JP2009220133A - Wire forming machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wire forming machine which can form a wire formed article longer than the conventional one. <P>SOLUTION: The wire forming machine 10 comprises a subtool table 30B on the side opposite to a main tool table 30A. Since a rotary head 32 is not located behind the subtool table 30B, the rear space of the subtool table 30B is wider(deeper) than the side of the main tool table 30A accordingly. Thus, a relatively long coil spring CS2 which has not been able to be formed heretofore owing to its interference with the rotary head can be formed at the side of the subtool table 30B. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a wire rod forming machine that forms a wire rod fed by a wire rod feeder with a tool held by a tool drive mechanism, and in particular, stores a desired operation in a teaching mode by causing the tool drive mechanism to perform a desired operation. The present invention relates to a wire rod forming machine capable of reproducing the stored operation in a playback mode.

Conventionally, a tool driving mechanism provided in this type of wire rod forming machine includes a rotary head that can rotate around an axis parallel to the wire feed direction. A head end surface protrusion protrudes from the outer edge of the rotating head facing the wire feeding device, and a tool table is provided on the surface of the head end surface protruding toward the rotation center of the rotating head. Yes. The tool table is driven to rotate about an axis orthogonal to the rotation center of the rotary head. Then, for example, the forming tool is fixed to the tool table, and the forming tool is disposed on the rotation center axis of the rotary head, and the rotation center axis of the rotary head is aligned with the wire feed axis of the wire feeding device. Then, the wire rod fed by the wire rod feeder is brought into contact with a molding tool and molded (see, for example, Patent Document 1).
Japanese Patent No. 3839338 (paragraphs [0021] to [0036], FIG. 3)

  However, in the above-described conventional wire forming machine, the main body of the rotary head is located behind the tool table, and the wire is formed while avoiding interference with the rotary head. However, it could only be molded.

  This invention is made | formed in view of the said situation, and aims at provision of the wire-forming machine which can shape | mold a wire-shaped molded product longer than before.

  A wire rod forming machine according to the invention of claim 1 made to achieve the above object is a wire rod feeding device capable of feeding a wire rod along a wire rod feeding shaft extending in a horizontal direction, and for molding a wire rod. Tool drive mechanism for holding the tool and moving it to any position, let the tool drive mechanism perform the desired operation in the teaching mode, memorize the operation, and drive the stored operation in the playback mode And a control device capable of repeatedly reproducing the mechanism, and in a wire rod forming machine capable of forming a plurality of molded products from a wire rod in a playback mode, the tool drive mechanism includes a wire rod in the axial direction of the wire feed shaft. To reciprocate the base member facing the feeding device, the base member to reciprocate in the horizontal horizontal direction perpendicular to the wire feeding axis, and the base member to move back and forth in the vertical direction A vertical drive shaft, a rotary head rotatable about a head rotation center axis parallel to the wire feed axis with respect to the base member, a head rotary drive shaft for rotating the rotary head, and the rotary head The head end surface protrusion protrudes from the outer edge portion away from the head rotation center axis of the surface facing the wire rod feeding device in the direction of the table rotation center axis perpendicular to the head rotation center axis. A table shaft that is rotatably supported by the head end surface protrusion, a main tool table that is provided at an end of the table shaft facing the head rotation center axis side, and that can fix the tool, and a table shaft It is provided at the end opposite to the main tool table, protrudes laterally from the outer surface of the rotary head, and can be used together with the sub tool table that can fix the tool and the table shaft. Table rotation drive shafts that rotate the main and sub tool tables are provided, and the control device has a virtual rotation center axis that is orthogonal to the table rotation center axis at an arbitrary position and is parallel to the head rotation center axis. , A virtual axis setting means for setting at an arbitrary position with respect to the wire feed axis, and a base left-right linear drive shaft and a base vertical movement so that the table rotation center axis rotates around the virtual rotation center axis in teaching mode It is characterized in that virtual axis control means for controlling the linear motion drive shaft and the head rotation drive shaft is provided.

  According to a second aspect of the present invention, in the wire rod forming machine according to the first aspect, a bending tool having first and second cylindrical protrusions extending in parallel is fixed to the sub tool table, and the first cylinder is fixed. The center axis of the protrusion is made coincident with the virtual rotation center axis, and the second cylindrical protrusion is swung around the virtual rotation center axis in a state where the wire crosses between the first and second cylindrical protrusions. It is characterized in that the wire can be bent.

  According to a third aspect of the present invention, in the wire rod forming machine according to the first or second aspect, the tool drive mechanism is provided with a base front / rear drive shaft for reciprocating the base member in a direction parallel to the wire feed shaft. However, it has characteristics.

