JP4319314B2 - Bending machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a bending apparatus that moves a bending mechanism around a workpiece when bending a long workpiece, for example, a pipe or a rod-shaped material, in a predetermined direction.
[0002]
[Prior art]
Conventionally, when a long workpiece is three-dimensionally bent, the end of the workpiece is gripped by a chuck mechanism, the chuck mechanism is moved in the axial direction of the workpiece, and the workpiece is moved. One that feeds to a bending mechanism is known (Japanese Patent Laid-Open No. 62-282727). In this apparatus, the chuck mechanism is moved in the vertical and horizontal directions orthogonal to the workpiece by the carriage mechanism so as to be compatible with a bending mold having a plurality of grooves, and the workpiece is bent at different bending radii. It can be processed.
[0003]
Alternatively, a workpiece is gripped by a chuck mechanism, a bending mechanism is attached to the tip of an articulated robot having three joints that rotate around an axis parallel to the axial direction of the workpiece, and each joint is rotated. In addition, it is known that the bending mechanism is moved to a predetermined position, and the articulated robot is moved in the axial direction of the workpiece by the moving mechanism (Japanese Patent Laid-Open No. Hei 2-299724). In this apparatus, a bending mechanism is moved by an articulated robot so as to be compatible with a bending die having a plurality of grooves, so that a workpiece can be bent with different bending radii.
[0004]
[Problems to be solved by the invention]
However, with the conventional former, the structure of the carriage mechanism is complicated because the chuck mechanism can be moved in the vertical and horizontal directions so that the workpiece can be bent at different bending radii. Therefore, there was a problem of increasing the size.
[0005]
In the latter case, since the articulated robot is moved by the moving mechanism, a large moving mechanism is required, and there is a problem that the apparatus becomes large.
An object of the present invention is to provide a bending apparatus capable of bending a workpiece with different bending radii even if it is small.
[0006]
[Means for Solving the Problems]
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. ,
An articulated robot having a plurality of joints that rotate around an axis parallel to the axial direction of the workpiece; and the distal end arm attached to the most distal end joint of the articulated robot Providing an auxiliary joint that rotates in synchronism with the joint mechanically, and attaching the bending mechanism to the auxiliary joint;
In addition, the bending apparatus is provided with a chuck mechanism for gripping an end of the workpiece and a moving mechanism for moving the chuck mechanism in the axial direction of the workpiece.
[0007]
The articulated robot may include at least three or more sets of joints that rotate around an axis parallel to the axial direction of the workpiece. Further, the bending die may have a plurality of grooves according to the bending shape. Alternatively, a receiving member that supports the workpiece may be provided between the bending mechanism and the chuck mechanism. Furthermore, an actuator for moving the receiving member up and down may be provided.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
As shown in FIGS. 1 and 2, reference numeral 1 denotes a machine frame, and an articulated robot 2 is placed on the machine frame 1. The articulated robot 2 includes a fixed portion 4 attached to the machine casing 1, and the fixed portion 4 and one end of the first arm 6 are connected by a first joint 8. The first joint 8 has a well-known mechanism that rotationally drives the first arm 6 to an instructed predetermined angle around an axis parallel to the axial direction of a long workpiece 10 such as a pipe. is there.
[0009]
The other end of the first arm 6 and one end of the second arm 12 are connected by a second joint 14. The second joint 14 has the same configuration as that of the first joint 8, and rotates the second arm 12 at a specified angle. Furthermore, the other end of the second arm 12 and one end of the tip arm 16 are connected by a third joint 18, and the third joint 18 also has the tip arm 16 parallel to the axial direction of the workpiece 10. It turns around the axis.
[0010]
As shown in FIG. 3, an auxiliary joint 20 is provided at the tip of the tip arm 16, and a bending mechanism 22 is attached to the auxiliary joint 20. The auxiliary joint 20 is configured to mechanically synchronize with the third joint 18, and when the distal arm 16 is turned 360 degrees by the third joint 18, the bending mechanism 22 is turned 360 degrees by the auxiliary joint 20 .
[0011]
4 and 5, the bending mechanism 22 includes a bending die 24. The bending die 24 is formed by laminating three grooves 26, 28, and 30 corresponding to three kinds of bending radii in the axial direction. Has been. The bending mechanism 22 is attached to the auxiliary joint 20 so that the axial direction of the bending die 24 and the axial direction of the workpiece 10 are orthogonal to each other.
