JP4314383B2 - Bending method for long workpiece materials - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an improvement in machining accuracy in a method of bending a long workpiece material using a movable die driven by a 6-degree-of-freedom parallel link mechanism.
[0002]
[Prior art]
Patent Document (1), which is an earlier application of the applicant, discloses a bending apparatus for a long work material having a three-dimensional bending head using a movable die. The outline will be described with reference to FIGS. FIG. 3 is a side view of the processing apparatus. The apparatus includes a bending head 2 and a work material supply device 3.
[0003]
The bending head 2 applies a bending force to the base plate 7 provided with a guide pipe 6 having a guide hole 5a through which the long work material 1 is inserted, and the long work material 1 fed forward from the guide pipe 6. A movable plate 9 provided around a movable die 8 to be added, and a base plate 7 and six telescopic devices 12 which are installed across the movable plate 9 and are composed of a hydraulic cylinder 10 and universal joints 11 at both ends thereof. ing.
[0004]
The bending method using the bending head 2 includes push-through bending in which the position of the movable die is fixed, and trajectory control bending in which the trajectory of the die is controlled in accordance with the bending shape of the workpiece material while feeding of the workpiece material is stopped. There is. In push-bending, the position of the movable plate 9, that is, the position (distance) of the movable die 8 with respect to the base plate 7 by a parallel link mechanism that performs a total of six degrees of freedom of translation and three degrees of freedom of rotation by expansion and contraction of the expansion device 12. , Deviation), inclination, etc. are set.
[0005]
In the trajectory controlled bending, the trajectory of the movable die 8 is controlled by a parallel link mechanism that moves with 6 degrees of freedom so that the position of the movable die 8 moves along the bending shape of the workpiece. The object of the present invention relates to improvement of machining accuracy in orbit control bending by a parallel link mechanism that performs a motion of 6 degrees of freedom.
[0006]
The parallel link mechanism that performs the motion of 6 degrees of freedom gives the movable die a total of 6 degrees of freedom, 3 degrees of translation and 3 degrees of rotation, and enables three-dimensional bending with twisting.
[0007]
FIG. 5 is an exploded perspective view of an apparatus for bending and twisting a long material by trajectory control of a movable die disclosed in Patent Document (2). As shown in the coordinate system, the degree of freedom for driving the second die 102 on which the movable die is mounted is a total of 5 axes, that is, the X axis and the Y axis to which rotational degrees of freedom are given, and the Z axis without rotational degrees of freedom. Is the axis.
[0008]
[Patent Literature]
(1) Japanese Patent Laid-Open No. 2002-346640 “Long material bending apparatus”
(2) Japanese Patent Laid-Open No. 2001-269719 “Long workpiece bending and twisting device”
[0009]
[Problems to be solved by the invention]
The conventional bending apparatus shown in FIG. 5 does not rotate around the Z axis as described above. That is, the degree of freedom for driving the second mold 102 is 5. It is theoretically possible but not practical to realize a serial type of 6 degrees of freedom by adding a Z-axis rotation mechanism in the mechanism of this figure. Therefore, when the workpiece material is twisted, the first mold 101 needs to be rotated.
[0010]
That is, in the conventional processing method, the die cannot be driven with six degrees of freedom, and the original three-dimensional bending (bending by driving the die with six degrees of freedom) cannot be performed. Therefore, in the past, bending has been performed to the extent possible with an incomplete three-dimensional processing method having a degree of freedom of five.
[0011]
The object of the present invention is to take advantage of the features of a bending apparatus for a long material using a bending head by a 6-degree-of-freedom parallel link mechanism of Patent Document (1) developed by the applicant for the above-mentioned problems, The present invention provides a highly accurate and highly reproducible bending method that could not be realized by a conventional bending apparatus.
[0012]
[Means for Solving the Problems]
The configuration of the present invention for achieving such an object is as follows.
(1) In a bending method of a long workpiece material using a movable die driven by a 6-degree-of-freedom parallel link mechanism,
A first step of stopping the feeding of the workpiece material and setting the movable die at an initial position;
A second step of feeding the movable die by the same length in synchronization with the feeding of the workpiece material by a predetermined length;
A third step of bending the workpiece material by stopping the feed of the workpiece material and controlling the trajectory of the movable die;
A third step of returning the movable die to the initial position while reworking the workpiece material along a predetermined path in a state where the feeding of the workpiece material is stopped;
A method for bending a long workpiece material, comprising:
[0013]
(2) The method for bending a long workpiece material according to claim 1, wherein the first to fourth steps are repeated a predetermined number of times.
