JP6063241B2 - Bending machine - Google Patents

Description

  The present invention relates to a technique for reducing the size of a bending apparatus, particularly a bending apparatus operated by a parallel link mechanism.

  For example, in a bending apparatus provided with a parallel link mechanism, the parallel link stage is used in a wide range of application fields including machine tools and bending apparatuses. As an example of an apparatus provided with such a parallel link mechanism, there is one shown in Patent Document 1, for example.

  In the device shown in Patent Document 1, one end is connected to the base plate, and the other end is connected to the end plate via a joint capable of rotating at one end with two or more degrees of freedom. Configured. The first and second fixed links have one end connected to the base plate via a joint capable of rotating with one or more degrees of freedom, and the other end rotated with three or more degrees of freedom. It has a structure connected to the end plate via possible joints.

JP 2010-023201 A

  However, in the conventional bending apparatus, since the movable link and the fixed link are disposed between the base plate and the end plate, a space is formed between the base plate and the end plate. There was a problem that the structure of the parallel link part was large. It can be said that all such general parallel links that are currently in operation have such problems (issues).

  The present invention solves such a conventional problem, and in this type of bending apparatus, the structure and arrangement of the link mechanism are unique, and the link mechanism itself and the bending apparatus are reduced in size. For the purpose.

In order to achieve the above object, the present invention provides a bending apparatus, a frame, a flat plate member having a reference surface A set on the frame, having a through hole, and a plurality of members installed on the reference surface A of the frame. A plurality of drive members, a flat table member disposed in parallel with the reference surface A at a position above the drive member and operatively connected to the drive member, and the reference surface A of the frame. A workpiece feeding device that is disposed on the side opposite to the drive member installation side and that feeds the workpiece in a direction perpendicular to the reference plane A toward the table member, the table member comprising: , A table main body having a first hole formed in the central portion, a first rotary plate having a second hole formed in the central portion and installed in the first hole, and a work piece in the central portion. A third hole through which an object passes is formed, 2 and a second rotating plate having an annular flat plate structure installed inside the hole, the first rotating plate and the second rotating plate being a reference in the first hole or the second hole in which each is installed. A universal joint is formed by being attached to the table main body so as to rotate about a corresponding axis parallel to the plane A and orthogonal to each other, and the table main body is operatively connected to the driving member and The gist is that translation is possible along parallel planes . With this configuration, the workpiece is passed through the through hole of the flat plate member from the opposite side of the reference surface A of the frame to the installation side of the plurality of driving members by the workpiece feeding device to the third hole of the table member . In parallel with the feeding, the workpiece can be bent by the translational movement of the table member by the driving member.

  As one aspect of the present invention, three driving members are installed on the reference plane A of the frame so as to form three sides of a triangle in a state of surrounding the through-hole, and each driving member has a linear shape. A rod member that obtains an operation output; a slider member that moves forward and backward along the rod member; and an engagement protrusion provided on the slider member, and is operatively connected to the table member via the engagement protrusion. Also good.

  As another aspect of the present invention, the drive member and the table member are adjacent to each other in a vertical positional relationship with respect to the reference plane A, and a slight gap that does not interfere with each other may be provided between the members. . Further, the table member may include a track member having a guide portion at a portion corresponding to the engagement protrusion, and the track member may be attached so that the guide portion extends in a radial direction of the table body.

  In the bending apparatus of the present invention, a link mechanism is constituted by a plurality of drive members installed on a flat plate member having a reference surface A and a table member disposed above the drive member. Since the workpiece is sent and the table member is operated to perform the bending, the link mechanism itself and the bending apparatus can be reduced in size.

It is a front view which shows the whole bending process apparatus which concerns on one embodiment of this invention. It is the side view which looked at the bending apparatus which concerns on the said embodiment from the right side of FIG. It is a top view of the bending apparatus which concerns on the said embodiment. It is the top view which removed the table in FIG. 3 in the bending apparatus which concerns on the said embodiment, and was seen. It is the bottom view which looked at the feeder of the bending apparatus which concerns on the said embodiment from the upper direction in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a front view showing an overall configuration of a bending apparatus according to an embodiment of the present invention, and FIG. 2 is a side view of the same bending apparatus as viewed from the right side of FIG.