[0012]
Further, a clamping die 34 that is driven by the cylinder 32 and moves toward the bending die 24 and clamps the workpiece 10 together with the bending die 24 is provided. The clamping die 34 clamps the workpiece 10. Thus, the bending mold 24 is revolved and the fastening mold 34 is rotated by a predetermined angle so that it can be bent.
[0013]
A pressure die 36 is provided alongside the fastening die 34 to receive a reaction force during bending. Thus, since the bending mechanism 22 is attached to the articulated robot 2, the axial direction of the bending mold 24 is always the axial direction of the workpiece 10 even when the joints 8, 14, 18, 20 are turned. Orthogonal.
[0014]
Further, a chuck mechanism 40 that holds the rear end of the workpiece 10 is provided, and the chuck mechanism 40 is attached to the front end of the moving table 42. A rail 46 is laid on the base 44 in parallel with the axial direction of the workpiece 10, and a movable table 42 is slidably engaged with the rail 46.
[0015]
The moving table 42 is configured to be moved along the rail 46 via a belt or the like (not shown) by driving of the drive motor 48. A receiving member 52 is provided at the tip of the base 44 on the articulated robot 2 side, and the receiving member 52 supports the workpiece 10 so that the workpiece 10 gripped by the chuck mechanism 40 does not hang down. Is configured to do. The receiving member 52 is configured to be retracted by being moved up and down by an actuator 54 using a cylinder. In the present embodiment, the moving mechanism 50 is configured by the moving table 42, the rail 46, and the drive motor 48. Further, the receiving member 52 may be provided with a groove for receiving the workpiece 10 so that the workpiece 10 does not hang down, or may be provided with a mechanism for clamping the outer periphery of the workpiece 10.
[0016]
Next, the operation of the bending apparatus of this embodiment described above will be described.
First, the rear end of the workpiece 10 is held by the chuck mechanism 40 and supported by the receiving member 52 so as not to hang down. Then, the moving table 42 is moved by a predetermined distance along the rail 46 by the moving mechanism 50, and the workpiece 10 is supplied to the bending mechanism 22.
[0017]
The workpiece 10 is supplied between the bending die 24 and the clamping die 34 of the bending mechanism 22, and the workpiece 10 is sandwiched between the bending die 24 and the clamping die 34, and the clamping die 34 is moved around the bending die 24. The workpiece 10 is bent according to the shape of the grooves 26, 28, 30 of the bending die 24.
[0018]
When bending according to the shape of the groove 26, the first to third joints 8, 14, and 18 are turned to move so that the workpiece 10 enters the groove 26 as shown in FIG. 4. . The same applies to the other grooves 28 and 30. Also, after the machining by the groove 26, the first to third joints 8, 14 and 18 are turned when the machining is performed by another groove 28. Then, the workpiece 10 moves so as to enter the groove 28. Thus, even if there are a plurality of stages of the grooves 26, 28, 30, the grooves 26, 28, 30 can be moved according to the grooves 26, 28, 30, and various bending shapes can be easily handled. The grooves 26, 28, and 30 are not limited to three stages, but may be two stages or four or more stages.
[0019]
In addition, as shown in FIGS. 6A, 6 </ b> B, 6 </ b> C, and 6 </ b> D, the bending direction of the workpiece 10 and the groove 26 of the bending die 24 depend on the bending direction of the workpiece 10. The direction is made to match. In the present embodiment, since the third joint 18 and the auxiliary joint 20 have a certain synchronized relationship, if the bending direction is determined, the groove 26 is brought into contact with the workpiece 10, whereby the distal end arm 16 and the first joint 16. The positions of the three joints 18 are determined.
[0020]
The position of the second joint 14 is on an arc whose center is the first joint 8 and whose radius is the distance between the first joint 8 and the second joint 14, and whose second joint 14 is centered on the third joint 18. It is on an arc whose radius is the distance between the joint 14 and the third joint 18. Therefore, if the second joint 14 is at the intersection of these two arcs, the position of the bending die 24 is determined. At this time, there may be two intersections. In this case, the second arm 12 interferes with the workpiece 10, or the tip of the workpiece 10 after bending interferes with the second arm 12. Select intersections that you don't want to do.
