JP5729059B2 - Heat-treated steel or bending member manufacturing apparatus and manufacturing method - Google Patents

Heat-treated steel or bending member manufacturing apparatus and manufacturing method Download PDF

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JP5729059B2
JP5729059B2 JP2011062737A JP2011062737A JP5729059B2 JP 5729059 B2 JP5729059 B2 JP 5729059B2 JP 2011062737 A JP2011062737 A JP 2011062737A JP 2011062737 A JP2011062737 A JP 2011062737A JP 5729059 B2 JP5729059 B2 JP 5729059B2
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steel pipe
steel material
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JP2012197488A (en
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弘志 森
弘志 森
紘明 窪田
紘明 窪田
桑山　真二郎
真二郎 桑山
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Nippon Steel Corp
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description

本発明は、例えば焼入れ鋼管等の熱処理鋼材の製造装置及び製造方法と、曲げ部材の製造装置及び製造方法とに関する。   The present invention relates to a manufacturing apparatus and manufacturing method for heat-treated steel such as a hardened steel pipe, and a manufacturing apparatus and manufacturing method for a bending member.

周知のように、高強度、軽量かつ小型であること等が、屈曲した形状を有する金属製の自動車用や各種機械用等の強度部材、補強部材又は構造部材に求められる。この種の曲げ部材は、これまでにも、例えばプレス加工品の溶接、厚板の打ち抜き、又は鍛造等により製造されてきた。しかし、これらの製造方法による曲げ部材の軽量化及び小型化の推進は、限界に達している。   As is well known, high strength, light weight, and small size are required for strength members, reinforcing members, and structural members for metal automobiles and various machines having a bent shape. This type of bending member has heretofore been manufactured, for example, by welding of a pressed product, punching of a thick plate, or forging. However, the promotion of weight reduction and downsizing of bending members by these manufacturing methods has reached its limit.

いわゆるチューブハイドロフォーミングによりこの種の曲げ部材を製造することが近年積極的に検討されている（例えば非特許文献１参照）。チューブハイドロフォーミング工法は、非特許文献１の２８頁に記載されるように、素材の開発や成形可能形状の拡大等といった様々な課題を有するので、よりいっそうの開発が必要である。   In recent years, production of this type of bending member by so-called tube hydroforming has been actively studied (for example, see Non-Patent Document 1). As described on page 28 of Non-Patent Document 1, the tube hydroforming method has various problems such as the development of materials and the expansion of the shape that can be formed, and therefore further development is required.

本出願人は、このような現状に鑑み、特許文献１により曲げ加工装置を開示した。図３は、この曲げ加工装置０の概略を示す説明図である。
図３に示すように、曲げ加工装置０は、支持機構２によりその軸方向へ移動自在に支持される鋼管１を、上流側から下流側へ向けて、例えばボールネジを用いた送り機構３により送る。そして、支持機構２の下流で誘導加熱コイル５によって鋼管１を部分的に焼入れが可能な温度域（Ａｃ３点以上）に急速に加熱するとともに、加熱機構５の下流に配置される水冷装置６から鋼管１に冷却水を吹き付けて鋼管１を急冷することによって、誘導加熱コイル５による鋼管１の加熱位置と冷却水の鋼管１への吹き付け位置との間に、Ａｃ３点以上の温度の赤熱部を形成する。さらに、鋼管１を送りながら支持可能であるロール対４ａを少なくとも一組有する可動ローラーダイス４の位置を二次元又は三次元で変更することによって鋼管１の赤熱部に曲げモーメントを付与する。 In view of this situation, the present applicant has disclosed a bending apparatus according to Patent Document 1. FIG. 3 is an explanatory view showing an outline of the bending apparatus 0. As shown in FIG.
As shown in FIG. 3, the bending apparatus 0 feeds the steel pipe 1 supported by the support mechanism 2 so as to be movable in the axial direction from the upstream side to the downstream side by, for example, a feed mechanism 3 using a ball screw. . Then, the steel pipe 1 is rapidly heated to a temperature range (Ac 3 points or more) where the steel pipe 1 can be partially quenched by the induction heating coil 5 downstream of the support mechanism 2, and the water cooling device 6 disposed downstream of the heating mechanism 5. From the heating position of the steel pipe 1 by the induction heating coil 5 and the spraying position of the cooling water to the steel pipe 1, the red heat of the temperature of Ac 3 or more points Forming part. Furthermore, a bending moment is given to the red hot part of the steel pipe 1 by changing the position of the movable roller die 4 having at least one pair of roll pairs 4a that can be supported while feeding the steel pipe 1 in two dimensions or three dimensions.

曲げ加工装置１の誘導加熱コイル５は高周波の交流電力が供給され、誘導加熱コイル５内鋼管１の円周方向に誘導起電力が発生し、鋼管１の電気抵抗損により加熱される。投入電力制御機構（高周波電源）の制御量は印加される電圧で、誘導加熱コイル５の負荷インピーダンスの変動により印加される有効電力が変化する。   The induction heating coil 5 of the bending apparatus 1 is supplied with high-frequency AC power, generates an induced electromotive force in the circumferential direction of the steel pipe 1 in the induction heating coil 5, and is heated by the electrical resistance loss of the steel pipe 1. The control amount of the input power control mechanism (high-frequency power source) is an applied voltage, and the effective power applied varies depending on the load impedance of the induction heating coil 5.

曲げ加工装置０は、このようにして、二次元又は三次元に屈曲する曲げ加工部と焼入れ部とを長手方向へ向けて断続的又は連続的に有する曲げ部材を、高い作業能率で製造する。   In this way, the bending apparatus 0 manufactures a bending member having a bending portion and a quenching portion that are bent two-dimensionally or three-dimensionally intermittently or continuously in the longitudinal direction with high work efficiency.

国際公開第２００６／０９３００６号パンフレットInternational Publication No. 2006/093006 Pamphlet

自動車技術 Ｖｏｌ．５７，Ｎｏ．６，２００３ ２３〜２８頁Automotive Technology Vol. 57, no. 6,2003 23-28

本発明者らが曲げ加工装置１のさらなる改良を図るために鋭意検討を重ねた結果、誘導加熱コイル５を電圧によって制御しようとしても、鋼管１には長手方向や周方向への肉厚の不均一（以下、「偏肉」という）や、冷却水の吹き付けによって鋼管１から剥離したスケールが加熱コイル５の内側に付着すること（以下、「スケール付着」という）等が不可避的に発生し、これらにより加熱コイル５のインピーダンス及び出力電圧が変動するため、鋼管１の加熱温度が部位により変動し、一定にならないことが判明した。   As a result of intensive studies by the present inventors to further improve the bending apparatus 1, even if the induction heating coil 5 is to be controlled by voltage, the steel pipe 1 has no wall thickness in the longitudinal direction or circumferential direction. Uniform (hereinafter referred to as “uneven wall thickness”), scales peeled off from the steel pipe 1 by spraying cooling water adhere to the inside of the heating coil 5 (hereinafter referred to as “scale adhesion”), etc. inevitably occur. As a result, the impedance and output voltage of the heating coil 5 fluctuate, and it has been found that the heating temperature of the steel pipe 1 fluctuates depending on the part and is not constant.

鋼管１の加熱温度が部位により変動すると、これに伴って鋼管１の赤熱部の変形抵抗が部位により変動するため、曲げ部材の曲がり部の寸法精度が低下し、例えば自動車用の強度部材、補強部材又は構造部材を提供できない。   When the heating temperature of the steel pipe 1 varies depending on the part, the deformation resistance of the red hot part of the steel pipe 1 also varies depending on the part, so that the dimensional accuracy of the bent part of the bending member decreases, for example, a strength member for automobile, reinforcement The member or the structural member cannot be provided.

本発明の目的は、例えば鋼管等の、閉じた横断面形状を有するとともに軸方向へ搬送される鋼材を、加熱温度の変動を抑制しながら安定して加熱することができる熱処理鋼材の製造装置及び製造方法と、曲げ部材の製造装置及び製造方法とを提供することである。   An object of the present invention is to provide a heat-treated steel material manufacturing apparatus capable of stably heating a steel material having a closed cross-sectional shape and transported in the axial direction, such as a steel pipe, while suppressing fluctuations in heating temperature, and It is providing a manufacturing method, a manufacturing apparatus of a bending member, and a manufacturing method.