[Invention of Claim 1]
In the configuration of claim 1, the main tool table is disposed at the end facing the head rotation center axis side of the table shaft rotatably supported by the head end surface protrusion of the rotary head, on the opposite side. The sub tool table is arranged. And since the sub tool table protrudes to the side from the outer surface of the rotating head, when the tool is fixed to the sub tool table, the rotating head is not positioned behind the tool, and the wire rod is longer than before. The product can be molded. Further, by providing two of the main tool table and the sub tool table, it is possible to hold more tools than before, and it is possible to mold more complicated shapes than before.

  Further, according to the configuration of the present invention, when using the tool of the main tool table, if the tool is arranged on the head rotation center axis, and the head rotation center axis and the wire feeding axis are matched, When teaching is performed, by rotating the rotary head, it is possible to easily perform the operation of changing only the posture of the tool while keeping the abutting point of the tool with the wire rod at a fixed position. Furthermore, when using the tool of the sub tool table, if the virtual rotation center axis is set to penetrate the tool, and the temporary rotation center axis matches the wire feed axis, the tool will be used for teaching. As in the case where the tool is fixed to the main tool table, it is possible to easily perform an operation of changing only the posture of the tool while keeping the contact point of the tool with the wire rod at a fixed position. In addition, in the present invention, the virtual rotation center axis can be set at a position shifted from the wire feeding axis or set at a position away from the tool as necessary. The degree of freedom of arrangement of the rotating shaft is increased, and the efficiency of teaching work can be increased.

[Invention of claim 2]
According to the structure of Claim 2, a wire can be bent so that a wire may be wound around the 1st cylindrical projection part among bending forming tools. Thereby, the curvature radius of a bending part becomes a fixed magnitude | size corresponding to the radius of a 1st cylindrical protrusion, and the quality of a wire rod molded product is stabilized.

[Invention of claim 3]
In the configuration of the third aspect, since the base front / rear drive shaft is provided to reciprocate the base member in a direction parallel to the wire feed shaft, the degree of freedom in forming the wire is increased.

[First Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the wire rod forming machine 10 of this embodiment includes a tool driving mechanism 20 and a wire rod feeding device 12 facing each other on a base plate 11 in the horizontal direction. The tool driving mechanism 20 and the wire feeding device 12 are controlled by a controller 70 (corresponding to a “control device” of the present invention).

  First, the wire feeder 12 will be described. As shown in FIG. 3, the wire feeding device 12 is provided with three pairs of feed rollers 13 and 13 which are paired side by side in the vertical direction. The wire rod 90 is sandwiched between the pair of feed rollers 13 and 13 and the upper and lower feed rollers 13 and 13 are rotated symmetrically so that the wire rod 90 is advanced and retracted along the imaginary wire feed shaft J1 extending in the horizontal direction. be able to. Further, each feed roller 13 is driven by a servo motor 16, whereby the feed amount of the wire 90 can be controlled.

  As shown in FIG. 1, a quill 14 is fixed to a surface facing the tool driving mechanism 20 (hereinafter, referred to as a front surface 12 </ b> A of the wire feeding device 12) in the wire feeding device 12. For example, a wire insertion hole having a circular cross section corresponding to the cross-sectional shape of the wire 90 is formed through the quill 14. The wire rod 90 fed by the wire rod feeding device 12 is fed to the tool driving mechanism 20 side through the wire rod insertion hole.

  As shown in FIG. 2, a cutting tool driving mechanism 50 is provided on the side of the quill 14 in the front surface 12 </ b> A of the wire feeding device 12. The cutting tool drive mechanism 50 has a cutting tool 54 on the front surface facing the quill 14 side, and the cutting tool 54 is reciprocated in the vertical direction by the first linear movement portion 51A shown in FIG. The moving tool is configured to reciprocate the cutting tool 54 in the horizontal direction. The first linear motion portion 51 includes a ball screw mechanism 52 and a slider mechanism 53, and a servo motor 51M1 as a drive source is connected to one end of a ball screw 52B of the ball screw mechanism 52. The second linear motion portion 51B has the same configuration and includes a servo motor 51M2 as a drive source. Then, the cutting tool drive mechanism 50 retracts the cutting tool 54 to the side of the wire feeding device 12 while the wire 90 is being formed, and when the forming is completed, the cutting tool 54 enters the front region of the quill 14. . The cutting tool 54 is driven by the servo motor 55 to cut the proximal end portion of the wire 90.

  Next, the tool driving mechanism 20 will be described in detail. As shown in FIGS. 5 and 6, the tool driving mechanism 20 includes a fixed frame 11H fixed to the base plate 11 and a laterally movable inner side in the horizontal direction (horizontal direction orthogonal to the wire feed axis J1). A movable frame 40, a vertically movable frame 41 that can move directly in the vertical direction inside the movable frame 40, and a movable base 42 that can move linearly in the longitudinal direction (the direction of the wire feed axis J1) inside the movable frame 40 (" Corresponding to a “base member”. Thereby, the movable base 42 can move linearly in three directions, ie, up and down, left and right, and front and rear, with respect to the base plate 11. The tool drive mechanism 20 includes a base left-right linear drive shaft Bx, a base vertical direct-drive shaft By, as drive shafts for moving the movable base 42 to arbitrary positions in the vertical, left-right, and front-back directions. A base front / rear linear drive shaft Bz is provided.

