to obtain the rotational position θKXs. To do.
(2) The rotation position is fixed without rotating the clamping means 4 around the longitudinal direction of the metal material 1, while the support means 2 is rotated around the longitudinal direction of the metal material 1 to obtain the rotational position θSXs. At this time, the holding of the metal material 1 by the clamp 7 is released, and the metal material 1 can be freely rotated around the longitudinal direction with respect to the clamp 7 (idle state).
(3) While the holding means 4 is rotated around the longitudinal direction of the metal material 1 to the rotational position θKXs, the support means 2 and the clamp 7 are rotated synchronously around the longitudinal direction of the metal material 1 to rotate the rotational position θSXs (= θXs). ).

<Fourth configuration example>
FIG. 7 is a block diagram showing a schematic configuration of a control apparatus which is a fourth configuration example of the present invention. In FIG. 7, elements having substantially the same configuration and function as the third configuration example shown in FIG. 6 and the second configuration example shown in FIG. 5 and parameters having the same meaning are denoted by the same reference numerals. . As shown in FIG. 7, the control device 20 </ b> D of the present configuration example also has a delivery unit 3 and a clamping unit 4 of the hot bending apparatus 10 based on a control pattern determined and stored in advance, as in the third configuration example. In addition, the support unit 2, the heating unit 5, and the cooling unit 6 are controlled. However, the control unit 20D includes a sending amount detection unit 202 that detects time-lapse information related to the metal material 1 (in this configuration example, the sending amount FXi of the metal material 1 and corresponds to the detected value of FX shown in FIG. 1). It differs in the point to prepare. Further, the heat associated with the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 except for the control pattern 21D for the delivery means 3 among the control patterns 21D to 26D stored in the control device 20D. It is also different in that the control amount of the controlled means (the clamping means 4, the support means 2, the clamp 7, the heating means 5 and the cooling means 6) of the inter-bending apparatus 10 is used. Further, based on the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 and the control patterns 22D to 26D, controlled means (clamping means 4, support means 2, clamp 7, heating means 5, cooling means). It is also different in that 6) is controlled. As in the third configuration example, the control pattern 21D for the sending means 3 is the elapsed time t from the start of sending of the metal material 1 by the sending means 3 (actually, the clock output from the clock generator 201). The sending means 3 is controlled based on this control pattern 21D. That is, the relationship between the control device 20D of this configuration example and the control device 20C of the third configuration example is the same as the relationship between the control device 20B of the second configuration example and the control device 20A of the first configuration example. Accordingly, further detailed description of the control device 20D of this configuration example is omitted.

  With the control device 20D of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of an expert, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20D of the present configuration example, unlike the control device 20C of the third configuration example, the clamping means 4, the support means 2, the clamp 7, the heating means 5, which are associated with the feed amount of the metal material 1, The control amount of the cooling means 6 is used as the control patterns 22D to 26D, and the clamping means 4, the support means 2 and the clamp are based on the feed amount FXi of the metal material 1 detected by the feed amount detection means 202 and the control patterns 22D to 26D. 7. The heating means 5 and the cooling means 6 are controlled. Therefore, even if there is a difference between the time responsiveness of the delivery means 3 and the time responsiveness of the driving mechanisms of the clamping means 4, the support means 2, the clamp 7, the heating means 5 and the cooling means 6, the third configuration example Unlike the control device 20C, deviation in the longitudinal direction portion of the metal material 1 to be originally bent is unlikely to occur, and good machining accuracy can be maintained.

<Fifth configuration example>
FIG. 8 is a block diagram showing a schematic configuration of a control apparatus which is a fifth configuration example of the present invention. In FIG. 8, elements having substantially the same configuration and function as those of the first configuration example shown in FIG. 4 and parameters having the same meaning are denoted by the same reference numerals. As shown in FIG. 8, the control device 20E of the present configuration example, based on the control pattern determined and stored in advance, in addition to the feeding unit 3 and the clamping unit 4 of the hot bending apparatus 10, the heating unit 5 and the cooling unit The means 6 is controlled. And the control pattern memorize | stored in this structural example is the controlled means (sending means 3, clamping means) of the hot bending apparatus 10 matched with the elapsed time t from the delivery start of the delivery of the metal material 1 by the sending means 3. 4. Control amount of heating means 5 and cooling means 6).

More specifically, in the control device 20E of the present configuration example, the following control patterns (1) to (4) have a function format in which the elapsed time t (actually the number of clocks) is a variable, The time t and the control amount are stored as a table format associated with each other.
(1) A control pattern 21E composed of the sending amount FXs of the sending means 3 associated with the elapsed time t
(2) The control pattern 22E composed of the driving position of the driving mechanism 41 of the clamping means 4 associated with the elapsed time t (the driving position of the first shift mechanism 411 of the clamping means 4 associated with the elapsed time t (the clamping means 4), a control pattern consisting of KYs, a driving position of the second shift mechanism 412 of the clamping means 4 associated with the elapsed time t (corresponding to a vertical position of the clamping means 4), a control pattern consisting of KZs. , The driving position of the first tilt mechanism 413 of the clamping means 4 associated with the elapsed time t (corresponding to the rotational position around the horizontal direction of the clamping means 4) θKYs, and the elapsed time t. The driving position of the second tilt mechanism 414 of the clamping means 4 (corresponding to the rotational position around the vertical direction of the clamping means 4) θKZs)
(3) A control pattern 23E made of HPs, which is a heating output set value (for example, corresponding to the amount of high-frequency current supplied to the heating means 5) by the heating means setting unit 53 of the heating means 5 associated with the elapsed time t.
(4) Supply setting value of the cooling medium 611 by the cooling unit setting unit 62 of the cooling unit 6 associated with the elapsed time t (for example, the total supply amount (flow rate of the cooling medium 611 supplied from the nozzle 61 of the cooling unit 6) ) Equivalent) control pattern 24E made of CPs
In this configuration example, the case where the entire supply amount of the cooling medium 611 is set is illustrated, but the supply amount (flow rate) of the cooling medium 611 in the circumferential direction is adjusted by adjusting the opening and closing of each nozzle 61 of the cooling unit 6. ) When setting the distribution, a plurality of control patterns corresponding to each nozzle 61 may be stored.