本発明者等は、上述した課題を解決するために鋭意検討を重ねた結果、以下に列記する知見Ａ〜Ｅを得て、本発明を完成した。
（Ａ）従来の電圧制御に替えて、加熱コイル５へ供給する電力を一定とする制御（以下、「電力一定制御」という）を用いることにより、偏肉やスケール付着等によって加熱コイル５のインピーダンスが変動しても、加熱コイル５の出力電力は一定に維持されるので、従来の電圧制御よりも鋼管１の加熱温度の均一性は向上する。
（Ｂ）しかし、電力一定制御では、投入電力が一定であるだけなので、鋼管１の偏肉に伴う鋼管１の加熱温度の変動を改善できない。
（Ｃ）加熱コイル５へ供給する電力量を一定に制御するのではなく、加熱コイル５の直下に存在する鋼管１の赤熱部の温度を測定し、この測定値に基づいて加熱コイル５へ供給する電力量をフィードバック制御すること（以下、「鋼管温度制御」という）によって、鋼管１の長手方向への偏肉に対して鋼管１の加熱温度を一定に制御することが可能になる。
（Ｄ）鋼管温度制御によれば、温度計で実際に計測する鋼管１の長手方向の温度を一定に制御することが可能になるが、鋼管１の周方向への偏肉に対して鋼管１の加熱温度を均一にすることはできない。
（Ｅ）鋼管１の周方向への複数位置の温度を測定し、これらの測定値の平均値を均一にするように鋼管温度制御を行うことによって、鋼管１の長手方向への偏肉のみならず、周方向への偏肉に対しても鋼管１の温度を一定に制御することが可能になる。 As a result of intensive studies to solve the above-described problems, the present inventors have obtained knowledge A to E listed below and completed the present invention.
(A) In place of the conventional voltage control, by using a control for making the power supplied to the heating coil 5 constant (hereinafter referred to as “power constant control”), the impedance of the heating coil 5 due to uneven thickness, scale adhesion, etc. Even if fluctuates, since the output power of the heating coil 5 is kept constant, the uniformity of the heating temperature of the steel pipe 1 is improved as compared with the conventional voltage control.
(B) However, in the constant power control, since the input power is only constant, fluctuations in the heating temperature of the steel pipe 1 due to the uneven thickness of the steel pipe 1 cannot be improved.
(C) Rather than controlling the amount of power supplied to the heating coil 5 to be constant, the temperature of the red hot part of the steel pipe 1 existing immediately below the heating coil 5 is measured and supplied to the heating coil 5 based on this measured value. By performing feedback control of the amount of electric power to be performed (hereinafter referred to as “steel pipe temperature control”), the heating temperature of the steel pipe 1 can be controlled to be constant with respect to uneven thickness in the longitudinal direction of the steel pipe 1.
(D) According to the steel pipe temperature control, the temperature in the longitudinal direction of the steel pipe 1 actually measured by the thermometer can be controlled to be constant, but the steel pipe 1 against the uneven thickness in the circumferential direction of the steel pipe 1. The heating temperature cannot be made uniform.
(E) By measuring the temperature at a plurality of positions in the circumferential direction of the steel pipe 1 and performing the steel pipe temperature control so as to make the average value of these measured values uniform, In addition, the temperature of the steel pipe 1 can be controlled to be constant even with respect to uneven thickness in the circumferential direction.

本発明は、
閉じた横断面形状を有するとともに長手方向の第１の端部を先頭としてこの長手方向へ送られる鋼材の外面から離間して第１の位置に配置され、鋼材を所定の温度域に加熱する誘導加熱コイルと、
第１の位置よりも鋼材の送り方向の下流の第２の位置で鋼材の外面に冷却媒体を吹き付けることによって、誘導加熱コイルによる鋼材の加熱位置と冷却媒体の鋼材への吹き付け位置との間に赤熱部を形成しながら、鋼材を熱処理する冷却機構と、
赤熱部の温度を測定するとともに前記鋼材の周方向へ複数設置される温度測定機構と、
この各温度測定機構の測定結果の平均値に基づいて誘導加熱コイルへの電力の投入量をフィードバック制御する投入電力制御機構と
を備えることを特徴とする熱処理鋼材の製造装置である。 The present invention
An induction that has a closed cross-sectional shape and is disposed at a first position apart from the outer surface of the steel material fed in the longitudinal direction with the first end portion in the longitudinal direction as the head, and heating the steel material to a predetermined temperature range A heating coil;
By spraying a cooling medium on the outer surface of the steel material at a second position downstream of the first position in the steel feed direction, between the heating position of the steel material by the induction heating coil and the spraying position of the cooling medium to the steel material A cooling mechanism that heat-treats the steel material while forming a red hot part;
A temperature measuring mechanism that measures the temperature of the red hot part and is installed in the circumferential direction of the steel material, and
This is a manufacturing apparatus of a heat treatment steel, characterized in that it comprises a supply power control mechanism for feedback control of the input amount of electric power to each temperature measurement mechanism for measurement induction heating coil based on the average value of.

これらの本発明では、測定結果が、鋼材の長手方向及び／又は周方向への複数の位置に関する測定結果であることが望ましい。
これらの本発明では、熱処理が焼入れであることが望ましい。 In these present inventions, it is desirable that the measurement results are measurement results regarding a plurality of positions in the longitudinal direction and / or circumferential direction of the steel material.
In these present inventions, it is desirable that the heat treatment is quenching.

さらに、これらの本発明では、鋼材は鋼管であることが望ましい。   Further, in the present invention, the steel material is preferably a steel pipe.

本発明によれば、閉じた横断面形状を有するとともに軸方向へ搬送される鋼材を、長手方向及び／又は周方向への加熱温度の変動を抑制しながら均一に加熱して、熱処理鋼材又は曲げ部材を製造することが可能になる。このため、本発明によれば、製造される曲げ部材の寸法精度を所定の範囲に維持することが可能になり、高い寸法精度を要求される、例えば自動車用の強度部材、補強部材又は構造部材を提供することが可能になる。   According to the present invention, a steel material having a closed cross-sectional shape and conveyed in the axial direction is heated uniformly while suppressing fluctuations in the heating temperature in the longitudinal direction and / or circumferential direction, and the heat-treated steel material or bending The member can be manufactured. For this reason, according to the present invention, it becomes possible to maintain the dimensional accuracy of the bending member to be manufactured within a predetermined range, and a high dimensional accuracy is required, for example, a strength member, a reinforcing member or a structural member for automobiles. It becomes possible to provide.

図１は、本発明に係る熱処理鋼材の製造装置の構成の一例を模式的に示す説明図である。FIG. 1 is an explanatory view schematically showing an example of the configuration of a heat-treated steel material manufacturing apparatus according to the present invention. 図２は、本発明に係る曲げ部材の製造装置の構成の一例を模式的に示す斜視図である。FIG. 2 is a perspective view schematically showing an example of the configuration of the bending member manufacturing apparatus according to the present invention. 図３は、特許文献１により開示された曲げ加工装置の概略を示す説明図である。FIG. 3 is an explanatory diagram showing an outline of the bending apparatus disclosed in Patent Document 1. As shown in FIG.

本発明を実施するための形態を、添付図面を参照しながら説明する。以降の説明では、鋼材が、閉じた横断面形状を有する部材の代表例の鋼管であるとともに、熱処理が焼入れである場合を例にとる。しかし、本発明は、鋼管に限定されるものではなく、閉じた横断面形状を有する鋼材であれば適用可能であるとともに、焼入れに限定されるものではなく、焼入れ以外の他の熱処理（例えば焼き戻し）にも適用可能である。   A mode for carrying out the present invention will be described with reference to the accompanying drawings. In the following description, the steel material is a steel pipe as a representative example of a member having a closed cross-sectional shape, and the case where the heat treatment is quenching is taken as an example. However, the present invention is not limited to steel pipes, and can be applied to any steel material having a closed cross-sectional shape, and is not limited to quenching, but other heat treatments (for example, quenching). (Return) is also applicable.

図１は、本発明に係る熱処理鋼材の製造装置１０の構成の一例を、模式的に示す説明図である。また、図２は、本発明に係る曲げ部材の製造装置２０の構成の一例を示す斜視図である。   FIG. 1 is an explanatory view schematically showing an example of the configuration of a heat-treated steel material manufacturing apparatus 10 according to the present invention. FIG. 2 is a perspective view showing an example of the configuration of the bending member manufacturing apparatus 20 according to the present invention.

図１に示すように、この製造装置１０は、送り機構１１と、加熱機構１２と、冷却機構１３と、温度測定機構１４と、投入電力制御機構１５と、冷却媒体侵入防止ガス供給機構１６とを備えるので、これらの構成要素を順次説明する。   As shown in FIG. 1, the manufacturing apparatus 10 includes a feeding mechanism 11, a heating mechanism 12, a cooling mechanism 13, a temperature measuring mechanism 14, an input power control mechanism 15, and a cooling medium intrusion prevention gas supply mechanism 16. Therefore, these components will be described sequentially.

［送り機構１１］
鋼管１７は、第１の端部１７ａの内部に、把持部材（チャック）１８を挿設される。また、第２の端部１７ｂの内部にも、把持部材（チャック）１９を挿設される。把持部材１８は、筒状の大径部１８ａと筒状の小径部１８ｂとを有し、同様に、把持部材１９も、筒状の大径部１９ａと、筒状の小径部１９ｂとを有する。大径部１８ａ、１９ａの外径は鋼管１７の外径よりも大きく設定される。小径部１８ｂ、１９ｂの内径は、鋼管１７の内径よりも小さく設定される。 [Feeding mechanism 11]
The steel pipe 17 has a gripping member (chuck) 18 inserted in the first end 17a. A gripping member (chuck) 19 is also inserted into the second end portion 17b. The gripping member 18 has a cylindrical large diameter portion 18a and a cylindrical small diameter portion 18b. Similarly, the gripping member 19 also has a cylindrical large diameter portion 19a and a cylindrical small diameter portion 19b. . The outer diameters of the large diameter portions 18 a and 19 a are set larger than the outer diameter of the steel pipe 17. The inner diameters of the small diameter portions 18 b and 19 b are set smaller than the inner diameter of the steel pipe 17.