  The base left-right linear drive shaft Bx is configured as follows. That is, as shown in FIGS. 5 and 6, rails 22S1 extending in the left-right direction (the direction perpendicular to the paper surface in FIG. 5, the left-right direction in FIG. 6) are formed on the upper surface of the base plate 11 and the upper wall lower surface of the fixed frame 11H. 22S1, and the laterally movable frame 40 is provided with sliders 22S2 and 22S2 engaged with the rails 22S1 and 22S1 so as to be linearly movable. In addition, a ball screw 22B1 extending in parallel with the rail 22S1 is rotatably supported on the base plate 11, and the laterally movable frame 40 is provided with a ball nut 22B2 screwed to the ball screw 22B1. Furthermore, a servo motor 22M (shown only in FIG. 6) as a drive source for the left / right linear motion mechanism is attached to the base plate 11, and one end of the ball screw 22B1 is gear-coupled to the output rotation shaft of the servo motor 22M. Has been. As a result, the base left-right linear drive shaft Bx is configured, and the movable base 42 can be linearly moved in the left-right direction with respect to the base plate 11 together with the lateral movable frame 40 and positioned at an arbitrary position in the linear movement range. Can be controlled.

  The base vertical linear drive shaft By is configured as follows. That is, as shown in FIG. 6, rails 23S1 and 23S1 extending in the vertical direction are provided on both sides of the horizontally movable frame 40, and rails 23S1 and 23S1 are provided directly on both sides of the vertically movable frame 41. Sliders 23S2 and 23S2 that are movably engaged are provided. A ball screw 23B1 extending in parallel with the rail 23S1 is rotatably supported on one side of the laterally movable frame 40, and a ball nut 23B2 threadedly engaged with the ball screw 23B1 on one side of the vertically movable frame 41. Is provided. A servo motor 23M is attached to the laterally movable frame 40, and one end of a ball screw 23B1 is connected to the output rotation shaft of the servo motor 23M. Further, the upper wall of the vertically movable frame 41 is connected to the tip of cylinder rods 61, 61 extending from a pair of linear cylinders 60, 60 (hydraulic cylinder, air cylinder, etc.). 60 and 60 and the servo motor 23M cooperate to move the vertically movable frame 41 up and down. As a result, the base vertical linear drive shaft By is configured, and the base vertical linear drive shaft By enables the movable base 42 to move in the vertical direction with respect to the base plate 11 together with the vertical movable frame 41. Positioning control can be performed at an arbitrary position in the linear motion range.

  The base front-rear linear motion drive shaft Bz is configured as follows. That is, the upper wall 41A and the lower wall 41B of the vertically movable frame 41 are provided with rails 21S1 and 21S1 that extend in the feeding direction of the wire 90 and are arranged in parallel, respectively. Sliders 21S2 and 21S2 provided respectively engage with the rails 21S1 and 21S1 so as to be capable of linear movement. Further, as shown in FIG. 5, a ball screw 21B1 extending in parallel with the rails 21S1 and 21S1 is provided between a pair of wall portions that stand from the lower wall 41B of the vertically movable frame 41 and face each other in the feeding direction of the wire 90. Is supported and rotatably supported. A ball nut 21B2 is fixed to a support wall 42A (see FIG. 6) hanging from the movable base 42, and the ball nut 21B2 and the ball screw 21B1 are screwed together. Further, a servo motor 21M is attached to the vertically movable frame 41, and one end of a ball screw 21B1 is connected to an output rotation shaft of the servo motor 21M. As a result, a base longitudinal linear motion drive shaft Bz is formed, and the base longitudinal motion linear drive shaft Bz allows the movable base 42 to linearly move in the longitudinal direction with respect to the base plate 11 and can be arbitrarily set within the linear motion range. Positioning control can be performed at the position.

  The movable base 42 can be positioned and controlled at an arbitrary position in the three-dimensional space by the three linear motion drive axes Bx, By, Bz.

  As shown in FIG. 7, the movable base 42 is provided with a rotary head 32 that can rotate around a head rotation central axis J2 parallel to the wire feed axis J1, and the rotary head 32 is rotated by the head rotation drive axis Ra. Driven. Specifically, on the movable base 42, a cylindrical shaft 31S extending in the direction of the wire feeding axis J1 is rotatably supported by a bearing, and the rotary head 32 is provided at the end of the cylindrical shaft 31S on the quill 14 side. Is fixed. Further, a servo motor 24M is attached to the rear surface of the movable base 42 opposite to the quill 14, and the output rotation shaft of the servo motor 24M and the cylindrical shaft 31S are connected via flat gears 24G1 and 24G2. ing. Thus, the head rotation drive shaft Ra is configured, and the rotary head 32 is rotationally driven around the head rotation center axis J2 parallel to the wire feed axis J1, and arbitrary rotation positioning control can be performed.