  The control device 20E controls the control amount set value determined according to the number of clocks output from the clock generator 201 (corresponding to the elapsed time t from the start of delivery of the metal material 1) and the control patterns 21E to 24E. FXs, KYs, KZs, θKYs, θKZs, HPs, and CPs are sequentially output to each controlled unit.

  Specifically, the heating output set value HPs is output to the heating means setting unit 53 of the heating means 5, and the heating means setting unit 53 outputs the heating output corresponding to the heating output setting value HPs input by the heating means 5. The high-frequency power source of the heating means setting unit 53 is controlled so as to indicate (the amount of high-frequency current applied). The cooling medium supply set value CPs is output to the cooling means setting unit 62 of the cooling means 6, and the cooling means setting unit 62 supplies the cooling medium corresponding to the input supply setting value CPs. The flow rate adjusting valve of the cooling means setting unit 62 is controlled so as to indicate (total supply amount).

  Note that the delivery amount FXs of the metal material 1 by the delivery means 3 and the drive positions KYs, KZs, θKYs, θKZs of the drive mechanism 41 of the clamping means 4 are the same as those in the first configuration example and the third configuration example. Description is omitted.

  In addition, as a method for driving and controlling the driving source of the sending unit 3 and the driving source of the driving mechanism 41 of the clamping unit 4, the method shown in FIGS. 13A and 13B described above can be adopted in the first configuration. This is the same as the example and the third configuration example. Further, in the case where only bending processes in which the bending directions are two-dimensionally different are performed, it is possible to omit the control of any mechanism of the clamping means 4 (or a configuration in which the mechanism itself is not provided). When the bending radius of the metal material 1 is large, the control of the first tilt mechanism 413 and the second tilt mechanism 414 of the clamping means 4 is omitted (or the first tilt mechanism 413 and the second tilt mechanism 414 themselves are provided). This is also the same as the first configuration example and the third configuration example.

  Further, in the case where the hot bending apparatus 10 is configured to include a shift mechanism that moves the clamping means 4 along the longitudinal direction of the metal material 1 and sets the position KX, similarly to the first configuration example, the control apparatus 20E. In addition, a control pattern consisting of a driving position of the shift mechanism of the clamping means 4 associated with the elapsed time t (corresponding to a position along the longitudinal direction of the metal material 1 of the clamping means 4) is stored in advance, and the control device 20E However, it is also possible to control the clamping means 4 based on the stored control pattern.

  With the control device 20E of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of an expert, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20E of the present configuration example, the driving of the clamping unit 4 can be synchronized with the heating output of the heating unit 5 and the supply of the cooling medium by the cooling unit 6, and bending with higher accuracy can be achieved. Is possible.

<Sixth configuration example>
FIG. 9 is a block diagram showing a schematic configuration of a control apparatus which is a sixth configuration example of the present invention. In FIG. 9, elements having substantially the same configuration and function as the fifth configuration example shown in FIG. 8 and the fourth configuration example shown in FIG. 7 and parameters having the same meaning are denoted by the same reference numerals. . As shown in FIG. 9, the control device 20F of the present configuration example also has the delivery means 3 and the clamping means 4 of the hot bending apparatus 10 based on the control pattern determined and stored in advance, as in the fifth configuration example. In addition, the support unit 2, the heating unit 5, and the cooling unit 6 are controlled. However, the control unit 20F includes a sending amount detection unit 202 that detects time-lapse information about the metal material 1 (in this configuration example, the sending amount FXi of the metal material 1 and corresponds to the detected value of FX shown in FIG. 1). It differs in the point to prepare. Further, the heat associated with the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 except for the control pattern 21F for the delivery means 3 among the control patterns 21F to 24F stored in the control device 20F. It is also different in that the control amount of the controlled means (the clamping means 4, the heating means 5, and the cooling means 6) of the inter-bending apparatus 10 is used. Furthermore, based on the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 and the control patterns 22F to 24F, the controlled means (the clamping means 4, the heating means 5, and the cooling means 6) are also controlled. Is different. As in the fifth configuration example, the control pattern 21F for the sending means 3 is the elapsed time t from the start of sending of the metal material 1 by the sending means 3 (actually, the clock pattern output from the clock generator 201). The transmission means 3 is controlled based on the control pattern 21F. That is, the relationship between the control device 20F of the present configuration example and the control device 20E of the fifth configuration example is the relationship between the control device 20B of the second configuration example and the control device 20A of the first configuration example, This is the same as the relationship between the control device 20D and the control device 20C of the third configuration example. Therefore, further detailed description of the control device 20F of this configuration example is omitted.