小径部１８ｂが鋼管１７の第１の端部１７ａの内部に挿設され、小径部１９ｂが鋼管１７の第２の端部１７ｂの内部に挿設される。また、大径部１８ａの端面が鋼管１７の第１の端部１７ａの端面に付き当てられるとともに、大径部１９ａの端面が鋼管１７の第２の端部１７ｂの端面に付き当てられる。   The small diameter portion 18 b is inserted into the first end portion 17 a of the steel pipe 17, and the small diameter portion 19 b is inserted into the second end portion 17 b of the steel pipe 17. Further, the end surface of the large diameter portion 18 a is applied to the end surface of the first end portion 17 a of the steel pipe 17, and the end surface of the large diameter portion 19 a is applied to the end surface of the second end portion 17 b of the steel pipe 17.

図２に示すように、曲げ部材の製造装置２０では、把持部材１８は第３の産業用ロボット２７により支持されるとともに、把持部材１９は第１の産業用ロボット２４により支持される。   As shown in FIG. 2, in the bending member manufacturing apparatus 20, the gripping member 18 is supported by a third industrial robot 27 and the gripping member 19 is supported by a first industrial robot 24.

送り機構１１は、第１の端部１７ａの内部に把持部材１８を挿設された鋼管１７を、第１の端部１７ａを先頭としてこの鋼材１７の長手方向へ、すなわち図１中の白抜き矢印方向へ送る機能を有する。送り機構１１は、鋼管１７をその長手方向へ送ることができる機構を用いればよく、特定の装置には限定されない。   The feed mechanism 11 moves the steel pipe 17 in which the gripping member 18 is inserted into the first end portion 17a in the longitudinal direction of the steel material 17 starting from the first end portion 17a, that is, the white portion in FIG. Has the function of sending in the direction of the arrow. The feed mechanism 11 may be a mechanism that can feed the steel pipe 17 in its longitudinal direction, and is not limited to a specific device.

送り機構１１は、図１では省略するが図２に示す曲げ部材の製造装置２０では、把持部材１９を鋼管１７の送り方向へ移動自在に支持する６軸の多関節型の第１の産業用ロボット２４により、構成した。しかし、第１の産業用ロボット２４に替えて、例えばボールネジ等の公知の送り装置を用いてもよい。この場合、曲げ部材を製造するためには、この送り機構１１と加熱機構１３との間の鋼管１７を送りながら所定の位置に位置決めするために、一対のローラ等からなる支持機構を配置することが望ましい。   Although the feed mechanism 11 is omitted in FIG. 1, in the bending member manufacturing apparatus 20 shown in FIG. 2, a six-shaft multi-joint type first industrial type that supports the gripping member 19 movably in the feed direction of the steel pipe 17. The robot 24 is used. However, instead of the first industrial robot 24, a known feeding device such as a ball screw may be used. In this case, in order to manufacture a bending member, a support mechanism composed of a pair of rollers or the like is disposed in order to position the steel pipe 17 between the feed mechanism 11 and the heating mechanism 13 at a predetermined position while feeding it. Is desirable.

送り機構１１は、以上のように構成される。
［加熱機構１２］
加熱機構１２は、送り機構１１によってその長手方向へ送られる鋼管１７の外面１７ｃから離間して第１の位置Ａに配置される。加熱機構１２は、この鋼管１７を、例えば焼入れ可能温度域（Ａｃ３点以上）に加熱するためのものである。 The feed mechanism 11 is configured as described above.
[Heating mechanism 12]
The heating mechanism 12 is disposed at the first position A apart from the outer surface 17c of the steel pipe 17 fed in the longitudinal direction by the feeding mechanism 11. The heating mechanism 12 is for heating the steel pipe 17 to a quenchable temperature range (Ac 3 points or more), for example.

加熱機構１２は、鋼管１７を、例えば鋼管１７のＡｃ３点以上の温度に急速に加熱する能力を有することが望ましく、この製造装置１０では加熱機構１２として誘導加熱コイル１２ａを用いた。 The heating mechanism 12 desirably has a capability of rapidly heating the steel pipe 17 to, for example, a temperature of three or more points of Ac of the steel pipe 17. In the manufacturing apparatus 10, the induction heating coil 12 a is used as the heating mechanism 12.

誘導加熱コイル１２ａには、高周波変流器と、出力監視ユニットと、高周波発振器（高周波電源）とからなる高周波電流発生装置１２ｂが接続される。高周波発振器には冷却水循環ユニットが接続される。   The induction heating coil 12a is connected to a high-frequency current generator 12b including a high-frequency current transformer, an output monitoring unit, and a high-frequency oscillator (high-frequency power source). A cooling water circulation unit is connected to the high frequency oscillator.

加熱機構１２は、後述する冷却機構１３と一体として、図２に示す曲げ部材の製造装置２０では、誘導加熱コイル支持ロボット２５により移動自在に支持される。
加熱機構１３は、以上のように構成される。 The heating mechanism 12 is integrally supported with a cooling mechanism 13 to be described later and is movably supported by an induction heating coil support robot 25 in the bending member manufacturing apparatus 20 shown in FIG.
The heating mechanism 13 is configured as described above.

［冷却機構１３］
冷却機構１３は、第１の位置Ａよりも鋼管１７の送り方向の下流の第２の位置Ｂに配置される。冷却機構１３は、鋼管１７の外面１７ｃに冷却媒体１３ｂを吹き付けることにより鋼管１７を焼入れるためのものである。 [Cooling mechanism 13]
The cooling mechanism 13 is disposed at a second position B downstream of the first position A in the feed direction of the steel pipe 17. The cooling mechanism 13 is for quenching the steel pipe 17 by spraying a cooling medium 13 b on the outer surface 17 c of the steel pipe 17.

冷却機構１３として水冷機構１３ａを用いることが望ましい。水冷機構１３ａから冷却水１３ｂを鋼管１７の外面１７ｃに吹き付けることによって、誘導加熱コイル１２ａによる鋼管１７の加熱位置Ｐ１と冷却水１３ｂの鋼管１７への吹き付け位置Ｐ２との間に、例えば焼入れ可能温度域（Ａｃ３点以上）にある赤熱部１７ｄを形成しながら、鋼管１７を急速に冷却して、鋼管１７を焼入れることができる。 It is desirable to use a water cooling mechanism 13 a as the cooling mechanism 13. By blowing the cooling water 13b from the water cooling mechanism 13a onto the outer surface 17c of the steel pipe 17, for example, a quenching temperature between the heating position P1 of the steel pipe 17 by the induction heating coil 12a and the blowing position P2 of the cooling water 13b to the steel pipe 17 is achieved. While forming the red hot part 17d in the region (Ac 3 points or more), the steel pipe 17 can be rapidly cooled to quench the steel pipe 17.

冷却機構１３は、上述したように加熱機構１２と一体として、図２に示す曲げ部材の製造装置２０では、誘導加熱コイル支持ロボット２５により移動自在に支持される。
冷却機構１３は、以上のように構成される。 As described above, the cooling mechanism 13 is integrated with the heating mechanism 12 and supported by the induction heating coil support robot 25 so as to be movable in the bending member manufacturing apparatus 20 shown in FIG.
The cooling mechanism 13 is configured as described above.

［温度測定機構１４］
温度測定機構１４は、鋼管１７の赤熱部１７ｄの温度を測定するためのものである。温度測定機構１４は、赤熱部１７ｄの温度を測定することができる機構であれば如何なるものでもよい。例えば、図１に示す温度測定機構１４とは相違するが、誘導加熱コイル１２ａの入側から赤熱部１７ｄを覗くように放射温度計を配置して計測することが例示される。誘導加熱コイル１２ａの入側から放射温度計を用いて計測することにより、冷却水１３ｂの飛散により計測値が変動することを可及的に排除することができる。 [Temperature measuring mechanism 14]
The temperature measurement mechanism 14 is for measuring the temperature of the red hot part 17 d of the steel pipe 17. The temperature measurement mechanism 14 may be any mechanism that can measure the temperature of the red hot portion 17d. For example, although it is different from the temperature measurement mechanism 14 shown in FIG. 1, the measurement is performed by arranging a radiation thermometer so as to look into the red hot part 17 d from the entrance side of the induction heating coil 12 a. By measuring using a radiation thermometer from the entrance side of the induction heating coil 12a, it is possible to eliminate as much as possible that the measurement value fluctuates due to the scattering of the cooling water 13b.