[0021]
Thus, by determining the positions of the joints 8, 14, and 18, the angle formed by the fixed portion 4 and the first arm 6, the angle formed by the first arm 6 and the second arm 12, the second arm 12 and the tip arm Each angle formed by 16 is obtained. The first arm 6, the second arm 12, and the tip arm 16 are turned to a predetermined angle by the joints 8, 14, and 18 according to the obtained angles. Accordingly, the groove 26 of the bending die 24 is moved so as to contact the workpiece 10.
[0022]
Thus, after bending the workpiece 10, the moving table 42 is moved to feed the workpiece 10 and move to the next bending position. Then, the workpiece 10 is three-dimensionally bent by repeating the above-described operation. When bending the vicinity of the rear end of the workpiece 10, the receiving member 52 is lowered and retracted by the actuator 54 to prevent interference between the receiving member 52 and the chuck mechanism 40.
[0023]
After the bending process, for example, the workpiece 10 may be grasped by the bending mold 24 and the clamping mold 34 of the bending mechanism 22 and unloaded. Further, when brackets, nuts, or the like are attached in the middle of the workpiece 10, the first to third joints 8, 14, 18 can be turned so that they do not interfere with the bending mechanism 22. it can.
[0024]
Further, in a state where the workpiece 10 is held by the bending die 24 and the clamping die 34, the bending mechanism 22 is turned around the workpiece 10, and the workpiece 10 is twisted to change the bending direction. Also good. Thus, the bent workpiece 10 can be prevented from interfering with the apparatus and the floor. Further, when the clamping die 34 is revolved around the bending die 24, so-called draw bending can be performed by moving the movable table 42 in synchronization with the bending process.
[0025]
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.
[0026]
【The invention's effect】
As described in detail above, the bending apparatus of the present invention can move the bending mechanism by an articulated robot. Therefore, the moving mechanism only needs to send the chuck mechanism in the axial direction of the workpiece, and the structure is simplified. Is reduced in size, and the chuck mechanism can be fed at high speed.
[Brief description of the drawings]
FIG. 1 is a front view of a bending apparatus as an embodiment of the present invention.
FIG. 2 is a side view of the bending apparatus according to the present embodiment.
FIG. 3 is an enlarged side view of the articulated robot according to the present embodiment.
FIG. 4 is an enlarged side view of the bending mechanism of the present embodiment.
FIG. 5 is an enlarged plan view of a bending mechanism of the present embodiment.
FIG. 6 is an operation explanatory diagram of the bending apparatus of the present embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Machine frame 2 ... Articulated robot 4 ... Fixed part 6 ... 1st arm 8 ... 1st joint 10 ... Workpiece 12 ... 2nd arm 14 ... 2nd joint 16 ... Tip arm 18 ... 3rd joint 20 ... Auxiliary Joint 22 ... Bending mechanism 24 ... Bending die 26, 28, 30 ... Groove 34 ... Clamping die 36 ... Pressure die 40 ... Chuck mechanism 42 ... Moving platform 46 ... Rail 50 ... Moving mechanism 52 ... Receiving member 54 ... Actuator

Claims (5)

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. ,
An articulated robot having a plurality of joints that rotate around an axis parallel to the axial direction of the workpiece; and the distal end arm attached to the most distal end joint of the articulated robot Providing an auxiliary joint that rotates in synchronism with the joint mechanically, and attaching the bending mechanism to the auxiliary joint;
Furthermore, the provided with a chuck mechanism for gripping the end of the workpiece, bending, characterized in that a moving mechanism for moving the chuck mechanism in the axial direction of the workpiece machining device.   The bending apparatus according to claim 1, wherein the articulated robot has at least three or more sets of joints that rotate around an axis parallel to an axial direction of the workpiece. The bending mold is bending device according to claim 1 or claim 2, characterized in that it has a plurality of grooves corresponding to the bent shape. Wherein between the bending mechanism and said chuck mechanism, the bending device according to any one of claims 1 to 3, characterized in that a receiving member for supporting the workpiece.   The bending apparatus according to claim 4, further comprising an actuator that moves the receiving member up and down.

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