  With the control device 20F of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of an expert, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20F of this configuration example, unlike the control device 20E of the fifth configuration example, the control amounts of the sandwiching means 4, the heating means 5 and the cooling means 6 associated with the feed amount of the metal material 1 are set. It is used as the control patterns 22F to 24F, and the clamping means 4, the heating means 5 and the cooling means 6 are controlled based on the feed amount FXi of the metal material 1 detected by the feed amount detection means 202 and the control patterns 22F to 24F. Become. Therefore, even if there is a difference between the time responsiveness of the delivery means 3 and the time responsiveness of the drive mechanism of the clamping means 4, the setting means of the heating means 5 and the cooling means 6, the control device of the fifth configuration example Unlike 20E, it is difficult for the metal material 1 to be originally bent to be displaced in the longitudinal direction, and good processing accuracy can be maintained.

<Seventh configuration example>
FIG. 10 is a block diagram showing a schematic configuration of a control apparatus which is a seventh configuration example of the present invention. In FIG. 10, elements having substantially the same configuration and function as the third configuration example shown in FIG. 6 and the fifth configuration example shown in FIG. 8 and parameters having the same meaning are denoted by the same reference numerals. . As shown in FIG. 10, the control device 20G of the present configuration example, based on the control pattern determined and stored in advance, in addition to the delivery unit 3 and the clamping unit 4 of the hot bending apparatus 10, the heating unit 5 and the cooling unit The means 6 is controlled. And the control pattern memorize | stored in this structural example is the controlled means (sending means 3, clamping means) of the hot bending apparatus 10 matched with the elapsed time t from the delivery start of the delivery of the metal material 1 by the sending means 3. 4. Control amount of heating means 5 and cooling means 6).

More specifically, in the control device 20G of the present configuration example, the following control patterns (1) to (6) have a function format in which the elapsed time t (actually the number of clocks) is a variable, The time t and the control amount are stored as a table format associated with each other.
(1) A control pattern 21G composed of the sending amount FXs of the sending means 3 associated with the elapsed time t
(2) Control pattern 22G composed of the driving position of the driving mechanism 41 of the clamping means 4 associated with the elapsed time t (the driving position of the first shift mechanism 411 of the clamping means 4 associated with the elapsed time t (the clamping means 4), a control pattern consisting of KYs, a driving position of the second shift mechanism 412 of the clamping means 4 associated with the elapsed time t (corresponding to a vertical position of the clamping means 4), a control pattern consisting of KZs. , The driving position of the first tilt mechanism 413 of the clamping means 4 associated with the elapsed time t (corresponding to the rotational position around the horizontal direction of the clamping means 4) θKYs, and the elapsed time t. The driving position of the second tilt mechanism 414 of the clamping means 4 (corresponding to the rotational position around the vertical direction of the clamping means 4) θKZs)
(3) A control pattern 23G composed of the drive position of the drive mechanism 52 of the heating means 5 associated with the elapsed time t (the drive position of the third shift mechanism 521 of the heating means 5 associated with the elapsed time t (heating means) 5), a control pattern consisting of HYs, a driving position of the fourth shift mechanism 522 of the heating means 5 corresponding to the elapsed time t (corresponding to a vertical position of the heating means 5), a control pattern consisting of HZs. , The driving position of the third tilt mechanism 523 of the heating means 5 associated with the elapsed time t (corresponding to the rotational position of the heating means 5 around the left and right direction) θHYs, and the elapsed time t Driving position of the fourth tilt mechanism 524 of the heating unit 5 (corresponding to a rotational position around the vertical direction of the heating unit 5) θHZs)
(4) Control pattern 24G made of HPs, which is a heating output set value (corresponding to the amount of high-frequency current supplied to the heating means 5) by the heating means setting unit 53 of the heating means 5 associated with the elapsed time t.
(5) A control pattern 25G consisting of the drive position of the drive mechanism 52 of the cooling means 6 associated with the elapsed time t (the drive position of the third shift mechanism 521 of the cooling means 6 associated with the elapsed time t (cooling means) 6), a control pattern consisting of CYs, and a driving position of the fourth shift mechanism 522 of the cooling means 6 corresponding to the elapsed time t (corresponding to the vertical position of the cooling means 6) CZs. , The driving position of the third tilt mechanism 523 of the cooling means 6 associated with the elapsed time t (corresponding to the rotational position of the cooling means 6 around the left and right direction) θCYs, and the elapsed time t. Driving position of the fourth tilt mechanism 524 of the cooling means 6 (corresponding to the rotational position around the vertical direction of the cooling means 6) control pattern consisting of θCZs)
(6) Coolant supply setting value (corresponding to the total supply amount (flow rate) of the cooling medium 611 supplied from the nozzle 61 of the cooling means 6) by the cooling means setting unit 62 of the cooling means 6 associated with the elapsed time t. ) Control pattern 26G consisting of CPs
In FIG. 10, the control pattern 26 </ b> G is composed of one control pattern, and the case where the entire supply amount of the cooling medium 611 is set is illustrated. However, the control pattern 26 </ b> G is controlled by adjusting the opening / closing of each nozzle 61 of the cooling unit 6. When setting the supply amount (flow rate) distribution of the cooling medium 611 in the direction, a plurality of control patterns corresponding to the nozzles 61 may be stored.