また、温度測定機構１４として放射温度計を用いる場合、上記（Ｃ）項で説明したように、放射温度計を一基設置すれば、鋼管１７はその長手方向へ送られているので鋼管１７の長手方向の複数の位置の温度を測定することができ、鋼管１７の長手方向への偏肉に対して鋼管１７の加熱温度を一定に制御することが可能になる。しかし、放射温度計を一基設置したのでは、上記（Ｄ）項で説明したように、鋼管１７の周方向については一箇所しか計測することができないので、鋼管１７の周方向への偏肉に対して鋼管１７の加熱温度を均一にすることはできない。   Further, when a radiation thermometer is used as the temperature measuring mechanism 14, as described in the above section (C), if one radiation thermometer is installed, the steel pipe 17 is sent in its longitudinal direction, so that the steel pipe 17 Temperatures at a plurality of positions in the longitudinal direction can be measured, and the heating temperature of the steel pipe 17 can be controlled to be constant with respect to uneven thickness in the longitudinal direction of the steel pipe 17. However, if a single radiation thermometer is installed, as described in the above section (D), only one location can be measured in the circumferential direction of the steel pipe 17, so that the uneven thickness in the circumferential direction of the steel pipe 17 is obtained. On the other hand, the heating temperature of the steel pipe 17 cannot be made uniform.

そこで、放射温度計を鋼管１７の周方向へ複数設置し（例えば等間隔で４〜６個程度）、上記（Ｅ）項で説明したように鋼管１７の周方向への複数位置の温度を測定し、これらの測定値の平均値が均一になるように鋼管温度制御を行うことによって、鋼管１７の長手方向への偏肉のみならず鋼管１７の周方向への偏肉に対しても、鋼管１７の温度を一定に制御することが可能になる。   Therefore, a plurality of radiation thermometers are installed in the circumferential direction of the steel pipe 17 (for example, about 4 to 6 at regular intervals), and the temperature at a plurality of positions in the circumferential direction of the steel pipe 17 is measured as described in the above section (E). In addition, by performing the steel pipe temperature control so that the average value of these measured values is uniform, not only the thickness deviation in the longitudinal direction of the steel pipe 17 but also the thickness deviation in the circumferential direction of the steel pipe 17 is achieved. The temperature of 17 can be controlled to be constant.

このように、温度測定機構１４による赤熱部１７ｄの測定結果は、鋼管１７の周方向への複数の位置に関する測定結果（図１に示す例では２箇所の測定結果ｔ１、ｔ２）であることが望ましい。
温度測定機構１４は、以上のように構成される。 Thus, the measurement result of the red hot part 17d by the temperature measurement mechanism 14 is a measurement result regarding a plurality of positions in the circumferential direction of the steel pipe 17 (in the example shown in FIG. 1, two measurement results t 1 and t 2 ). It is desirable.
The temperature measurement mechanism 14 is configured as described above.

［投入電力制御機構１５］
投入電力制御機構１５は、温度測定機構１４の上記測定結果ｔ１、ｔ２の平均値に基づいて、誘導加熱コイル１２ａへの電力の投入量をフィードバック制御する。具体的には、投入電力制御機構１５は、測定結果が予め定めた目標値より低い場合には誘導加熱コイル１２ａへの電力の投入量を高めるとともに、測定結果が予め定めた目標値よりも高い場合には誘導加熱コイル１２ａへの電力の投入量を低め、これによって、鋼管１７の加熱温度がその長手方向及び／又は周方向について均一になるように制御する。 [Input power control mechanism 15]
The input power control mechanism 15 feedback-controls the input amount of power to the induction heating coil 12 a based on the average value of the measurement results t 1 and t 2 of the temperature measurement mechanism 14. Specifically, the input power control mechanism 15 increases the input amount of power to the induction heating coil 12a when the measurement result is lower than a predetermined target value, and the measurement result is higher than the predetermined target value. In some cases, the input amount of electric power to the induction heating coil 12a is lowered, and thereby, the heating temperature of the steel pipe 17 is controlled to be uniform in the longitudinal direction and / or the circumferential direction.

「電力の投入量」とは、投入電力制御機構（高周波電源）１５より誘導加熱コイル１２ａへ供給される有効電力のことであり、この有効電力が誘導加熱コイル１２ａの内部に存在する鋼管１７の円周方向に誘導起電力が発生し、鋼管１７の電気抵抗損によって加熱されることを意味する。   The “input amount of power” is effective power supplied from the input power control mechanism (high frequency power source) 15 to the induction heating coil 12a, and this effective power is applied to the steel pipe 17 existing inside the induction heating coil 12a. It means that an induced electromotive force is generated in the circumferential direction and is heated by the electrical resistance loss of the steel pipe 17.

投入電力制御機構１５は、温度測定機構１４から入力される測定結果ｔ１、ｔ２に基づいて、高周波電流発生装置１２ｂへ制御信号Ｓを出力して、鋼管１７の赤熱部１７ｄの加熱温度をフィードバック制御する。高周波電流発生装置１２ｂは、投入電力制御機構１５からの制御信号Ｓを受けて、誘導加熱コイル１２ａへの電力の投入量を変更すること、具体的には、投入電力制御機構（高周波電源）１５の制御量である印加電圧を高くすると誘導加熱コイル１２ａの内部に位置する鋼管１７で消費される有効電力が増加し、鋼管１７の温度が上昇し、これとは逆に、上記印加電圧を低くすると誘導加熱コイル１２ａの内部に位置する鋼管１７で消費される有効電力が減少し、鋼管１７の温度が下降する。 The input power control mechanism 15 outputs a control signal S to the high-frequency current generator 12 b based on the measurement results t 1 and t 2 input from the temperature measurement mechanism 14, and sets the heating temperature of the red hot part 17 d of the steel pipe 17. Feedback control. The high-frequency current generator 12b receives the control signal S from the input power control mechanism 15 and changes the input amount of power to the induction heating coil 12a. When the applied voltage that is the control amount is increased, the effective power consumed by the steel pipe 17 located inside the induction heating coil 12a increases, and the temperature of the steel pipe 17 rises. On the contrary, the applied voltage is lowered. Then, the effective power consumed by the steel pipe 17 located inside the induction heating coil 12a is reduced, and the temperature of the steel pipe 17 is lowered.

このような投入電力制御機構１５での制御機能によって、鋼管１７の加熱温度がその長手方向及び／又は周方向について均一になるように制御する。
また、上述したように、温度測定機構１４による赤熱部１７ｄの測定結果として、鋼管１７の長手方向及び／又は周方向への複数の位置に関する測定結果（図１に示す例では２箇所の測定結果ｔ１、ｔ２）を用いる場合、投入電力制御機構１５は、鋼管１７の長手方向測定は、送り装置１１により鋼管１７が長手方向へ送られることにより常時測定可能となるとともに、鋼管１７の周方向の測定も、周方向に設置された台数分だけ常時測定可能となるように、測定結果を入力され、これらに応じ、常時、制御信号Ｓを高周波電流発生装置１２ｂへ出力することが、鋼管１７の加熱温度をその長手方向及び／又は周方向について均一にするためには、望ましい。 By such a control function of the input power control mechanism 15, the heating temperature of the steel pipe 17 is controlled to be uniform in the longitudinal direction and / or the circumferential direction.
Moreover, as mentioned above, as a measurement result of the red hot part 17d by the temperature measurement mechanism 14, the measurement result regarding a plurality of positions in the longitudinal direction and / or the circumferential direction of the steel pipe 17 (in the example shown in FIG. 1, two measurement results When t 1 and t 2 ) are used, the input power control mechanism 15 can always measure the longitudinal direction of the steel pipe 17 when the steel pipe 17 is fed in the longitudinal direction by the feeding device 11, and the circumference of the steel pipe 17 can be measured. As for the direction of the measurement, the measurement result is inputted so that the measurement can be always made for the number of units installed in the circumferential direction, and the control signal S is always outputted to the high-frequency current generator 12b in accordance with them. In order to make the heating temperature of 17 uniform in the longitudinal direction and / or the circumferential direction, it is desirable.

ただし、簡便な方法としては、先行する鋼管の加工時の温度測定データを、次に後行する鋼管の加工時の出力データにフィードバックし、使用することも有効である。また、先行する複数の鋼管それぞれの温度測定データの平均値を、これらの鋼管の次に後行する鋼管の加工時のデータにフィードバックするようにしてもよい。
投入電力制御機構１５は、以上のように構成される。 However, as a simple method, it is also effective to feed back the temperature measurement data at the time of processing of the preceding steel pipe to the output data at the time of processing of the subsequent steel pipe. Moreover, you may make it feed back the average value of the temperature measurement data of each of several preceding steel pipes to the data at the time of the process of the steel pipe which follows these steel pipes.
The input power control mechanism 15 is configured as described above.

［冷却媒体侵入防止ガス供給機構１６］
冷却媒体侵入防止ガス供給機構１６は、本発明では必ずしも設置する必要はないが、設置することにより、鋼管１７の加熱温度をその長手方向及び／又は周方向についてより均一にすることができるために、設置することが望ましい。 [Cooling medium intrusion prevention gas supply mechanism 16]
Although the cooling medium intrusion prevention gas supply mechanism 16 is not necessarily installed in the present invention, the installation allows the heating temperature of the steel pipe 17 to be made more uniform in the longitudinal direction and / or the circumferential direction. It is desirable to install.