  As shown in FIG. 1 and FIG. 2, the bending apparatus is placed on the upper surface of the frame 1 as a base, the feeding device 2 that is attached to the frame 1 and feeds the workpiece 45, and the frame 1. And a link mechanism 3. The frame 1 is supported by four (or more) base members 4 installed on the ground, and extends in the vertical direction. A plurality of column members 5 are provided at the upper, middle, and lower portions of the column member 5. 5 is constituted by a beam member 6 (an upper beam 6a, an intermediate beam 6b, and a lower beam 6c) installed between 5. A reinforcing plate 7 is attached to a joint portion between the column member 5 and the beam member 6 to improve the rigidity of the frame 1. A top plate 8 is attached to the upper end of the frame to form a reference plane (horizontal plane) A of the bending apparatus. A through-hole 8 a is formed in a substantially central portion of the top plate 8, and the link mechanism 3 is installed above the top plate 8. A feeding device 2 for feeding the workpiece 45 toward the link mechanism 3 is fixedly attached to the frame 1.

  Here, the configuration of the link mechanism 3 will be described. 3 and 4 are plan views of the bending apparatus according to the present embodiment, showing the configuration of the link mechanism 3 in more detail. FIG. 4 is a plan view with the table removed from the view of FIG. As described above, the link mechanism 3 is installed on the top plate 8 and at a substantially central portion of the top plate 8. The link mechanism 3 includes a plurality of drive members 9 (three in this embodiment) installed on a top plate 8 and a table member 10 disposed on the drive member 9. .

  As for the driving member 9, when the surface of the top plate 2 is viewed as a horizontal reference plane A, the three driving members 9 are formed on the top plate 2 with a triangular base (see FIG. That is, it is installed so as to form three sides). Each drive member 9 includes a track body 13 for obtaining a linear motion output and a rod member 11 loaded in the track body 13. The track body 13 has a rectangular parallelepiped structure with a substantially concave cross section, and guide walls 13 a are provided on both sides of the concave recess portion 12. The rod member 11 has a round bar-like structure and is disposed extending in the longitudinal direction in the hollow portion 12 and is rotatably attached to the track body 13 by a fixing member 14 at the distal end portion thereof, while the proximal end portion thereof In FIG. 3, the fixed member 15 is rotatably attached to the track body 13. Further, a thread is formed on the outer surface of the rod member 11 substantially in the longitudinal direction, and the rod member 11 itself can rotate around its axis. Further, a motor 16 that is a rod driving mechanism is disposed at a portion adjacent to the proximal end side of the rod member 11, and the proximal end portion of the rod member 11 is rotated by being connected to the output shaft of the motor 16. It is like that.

  A slider member 17 is also attached to the track body 13. The slider member 17 is formed of a box-like body, is installed on the guide wall 13a of the track body 13, and is slidably engaged with the guide wall 13a. Therefore, the guide wall 13 a forms a track (or rail) extending in the longitudinal direction with respect to the slider member 17. On the upper surface of the slider member 17, an engagement protrusion 19 rising from the upper surface is provided, and on the lower surface of the slider member 17, a rod coupling member 18 (see FIG. 2) that engages with the rod member 11 is provided. ing. As described above, since a thread is formed on the outer surface of the rod member 11 substantially in the longitudinal direction (that is, it has a male thread structure), the rod connecting member 18 that engages with this has a female thread structure. It has become. The drive member 9 of the link mechanism 3 is configured as described above.

  Next, the table member 10 which is another member which comprises the link mechanism 3 is demonstrated. As shown in FIG. 3, the table member 10 has a flat plate structure formed in a circular shape as a whole, and is parallel to the top plate 8 at a position above the drive member 9 ( Therefore, they are arranged so as to cover the three driving members 9 (parallel to the reference plane A). The drive member 9 and the table member 10 are adjacent to each other in a vertical relationship with respect to the reference plane A, and a slight gap is formed between the members so as not to interfere with each other. An axis passing through the center of the circular shape of the table member 10 (that is, the central axis) is represented by S in the drawing. The table member 10 includes a table main body 20 having a substantially circular hole (this is referred to as a first hole) 21 formed in the center portion, and other functional members. In order to understand the scale of the apparatus, for example, the diameter of the table body 20 in this embodiment is 55 cm (centimeter), and the diameter of the first hole 21 is 20 cm. A first rotating plate 22 is loaded in the first hole 21. The first rotating plate 22 is formed into a flat plate structure having a circular ring-like planar shape having a second hole 23, and the outer diameter thereof is set slightly smaller than the diameter of the first hole 21, so that the first hole 21 is loosely fitted. The first rotating plate 22 is attached to and supported by the table body 20 by bearing members 24 and 25 while being loosely fitted into the first hole 21. The bearing member 24 and the bearing member 25 are installed at positions facing the diameter direction of the first rotating plate 22. The bearing member 24 includes an outer support 24a attached on the table main body 20 and an inner support 24b attached on the first rotary plate 22 at a boundary portion between the table main body 20 and the first rotary plate 22. The outer support 24a and the inner support 24b are composed of a shaft 24c that is rotatably supported. The bearing member 25 includes an outer support 25a attached on the table main body 20 and an inner support 25b attached on the first rotary plate 22 at the boundary between the table main body 20 and the first rotary plate 22. The shaft 25c spans the outer support 25a and the inner support 25b so as to be rotatable. From the above configuration, the first rotating plate 22 can rotate with the shafts 24 c and 25 c with respect to the table body 20 in the first hole 21.