  The control device 20G of this configuration example includes a displacement measuring unit 203 that measures the displacement of the metal material 1 in a plane substantially orthogonal to the longitudinal direction of the metal material 1, and the temperature of the metal material 1 in the vicinity of the heating unit 5 (by the heating unit 5). The heating temperature measuring means 204 for measuring the temperature of the heated part or the temperature of the part close to the part) and the temperature of the metal material 1 in the vicinity of the cooling means 6 (the temperature of the part cooled by the cooling means 6 or Among the cooling temperature measuring means 205 for measuring the temperature of the part adjacent to the part), at least one measuring means is provided. In this configuration example, as a preferred mode, the displacement measuring unit 203, the heating temperature measuring unit 204, and the cooling temperature measuring unit 205 are all provided. Then, the control device 20G of this configuration example corrects the control patterns 23G to 26G among the stored control patterns 21G to 26G based on the measured values of the measuring means 203 to 205, and the corrected control pattern Based on 23G-26G, the controlled means (heating means 5 and cooling means 6) of the hot bending apparatus 10 are controlled. The control patterns 21G and 22G are used as they are stored in advance without being corrected based on the measurement values of the measuring means 203 to 205.

  Note that the control device 20G of this configuration example has the control device 20C and the fifth configuration of the third configuration example, except that the stored control patterns 23G to 26G are corrected based on the measurement values of the measurement units 203 to 205. Since the operation is substantially the same as that of the example 20E, the correction operation will be mainly described below.

  As the displacement measuring means 203, for example, various non-contact type displacement meters such as an ultrasonic type, a vortex type, and an optical type are suitably used. As the heating temperature measuring means 204 and the cooling temperature measuring means 205, a non-contact type thermometer such as a radiation thermometer is preferably used. Hereinafter, correction of the control pattern based on the measured value of the displacement measuring unit 203, correction of the control pattern based on the measured value of the heating temperature measuring unit 204, and correction of the control pattern based on the measured value of the cooling temperature measuring unit 205 will be described in order. .

<Correction of control pattern based on measured value of displacement measuring means 203>
FIG. 10 shows an example in which the control patterns 23G, 25G and 26G are corrected based on the measured displacement value of the metal material 1 by the displacement measuring means 203. More specifically, the displacement measuring unit 203 is disposed in the vicinity of the heating unit 5 and, based on the displacement of the metal material 1 measured by the displacement measuring unit 203, the third shift mechanism of the heating unit 5 in the control pattern 23G. The control pattern consisting of the driving position HYs 521 and the control pattern consisting of the driving position HZs of the fourth shift mechanism 522 of the heating means 5 are corrected (for example, the driving position HYs, so that the displacement of the metal material 1 falls within the target range). HZs is changed), and the drive mechanism 52 of the heating unit 5 is controlled based on the corrected control pattern 23G. As described above, since the heating unit 5 according to the present embodiment is a heating coil that surrounds a cross section perpendicular to the longitudinal direction of the metal material 1, the metal is arranged so as to reduce the misalignment between the heating coil and the metal material 1. The target range of displacement of the material 1 may be determined. Thereby, in the control pattern 23G before correction, even when the metal material 1 cannot be heated uniformly in the circumferential direction due to the misalignment between the heating coil and the metal material 1. If the position of the heating coil is controlled based on the corrected control pattern 23G, the misalignment between the heating coil and the metal material 1 is reduced. As a result, the metal material 1 can be uniformly heated in the circumferential direction. As a result, it is possible to obtain a hot-bending product having no hardness unevenness in the circumferential direction. Depending on the use of the product, it may be better to intentionally cause misalignment between the heating coil and the metal material 1 to cause unevenness in hardness. In such a case, the desired hardness unevenness (hardness distribution in the circumferential direction of the metal material 1) is obtained by correcting the control pattern 23G so that the amount of misalignment between the heating coil and the metal material 1 becomes a desired value. It is possible to obtain.

  Further, the control device 20G, based on the displacement of the metal material 1 measured by the displacement measuring means 203, includes the control pattern 25G of the driving position CYs of the third shift mechanism 521 of the cooling means 6 and the cooling means 6 among the control patterns 25G. The control pattern composed of the drive position CZs of the fourth shift mechanism 522 is corrected (for example, the drive positions CYs and CZs are changed so that the displacement of the metal material 1 falls within the target range), and the corrected control pattern 25G The driving mechanism 52 of the cooling means 6 is controlled based on the above. However, as described above, in the present embodiment, since the driving mechanism 52 that integrally drives the heating unit 5 and the cooling unit 6 is employed, HYs = CYs and HZs = CZs, which are actually corrected. The subsequent CYs and CZs are not output to the drive mechanism 52. However, when the heating means 5 and the cooling means 6 are separated and are driven by separate drive mechanisms, the corrected CYs and CZs are output to the drive mechanism of the cooling means 6. Thereby, in the control pattern 25G before correction, due to the misalignment between the cooling means 6 and the metal material 1, the metal material 1 cannot be uniformly cooled in the circumferential direction. However, if the position of the cooling means 6 is controlled based on the corrected control pattern 25G, the misalignment between the cooling means 6 and the metal material 1 is reduced, so that the metal material 1 can be uniformly cooled in the circumferential direction. Thus, it is possible to obtain a hot-bending product having no hardness unevenness in the circumferential direction. Further, depending on the use of the product, it may be better to intentionally cause a misalignment between the cooling means 6 and the metal material 1 to generate hardness unevenness. In such a case, desired hardness unevenness (hardness distribution in the circumferential direction of the metal material 1) is corrected by correcting the control pattern 25G so that the misalignment amount between the cooling means 6 and the metal material 1 becomes a desired value. It is possible to obtain