  A head end surface protrusion 34 projects from the outer edge of the rotating head 32 facing the wire feeding device 12 away from the head rotation center axis J2 toward the wire feeding device 12 side. Further, the interior of the rotary head 32 including the head end surface protrusion 34 is hollow. A table shaft 36 is pivotally supported by the head end surface protrusion 34 so as to pass therethrough in the direction of the table rotation center axis J3 orthogonal to the head rotation center axis J2. Further, the main tool table 30A is fixed to one end portion of the table shaft 36 facing the head rotation center axis J2 side, and the sub tool table 30B is fixed to the other end portion on the opposite side. The main and sub tool tables 30A and 30B are rotationally driven together with the table shaft 36 by the table rotational drive shaft Rb provided on the head end surface protrusion 34.

  Specifically, a relay shaft 35 extending in parallel with the table shaft 36 is accommodated and rotatably supported in the main body portion of the rotary head 32 near the cylindrical shaft 31S. The relay shaft 35 and the table shaft 36 are connected to each other by flat gears 35G2 and 36G1 inside the head end surface protrusion 34. In addition, an inner shaft 33S is rotatably supported by the shaft core portion of the cylindrical shaft 31S, and a pair of bevel gears 33G1, 33B1 between the inner shaft 33S and the relay shaft 35 is provided inside the rotary head 32. It is connected by 35G1. Further, a servo motor 25M is fixed to the rear surface side of the movable base 42, and its output rotation shaft is connected to the rear end portion of the inner shaft 33S. As a result, a table rotation drive axis Rb is formed, and the table rotation drive axis Rb allows the main and sub tool tables 30A and 30B to be centered on the table rotation center axis J3 orthogonal to the head rotation center axis J2. It is rotationally driven together with the shaft 36.

  As shown in FIG. 8, the main and sub tool tables 30A and 30B have a shape in which a flat plate is cut into a regular triangle and each corner of the regular triangle is chamfered. Further, in the main and sub tool tables 30A and 30B, the surfaces with the table rotation center axis J3 as the normal line are flat tool fixing surfaces 30P1 and 30P2 (see FIG. 7). Then, both the main and sub tool tables 30A and 30B are fixed to the table shaft 36, as shown in FIG. 7, with the centroid of the equilateral triangle aligned with the table rotation center axis J3.

  As shown in FIG. 8, the tools (reference numerals T1, T2, T3 in FIG. 8) are bolted to each corner of the triangle in each tool table 30A, 30B so as to be replaceable. When one of the tools is selected when forming the wire rod 90, a line connecting the apex of the triangle to which the selected tool is attached and the centroid of the triangle becomes parallel to the head rotation center axis J2. Are arranged as follows. As a result, the selected tool is positioned at the “use position”.

  A first coil spring forming tool T1, a second coil spring forming tool T2, and a bending tool T3 are attached to the main tool table 30A. Hereinafter, the shape will be described on the assumption that the tools T1, T2, and T3 are arranged at the “use positions”. First, the first coil spring forming tool T1 is provided with a prismatic portion extending toward the wire feeding device 12 at the tip, and the tip surface T11 is cut obliquely with respect to the head rotation center axis J2. Yes. A head rotation center axis J2 passes through the front end surface T11, and a molding groove T12 is formed at a position including the intersection with the head rotation center axis J2 in the front end surface T11 and is inclined with respect to the head rotation center axis J2. It extends in the direction to do.

  The second coil spring forming tool T2 includes a prismatic portion extending toward the wire rod feeding device 12 at the distal end, and the distal end surface T21 and the head rotation center axis J2 intersect perpendicularly. Further, one side edge portion of the front end surface T21 is an inclined surface T22 that is chamfered at 45 degrees.

  The bending tool T3 includes a prismatic portion extending toward the wire rod feeding device 12 at the distal end, and the distal end surface T33 and the head rotation center axis J2 intersect perpendicularly. From the front end surface T33, a first cylindrical protrusion T31 and a second cylindrical protrusion T32 are formed to protrude. The first and second cylindrical protrusions T31 and T32 are both cylindrical, and their tips are hemispherically rounded. The head rotation center axis J2 just overlaps the axis of the first cylindrical protrusion T31, and the distance between the first cylindrical protrusion T31 and the second cylindrical protrusion T32 is large enough to allow the wire rod 90 to pass therethrough. It has become.

  The above-described first coil spring forming tool T1, second coil spring forming tool T2, and bending tool T3 are also attached to the sub tool table 30B. An imaginary central axis translated by a predetermined distance from the head rotation central axis J2 is arranged so as to penetrate the tip surfaces T11, T21, T33 of each tool T1, T2, T3 and the first cylindrical protrusion T31. ing.