冷却媒体侵入防止ガス供給機構１６は、把持部材１９と、気体供給系１６ａと、把持部材１８とを備える。把持部材１９は、内部に穿設された気体の流路１９ｃを有する大径部１９ａ及び小径部１９ｂからなる。また、気体供給系１６ａは、流路１９ｃに気体を供給する。把持部材１８は、大径部１８ａ及び小径部１８ｂからなる。なお、図１における符号Ｐは気体供給ポンプを示す。   The cooling medium intrusion prevention gas supply mechanism 16 includes a gripping member 19, a gas supply system 16 a, and a gripping member 18. The holding member 19 includes a large-diameter portion 19a and a small-diameter portion 19b each having a gas flow path 19c drilled therein. Moreover, the gas supply system 16a supplies gas to the flow path 19c. The holding member 18 includes a large diameter portion 18a and a small diameter portion 18b. In addition, the code | symbol P in FIG. 1 shows a gas supply pump.

気体供給系１６ａにより供給される気体は、Ｎ２等の不活性ガス、空気又は還元性ガスであることが好ましい。
把持部材１８の小径部１８ｂの外面と、鋼管１７の第１の端部１７ａの内面との間、又は、大径部１８ａの端面と、鋼管１７の第１の端部１７ａの端面との間には、いずれにも、不可避的に隙間が存在する。 The gas supplied by the gas supply system 16a is an inert gas such as N 2, is preferably air or reducing gas.
Between the outer surface of the small diameter portion 18b of the gripping member 18 and the inner surface of the first end portion 17a of the steel pipe 17, or between the end surface of the large diameter portion 18a and the end surface of the first end portion 17a of the steel pipe 17. In any case, there is inevitably a gap.

このため、冷却媒体侵入防止ガス供給機構１６によって、鋼管１７の内部に、鋼管１７の第２の端部１７ｂから第１の端部１７ａへ向けて、Ｎ２等の不活性ガス、空気又は還元性ガスを供給すると、供給されたＮ２等の不活性ガス、空気又は還元性ガスは、上述した隙間から鋼管１７の外部へ向けて噴出する。このため、鋼管１７の第１の端部１７ａが冷却機構１３による冷却水１３ｂの供給位置を通過する際にこれらの隙間から鋼管１７の外部へ向けてＮ２等の不活性ガス、空気又は還元性ガスを噴出させることによって、これらの隙間を介して冷却水１３ｂが鋼管１７の内部に侵入することを、確実に阻止することができる。 For this reason, an inert gas such as N 2 , air, or reduction is introduced from the second end 17 b of the steel pipe 17 toward the first end 17 a inside the steel pipe 17 by the cooling medium intrusion prevention gas supply mechanism 16. When the reactive gas is supplied, the supplied inert gas such as N 2 , air, or reducing gas is ejected from the gap described above toward the outside of the steel pipe 17. Therefore, an inert gas such as N 2 towards these clearances to the outside of the steel pipe 17 when the first end portion 17a of the steel pipe 17 passes through the feed position of the cooling water 13b by the cooling mechanism 13, the air or a reducing By ejecting the property gas, it is possible to reliably prevent the cooling water 13b from entering the inside of the steel pipe 17 through these gaps.

冷却媒体侵入防止ガス供給機構１６から鋼管１７の内部へのＮ２等の不活性ガス、空気又は還元性ガスの供給量は、鋼管１７の表面積、送り速度にもよるが、３０〜２００ｌ／ｍｉｎ程度である。 The supply amount of inert gas such as N 2 , air, or reducing gas from the cooling medium intrusion prevention gas supply mechanism 16 to the inside of the steel pipe 17 depends on the surface area of the steel pipe 17 and the feed rate, but is 30 to 200 l / min. Degree.

製造装置１０は以上のように構成される。次に、製造装置１０により、焼入れ鋼材を製造する状況を説明する。
はじめに、第１の端部１７ａの内部に把持部材１８を挿設された鋼管１７を、送り装置１１によって、第１の端部１７ａを先頭としてその長手方向（図１中の白抜き矢印方向）へ送る。次に、加熱機構１２の誘導加熱コイル１２ａにより、鋼管１７を例えば焼入れ可能温度域に急速に加熱するとともに、冷却機構１３により鋼管１７の外面１７ｃに冷却水１３ｂを吹き付けることにより、誘導加熱コイル１２ａによる鋼管１７の加熱位置Ｐ１と冷却水１３ｂの鋼管１７への吹き付け位置Ｐ２との間に赤熱部１７ｄを形成しながら、鋼管１７を焼入れる。 The manufacturing apparatus 10 is configured as described above. Next, the situation where the hardened steel material is manufactured by the manufacturing apparatus 10 will be described.
First, the steel pipe 17 in which the gripping member 18 is inserted inside the first end portion 17a is moved by the feeder 11 in the longitudinal direction with the first end portion 17a at the head (the direction of the white arrow in FIG. 1). Send to. Next, the induction heating coil 12a of the heating mechanism 12 rapidly heats the steel pipe 17 to, for example, a quenchable temperature range, and the cooling mechanism 13 blows the cooling water 13b on the outer surface 17c of the steel pipe 17 to thereby induce the induction heating coil 12a. The steel pipe 17 is quenched while forming a red hot part 17d between the heating position P1 of the steel pipe 17 and the position P2 of blowing the cooling water 13b to the steel pipe 17.

この際に、温度測定機構１４によって鋼管１７の長手方向及び／又は周方向の複数の位置について赤熱部１７ｄの温度を測定し、投入電力制御機構１２により、これらの測定結果に基づいて誘導加熱コイル１２ａへの電力の投入量をフィードバック制御する。   At this time, the temperature measurement mechanism 14 measures the temperature of the red hot portion 17d at a plurality of positions in the longitudinal direction and / or circumferential direction of the steel pipe 17, and the input power control mechanism 12 determines the induction heating coil based on these measurement results. The amount of power input to 12a is feedback controlled.

これにより、鋼管１７の長手方向及び／又は周方向への偏肉に対して鋼管１７の加熱温度の変動を抑制しながら鋼管１７の加熱温度を、部位によらずに均一に制御することが可能になる。   Thereby, it is possible to uniformly control the heating temperature of the steel pipe 17 regardless of the portion while suppressing the fluctuation of the heating temperature of the steel pipe 17 with respect to the uneven thickness in the longitudinal direction and / or the circumferential direction of the steel pipe 17. become.

製造装置１０では、少なくとも、鋼管１７の第１の端部１７ａが水冷機構１３による冷却媒体１３ｂの吹き付け位置、すなわち水冷機構１３により冷却水１３ｂが吹き付けられる領域のうちで鋼管１７の送り方向の最下流の位置（図１における位置Ｂ）を通過するまで、冷却媒体侵入防止ガス供給機構１６によって、鋼管１７の内部に、鋼管１７の第２の端部１７ｂから第１の端部１７ａへ向けて、Ｎ２等の不活性ガス、空気又は還元性ガスを供給して、把持部材１８の小径部１６ｂの外面と鋼管１７の第１の端部１７ａの内面との間、及び、大径部１８ａの端面と鋼管１７の第１の端部１７ａの端面との間の隙間からＮ２等の不活性ガス、空気又は還元性ガスを、鋼管１７の外部へ向けて噴出させる。 In the manufacturing apparatus 10, at least the first end portion 17 a of the steel pipe 17 is sprayed with the cooling medium 13 b by the water cooling mechanism 13, that is, among the regions where the cooling water 13 b is sprayed by the water cooling mechanism 13, the most in the feeding direction of the steel pipe 17. Until passing through the downstream position (position B in FIG. 1), the cooling medium intrusion prevention gas supply mechanism 16 causes the inside of the steel pipe 17 to move from the second end 17b of the steel pipe 17 toward the first end 17a. Inert gas such as N 2 , air, or reducing gas is supplied so that the outer surface of the small diameter portion 16b of the gripping member 18 and the inner surface of the first end portion 17a of the steel pipe 17 and the large diameter portion 18a. An inert gas such as N 2 , air, or reducing gas is jetted out of the steel pipe 17 from a gap between the end face of the steel pipe 17 and the end face of the first end portion 17 a of the steel pipe 17.

隙間から噴出するＮ２等の不活性ガス、空気又は還元性ガスの流れによって、この隙間を介して鋼管１７の内部へ向かう冷却媒体１３ｂを吹き飛ばすことができるので、鋼管１７の内部への冷却媒体１３ｂの侵入を防止することができる。 Since the cooling medium 13b toward the inside of the steel pipe 17 can be blown through the gap by the flow of an inert gas such as N 2 , air, or reducing gas ejected from the gap, the cooling medium to the inside of the steel pipe 17 can be blown off. Intrusion of 13b can be prevented.