  Further, the control device 20G corrects the control pattern 26G based on the displacement of the metal material 1 measured by the displacement measuring means 203 (changes the supply set value CPs of the cooling medium 611 according to the displacement of the metal material 1). The cooling unit setting unit 62 is controlled based on the corrected control pattern 26G. More specifically, when the control pattern 26G is corrected based on the displacement of the metal material 1 measured by the displacement measuring unit 203, the control pattern 26G includes a plurality of supply amounts of the cooling medium 611 supplied from each nozzle 61. The control pattern is stored. Then, based on the displacement of the metal material 1 measured by the displacement measuring means 203, the misalignment between the cooling means 6 and the metal material 1 is detected, and the cooling medium 611 is supplied from the nozzle 61 away from the metal material 1. The control pattern for the nozzle 61 is corrected so as to increase, while the control pattern for the nozzle 61 is corrected so that the supply amount of the cooling medium 611 from the nozzle 61 close to the metal material 1 is decreased, The cooling unit setting unit 62 is controlled based on the corrected control pattern 26G. Thereby, in the control pattern 26G before correction, even when the metal material 1 cannot be uniformly cooled in the circumferential direction due to the misalignment between the heating coil and the metal material 1. If the supply amount distribution of the cooling medium 611 in the circumferential direction is set on the basis of the corrected control pattern 26G, the metal material 1 can be uniformly cooled in the circumferential direction, and as a result, there is no heat unevenness in the circumferential direction. Interbending products can be obtained. Depending on the use of the product, it may be better to intentionally cause misalignment between the heating coil and the metal material 1 to cause unevenness in hardness. In such a case, the desired hardness unevenness (hardness distribution in the circumferential direction of the metal material 1) can be obtained by correcting the control pattern 26G so that the amount of misalignment between the heating coil and the metal material 1 becomes a desired value. It is possible to obtain.

<Correction of control pattern based on measured value of heating temperature measuring means 204>
FIG. 10 shows an example in which the control patterns 23G and 24G are corrected based on the temperature measurement value of the metal material 1 in the vicinity of the heating means 5 by the heating temperature measuring means 204. More specifically, when the control pattern 23G is corrected, the heating temperature measuring unit 204 can measure a plurality of temperatures along the circumferential direction of the metal material 1 so as to measure temperatures at a plurality of points along the circumferential direction of the metal material 1. The radiation thermometer is arranged. Then, based on the temperature measurement value of each point measured by the heating temperature measuring means 204, the control pattern consisting of the drive position HYs of the third shift mechanism 521 of the heating means 5 in the control pattern 23G, the fourth of the heating means 5 The control pattern composed of the drive position HZs of the shift mechanism 522 is corrected (for example, the drive positions HYs and HZs are changed so that the measured temperatures at each point are substantially equal), and based on the control pattern 23G after the correction, The driving mechanism 52 of the heating unit 5 is controlled. Thereby, in the control pattern 23G before correction, even when the metal material 1 cannot be heated uniformly in the circumferential direction due to the misalignment between the heating coil and the metal material 1. If the position of the heating coil is controlled based on the corrected control pattern 23G, the misalignment between the heating coil and the metal material 1 is reduced. As a result, the metal material 1 can be uniformly heated in the circumferential direction. As a result, it is possible to obtain a hot-bending product having no hardness unevenness in the circumferential direction. Depending on the use of the product, it may be better to intentionally cause misalignment between the heating coil and the metal material 1 to cause unevenness in hardness. In such a case, the desired hardness unevenness (hardness distribution in the circumferential direction of the metal material 1) is obtained by correcting the control pattern 23G so that the amount of misalignment between the heating coil and the metal material 1 becomes a desired value. It is possible to obtain.

  Further, the control device 20G corrects the control pattern 24G based on the temperature measurement value of the metal material 1 in the vicinity of the heating means 5 by the heating temperature measurement means 204 (for example, the temperature measurement value of the metal material 1 falls within the target range). Thus, the heating output set value HPs is changed), and the heating means setting unit 53 is controlled based on the corrected control pattern 24G. As a result, appropriate heating based on the actually measured temperature instead of the set temperature (predicted temperature) is possible, and as a result, a hot-bending product with sufficient hardness can be obtained.

  Although not shown in FIG. 10, the feeding speed of the metal material 1 is controlled based on the temperature measurement value of the metal material 1 in the vicinity of the heating means 5 by the heating temperature measuring means 204 (for example, the temperature of the metal material 1). It is also possible to adopt a configuration in which if the measured value is smaller than the target value, the feeding speed is decreased, and if the measured value is larger than the target value, the feeding speed is increased. Specifically, the setting of the clock rate of the clock generator 201 may be changed based on the measured temperature value of the metal material 1 by the heating temperature measuring means 204, thereby controlling the delivery speed of the metal material 1.