  Next, the controller 70 for driving and controlling the wire rod feeding device 12 and the tool driving mechanism 20 will be described. As shown in FIG. 9, the controller 70 includes servo amplifiers 72 for all the servo motors 16, 51 </ b> M, 52 </ b> M,... And a control unit 73 for controlling each servo motor via the servo amplifiers 72. Are accommodated in a case 71. Further, the control unit 73 is provided with a memory 73A and a CPU 73B, and an operation box 74 (corresponding to the “virtual axis setting means” of the present invention) is connected through a cable penetrating the case 71, for example. . As shown in FIG. 10, the operation box 74 includes, for example, a shuttle jog 74J, a monitor 74C, a numeric keypad 74A, and the like. The wire rod forming machine 10 is switched to either the teaching mode or the playback mode (automatic operation mode) by pressing the teaching mode button 74U or the playback mode button 74V of the operation box 74, for example. A program corresponding to the mode is loaded from the memory 73A and executed by the CPU 73B. When the teaching mode is set, the teaching work can be performed using the operation box 74.

  When the virtual axis setting button 74W provided in the operation box 74 is pressed, the virtual rotation center axis J4 can be set. Here, as shown in FIGS. 7 and 11, the virtual rotation center axis J4 can be set at a desired position that is orthogonal to the table rotation center axis J3 at an arbitrary position and shifted in parallel with the head rotation center axis J2. When this virtual rotation center axis J4 is set, the tools T1, T2, T3 fixed to the main or sub tool tables 30A, 30B are set to the virtual rotation center axis J4 when the teaching mode is set. Can be swiveled to the center.

  More specifically, as shown in FIG. 11, the virtual rotation center axis J4 is specified by three data of a turning offset amount Lr, an X coordinate offset amount Lx, and a Y coordinate offset amount Ly. The turning offset amount Lr is an amount that the virtual rotation center axis J4 is offset in the direction of the table rotation center axis J3 with respect to the head rotation center axis J2. Here, for example, when the turning offset amount Lr is “0”, the virtual rotation center axis J4 and the head rotation center axis J2 are set to coincide with each other. Further, when the turning offset amount Lr is set to a negative value, for example, the virtual rotation center axis J4 is kept away from the head end surface protrusion 34 from the head rotation center axis J2 while maintaining the state orthogonal to the table rotation center axis J3. It is set at a position offset (translated) to the upper side in FIG. On the other hand, when the turning offset amount Lr is set to a positive value, for example, the virtual rotation center axis J4 is offset from the head rotation center axis J2 to the head end surface protrusion 34 side while maintaining a state orthogonal to the table rotation center axis J3. Set to position. Further, by setting the turning offset amount Lr to a positive value larger than the distance between the head rotation center axis J2 and the tool fixing surface 30P2 of the tool table 30B, the virtual rotation center axis J4 is set to the tool fixing surface of the tool table 30B. It can be set at a position further away from the head rotation center axis J2 than 30P2.

  Further, the X coordinate offset amount Lx is an amount in which the virtual rotation center axis J4 is offset in the horizontal direction with respect to the wire feed axis J1, and the Y coordinate offset amount Ly is the virtual rotation center with respect to the wire feed axis J1. This is the amount by which the axis J4 is offset in the vertical direction.

  When the virtual axis setting button 74W of the operation box 74 is pressed, the turning offset amount Lr, the X coordinate offset amount Lx, and the Y coordinate offset amount Ly of the virtual rotation center axis J4 stored in the memory 73A are shown in FIG. Is displayed on the monitor 74C. In the initial state, all these offset amounts Lr, Lx, Ly are “0”. That is, in the initial state, the virtual rotation center axis J4 coincides with the head rotation center axis J2 and the wire rod feeding axis J1. Therefore, the cursor operation key 74D provided in the operation box 74 is used to move the cursor in the monitor 74C to the data display portion of any of the offset amounts Lr, Lx, Ly, and each offset amount Lr by the numeric keypad 74A. , Lx, Ly can be changed. Then, by pressing the confirmation key provided in the operation box 74, the offset amounts Lr, Lx, Ly can be reset to new values.

  When the teaching mode button 74U provided in the operation box 74 is pressed, the teaching mode is set, and the wire advance / retreat button 74S, the X-axis drive button 74X, the Y-axis drive button 74Y, the Z-axis drive button 74Z, the head rotation button 74Ra, and the table rotation button. The pressing operation of the pitch feed button 74P composed of 74Rb and the virtual axis rotation button 74Rc becomes effective. Further, all the buttons such as the wire advance / retreat button 74S and the X-axis drive button 74X included in the pitch feed button 74P are set for "+" operation and "-" operation. When each pitch feed button 74P is pressed, a predetermined drive shaft is continuously operated, and when the one-touch operation is performed, the predetermined drive shaft is operated every one pitch of the minimum unit.