このため、製造装置１０によれば、温度測定機構１４によって鋼管１７の長手方向及び／又は周方向の複数の位置について赤熱部１７ｄの温度を測定し、投入電力制御機構１２により、これらの測定結果に基づいて誘導加熱コイル１２ａへの電力の投入量をフィードバック制御することのみならず、冷却媒体侵入防止ガス供給機構１６から鋼管１７の内部へのＮ２等の不活性ガス、空気又は還元性ガスの供給することによって、所望の寸法精度や強度を有する焼入れ鋼材を、長手方向及び／又は周方向への加熱温度の変動を抑制しながら、確実に製造することができるようになる。 For this reason, according to the manufacturing apparatus 10, the temperature measurement mechanism 14 measures the temperature of the red hot portion 17d at a plurality of positions in the longitudinal direction and / or circumferential direction of the steel pipe 17, and the input power control mechanism 12 determines these measurement results. In addition to feedback control of the input amount of power to the induction heating coil 12a, inert gas such as N 2 from the cooling medium intrusion prevention gas supply mechanism 16 to the inside of the steel pipe 17, air, or reducing gas This makes it possible to reliably manufacture a hardened steel material having desired dimensional accuracy and strength while suppressing fluctuations in the heating temperature in the longitudinal direction and / or circumferential direction.

次に、図２示す曲げ部材の製造装置２０を説明する。
製造装置２０は、上述した本発明に係る焼入れ鋼材の製造装置１０と、第１の支持機構２１と、第２の支持機構２２と、変形抑制機構２３とを備えるので、これらの構成要素を順次説明する。なお、以降の説明では、製造装置１０については、重複する説明は適宜省略する。 Next, the bending member manufacturing apparatus 20 shown in FIG. 2 will be described.
Since the manufacturing apparatus 20 includes the above-described manufacturing apparatus 10 for hardened steel according to the present invention, a first support mechanism 21, a second support mechanism 22, and a deformation suppression mechanism 23, these components are sequentially arranged. explain. In the following description, overlapping description of the manufacturing apparatus 10 will be omitted as appropriate.

［製造装置１０］
図１を参照しながら上述したように、製造装置１０は、送り機構１１と、加熱機構１２と、冷却機構１３と、温度測定機構１４と、投入電力制御機構１５と、冷却媒体侵入防止ガス供給機構１６とにより構成される。 [Manufacturing apparatus 10]
As described above with reference to FIG. 1, the manufacturing apparatus 10 includes the feeding mechanism 11, the heating mechanism 12, the cooling mechanism 13, the temperature measuring mechanism 14, the input power control mechanism 15, and the cooling medium intrusion prevention gas supply. And a mechanism 16.

送り機構１１は、汎用の６軸多関節型の第１の産業用ロボット２４により構成される。
以降の説明では、第１の産業用ロボット２４のみならず、誘導加熱コイル支持ロボット２５、第２の産業用ロボット２６さらには第３の産業用ロボット２７にも、第１の産業用ロボット２４と同様のロボットを用いた場合を例にとる。 The feed mechanism 11 includes a general-purpose 6-axis multi-joint type first industrial robot 24.
In the following description, not only the first industrial robot 24 but also the induction heating coil support robot 25, the second industrial robot 26, and the third industrial robot 27 are also referred to as the first industrial robot 24. Take the case where a similar robot is used as an example.

製造装置２０で用いる第１の産業用ロボット２４、誘導加熱コイル支持ロボット２５、第２の産業用ロボット２６さらには第３の産業用ロボット２７は、いずれも、いわゆる垂直多関節ロボットであって、第１軸〜第６軸を有し、必要に応じてこれらに加えて第７軸を有してもよい。   The first industrial robot 24, the induction heating coil support robot 25, the second industrial robot 26, and further the third industrial robot 27 used in the manufacturing apparatus 20 are all so-called vertical articulated robots, It may have a 1st axis-a 6th axis, and may have a 7th axis in addition to these as needed.

第１軸は、上腕２８を水平面内で旋回させる。第２軸は、上腕２８を前後に旋回させる。第３軸は、前腕２９を上下に旋回させる。第４軸は、前腕２９を回転させる。第５軸は、手首を上下に旋回させる。第６軸は、手首を回転させる。第６軸を有している。さらに、第７軸は、上腕２８を旋回させる。各軸はＡＣサーボモーターにより駆動される。   The first axis rotates the upper arm 28 in a horizontal plane. The second axis pivots the upper arm 28 back and forth. The third axis pivots the forearm 29 up and down. The fourth axis rotates the forearm 29. The fifth axis turns the wrist up and down. The sixth axis rotates the wrist. It has a sixth axis. Further, the seventh axis turns the upper arm 28. Each axis is driven by an AC servo motor.

第１の産業用ロボット２４、誘導加熱コイル支持ロボット２５、第２の産業用ロボット２６さらには第３の産業用ロボット２７は、他の汎用の産業用ロボットと同様に、いずれも、各軸の動作を総合的に制御するコントローラ及び動作を教示するための入力装置（いずれも図示しない）が設けられている。   The first industrial robot 24, the induction heating coil support robot 25, the second industrial robot 26, and further the third industrial robot 27 are similar to other general-purpose industrial robots. A controller for comprehensively controlling the operation and an input device for teaching the operation (both not shown) are provided.

第１の産業用ロボット２４の手首の先端には、第１の産業用ロボット２４の側方近傍の床に配置されたパレット（図示しない）に収容された鋼管１７を把持するとともに把持した鋼管１７を、後述する第１の支持機構２１及び加熱機構１２にそれぞれ設けられた貫通孔を貫通させるための効果器（エンドエフェクタ）として、把持部材１９が設けられている。   At the tip of the wrist of the first industrial robot 24, a steel pipe 17 accommodated and held on a pallet (not shown) arranged on the floor near the side of the first industrial robot 24 is grasped. A gripping member 19 is provided as an effector (end effector) for penetrating the through holes provided in the first support mechanism 21 and the heating mechanism 12 described later.

また、鋼管１７の第１の端部１７ａの内部に挿設された把持部材１８は、第３の産業用ロボット２７の手首によって支持される。
把持部材１８は、送り機構１１においてのみならず、後述する第２の支持機構２２として可動ローラーダイスを用いずに第２の産業用ロボット２６によって鋼管１７を直接掴持する場合や、変形防止機構２３においても用いられる。把持部材１８は、製造装置２０により製造される曲げ部材の寸法精度や生産性に大きく影響する。 The gripping member 18 inserted into the first end 17 a of the steel pipe 17 is supported by the wrist of the third industrial robot 27.
The gripping member 18 is used not only in the feed mechanism 11 but also when the steel pipe 17 is directly gripped by the second industrial robot 26 without using a movable roller die as a second support mechanism 22 described later, or a deformation prevention mechanism. 23 is also used. The gripping member 18 greatly affects the dimensional accuracy and productivity of the bending member manufactured by the manufacturing apparatus 20.

この製造装置２０では、図示しないパレットから製造装置２０への鋼管１７の移載や製造装置２０へのセットを、第１の産業用ロボット２４で行うので、サイクルタイムの低減を図ることができ、生産性を高めることができる。   In this manufacturing apparatus 20, since the transfer of the steel pipe 17 from the pallet (not shown) and the setting to the manufacturing apparatus 20 are performed by the first industrial robot 24, the cycle time can be reduced, Productivity can be increased.

また、加熱機構１２である加熱コイル１２ａは、誘導加熱コイル支持ロボット２５により支持される。
冷却機構１３である水冷装置１３ａは、鋼管１７の送り方向について第１の位置Ａよりも下流の第２の位置に固定して配置されて、送られる鋼管１７における加熱機構１２により加熱された部分を冷却するためのものである。 The heating coil 12 a that is the heating mechanism 12 is supported by the induction heating coil support robot 25.
The water cooling device 13a that is the cooling mechanism 13 is a portion that is fixedly disposed at a second position downstream of the first position A in the feeding direction of the steel pipe 17 and is heated by the heating mechanism 12 in the steel pipe 17 that is fed. Is for cooling.

［第１の支持機構２１］
第１の支持機構２１は、第１の位置Ａよりも鋼管１７の送り方向の上流の位置Ａ’、すなわち送り機構１１と加熱機構１２との間に配置され、送り機構１１により送られる鋼管１７を送りながら支持するためのものであり、鋼管１７を送りながら支持可能である一対のロール２１ａ、２１ａを少なくとも一組（図示例ではロール対２１ｂ、２１ｂをもう一組有し、合計二組）有するダイス３０により構成される。 [First support mechanism 21]
The first support mechanism 21 is disposed at a position A ′ upstream of the first position A in the feed direction of the steel pipe 17, that is, between the feed mechanism 11 and the heating mechanism 12, and is fed by the feed mechanism 11. At least one set of a pair of rolls 21a, 21a that can be supported while feeding the steel pipe 17 (in the example shown, another set of roll pairs 21b, 21b is provided, for a total of two sets). It is comprised by the die | dye 30 which has.

