JP2008036676A - Bending apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a bending apparatus with which a bending can be appropriately performed even when a chucking mechanism is attached to an articulated robot. <P>SOLUTION: The bending apparatus has a bending mechanism 40 which has a bending die 42 and a fastening die 48 revolvable around the bending die 42, holds long-shaped material 4 to be worked using the bending die 42 and the fastening die 48, causes the fastening die 48 to revolve, thereby bends material 4 to be worked. The bending apparatus is provided with a fixed table on which the bending mechanism 40 is mounted and also the articulated robot 2 on which the chucking mechanism 64 for clamping the material 4 to be worked is attached and with which the chucking mechanism 64 is moved. The articulated robot 2 has a plurality of parallel articulates 6, 8, 10 which are turned around axes parallel to each other and a plurality of orthogonal articulates 12, 14 which are turned around axes which are crossed orthogonally with the parallel axes. When bending the material 4 to be worked by revolving the fastening die 48 by the bending mechanism 40, the chucking mechanism 64 on which the material 4 to be worked is held is moved in the longitudinal direction of the material 4 to be worked. with the articulated robot 2. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a bending apparatus that moves and bends a workpiece when bending a long workpiece, for example, a pipe or a rod-shaped material, in a predetermined direction.

Conventionally, as disclosed in Patent Document 1, a workpiece is gripped by a chuck mechanism and bent to the tip of an articulated robot having three joints that rotate around an axis parallel to the axial direction of the workpiece. It is known that a mechanism is attached, each joint is rotated to move the bending mechanism to a predetermined position, and the chuck mechanism is moved in the axial direction of the workpiece by the moving mechanism to be bent at a plurality of positions. Yes.
JP 2001-212624 A

  In such a conventional device, the chuck mechanism is moved by the moving mechanism, and the workpiece is moved in the axial direction. Therefore, the moving mechanism needs a space for moving the chuck mechanism that grips the workpiece. Increases in size and installation space. Therefore, it is conceivable that a chuck mechanism is attached to the articulated robot and the bending mechanism is attached to a fixed base for bending.

  However, when the bending mechanism rotates the bending die together with the bending process, the workpiece is pulled out in the longitudinal direction together with the bending process. When a chuck mechanism is attached to an articulated robot, the workpiece moves in the longitudinal direction along with the bending process during bending, so the workpiece support is unstable when the chuck mechanism is released. There was a problem of becoming.

  An object of the present invention is to provide a bending apparatus that can be suitably bent even when a chuck mechanism is attached to an articulated robot.

In order to achieve this problem, the present invention has taken the following measures in order to solve the problem. That is,
In a bending apparatus having a bending mechanism that sandwiches a long workpiece by a bending die and a clamping die that can revolve around the bending die, and revolves the clamping die to bend the workpiece. ,
A fixed base to which the bending mechanism is attached, a chuck mechanism for gripping the workpiece, and an articulated robot that moves the chuck mechanism;
Further, when the workpiece is bent by revolving the clamping mold by the bending mechanism, the chuck mechanism that holds the workpiece by the articulated robot is moved in the longitudinal direction of the workpiece. This is a bending apparatus provided with a control means.

  The articulated robot may include a plurality of parallel joints that rotate around mutually parallel axes and a plurality of orthogonal joints that rotate around an axis orthogonal to the parallel axes.

  The bending apparatus of the present invention is suitable because even when a chuck mechanism is attached to an articulated robot, the chuck mechanism that grips the workpiece by the articulated robot is moved in the longitudinal direction of the workpiece during the bending process. There is an effect that it can be bent.

The best mode for carrying out the present invention will be described below in detail with reference to the drawings.
As shown in FIGS. 1 and 2, reference numeral 1 denotes a machine base, and an articulated robot 2 is placed on the machine base 1. As shown in FIG. 3, the articulated robot 2 includes three sets of first to third parallel joints 6, 8, and 10 that rotate around parallel axes, and axes that are orthogonal to the parallel axes. Two sets of first and second orthogonal joints 12 and 14 that rotate around are provided.

  The articulated robot 2 includes a fixed portion 16 attached to the machine base 1, and the fixed portion 16 and the first swivel base 18 are connected by a first orthogonal joint 12. The first orthogonal joint 12 has a known mechanism that drives the first swivel base 18 to rotate at a predetermined angle around a vertical axis CV1.