  Specifically, the wire rod feeding device 12 is actuated by the operation of “+” or “−” of the wire rod advance / retreat button 74S, and the wire rod 90 advances / retreats. Further, by operating “+” or “−” of the X-axis drive button 74X, the base left / right linear drive shaft Bx is actuated to move the movable base 42 to the left / right, and the Y-axis drive button 74Y has “+” or “ The base up-and-down linear drive shaft By is actuated by the operation of “−” and the movable base 42 is moved up and down linearly. By operating, the movable base 42 moves back and forth. Further, the head rotation drive shaft Ra is operated by the operation of “+” or “−” of the head rotation button 74Ra, and the rotation head 32 rotates forward or backward, and the operation of “+” or “−” of the table rotation button 74Rb. As a result, the table rotation drive shaft Rb is operated, and the main and sub tool tables 30A, 30B are rotated forward or reverse. Further, when the “+” or “−” operation of the virtual axis rotation button 74Rc is performed, the base left / right linear motion drive axis Bx (see FIG. 6), the base vertical motion linear drive shaft By (see FIG. 6), and the head rotation. Together with the drive shaft Ra (see FIG. 7), as shown in FIG. 11, the table rotation center axis J3 rotates forward or reverse around the virtual rotation center axis J4.

  In the teaching mode, the shuttle jog 74J provided in the operation box 74 is also effective. The shuttle jog 74J has a knob structure that can be rotated. Then, when rotating in either the left or right direction, the table rotation center axis J3 is rotated forward or reverse about the virtual rotation center axis J4 in conjunction with the operation.

  As described above, when the buttons 74S, 74X, 74Y, 74Z, 74Ra, and 74Rb other than the virtual axis rotation button 74Rc among the pitch feed buttons 74P are operated, the respective drive shafts operate independently without being interlocked with each other. On the other hand, when the virtual axis rotation button 74Rc is operated, the base left / right linear motion drive shaft Bx (see FIG. 6), the base vertical motion linear drive shaft By (see FIG. 6), and the head rotation drive shaft Ra (FIG. 7). Operate together (ie, interlock). Also, when the shuttle jog 74J is operated, the base left-right linear drive shaft Bx, the base vertical direct-drive shaft By, and the head rotational drive shaft Ra are interlocked as in the operation of the virtual axis rotation button 74Rc.

  When the virtual axis rotation button 74Rc is operated in order to link the base left / right linear drive shaft Bx, the base vertical drive shaft By, and the head rotation drive shaft Ra, the CPU 73B of the control unit 73 performs the following: The virtual axis drive calculation program PG1 is executed to calculate the movement target positions of the base left / right linear drive shaft Bx, the base vertical drive linear drive shaft By, and the head rotation drive shaft Ra. The CPU 73B executing the virtual axis drive calculation program PG1 corresponds to the “virtual axis control means” according to the present invention.

  Here, in performing the calculation by the virtual axis drive calculation program PG1, as shown in FIG. 11, a plane orthogonal to the wire rod feeding axis J1 is set, and in the plane, the horizontal direction is the X axis and the vertical direction is Y. Set the XY coordinate system as the axis. An intersection point with the wire feeding axis J1 in the plane of the XY coordinate system (hereinafter referred to as “XY plane”) is defined as a coordinate origin (0, 0).

  When the virtual axis drive calculation program PG1 is executed, as shown in FIG. 12, the CPU 73B has data of the turning offset amount Lr, the X coordinate offset amount Lx, and the Y coordinate offset amount Ly for specifying the virtual rotation center axis J4. From the memory 73A (S10). Next, in the XY coordinate system shown in FIG. 11, the XY coordinate position of the intersection P2 between the XY plane and the head rotation center axis J2, and the XY coordinate position of the intersection P4 between the XY plane and the virtual rotation center axis J4 are obtained. (S11 in FIG. 12).

  Next, a table normal vector b (see FIG. 11) having the intersection P4 as the start point and the intersection P2 as the end point, and a virtual rotation center position vector a having the coordinate origin (0, 0) as the start point and the intersection P4 as the end point, Is calculated (S12 in FIG. 12). Thereby, the head rotation center position vector indicating the current coordinate position of the intersection P2 can be obtained by the sum of the table normal vector b and the virtual rotation center position vector a.

  Next, the table normal vector b is rotated around the intersection point P4 by a predetermined angle θp according to the operation of the virtual axis rotation button 74Rc or the shuttle jog 74J shown in FIG. Based on the sum with the rotation center position vector a, the coordinate position of the intersection P2 after the predetermined angle θp is rotated is calculated (S13 in FIG. 12).