ダイス３０は、支持台３１に固定されて搭載されるが、これに限定されるものではなく、例えば汎用の６軸多関節型の産業用ロボットにより移動自在に支持されてもよい。
このようなダイス３０は、当業者にとっては周知慣用であるので、第１の支持機構２１に関するこれ以上の説明は省略する。 The die 30 is fixedly mounted on the support base 31, but is not limited thereto, and may be supported movably by, for example, a general-purpose 6-axis articulated industrial robot.
Such a die 30 is well-known and commonly used by those skilled in the art, and thus further description of the first support mechanism 21 is omitted.

［第２の支持機構２２］
第２の支持機構２５は、冷却機構１３よりも鋼管１７の送り方向の下流の位置Ｂ’に配置されて、送られる鋼管１７を移動自在に支持する。また、第２の支持機構２５は、鋼管１７の少なくとも一箇所を支持しながら二次元又は三次元の方向へ移動する。これにより、第２の支持機構２２は、鋼管１７における位置Ａ〜Ｂ間の、加熱されて変形抵抗が大幅に低下した赤熱部１７ｄに曲げモーメントを与えて、鋼管１７を所望の形状に曲げ加工するためのものである。 [Second support mechanism 22]
The second support mechanism 25 is disposed at a position B ′ downstream of the cooling mechanism 13 in the feed direction of the steel pipe 17 and supports the steel pipe 17 to be fed movably. The second support mechanism 25 moves in a two-dimensional or three-dimensional direction while supporting at least one portion of the steel pipe 17. As a result, the second support mechanism 22 applies a bending moment to the red hot part 17d between positions A and B in the steel pipe 17 where the deformation resistance is greatly reduced by heating, and the steel pipe 17 is bent into a desired shape. Is to do.

第２の支持機構２２として、鋼管１７を送りながら支持可能である一対のロール２２ａ、２２ａを少なくとも一組有する可動ローラーダイス３２を用いた。しかし、これとは異なり、上述したように、第２の支持機構２２として可動ローラーダイスを用いずに第２の産業用ロボット２６に持たせたグリッパー等の効果器によって、鋼管１７を直接掴持するようにしてもよい。   As the second support mechanism 22, a movable roller die 32 having at least one pair of a pair of rolls 22 a and 22 a that can be supported while feeding the steel pipe 17 was used. However, unlike this, as described above, the steel pipe 17 is directly gripped by an effector such as a gripper provided to the second industrial robot 26 without using the movable roller die as the second support mechanism 22. You may make it do.

可動ローラーダイス３２は、第２の産業用ロボット２６により支持される。第２の産業用ロボット２６の手首２０ａの先端には、可動ローラーダイス３２を保持するための効果器（エンドエフェクタ）として、グリッパー３３が設けられている。なお、効果器としては、グリッパー３３以外の型式のものを用いてもよいことはいうまでもない。   The movable roller die 32 is supported by the second industrial robot 26. A gripper 33 is provided at the tip of the wrist 20 a of the second industrial robot 26 as an effector (end effector) for holding the movable roller die 32. Needless to say, a type other than the gripper 33 may be used as the effector.

［変形抑制機構２３］
変形抑制機構２３は、鋼管１７の送り方向について位置Ｂ’よりも下流の位置Ｃに配置されて、送られる鋼管１７の変形を防止するためのものである。 [Deformation suppression mechanism 23]
The deformation suppressing mechanism 23 is disposed at a position C downstream of the position B ′ in the feeding direction of the steel pipe 17 and prevents deformation of the steel pipe 17 to be fed.

本発明では、変形防止機構２３を、第３の産業用ロボット２７により構成した。
また、第３の産業用ロボット２７の手首は、鋼管１７の第１の端部１７ａの内部に挿設された把持部材１８を支持する。 In the present invention, the deformation prevention mechanism 23 is constituted by the third industrial robot 27.
The wrist of the third industrial robot 27 supports the gripping member 18 inserted into the first end 17 a of the steel pipe 17.

なお、本発明に係る製造装置２０では、曲げ加工を、温間又は熱間で行うことが望ましい。温間とは常温に比べて金属材の変形抵抗が低下する加熱温度域であり、例えば、ある鉄鋼材料ではおよそ５００℃から８００℃の温度域である。熱間とは常温に比べて金属材の変形抵抗が低下し、かつ、金属材が焼入れされるのに必要な加熱温度域であり、例えば、ある鉄鋼材料では８００℃以上の温度域である。特に、熱間で行う場合には焼入れの所定の温度になった後に所定の冷却速度で冷却することにより焼入れ処理を行うことができ、また温間で行う場合には曲げ加工部を冷却することにより熱歪み等の加工上の歪みの発生を防止することができる。   In addition, in the manufacturing apparatus 20 which concerns on this invention, it is desirable to perform a bending process warm or hot. Warm is a heating temperature range in which the deformation resistance of a metal material is lower than that at room temperature. For example, a certain steel material has a temperature range of approximately 500 ° C. to 800 ° C. “Hot” refers to a heating temperature range in which the deformation resistance of the metal material is lower than that at room temperature and is necessary for quenching the metal material. For example, a certain steel material has a temperature range of 800 ° C. or higher. In particular, when it is performed hot, the quenching process can be performed by cooling at a predetermined cooling rate after reaching a predetermined temperature for quenching. Therefore, it is possible to prevent the occurrence of processing distortion such as thermal distortion.

この製造装置２０は以上のように構成される。次に、この製造装置２０により、曲げ部材を製造する状況を説明する。
はじめに、送り装置１１である第１の産業用ロボット２４を動作させることによって、第１の端部１７ａの内部に把持部材１８が挿設された鋼管１７を、第１の端部１７ａを先頭としてその長手方向へ送る。 The manufacturing apparatus 20 is configured as described above. Next, a situation in which a bending member is manufactured by the manufacturing apparatus 20 will be described.
First, by operating the first industrial robot 24 that is the feeding device 11, the steel pipe 17 in which the gripping member 18 is inserted into the first end portion 17a is used, with the first end portion 17a as the head. Send in the longitudinal direction.

次に、以下に列記する動作を行う。
（１）送られる鋼管１７を第１の支持機構２１により移動自在に支持する。
（２）送られる鋼管１７を、加熱機構１２により焼入れ可能温度域に加熱した後に、水冷機構１３ｃから外面１７ｃに冷却水１３ｂを吹き付けることにより鋼管１７を冷却する。この際、誘導加熱コイル支持ロボット２５は停止させた状態としておけばよい。 Next, the operations listed below are performed.
(1) The steel pipe 17 to be sent is supported by the first support mechanism 21 so as to be movable.
(2) After the steel pipe 17 to be fed is heated to a quenchable temperature range by the heating mechanism 12, the steel pipe 17 is cooled by spraying the cooling water 13b from the water cooling mechanism 13c to the outer surface 17c. At this time, the induction heating coil support robot 25 may be stopped.

（３）温度測定機構１４によって鋼管１７の赤熱部１７ｄの温度を測定し、この温度測定機構１４の測定結果に基づいて、投入電力制御機構１５により、誘導加熱コイル１２ａへの電力の投入量をフィードバック制御する。   (3) The temperature of the red hot part 17d of the steel pipe 17 is measured by the temperature measurement mechanism 14, and the input amount of power to the induction heating coil 12a is determined by the input power control mechanism 15 based on the measurement result of the temperature measurement mechanism 14. Feedback control.

（４）第２の産業用ロボット２６を動作させることによって、送られる鋼管１７を支持する第２の支持機構２２の位置を、三次元又は二次元で変更することにより、加熱機構１２と冷却機構１３との間の鋼管１７に形成される赤熱部１７ｄに、曲げモーメントを与える。   (4) By operating the second industrial robot 26, the position of the second support mechanism 22 that supports the steel pipe 17 to be fed is changed in three dimensions or two dimensions, so that the heating mechanism 12 and the cooling mechanism are changed. Bending moment is given to the red hot part 17d formed in the steel pipe 17 between the two.

送られる鋼管１７の第１の端部１７ａの内部に挿設された把持部材１８の位置を、第３の産業用ロボット２７を動作させることにより、鋼管１７の曲げ形状を変形させないように移動させる。   The position of the gripping member 18 inserted inside the first end portion 17a of the steel pipe 17 to be fed is moved so as not to deform the bent shape of the steel pipe 17 by operating the third industrial robot 27. .

このように、温度測定機構１４の測定結果に基づいて投入電力制御機構１５により、誘導加熱コイル１２ａへの電力の投入量をフィードバック制御するので、軸方向へ搬送される鋼管１７を、長手方向及び／又は周方向への加熱温度の変動を抑制しながら、加熱することができる。   In this way, the input power control mechanism 15 feedback-controls the input amount of power to the induction heating coil 12a based on the measurement result of the temperature measurement mechanism 14, so that the steel pipe 17 conveyed in the axial direction can be Heating can be performed while suppressing fluctuations in the heating temperature in the circumferential direction.