  One end of the first arm 20 is connected to the first swivel base 18 via the first parallel joint 6. The first parallel joint 6 has a known mechanism for rotating the first arm 20 at a predetermined angle around a horizontal axis CH1. The horizontal axis CH1 of the first parallel joint 6 and the vertical axis CV1 of the first orthogonal joint 12 are orthogonal to each other.

  The other end of the first arm 20 and one end of the second arm 22 are connected via the second parallel joint 8. The second parallel joint 8 has a known mechanism for rotating the second arm 22 at a predetermined angle around an axis CH2 parallel to the horizontal axis CH1 of the first parallel joint 6.

  A second swivel base 24 is connected to the other end of the second arm 22 via a second orthogonal joint 14. The second orthogonal joint 14 has a known mechanism for rotating the second swivel base 24 at a predetermined angle around an axis CV2 orthogonal to the horizontal axes CH1 and CH2 of the first and second parallel joints 6 and 8. Is.

  One end of a tip arm 26 is connected to the second swivel base 24 via the third parallel joint 10. The third parallel joint 10 rotates the tip arm 26 about an axis CH3 parallel to the horizontal axes CH1 and CH2 of the first and second parallel joints 6 and 8. In the present embodiment, the second arm 22 is provided with a rotary joint 32 that rotates about its longitudinal axis.

  The bending mechanism 40 is attached to a fixed base 58 formed integrally with the machine base 1 and is formed according to the bending radius of a long workpiece 4 such as a pipe as shown in FIG. A bending die 42 is provided, and a groove 44 corresponding to the diameter of the workpiece 4 is formed on the outer periphery of the bending die 42.

  The bending die 42 is rotatably supported on a fixed base 58 together with the bending arm 46, and the bending arm 46 is attached so as to be rotationally driven by a first cylinder 47. Although the bending die 42 has one groove 44 in FIG. 4, the bending die 42 may be formed by laminating a plurality of grooves 44 corresponding to the bending radius of the workpiece 4.

  A clamping die 48 is movably supported on the bending arm 46 so as to face the bending die 42, and the clamping die 48 is driven by a second cylinder 49, so that the workpiece 4 is brought into contact with the bending die 42 and the clamping die 48. It is comprised so that it can be pinched by. Further, the wiper mold 50 may be disposed close to the bending mold 42.

  Along with the clamping mold 48, the pressure mold 52 is supported on the slide base 53 so as to be movable. The pressure die 52 is driven by a third cylinder 54 so as to be applied to the workpiece 4 and to receive a reaction force during bending. The slide base 53 is supported so as to be slidable in the axial direction of the workpiece 4 and is configured to be driven by a cylinder 56. A mandrel mechanism 60 is disposed on the machine base 1 so as to face the bending mechanism 40. The cored bar mechanism 60 inserts a cored bar 61 into a pipe as the workpiece 4 by a cylinder 63.

  On the other hand, a chuck mechanism 64 is attached to the tip of the tip arm 26 of the articulated robot 2. As shown in FIG. 5, the chuck mechanism 64 includes a rotating member 72 that is rotatably supported by the chuck body 66 via a pair of bearings 68 and 70. The rotation center of the rotation member 72 is provided in parallel to the horizontal axes CH1, CH2, and CH3 described above.

  A pair of claw members 74 and 76 are supported at the tip of the rotating member 72 so as to be swingable around the fulcrum pins 78 and 80. A sliding hole 82 is formed in the rotating member 72 in the axial direction, and a cylindrical member 84 is slidably inserted into the sliding hole 82. The cylindrical member 84 is hollow and is formed so that it can be inserted through the workpiece 4.

  A gear 88 is attached to the rear end of the rotating member 72 via a connecting member 86, and a pinion gear attached to a hydraulic motor (not shown) fixed to the chuck body 66 is engaged with the gear 88. . With this hydraulic motor, the gear 88 can be rotated within a preset angle range of 120 degrees.

  Key members 98 and 100 attached to the cylinder member 84 are slidably attached to the pair of slits 94 and 96 formed in the rotation member 72. The rotation member 72 and the cylinder member 84 are axially arranged. Although relatively slidable, the workpiece 4 is configured to rotate integrally around the longitudinal direction.