  Then, the base left / right linear drive shaft Bx is positioned and controlled using the X coordinate value at the coordinate position of the intersection P2 calculated as described above as the target position, and the base vertical movement is determined using the Y coordinate value at the coordinate position of the intersection P2 as the target position. Positioning control of the dynamic drive axis By is performed, and further, the head rotational drive axis Ra is positioned and controlled with the angle obtained by reversing the rotation direction of the predetermined angle θp as the target movement angle (S14 in FIG. 12), and virtual axis drive calculation Exit from program PG1. Then, by repeatedly executing the virtual axis drive calculation program PG1 at a predetermined period, the base left / right linear drive shaft Bx, the base vertical drive shaft By and the head rotation drive shaft according to the operation of the virtual axis rotation button 74Rc. In conjunction with Ra, as shown in FIG. 11, the table rotation center axis J3 turns around the virtual rotation center axis J4.

  This completes the description of the configuration of the wire forming machine 10 of the present embodiment. Next, the effect of the wire forming machine 10 of this embodiment will be described. For example, when the relatively short coil spring CS1 shown in FIG. 13A is formed by the wire rod forming machine 10, tools T1, T2, and T3 attached to the main tool table 30A are used. For this purpose, the tool driving mechanism 20 executes a predetermined operation in the teaching mode and stores it. A plurality of coil springs CS1 can be formed from the wire rod 90 by repeatedly executing the stored operation in the playback mode (automatic operation mode). In addition, operation | movement of the tool drive mechanism 20 at the time of shape | molding coil spring CS1 is disclosed by Unexamined-Japanese-Patent No. 2003-290859, for example.

  Now, as shown in FIG. 7, the main body of the rotary head 32 is located behind the main tool table 30A in the wire feed direction. For this reason, a comparatively long wire rod molded product interferes with the main body of the rotary head 32 during molding by the tools T1, T2, and T3 of the main tool table 30A and cannot be molded to the end. Specifically, for example, the relatively short coil spring CS1 shown in FIG. 13A can be formed using the tools T1, T2, T3 of the main tool table 30A, but in FIG. 13B. The relatively long coil spring CS2 shown in FIG. 7 cannot be molded because it interferes with the main body of the rotary head 32 during molding. However, if the tools T1, T2, and T3 of the sub tool table 30B are used, the relatively long coil spring CS2 can be formed without interfering with the main body of the rotary head 32 during the forming.

  By the way, when performing teaching for forming the relatively short coil spring CS1, for example, in order to adjust the pitch of the coil spring, the wire rod feeding shaft J1 is used as the first coil spring forming tool T1 of the main tool table 30A. The first coil spring forming tool T1 is rotated around the wire rod feeding axis J1 so as to intersect with one portion of the forming groove T12 in FIG. At this time, if the wire feeding axis J1 and the head rotation center axis J2 are aligned with each other and the head rotation button 74Ra in the operation box 74 shown in FIG. 10 is operated, the teaching work can be easily performed. However, when the tool T1 of the sub tool table 30B is used, if the wire rod feeding axis J1 is arranged so as to intersect with one place of the forming groove T12 in the first coil spring forming tool T1, the wire rod feeding axis J1. And the head rotation center axis J2 cannot be matched. In such a case, the virtual rotation center axis J4 is set at a position that intersects with one portion of the forming groove T12 in the first coil spring forming tool T1 of the sub tool table 30B and coincides with the wire rod feeding axis J1. Then, by operating the virtual axis rotation button 74Rc of the operation box 74, the teaching work can be easily performed. That is, according to the wire rod forming machine 10 of the present embodiment, when using the first coil spring forming tool T1 of the main tool table 30A and when using the first coil spring forming tool T1 of the sub tool table 30B. Thus, teaching work can be easily performed with the same feeling.

  Further, when the bending tool T3 of the sub tool table 30B is used, the bending tool T3 of the main tool table 30A is set by setting the virtual rotation center axis J4 at a position coinciding with the axial center of the first cylindrical protrusion T31. Teaching work can be easily performed with the same feeling as when using. That is, regardless of whether the bending tool T3 is attached to the main or sub tool table 30A, 30B, the wire 90 is wound around the first cylindrical protrusion T31 of the bending tool T3. The bending operation can be realized by teaching. And even if the bending tool T3 of the main or sub tool table 30A, 30B is used, the curvature radius of the bent portion in the wire rod molded product becomes a constant size corresponding to the radius of the first cylindrical protrusion T31, The quality of the wire rod molded product is stabilized.

  As described above, in the wire rod forming machine 10 of the present embodiment, the sub tool table 30B is provided in addition to the main tool table 30A, so that a wire rod shaped product longer than the conventional one can be formed. Further, the virtual rotation center axis J4 orthogonal to the table rotation center axis J3 at an arbitrary position and shifted in parallel with the head rotation center axis J2 is set to an arbitrary position with respect to the wire feed axis J1 by the operation box 74 provided in the controller 70. Since it can be set to the position, even if the tools T1, T2, T3 are fixed to the sub tool table 30B, the teaching work can be performed with the same feeling as when the tools T1, T2, T3 are fixed to the main tool table 30A. Moreover, in the present embodiment, the virtual rotation center axis J4 can be set at a position shifted from the wire feed axis J1 or set at a position away from the tools T1, T2, T3 as necessary. The degree of freedom of arrangement of the rotation center axis J4 is high, and teaching of wire shaped products having various shapes can be easily performed.