このため、製造装置２０によれば、所望の寸法精度や強度を有する曲げ部材を、長手方向及び／又は周方向への加熱温度の変動を抑制しながら確実に製造することができるようになる。   For this reason, according to the manufacturing apparatus 20, the bending member which has desired dimensional accuracy and intensity | strength can be manufactured reliably, suppressing the fluctuation | variation of the heating temperature to a longitudinal direction and / or the circumferential direction.

特に、製造装置２０によれば、鋼管１７の長手方向の加熱温度の均一性が向上するので、鋼管１７の焼入れ前最高温度が均一化するために鋼管１７の焼入れ品質が均一化するとともに、長手方向の偏肉状況が異なる多数本の鋼管を素材とする場合においても各鋼管１７にそれぞれ形成する赤熱部１７ｄの温度を常に一定にすることができ、鋼管１７の赤熱部１７ｄ、すなわち曲げ加工部の変形抵抗が一定となるために、多数本の鋼管それぞれの曲げ加工部の形状のばらつきが極めて小さくなり、鋼管１７の寸法精度が向上する。   In particular, according to the manufacturing apparatus 20, since the uniformity of the heating temperature in the longitudinal direction of the steel pipe 17 is improved, the quenching quality of the steel pipe 17 is made uniform in order to make the maximum temperature before quenching of the steel pipe 17 uniform. Even when a large number of steel pipes having different thickness deviations are used as the raw material, the temperature of the red hot part 17d formed in each steel pipe 17 can always be made constant, and the red hot part 17d of the steel pipe 17, that is, the bent part. Since the deformation resistance of the steel pipe 17 is constant, the variation in the shape of the bent portion of each of the multiple steel pipes becomes extremely small, and the dimensional accuracy of the steel pipe 17 is improved.

このようにして、本発明により、焼入れ鋼管、さらには所定の屈曲形状を有する焼入れ鋼管である曲げ部材を、長手方向及び／又は周方向へ高い寸法精度で確実に製造することができるようになる。   In this way, according to the present invention, a bending member that is a hardened steel pipe and further a hardened steel pipe having a predetermined bent shape can be reliably manufactured with high dimensional accuracy in the longitudinal direction and / or the circumferential direction. .

この本発明により製造される曲げ部材は、例えば、以下に例示する用途（ｉ）〜（ｖｉｉ）に対して適用可能である。
（ｉ）自動車のサスペンションのロアーアームやブレーキペダルといった自動車の強度部材、
（ｉｉ）自動車の各種レインフォース、ブレース等の補強部材、
（ｉｉｉ）バンパー、ドアインパクトビーム、サイドメンバー、サスペンションマウントメンバー、ピラー、サイドシル等の自動車の構造部材、
（ｉｖ）自転車や自動二輪車等のフレーム、クランク
（ｖ）電車等の車輛の補強部材、台車部品（台車枠、各種梁等）
（ｖｉ）船体等のフレーム部品、補強部材、
（ｖｉｉ）家電製品の強度部材、補強部材又は構造部材 The bending member manufactured according to the present invention is applicable to, for example, uses (i) to (vii) exemplified below.
(I) Automotive strength members such as lower arms and brake pedals of automobile suspensions;
(Ii) Reinforcing members such as various types of automobile reinforcements and braces,
(Iii) Automotive structural members such as bumpers, door impact beams, side members, suspension mount members, pillars, side sills,
(Iv) Frames for bicycles and motorcycles, cranks (v) Reinforcing members for vehicles such as trains, cart parts (cart frames, various beams, etc.)
(Vi) Frame parts such as hulls, reinforcing members,
(Vii) Home appliance strength member, reinforcing member or structural member

０ 曲げ加工装置
１ 鋼管
２ 支持機構
３ 送り機構
４ 可動ローラーダイス
４ａ ロール
５ 加熱機構
６ 冷却機構
８ 曲げ部材
１０ 本発明に係る熱処理鋼材の製造装置
１１ 送り機構
１２ 加熱機構
１２ａ 誘導加熱コイル
１２ｂ 高周波電流発生装置
１３ 冷却機構
１３ａ 水冷機構
１３ｂ 冷却媒体
１４ 温度測定機構
１５ 投入電力制御機構
１６ 冷却媒体侵入防止ガス供給機構
１６ａ 気体供給系
１７ 鋼管
１７ａ 第１の端部
１７ｂ 第２の端部
１７ｃ 外面
１７ｄ 赤熱部
１８ 把持部材（チャック）
１８ａ 大径部
１８ｂ 小径部
１９ 把持部材（チャック）
１９ａ 大径部
１９ｂ 小径部
１９ｃ 流路
２０ 本発明に係る曲げ部材の製造装置
２１ 第１の支持機構
２１ａ、２１ｂ ロール
２２ 第２の支持機構
２２ａ ロール
２３ 変形抑制機構
２４ 第１の産業用ロボット
２５ 誘導加熱コイル支持ロボット
２６ 第２の産業用ロボット
２７ 第３の産業用ロボット
２８ 上腕
２９ 前腕
３０ ダイス。
３１ 支持台
３２ 可動ローラーダイス
３３ グリッパー DESCRIPTION OF SYMBOLS 0 Bending apparatus 1 Steel pipe 2 Support mechanism 3 Feed mechanism 4 Movable roller die 4a Roll 5 Heating mechanism 6 Cooling mechanism 8 Bending member 10 Manufacturing apparatus 11 of heat-treated steel according to the present invention 11 Feed mechanism 12 Heating mechanism 12a Induction heating coil 12b High-frequency current Generator 13 Cooling mechanism 13a Water cooling mechanism 13b Cooling medium 14 Temperature measurement mechanism 15 Input power control mechanism 16 Cooling medium intrusion prevention gas supply mechanism 16a Gas supply system 17 Steel pipe 17a First end 17b Second end 17c Outer surface 17d Red heat Part 18 Gripping member (chuck)
18a Large diameter portion 18b Small diameter portion 19 Gripping member (chuck)
19a Large diameter portion 19b Small diameter portion 19c Flow path 20 Bending member manufacturing apparatus 21 according to the present invention 21 First support mechanism 21a, 21b Roll 22 Second support mechanism 22a Roll 23 Deformation suppression mechanism 24 First industrial robot 25 Induction heating coil support robot 26 Second industrial robot 27 Third industrial robot 28 Upper arm 29 Forearm 30 Dice.
31 Support stand 32 Movable roller die 33 Gripper

Claims (5)

閉じた横断面形状を有するとともに長手方向の第１の端部を先頭として該長手方向へ送られる鋼材の外面から離間して第１の位置に配置され、該鋼材を所定の温度域に加熱する誘導加熱コイルと、
前記第１の位置よりも前記鋼材の送り方向の下流の第２の位置で前記鋼材の外面に冷却媒体を吹き付けることによって、前記誘導加熱コイルによる前記鋼材の加熱位置と前記冷却媒体の前記鋼材への吹き付け位置との間に赤熱部を形成しながら、該鋼材を熱処理する冷却機構と、
前記赤熱部の温度を測定するとともに前記鋼材の周方向へ複数設置される温度測定機構と、
該各温度測定機構の測定結果の平均値に基づいて、前記誘導加熱コイルへの電力の投入量をフィードバック制御する投入電力制御機構と
を備えることを特徴とする熱処理鋼材の製造装置。 It has a closed cross-sectional shape and is arranged at a first position apart from the outer surface of the steel material fed in the longitudinal direction with the first end in the longitudinal direction as the head, and heats the steel material to a predetermined temperature range An induction heating coil;
By spraying a cooling medium onto the outer surface of the steel material at a second position downstream of the first position in the feed direction of the steel material, the heating position of the steel material by the induction heating coil and the steel material of the cooling medium A cooling mechanism for heat-treating the steel material while forming a red hot part with the spraying position of
A temperature measuring mechanism that measures the temperature of the red hot part and is installed in the circumferential direction of the steel material, and
Based on the average value of the measured results of the respective temperature measuring mechanism, apparatus for producing a heat-treatment steel, characterized in that it comprises a supply power control mechanism for feedback control of the input amount of electric power to the induction heating coil. 前記測定結果は、前記鋼材の長手方向への複数の位置に関する測定結果である請求項１に記載された熱処理鋼材の製造装置。   The said measurement result is a manufacturing result of the heat-treated steel material described in Claim 1 which is a measurement result regarding the several position to the longitudinal direction of the said steel material. 前記測定結果は、前記鋼材の周方向への複数の位置に関する測定結果である請求項１又は請求項２に記載された熱処理鋼材の製造装置。   The said measurement result is a manufacturing result of the heat-treated steel materials described in Claim 1 or Claim 2 which are the measurement results regarding the several position to the circumferential direction of the said steel materials. 前記熱処理は焼入れである請求項１から請求項３までのいずれか１項に記載された熱処理鋼材の製造装置。   The said heat processing is quenching, The manufacturing apparatus of the heat-treated steel materials described in any one of Claim 1- Claim 3. 前記鋼材は鋼管である請求項１から請求項４までのいずれか１項に記載された熱処理鋼材の製造装置。   The said steel material is a steel pipe, The manufacturing apparatus of the heat-treated steel material described in any one of Claim 1- Claim 4.
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