  A plurality of cam followers 102 are attached to the outer periphery of the cylindrical member 84 along the circumferential direction. The cam followers 102 are inserted into grooves 106 formed in the moving member 104.

  The moving member 104 is attached to the pressing plate 108, and the pressing plate 108 is supported by a guide shaft 110 slidably mounted on the chuck body 66 so as to be movable in the sliding direction of the cylindrical member 84. In addition, a rod of a cylinder 112 attached to the chuck body 66 is connected to the pressing plate 108.

  Pins 114 and 116 are attached in slits 84 a and 84 b at the tip of the cylindrical member 84, and the pins 114 and 116 are engaged with the claw members 74 and 76, and the claw member 74 is moved forward and backward by the cylindrical member 84. , 76 is swung so that the outer periphery of the workpiece 4 can be gripped / released by the claw members 74, 76.

  FIG. 5 shows a state in which the cylinder member 84 is retracted and the claw member 74 swings above the center line and the outer periphery of the workpiece 4 is gripped by the claw member 74, and the cylinder is below the center line. The member 84 is moved forward, the claw member 76 is swung, and the claw member 76 opens the workpiece 4.

  As shown in FIG. 6, the articulated robot 2, the chuck mechanism 64, and the bending mechanism 40 are connected to a control circuit 120 as control means, and the rotation angle of the bending arm 46 is determined by a rotation detection sensor 122 using an encoder. And output to the control circuit 120.

Next, the operation of the bending apparatus described above will be described with reference to the flowcharts shown in FIGS. 7 to 9 together with the bending control process performed by the control circuit 120.
First, the first to third parallel joints 6, 8, 10 and the first and second orthogonal joints 12, 14 of the articulated robot 2 are driven to move the chuck mechanism 64 to the end of the workpiece 4, and the chuck The workpiece 64 is gripped by the chuck mechanism 64 by controlling the mechanism 64. When the workpiece 4 is gripped by the chuck mechanism 64, the workpiece 4 and the cylindrical member 84 move so as to be coaxial, and then the chuck mechanism 64 is moved in the longitudinal direction of the workpiece 4. Then, the workpiece 4 is inserted into the cylindrical member 84.

  Then, the cylinder 112 is driven, the pressing plate 108 and the moving member 104 are moved, and the cylindrical member 84 is moved via the cam follower 106. Thereby, the claw members 74 and 76 swing, and the outer periphery of the workpiece 4 is gripped by the claw members 74 and 76.

  Then, the first to third parallel joints 6, 8, 10 and the first and second orthogonal joints 12, 14 of the articulated robot 2 are driven to move the workpiece 4 to the bending mechanism 40. At that time, as shown in FIG. 4, the workpiece 4 moves so that the bending position of the workpiece 4 is inserted into the groove 44 of the bending die 42.

  After the movement, the clamping die 48 and the pressure die 52 are driven to abut against the workpiece 4, the bending arm 46 is rotated around the bending die 42, and the clamping die 48 is revolved around the bending die 42. At the same time, the cylinder 56 is driven, and the pressure die 52 is moved in the axial direction of the workpiece 4 by the slide base 53 to perform bending. Further, at the time of bending, the cored bar 61 may be inserted into the workpiece 4 and bent by the cored bar mechanism 60.

  After the bending process is completed, the bending arm 46, the clamping mold 48, and the pressure mold 52 are returned to their original positions, and when performing the next bending process, the articulated robot 2 is controlled to move the chuck mechanism 64, The workpiece 4 is moved to the next bending position, and the workpiece 4 is bent by the bending mechanism 40.

  At the time of bending, the clamping die 48 revolves around the bending die 42, the workpiece 4 is held between the bending die 42 and the clamping die 48, and the bending die 42 also rotates together with the bending arm 46. At that time, the workpiece 4 is pulled out in the longitudinal direction.

  At the time of bending, a bending control process is executed, and as shown in FIG. 7, first, bending conditions such as a bending angle and a bending radius of the bending die 42 are read (step 200). The amount of movement of the chuck mechanism 64 is calculated from the bending radius (step 210). That is, the amount of movement by which the workpiece 4 is pulled out in the longitudinal direction during bending is calculated.