  As described above, the first rotating plate 22 has the second hole 23. A second rotating plate 27 having a smaller diameter is loaded in the second hole 23. The outer diameter of the second rotating plate 27 is set slightly smaller than the diameter of the second hole 23 and is loosely fitted into the second hole 23. The second rotating plate 27 is mounted and supported on the first rotating plate 22 by bearing members 28 and 29 in a state of being loosely fitted in the second hole 23. The bearing member 28 and the bearing member 29 are installed at positions opposed to each other in the diametrical direction of the second rotary plate 27, and the opposed diameter is 90 degrees (right angle) with respect to the diameter at which the bearing member 24 and the bearing member 25 face each other. Are in a relationship. That is, both the axis set by the bearing member 24 and the bearing member 25 (referred to as P1) and the axis set by the bearing member 28 and the bearing member 29 (referred to as P2) are both relative to the reference plane A. They are parallel and have a relationship of 90 degrees (right angle) with each other.

  The bearing member 28 includes an outer support 28 a attached on the first rotary plate 22 and an inner support attached on the second rotary plate 27 at the boundary between the first rotary plate 22 and the second rotary plate 27. It comprises a body 28b and a shaft 28c that is rotatably supported between the outer support 28a and the inner support 28b. The bearing member 29 includes an outer support 29 a attached on the first rotary plate 22 and an inner side attached on the second rotary plate 27 at the boundary between the first rotary plate 22 and the second rotary plate 27. The support 29b is composed of a shaft 29c that is rotatably supported between the outer support 29a and the inner support 29b. From the above configuration, the second rotating plate 27 can rotate with the shafts 28 c and 29 c relative to the first rotating plate 22 in the second hole 23. Further, since the shaft center P1 set by the bearing member 24 and the bearing member 25 and the shaft center P2 set by the bearing member 28 and the bearing member 29 are in a relationship of 90 degrees with each other, the first rotary plate 22 and the first rotation plate 22 The rotation mechanism configured by combining the two rotation plates 27 constitutes a kind of universal joint with respect to the table body 20. A third hole 31 is formed in the center portion of the second rotating plate 27. The third punched hole 31 arrives when the workpiece 45 to be bent is sent in a direction perpendicular to the reference plane A (in this embodiment, the direction from the back side to the front side with respect to the paper surface of FIG. 3). It is a hole for securely holding during bending. Therefore, the position of the third hole 31 is aligned with the through hole 8a of the top plate 8 in the vertical direction. Further, the central axis of the through hole 8 a of the top plate 8 and the central axis of the third hole 31 coincide with the central axis S of the table body 20.

  Further, the configuration of the back surface of the table body 20 will be described. Track members 35 are provided at three locations on the back surface of the table body 20. These three track members 35 are provided at equal angular intervals of approximately 120 degrees with respect to the central axis S of the table body 20 corresponding to the three drive members 9 (see FIG. 4). The track member 35 has a structure for receiving a linear operation output from the drive member 9 and operating the table member 10 in accordance with this. Therefore, the track member 35 has a rectangular parallelepiped structure with a substantially concave cross section, and a concave recess portion extends in the longitudinal direction to form a guide portion 36. Further, the three track members 35 are attached so that the guide portions 36 extend in the radial direction of the table main body 20 at portions corresponding to the three drive members 9. The mounting direction of the track member 35 is a direction perpendicular to the longitudinal direction of the drive member 9 and the rod member 11. In addition, the engaging projections 19 (three) provided on each driving member 9 are engaged with the guide portions 36 of each track member 35 so as to be movable along the guide portions 36 in a one-to-one relationship. The member 10 is supported at three locations and is operatively connected to the table member 10. Further, the length dimension of the guide portion 36 of the track member 35 is long enough to prevent the engagement protrusion 19 from coming off from the guide portion 36 when the engagement projection 19 moves along the guide portion 36 (that is, the track member 35). The length dimension of the guide portion 36 is set to a dimension longer than the maximum stroke of the engaging protrusion 19.