[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various other than the following can be made without departing from the scope of the invention. It can be changed and implemented.

  (1) In the above embodiment, the same molding tools T1 to T3 are fixed to the main tool table 30A and the sub tool table 30B. However, different molding tools may be fixed to the tables 30A and 30B. If it does so, the variation of the shape of a wire rod molded product can be increased conventionally. Note that the number of molding tools fixed to the tool fixing table is not limited to three, and a plurality of molding tools other than one or three may be fixed.

  (2) The inner shaft 33S and the relay shaft 35 are connected by bevel gears 33G1 and 35G1, but may be connected by a worm and a worm wheel, for example. The relay shaft 35 and the table shaft 36 are connected by the flat gears 35G2 and 36G1, but may be connected by a pulley and a belt, for example.

Side sectional view of a wire rod forming machine according to an embodiment of the present invention. Plan view of wire rod forming machine Partial cross-sectional view of wire feeder Side view of wire rod cutting device Side cross-sectional view of tool drive mechanism Rear view of tool drive mechanism Enlarged side sectional view of movable base Top view of the tool table, Front view of controller (control device) Front view of operation box (virtual axis setting means) Front view of a rotating head that rotates around a virtual rotation center axis Flow chart of virtual axis drive calculation program (A) Side view of coil spring formed on main tool table side, (B) Side view of coil spring formed on sub tool table side

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Wire rod forming machine 12 Wire rod feeder 20 Tool drive mechanism 30A Main tool table 30B Sub tool table 31S Cylindrical shaft 32 Rotating head 42 Movable base 70 Controller (control device)
73B CPU (virtual axis control means)
74 Operation box (virtual axis setting means)
90 Wire rod Bx Base left / right linear motion drive shaft By Base Vertical motion linear motion drive shaft Bz Base longitudinal linear motion drive shaft J1 Wire rod feed shaft J2 Head rotation central shaft J3 Table rotation central shaft J4 Virtual rotation central shaft PG1 Virtual shaft drive calculation program ( Virtual axis setting means)
Ra Head rotation drive shaft Rb Table rotation drive shaft T1, T2, T3 Tool T31 First cylindrical protrusion T32 Second cylindrical protrusion

Claims (3)

A wire rod feeding device capable of feeding a wire rod along a wire rod feeding axis extending in the horizontal direction;
A tool driving mechanism for holding a tool for forming the wire and moving it to an arbitrary position;
A control device capable of causing the tool drive mechanism to perform a desired operation in a teaching mode, storing the operation, and repeatedly reproducing the stored operation in the tool drive mechanism in a playback mode, In a wire forming machine capable of forming a plurality of molded products from the wire in playback mode,
In the tool drive mechanism,
A base member facing the wire feeding device in the axial direction of the wire feeding shaft;
A base left and right linear drive shaft for reciprocating the base member in a horizontal lateral direction orthogonal to the wire feed axis;
A base vertical drive shaft for reciprocating the base member in the vertical direction;
A rotating head rotatable with respect to the base member about a head rotation central axis parallel to the wire feeding axis;
A head rotation drive shaft for rotating the rotation head;
A head end surface protrusion that protrudes from an outer edge portion away from the head rotation center axis of the surface facing the wire rod feeding device in the rotary head;
A table shaft that passes through the head end surface protrusion in the direction of the table rotation center axis perpendicular to the head rotation center axis, and is rotatably supported by the head end surface protrusion;
A main tool table provided at an end portion of the table shaft facing the head rotation center axis side and capable of fixing the tool;
A sub tool table that is provided at an end of the table shaft opposite to the main tool table, projects laterally from the outer surface of the rotary head, and can fix the tool;
A table rotation drive shaft for rotating the main and sub tool tables together with the table shaft;
In the control device,
A virtual axis setting means for setting a virtual rotation center axis perpendicular to the table rotation center axis and parallel to the head rotation center axis at an arbitrary position with respect to the wire feed axis;
Virtually controlling the base left-right linear drive shaft, the base vertical linear drive shaft, and the head rotational drive shaft so that the table rotation central axis is turned around the virtual rotation central axis in the teaching mode. A wire rod forming machine comprising a shaft control means. A bending tool having first and second cylindrical protrusions extending in parallel is fixed to the sub tool table,
The central axis of the first cylindrical protrusion is made coincident with the virtual rotation central axis, and the wire rod crosses between the first and second cylindrical protrusions, and the rotation around the virtual rotation central axis The wire rod forming machine according to claim 1, wherein the wire rod can be bent by turning the second cylindrical protrusion.   3. The wire rod forming machine according to claim 1, wherein the tool driving mechanism is provided with a base longitudinal drive shaft for reciprocatingly driving the base member in a direction parallel to the wire rod feeding shaft.

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