<Correction of control pattern based on measured value of cooling temperature measuring means 205>
FIG. 10 shows an example in which the control patterns 25G and 26G are corrected based on the temperature measurement value of the metal material 1 in the vicinity of the cooling means 6 by the cooling temperature measuring means 205. More specifically, when the control pattern 25G is corrected, the cooling temperature measuring means 205 can measure a plurality of temperatures along the circumferential direction of the metal material 1 so that the temperature at a plurality of points along the circumferential direction of the metal material 1 can be measured. The radiation thermometer is arranged. Then, based on the temperature measurement value at each point measured by the cooling temperature measuring means 205, the control pattern consisting of the drive position CYs of the third shift mechanism 521 of the cooling means 6 in the control pattern 25 G, the fourth of the cooling means 6. The control pattern composed of the driving position CZs of the shift mechanism 522 is corrected (for example, the driving positions CYs and CZs are changed so that the measured temperatures at the respective points are substantially equal), and based on the corrected control pattern 23G, The driving mechanism 52 of the cooling means 6 is controlled. However, as described above, in the present embodiment, since the driving mechanism 52 that integrally drives the heating unit 5 and the cooling unit 6 is employed, HYs = CYs and HZs = CZs, which are actually corrected. The subsequent CYs and CZs are not output to the drive mechanism 52. However, when the heating means 5 and the cooling means 6 are separated and are driven by separate drive mechanisms, the corrected CYs and CZs are output to the drive mechanism of the cooling means 6. Thereby, in the control pattern 25G before correction, due to the misalignment between the cooling means 6 and the metal material 1, the metal material 1 cannot be uniformly cooled in the circumferential direction. However, if the position of the cooling means 6 is controlled based on the corrected control pattern 25G, the misalignment between the cooling means 6 and the metal material 1 is reduced, so that the metal material 1 can be uniformly cooled in the circumferential direction. Thus, it is possible to obtain a hot-bending product having no hardness unevenness in the circumferential direction. Further, depending on the use of the product, it may be better to intentionally cause a misalignment between the cooling means 6 and the metal material 1 to generate hardness unevenness. In such a case, desired hardness unevenness (hardness distribution in the circumferential direction of the metal material 1) is corrected by correcting the control pattern 25G so that the misalignment amount between the cooling means 6 and the metal material 1 becomes a desired value. It is possible to obtain

  Further, the control device 20G corrects the control pattern 26G based on the temperature measurement value of the metal material 1 in the vicinity of the cooling means 6 by the cooling temperature measurement means 205 (for example, the temperature measurement value of the metal material 1 falls within the target range). As described above, the supply set value CPs of the cooling medium 611 is changed), and the cooling means setting unit 62 is controlled based on the corrected control pattern 26G. As a result, appropriate cooling based on the actually measured temperature rather than the set temperature (predicted temperature) is possible, and as a result, a hot-bending product with sufficient hardness can be obtained.

  Further, when a plurality of control patterns composed of the supply amounts of the cooling medium 611 supplied from the respective nozzles 61 are stored as the control pattern 26G, the cooling temperature measuring means 205 is provided at a plurality of points along the circumferential direction of the metal material 1. It is set as the structure which has arrange | positioned several radiation thermometers etc. along the circumferential direction of the metal material 1 so that temperature can be measured. Then, based on the temperature measurement value at each point measured by the cooling temperature measuring means 205, the misalignment between the cooling means 6 and the metal material 1 is detected, and the cooling medium 611 from the nozzle 61 away from the metal material 1 is detected. The control pattern for the nozzle 61 is corrected so that the supply amount of the nozzle 61 increases, while the control pattern for the nozzle 61 is corrected so that the supply amount of the cooling medium 611 from the nozzle 61 close to the metal material 1 decreases. The cooling unit setting unit 62 is controlled based on the corrected control pattern 26G. Thereby, in the control pattern 26G before correction, due to the misalignment between the cooling means 6 and the metal material 1, the metal material 1 cannot be uniformly cooled in the circumferential direction. However, if the supply amount distribution of the cooling medium 611 in the circumferential direction is set based on the corrected control pattern 26G, the metal material 1 can be uniformly cooled in the circumferential direction, and thus there is no hardness unevenness in the circumferential direction. It is possible to obtain a hot-bending product. Further, depending on the use of the product, it may be better to intentionally generate unevenness in hardness. In such a case, by modifying the control pattern 26G so that the cooling means 6 can perform desired non-uniform cooling in the circumferential direction of the metal material 1, desired hardness unevenness (the hardness in the circumferential direction of the metal material 1). Distribution).

  Although not shown in FIG. 10, the feeding speed of the metal material 1 is controlled based on the temperature measurement value of the metal material 1 in the vicinity of the cooling means 6 by the cooling temperature measuring means 205 (for example, the temperature of the metal material 1 It is also possible to adopt a configuration in which if the measured value is smaller than the target value, the feeding speed is decreased, and if the measured value is larger than the target value, the feeding speed is increased. Specifically, the setting of the clock rate of the clock generator 201 may be changed based on the measured temperature value of the metal material 1 by the cooling temperature measuring means 205, thereby controlling the delivery speed of the metal material 1.

<Eighth configuration example>
FIG. 11 is a block diagram showing a schematic configuration of a control apparatus according to the eighth configuration example of the present invention. In FIG. 11, elements having substantially the same configuration and function as the seventh configuration example shown in FIG. 10 and the fourth configuration example shown in FIG. 7 and parameters having the same meaning are denoted by the same reference numerals. . As shown in FIG. 11, the control device 20H of the present configuration example is also similar to the seventh configuration example, on the basis of the control pattern determined and stored in advance, the delivery means 3 and the clamping means 4 of the hot bending apparatus 10. In addition, the heating means 5 and the cooling means 6 are controlled. However, the control device 20H includes a sending amount detection means 202 for detecting time-lapse information related to the metal material 1 (in this configuration example, the sending amount FXi of the metal material 1 and corresponding to the detected value of FX shown in FIG. 1). It differs in the point to prepare. Further, the heat associated with the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 except for the control pattern 21H for the delivery means 3 among the control patterns 21H to 26H stored in the control device 20H. It is also different in that the control amount of the controlled means (the clamping means 4, the heating means 5, and the cooling means 6) of the inter-bending apparatus 10 is used. Further, based on the delivery amount FXi of the metal material 1 detected by the delivery amount detection means 202 and the control patterns 22H to 26H, the controlled means (the clamping means 4, the heating means 5, and the cooling means 6) are also controlled. Is different. As in the seventh configuration example, the control pattern 21H for the sending means 3 is the elapsed time t from the start of sending of the metal material 1 by the sending means 3 (actually, the clock output from the clock generator 201). The sending means 3 is controlled based on this control pattern 21H. That is, the relationship between the control device 20H of the present configuration example and the control device 20G of the seventh configuration example is the relationship between the control device 20B of the second configuration example and the control device 20A of the first configuration example, and the control of the fourth configuration example. This is the same as the relationship between the device 20D and the control device 20C in the third configuration example, and the relationship between the control device 20F in the sixth configuration example and the control device 20E in the fifth configuration example. Accordingly, further detailed description of the control device 20H of this configuration example is omitted.