[0014]
(3) The bending method for a long workpiece material according to claim 1 or 2, wherein the bending process in the third step and the reworking in the fourth step are repeated a plurality of times.
[0017]
( 4 ) In a bending method of a long workpiece material using a movable die driven by a 6-degree-of-freedom parallel link mechanism,
A first step of stopping the feeding of the workpiece material and setting the movable die at an initial position;
A second step of bending the workpiece material by controlling the trajectory while feeding the movable die in synchronization with feeding of the workpiece material at a predetermined length;
A third step of returning the movable die to the initial position while reworking the workpiece material along a predetermined path in a state where the feeding of the workpiece material is stopped;
A method for bending a long workpiece material, comprising:
[0018]
( 5 ) The method for bending a long workpiece material according to claim 4 , wherein the first to third steps are repeated a predetermined number of times.
[0019]
( 6 ) The method of bending a long workpiece material according to claim 4 or 5 , wherein the bending process in the second step and the reworking in the third step are repeated a plurality of times.
[0022]
( 7 ) The method for bending a long workpiece material according to any one of claims 1 to 6 , wherein the reworking is performed only at a necessary portion of the workpiece material.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a long material bending apparatus for explaining an embodiment of the processing method of the present invention, in which (a) is a side view and (b) is a front view seen from the direction of arrow P. FIG. The same reference numerals are given to the same components as those described in the bending apparatus according to Patent Document (1) described with reference to FIGS. 3 and 4, and description thereof is omitted.
[0024]
In the embodiment of FIG. 1, (A) to (G) show each step of the processing method of the present invention that changes in time series. The first machining cycle is completed in four steps (A) to (D), and the second machining cycle is completed in four steps (D) to (G). The operation of each element in each step will be described below.
[0025]
(A) is a first step at the start of machining. The workpiece 1 is in a stopped state, and the movable die 8 takes an initial position and is at the shortest distance from the guide pipe 6. In the second step (B), when the workpiece 1 is fed by a predetermined distance L, the movable die 8 is also moved forward by the same distance L in synchronization with the workpiece 1. When the workpiece 1 and the movable die 8 are sent to the set position, the feeding of both is stopped. In the third step (C), the work material 1 is stopped, the movable die 8 is trajectory-controlled, and bending is performed to a predetermined shape.
[0026]
In the fourth step (D), the movable die 8 starts while reworking the workpiece material 1 in the reverse direction as shown by the arrow R along the set trajectory when the workpiece material 1 is machined or modified. Return to position. At this time, since the movable die 8 can be driven with six degrees of freedom, even if the work material 1 has a non-circular cross section and is twisted, it can move without interfering with the cross-sectional shape of the work material 1.
[0027]
The rework of the fourth step (D) is a feature of the present invention. That is, this is a function that can be realized by the trajectory control of only the movable die 8 driven by a 6-degree-of-freedom parallel link mechanism. When bending including twisting is performed, the 5-degree-of-freedom mechanism of Patent Document (2) This function cannot be realized.
[0028]
When the fourth step (D) is completed, the positions of the workpiece 1 and the movable die 8 are the same as the initial state of the first step (A), and this is the first 'step of the second machining cycle. Accordingly, the second 'step (E) is the same as the second step (B), the third' step (F) is the same as the third step (C), and the fourth 'step (G) is the fourth step. Same as step (D). Hereinafter, the bending of the workpiece 1 is advanced by repeating this machining cycle as many times as necessary.
[0029]
Another embodiment of the present invention will be described with reference to FIG. The machining method is basically the same as the machining method in FIG. 1, but the difference is that the workpiece material is fed and bent in the same step. (A) thru | or (E) have shown each step of the processing method which changes in time series. The first machining cycle is completed in three steps (A) to (C), and the second machining cycle is completed in three steps (C) to (E). The operation of each element in each step will be described below.
[0030]
(A) is a first step at the start of machining. The workpiece 1 is in a stopped state, and the movable die 8 takes an initial position and is at the shortest distance from the guide pipe 6. In the second step (B), the workpiece 1 is fed by a predetermined distance L, and at the same time, the bending is performed by controlling the trajectory while moving the movable die 8 forward in synchronization with the feed amount of the workpiece 1.