  Next, the bending operation speed for rotating the bending arm 46 and the feed operation speed for moving the chuck mechanism 64 are calculated (step 220). The bending operation speed is a speed at which the bending arm 46 is rotated by the first cylinder 47, and the feeding operation speed is a speed at which the chuck mechanism 64 is fed by the articulated robot 2 in the longitudinal direction of the workpiece 4.

  When the bending arm 46 is rotated and bent according to the bending angle of the workpiece 4, the bending arm 46 is rotated by the first cylinder 47, the bending operation speed at which the workpiece 4 is pulled out, and the articulated robot 2 so that the feed operation speed of the chuck mechanism 64 is equal to 2.

  After calculating the operation speed, a bending start command is output to the articulated robot 2 and the bending mechanism 40 (step 230). When outputting a bending start command, the workpiece 4 is gripped by the chuck mechanism 64 of the articulated robot 2, the bending position of the workpiece 4 is inserted into the groove 44 of the bending die 42, and the bending mechanism In 40, the clamping die 48 and the pressure die 52 are driven to abut against the workpiece 4 as shown in FIG. 4, and the workpiece 4 is sandwiched between the bending die 42 and the clamping die 48.

  When a bending start command is output (step 240), the bending mechanism 40 drives the first cylinder 47 at the bending operation speed calculated by the processing of step 220 and performs a bending operation to rotate the bending arm 46 ( Step 250). When the bending arm 46 is bent by the first cylinder 47 according to a preset bending angle, it is determined that the bending is finished (step 260). At that time, the bending angle of the bending arm 46 is detected by the rotation detection sensor 122.

  Further, when the bend start command is output (step 270), the articulated robot 2 performs a feed operation for moving the chuck mechanism 64 by the articulated robot 2 (step 280). At this time, the articulated robot 2 is controlled so that the movement amount of the chuck mechanism 64 calculated by the process of step 210 and the feed operation speed of the chuck mechanism 64 calculated by the process of step 220 are obtained. When the chuck mechanism 64 is moved, it is determined that the bending is finished (step 290).

  As described above, the workpiece 4 is moved by the articulated robot 2 while the workpiece 4 is gripped by the chuck mechanism 64 during bending, and the workpiece 4 is bent by the bending mechanism 40. The workpiece 4 can be suitably bent while supporting the workpiece 4 reliably.

  The present invention is not limited to such embodiments as described above, and can be implemented in various modes without departing from the gist of the present invention.

It is a front view of the bending apparatus as one embodiment of the present invention. It is a side view of the bending apparatus of this embodiment. It is an expansion perspective view of the joint type robot of this embodiment. It is an expansion schematic block diagram of the bending mechanism of this embodiment. It is an expanded sectional view of the chuck mechanism of this embodiment. It is a block diagram which shows the control system of the bending apparatus of this embodiment. It is a flowchart which shows an example of the bending process control process performed with the control circuit of this embodiment. It is a flowchart which shows an example of the bending mechanism control process performed with the control circuit of this embodiment. It is a flowchart which shows an example of the robot control processing performed with the control circuit of this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Machine stand 2 ... Articulated robot 4 ... Workpiece 6, 8, 10 ... Parallel joint 12, 14 ... Orthogonal joint 40 ... Bending mechanism 42 ... Bending die 46 ... Bending arm 47 ... First cylinder 48 ... Clamping die 50 DESCRIPTION OF SYMBOLS ... Wiper type | mold 52 ... Pressure type | mold 58 ... Fixed stand 60 ... Core metal mechanism 64 ... Chuck mechanism 66 ... Chuck main body 74, 76 ... Claw member 84 ... Cylindrical member 120 ... Control circuit 122 ... Rotation detection sensor

Claims (2)

In a bending apparatus having a bending mechanism that sandwiches a long workpiece by a bending die and a clamping die that can revolve around the bending die, and revolves the clamping die to bend the workpiece. ,
A fixed base to which the bending mechanism is attached, a chuck mechanism for gripping the workpiece, and an articulated robot that moves the chuck mechanism;
Further, when the workpiece is bent by revolving the clamping mold by the bending mechanism, the chuck mechanism that holds the workpiece by the articulated robot is moved in the longitudinal direction of the workpiece. A bending apparatus comprising a control means. The articulated robot includes a plurality of parallel joints that rotate around axes parallel to each other and orthogonal joints that rotate around an axis orthogonal to the parallel axes. The bending apparatus as described.

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