  Next, the feeding device 2 of the bending apparatus according to the present embodiment will be described with reference to FIGS. The feeding device 2 is a device for feeding a workpiece 45 to be bent from below the top plate 8 toward the link mechanism 3 above the top plate 8. The feeding device 2 has a flat plate structure, and includes a support plate 37 that is fixed to the beam member 6 that constitutes the frame 1. The support plate 37 extends in the vertical direction from the upper beam 6 a to the lower beam 6 c and is fixed to the surface of the support plate 37. The attached lifting guide 34, the driving rod 38 provided on the lifting guide 34, the lift member 39 loaded in the lifting guide 34 and operatively connected to the driving rod 38, and the driving rod 38 connected to the driving rod 38. And an elevating drive motor 40 that rotates 38. The elevating guide 34 has a pair of rails 33 and forms a track extending in the longitudinal direction (vertical direction). The drive rod 38 has a round bar-like structure, and is disposed extending in the longitudinal direction between the pair of rails 33 of the lifting guide 34. The driving rod 38 is lifted and lowered by a fixing member 41 at the tip portion (upper end portion in FIGS. 1 and 2). While being rotatably attached to the guide 34, the base end portion thereof is rotatably attached to the lift guide 34 by a fixing member 42. Further, a thread is formed on the outer surface of the drive rod 38 substantially in the longitudinal direction, and the drive rod 38 itself can rotate around its axis. A lift drive motor 40 that is a rod drive mechanism is disposed at a portion adjacent to the base end side of the drive rod 38, and the base end portion of the drive rod 38 is connected to the output shaft of the lift drive motor 40. It is designed to rotate.

  A lift member 39 is also attached to the lifting guide 34. The lift member 39 is formed of a plate-like body, is installed on the rail 33 of the elevating guide 34, and is slidably engaged with the rail 33. A holder member 43 is provided on the upper surface (the surface opposite to the rail 33 side) of the lift member 39, while a drive connecting member 44 (FIG. 2) that engages the drive rod 38 on the lower surface of the lift member 39. Reference) is provided. As described above, since the outer surface of the drive rod 38 is formed with a screw thread substantially in the longitudinal direction (that is, has a male screw structure), the drive connecting member 44 that engages with this is a female screw structure. It has become. The holder member 43 has a role of supporting the workpiece 45 on the lift member 39. The workpiece 45 is a pipe component, and is held by the holder member 43 in a state extending in the vertical direction at a middle portion in the longitudinal direction. The feeding device 2 is configured as described above. The workpiece 45 is not limited to a pipe part, and may be a solid metal bar or wire material.

  In the bending apparatus having the above-described configuration, the motor 16 provided in the link mechanism 3 and the elevation drive motor 40 provided in the feeder 2 are connected to a power supply power source and a controller (not shown). ) And the operation of the motor 16 and the lift drive motor 40 is controlled by this controller, whereby the rotation amount and the rotation speed of each rod member 11 and the drive rod 38 are adjusted.

  Hereinafter, the bending operation of the bending apparatus having the above-described configuration will be described. In this description, as an example, it is assumed that the workpiece 45 is a pipe component as described above. When the bending operation is started, the raising / lowering drive motor 40 of the feeder 2 is operated to rotate the drive rod 38 in the lift raising direction. As a result, the lift member 39 ascends and feeds the workpiece 45 upward from the lower side of the top plate 8, and the tip of the workpiece 45 passes through the through hole 8 a of the top plate 8, and the table member of the link mechanism 3. 10 and enters the third hole 31 of the second rotary plate 27 installed in the table member 10. At this stage, when each drive member 9 is actuated to rotate each rod member 11, a screw feed action is generated between the rod member 11 and the rod connecting member 18, and a slider member provided on each drive member 9. 17 is guided by the guide wall 13 a and moves forward and backward in the longitudinal direction of the rod member 11.