  With the control device 20H of the present configuration example described above, it is possible to perform hot bending with high accuracy, and it is not necessary to rely on the intuition and skill of an expert, and the work efficiency of hot bending can be increased. Is possible. In particular, according to the control device 20H of the present configuration example, unlike the control device 20G of the seventh configuration example, the control amounts of the clamping means 4, the heating means 5 and the cooling means 6 associated with the feed amount of the metal material 1 are set. It is used as the control patterns 22H to 26H, and the clamping means 4, the heating means 5 and the cooling means 6 are controlled based on the feed amount FXi of the metal material 1 detected by the feed amount detection means 202 and the control patterns 22H to 26H. Become. Therefore, even if there is a difference between the time responsiveness of the delivery means 3, the driving mechanism of the clamping means 4, the driving mechanisms of the heating means 5 and the cooling means 6, and the time responsiveness of the setting unit, the seventh configuration example Unlike the control device 20G, deviation in the longitudinal direction portion of the metal material 1 that should be originally bent is unlikely to occur, and good machining accuracy can be maintained.

  FIG. 12 shows a bending process (curvature radius R = 150 mm, 45) on the metal material 1 (tube) using the control device 20 (control device 20B of the second configuration example) of the hot bending device 10 according to the present embodiment. An example of bending is shown. 12A shows a control pattern composed of the drive position (shift amount) of the first shift mechanism 411 of the clamping means 4 associated with the feed amount of the metal material 1, and FIG. FIG. 12C shows a photograph of the outer appearance of the obtained hot-bending product, with a control pattern composed of the drive position (tilt amount) of the first tilt mechanism 413 of the clamping means 4 associated with the feed amount of FIG. . As shown in FIG. 12, by controlling the controlled means of the hot bending apparatus 10 based on the control pattern determined in advance so that the metal material 1 after the hot bending has the target quality, the target is obtained. It was confirmed that hot bending could be performed accurately with respect to quality (curvature radius R = 150 mm, 45 ° bending).

FIG. 1 is a diagram schematically showing an overall configuration of a hot bending apparatus to which a control method according to an embodiment of the present invention is applied and a control apparatus for carrying out the control method. FIG. 2 is a longitudinal sectional view showing an example of a metal material that is hot-bent. FIG. 2 (a) is an open-section material manufactured by roll forming or the like, and FIG. 2 (b) is manufactured by extrusion processing. The atypical cross-section material made is shown. FIG. 3 is a longitudinal sectional view showing a schematic configuration of a heating unit and a cooling unit according to an embodiment of the present invention. FIG. 4 is a block diagram showing a schematic configuration of a control apparatus which is a first configuration example of the present invention. FIG. 5 is a block diagram showing a schematic configuration of a control apparatus which is a second configuration example of the present invention. FIG. 6 is a block diagram showing a schematic configuration of a control apparatus which is a third configuration example of the present invention. FIG. 7 is a block diagram showing a schematic configuration of a control apparatus which is a fourth configuration example of the present invention. FIG. 8 is a block diagram showing a schematic configuration of a control apparatus which is a fifth configuration example of the present invention. FIG. 9 is a block diagram showing a schematic configuration of a control apparatus which is a sixth configuration example of the present invention. FIG. 10 is a block diagram showing a schematic configuration of a control apparatus which is a seventh configuration example of the present invention. FIG. 11 is a block diagram showing a schematic configuration of a control apparatus according to the eighth configuration example of the present invention. FIG. 12 shows an example in which bending (curvature radius R = 150 mm, 45 ° bending) is performed on a metal material (tube) using the control device of the hot bending apparatus according to one embodiment of the present invention. FIG. 12A shows a control pattern composed of the driving position (shift amount) of the first shift mechanism of the clamping means associated with the metal material feed amount, and FIG. 12B shows the metal material feed amount. FIG. 12C shows a photograph of the appearance of the obtained hot-bending product, showing a control pattern composed of the driving position (tilt amount) of the first tilt mechanism of the associated clamping means. FIG. 13 is a diagram illustrating an example of a drive control method for a drive source of a hot bending apparatus according to an embodiment of the present invention. FIG. 13A illustrates a general control method, and FIG. Indicates a control method for ensuring high drive position accuracy. FIG. 14 is a diagram schematically showing an example of a control result obtained by a drive control method for a drive source of a hot bending apparatus according to an embodiment of the present invention. FIG. 14 (a) is a diagram of FIG. 13 (a). FIG. 14B shows the control result obtained by the control method shown in FIG. 13B.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Metal material 2 ... Supporting means 3 ... Delivery means 4 ... Holding means 5 ... Heating means 6 ... Cooling means 7 ... Clamp 10 ... Hot bending apparatus DESCRIPTION OF SYMBOLS 20 ... Control apparatus 21 ... Drive mechanism of support means 41 ... Drive mechanism of clamping means 52 ... Drive mechanism of heating means and cooling means 53 ... Heating means setting part 62 ... Cooling means Setting unit 71 ... Clamp driving mechanism