[0031]
In the third step (C), the movable die 8 returns to the start position while reworking the workpiece 1 in the opposite direction along the set trajectory when the workpiece 1 is machined or corrected.
[0032]
When the third step (C) is completed, the positions of the work material 1 and the movable die 8 are the same as the initial state of the first step (A), which is the first 'step of the second machining cycle. Accordingly, the second 'step (D) is the same as the second step (B), and the third' step (E) is the same as the third step (C). Hereinafter, the bending of the workpiece 1 is advanced by repeating this machining cycle as many times as necessary.
[0033]
In the above embodiment, the steps of the basic processing method of the present invention have been described. In addition to such basic machining, as a variation of the present invention, the workpiece material once bent by the trajectory control of the movable die driven by the 6-degree-of-freedom parallel link mechanism is reworked many times instead of once. Is possible. This further improves surface accuracy, product value, and quality.
[0034]
Furthermore, by performing reworking by this trajectory control only on the necessary parts of the work material, it is possible to perform the process for improving the surface accuracy and quality only at the necessary parts in terms of appearance or strength.
[0035]
In addition to improving the shape accuracy by reworking, it is also possible to modify the bent shape once worked if necessary. In this case, the trajectory control of the movable die executes a control program reflecting the corrected shape.
[0036]
【The invention's effect】
As is clear from the above description, according to the present invention,
(1) When the movable die is returned, a pipe having a circular or non-circular cross-sectional shape is reworked by passing the die along a bent shape by trajectory control that can be performed only by the movable die using a 6-degree-of-freedom parallel link mechanism. It becomes possible. This reworking can realize high precision and high quality of the shape.
(2) Rework by returning the movable die can be repeated as necessary or performed only at the necessary locations, and processing accuracy of long workpiece materials can be controlled with emphasis on cost reduction and product It can contribute to quality improvement.
[Brief description of the drawings]
FIG. 1 is a side view and a front view of each step for explaining an embodiment of a bending method of the present invention.
FIG. 2 is a side view and a front view of each step for explaining another embodiment of the bending method of the present invention.
FIG. 3 is a side view of the device described in Patent Document (1).
FIG. 4 is a perspective view of a bending head in the apparatus described in Patent Document (1).
FIG. 5 is an exploded perspective view of the device described in Patent Document (2).
[Explanation of symbols]
1 Work Material 2 Bending Head 6 Guide Pipe 7 Base Plate 8 Movable Die 9 Movable Plate 10 Hydraulic Cylinder

Claims (7)

In a bending method of a long workpiece material using a movable die driven by a 6-DOF parallel link mechanism,
A first step of stopping the feeding of the workpiece material and setting the movable die at an initial position;
A second step of feeding the movable die by the same length in synchronization with the feeding of the workpiece material by a predetermined length;
A third step of bending the workpiece material by stopping the feed of the workpiece material and controlling the trajectory of the movable die;
A fourth step of returning the movable die to the initial position while reworking the workpiece material along a predetermined trajectory in a state where the feeding of the workpiece material is stopped;
A method for bending a long workpiece material, comprising:   The long work material bending method according to claim 1, wherein the first to fourth steps are repeated a predetermined number of times.   3. The method of bending a long workpiece material according to claim 1, wherein the bending process in the third step and the re-working in the fourth step are repeated a plurality of times. In a bending method of a long workpiece material using a movable die driven by a 6-DOF parallel link mechanism,
A first step of stopping the feeding of the workpiece material and setting the movable die at an initial position;
A second step of bending the workpiece material by controlling the trajectory while feeding the movable die in synchronization with feeding of the workpiece material at a predetermined length;
A third step of returning the movable die to the initial position while reworking the workpiece material along a predetermined path in a state where the feeding of the workpiece material is stopped;
A method for bending a long workpiece material, comprising: The long work material bending method according to claim 4 , wherein the first step to the third step are repeated a predetermined number of times. 6. The method of bending a long workpiece material according to claim 4 , wherein the bending process in the second step and the re-working in the third step are repeated a plurality of times. The method of bending a long workpiece material according to any one of claims 1 to 6 , wherein the reworking is performed only at a necessary portion of the workpiece material.

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