  This forward / backward movement is transmitted to the guide portion 36 of the track member 35 provided on the table member 10 via the engagement protrusion 19. As a result, the table member 10 is supported by the engagement protrusions 19, is moved in accordance with the forward / backward movement of the slider member 17, and moves in a direction parallel to the reference plane A. Here, if the axis P1 set by the bearing member 24 and the bearing member 25 described above is the X axis and the axis P2 set by the bearing member 28 and the bearing member 29 is the Y axis, the table member 10 is In response to the operation of the drive member 9, it moves (translates) in a certain range in the XY direction. The workpiece 45 is subjected to a bending action by the translational movement of the table member 10. Further, when the central axis S of the table member 10 is the Z axis, an XYZ three-dimensional orthogonal coordinate system in the bending operation is configured. Incidentally, the workpiece 45 is fed in the Z-axis direction. The workpiece 45 is fed in the Z direction while receiving the bending action in the X and Y directions by the table member. Therefore, the workpiece 45 is moved in various directions at each part from the distal end portion to the proximal end portion. It will be bent and a product with a complicated structure can be produced. The bent workpiece 45 is directed in a direction inclined with respect to the reference plane A (deviated from the Z axis), and this inclination is caused by the second rotary plate 27 (universal) having the first rotary plate 22 and the third hole 31. Follow up by tilting relative to the reference plane A).

  The relative movement between the two members when the forward / backward movement of the slider member 17 of each drive member 9 is transmitted to the table member 10 occurs at the engagement portion between the engagement protrusion 19 and the guide portion 36 of the track member 35. Is realized by relative movement by being attached so as to extend in the radial direction of the table body 20. Then, the rotation amount and the rotation speed of each rod member 11 and the drive rod 38 are controlled by the controller, and the degree of bending of the workpiece 45 is adjusted.

  In this embodiment, the reference plane A of the bending apparatus is a horizontal plane. However, the reference plane does not necessarily have to be horizontal, and may be a vertical plane or a plane inclined with respect to the horizontal plane. When the reference plane is a vertical plane, the entire bending apparatus is configured to lie down with respect to the present embodiment, and the workpiece is fed in the horizontal direction, but such a configuration is sufficient. Is feasible.

  In the bending apparatus of the present invention, a link mechanism is constituted by a plurality of drive members installed on the reference plane A and a table member disposed above the drive member, and a workpiece is processed with respect to the link mechanism. Since the table member is actuated to perform the bending process, there is an advantage that the link mechanism itself and the bending apparatus can be reduced in size.

DESCRIPTION OF SYMBOLS 1 Frame 2 Feeder 3 Link mechanism 8 Top plate 8a Through hole 9 Drive member 10
DESCRIPTION OF SYMBOLS 11 Rod member 12 Recessed part 13 Track body 14, 15, 28, 29 Fixing member 16 Motor 17 Slider member 18 Rod connecting member 19 Engaging protrusion 20 Table bodies 21, 23, 31 Holes 22, 27 Rotary plates 24, 25, 28 , 29 Bearing member 33 Rail 35 Track member 36 Guide portion 38 Drive rod 39 Lift member 44 Drive connecting member 45 Workpiece

Claims (4)

A frame, to set the reference plane A on the frame, a flat plate member having a through hole, and a plurality of driving members disposed on the reference plane A of the frame, the upper position of the drive member, the reference plane A disposed parallel state and a flat plate-shaped table member operatively connected to the drive member, the reference plane a of the frame, the installation side of the plurality of driving members disposed on the opposite side, the A workpiece feeding device that feeds the workpiece in a direction perpendicular to the reference surface A toward the table member, and the table member has a table body in which a first hole is formed in a central portion; A second punched hole is formed in the central portion, a first rotary plate having an annular flat plate structure installed in the first punched hole, and a third punched hole through which the workpiece is passed through the central portion. Second rotating plate with an annular flat plate installed inside The first rotating plate and the second rotating plate are each centered on a corresponding axis that is parallel to the reference plane A and orthogonal to each other in the first hole or the second hole provided. A universal joint that is attached to the table body so as to rotate in the direction of movement, and the table body is operatively connected to the drive member and is capable of translational movement along a plane parallel to the reference plane A; In parallel with feeding the workpiece to the third hole of the table member through the through hole of the flat plate member from the side of the reference surface A of the frame opposite to the installation side of the plurality of driving members by the feeding device. A bending apparatus characterized in that the table member is translated by a driving member to bend the workpiece. Three drive members are installed on the reference plane A of the frame so as to form three sides of a triangle in a state of surrounding the through-hole, and each drive member includes a rod member that obtains a linear motion output; And a slider member that moves forward and backward along the rod member, and an engagement protrusion provided on the slider member, and is operatively connected to the table member via the engagement protrusion. Item 2. A bending apparatus according to item 1. The drive member and the table member are adjacent to each other in a vertical positional relationship with respect to the reference plane A, and a slight gap is formed between the members so as not to interfere with each other. Or the bending processing apparatus of 2. The table member includes a track member having a guide portion at a portion corresponding to the engagement protrusion, and the track member is attached so that the guide portion extends in a radial direction of the table body. The bending apparatus according to claim 2 or 3.

Images