Claims (15)

A delivery means for intermittently or continuously feeding the metal material in its longitudinal direction, a support means for guiding and supporting the delivered metal material, a heating means for locally heating the metal material, and a heated metal material The cooling means for cooling the portion, and the sandwiching means for sandwiching the metal material by a roll rotatable along the longitudinal direction of the metal material and applying a bending moment to the heated metal material portion, A method for controlling a hot bending apparatus that is arranged along a direction and hot-bends a metal material intermittently or continuously,
Based on a control pattern determined in advance so that the metal material after hot bending has a target quality, the feeding means and the clamping means of the hot bending apparatus are controlled, and the supporting means and the heating A control method for a hot bending apparatus for a metal material, wherein at least one means is controlled among the means and the cooling means. In the hot bending apparatus, as a driving mechanism for the clamping means, a first shift mechanism for moving the clamping means along a uniaxial direction in a plane substantially perpendicular to the longitudinal direction of the metal material, the uniaxial in the plane A second shift mechanism for moving the clamping means along the other axis direction orthogonal to the direction, a first tilt mechanism for tilting the clamping means about the one axis direction, and tilting the clamping means about the other axis direction. Among the second tilt mechanisms, at least one mechanism is provided,
2. The method for controlling a hot bending apparatus for metal material according to claim 1, wherein the drive position of the drive mechanism of the clamping means is controlled. The hot bending apparatus includes a first rotation mechanism that rotates the clamping means around a longitudinal direction of a metal material as a driving mechanism of the clamping means,
The method for controlling a hot bending apparatus for metal material according to claim 2, wherein a drive position of the first rotation mechanism is controlled. The hot bending apparatus includes, as a drive mechanism for the support means, a second rotation mechanism that rotates the support means around the longitudinal direction of the metal material,
The method for controlling a hot bending apparatus for a metal material according to claim 2 or 3, wherein a drive position of the second rotating mechanism is controlled. The hot bending apparatus moves the heating means and / or the cooling means along a uniaxial direction in a plane substantially orthogonal to the longitudinal direction of the metal material as a driving mechanism for the heating means and / or the cooling means. A third shift mechanism that moves, a fourth shift mechanism that moves the heating means and / or the cooling means along another axis direction orthogonal to the one axis direction in the plane, the heating means and / or around the one axis direction At least one or more of a third tilt mechanism for tilting the cooling means and a fourth tilt mechanism for tilting the heating means and / or the cooling means around the other axis direction,
The method for controlling a hot bending apparatus for a metal material according to any one of claims 2 to 4, wherein a drive position of a drive mechanism of the heating means and / or the cooling means is controlled.   6. The method of controlling a hot bending apparatus for a metal material according to claim 2, wherein the heating output of the heating means and / or the supply of the cooling medium by the cooling means are controlled.   The control pattern is a control amount of the controlled means of the hot bending apparatus associated with the elapsed time from the start of delivery of the metal material by the delivery means. The control method of the hot bending apparatus of the metal material in any one of. The control pattern is a control amount of the controlled means of the hot bending apparatus associated with time-related information on the metal material,
The apparatus for hot bending a metal material according to any one of claims 1 to 6, wherein the controlled means is controlled based on the detected time-related information about the metal material and the control pattern. Control method. Measure at least one of the displacement of the metal material in a plane substantially perpendicular to the longitudinal direction of the metal material, the temperature of the metal material in the vicinity of the heating means, and the temperature of the metal material in the vicinity of the cooling means,
9. The control pattern of the hot bending apparatus according to claim 1, wherein the control pattern is corrected based on the measured value, and the controlled means of the hot bending apparatus is controlled based on the corrected control pattern. The control method of the hot bending apparatus of the metal material as described in 2. A delivery means for intermittently or continuously feeding the metal material in its longitudinal direction, a support means for guiding and supporting the delivered metal material, a heating means for locally heating the metal material, and a heated metal material A hot bending apparatus in which cooling means for cooling the part and clamping means for sandwiching the metal material and applying a bending moment to the heated metal part are arranged along the longitudinal direction of the metal material. A device for controlling,
Store the control pattern determined in advance so that the metal material after hot bending has the target quality,
Based on the stored control pattern, the delivery means and the clamping means of the hot bending apparatus are controlled, and at least one of the support means, the heating means and the cooling means is controlled. A control device for a hot bending apparatus for a metal material.   The control pattern is a control amount of the controlled means of the hot bending apparatus associated with an elapsed time from the start of feeding of the metal material by the sending means. Control device for hot bending machine for metal materials. A detection means for detecting time-lapse information about the metal material;
The stored control pattern is a control amount of the controlled means of the hot bending apparatus associated with time-related information on the metal material detected by the detecting means,
The control of the hot bending apparatus for a metal material according to claim 10, wherein the controlled means is controlled based on the time-related information about the metal material detected by the detecting means and the control pattern. apparatus. Displacement measuring means for measuring the displacement of the metal material in a plane substantially perpendicular to the longitudinal direction of the metal material, heating temperature measuring means for measuring the temperature of the metal material in the vicinity of the heating means, and temperature of the metal material in the vicinity of the cooling means Among the cooling temperature measuring means for measuring, at least one measuring means,
The control means stored in the hot bending apparatus is controlled on the basis of the corrected control pattern based on the measured value of the measuring means. The control apparatus of the hot bending apparatus of the metal material in any one of 10-12.   A method for manufacturing a hot-bending product, comprising the step of controlling the hot-bending device using the control method according to claim 1. A hot-bending product manufactured by the manufacturing method according to claim 14.