JP6256268B2 - Incremental molding equipment - Google Patents

Description

  The present invention relates to a technique of an incremental molding apparatus.

  2. Description of the Related Art Conventionally, a device (so-called incremental molding device) that performs a molding process by displacing a tool (hereinafter also referred to as a tool) in the XYZ axial directions and handling a thin plate as a workpiece at the tip of the tool is known. For example, the technique is disclosed in Patent Document 1 shown below and is publicly known.

When performing incremental molding, a large machining reaction force acts on the tool, so that an incremental molding apparatus is required to have high rigidity and a high machining speed.
The conventional incremental molding apparatus is configured as a dedicated large-sized apparatus to satisfy such a demand and is expensive. Therefore, the incremental molding apparatus is a technology that can be provided at low cost while ensuring high rigidity. Needs existed.

Japanese Patent Laid-Open No. 2003-053436

  The present invention has been made in view of such problems of the present situation, and an object thereof is to provide an inexpensive incremental molding apparatus having high rigidity.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  That is, according to claim 1, an incremental molding apparatus that performs incremental molding by pressing a tool against a thin plate, the base supporting the tool, a drive mechanism for driving the tool, and adjusting the operation of the drive mechanism And the tool is supported by the base via the drive mechanism, and the drive mechanism is constituted by a Stewart platform mechanism having at least a triaxial ball screw mechanism. .

  In Claim 2, the said tool, the said base, and the said drive mechanism are arrange | positioned in a pair at the surface side of the said thin plate, and the back surface side of the said thin plate.

  According to a third aspect of the present invention, the tool disposed on the front surface side of the thin plate and the tool disposed on the back surface side of the thin plate are disposed with their axial positions shifted from each other, and in accordance with a command from the control device, the machining direction It is displaced in cooperation towards

  According to a fourth aspect of the present invention, the Stewart platform mechanism includes the six-axis ball screw mechanism and has six degrees of freedom.

  According to a fifth aspect of the present invention, the base is supported by a displacement mechanism that is displaceable in at least one axial direction.

  According to a sixth aspect of the present invention, the clamp mechanism further includes a clamp mechanism that grips the thin plate, the clamp mechanism is configured to be displaceable in a processing direction, and follows the tool in the processing direction according to a command from the control device. The holding position is changed.

  The thin plate according to claim 7, further comprising a clamp mechanism for gripping the thin plate and a support mechanism for supporting the thin plate, wherein the support mechanism is between the grip position by the clamp mechanism and the processing position by the tool. Is further provided with a support member configured to be able to contact, and following the tool, the support member is brought into contact with the thin plate in accordance with a command of the control device.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect, an incremental molding apparatus having high rigidity can be realized with a simple configuration.

  In the second and third aspects, the mold can be omitted. Thereby, the cost concerning incremental shaping | molding can be suppressed.

  According to the fourth aspect of the present invention, the workability by the incremental molding apparatus can be improved.

  According to the fifth aspect, the movable range of the tool can be expanded with a simple configuration.

  In Claims 6 and 7, when the mold is omitted, the thin plate can be prevented from being broken.

The schematic diagram which shows the whole structure of the incremental shaping | molding apparatus which concerns on 1st embodiment of this invention. The schematic diagram which shows the Stewart platform mechanism which comprises the incremental shaping | molding apparatus which concerns on 1st embodiment of this invention. The schematic diagram which shows the ball screw mechanism which comprises the Stewart platform mechanism in an incremental shaping | molding apparatus. The schematic diagram which shows the whole structure of the incremental shaping | molding apparatus which concerns on 2nd embodiment of this invention. The schematic diagram which shows the Stewart platform mechanism which comprises the incremental shaping | molding apparatus which concerns on 2nd embodiment of this invention. The schematic diagram which shows the whole structure of the incremental shaping | molding apparatus (when using the Stewart platform mechanism which has 3 axes | shafts) which concerns on 3rd embodiment of this invention. The schematic diagram which shows the whole structure of the incremental shaping | molding apparatus (when using the Stewart platform mechanism which has 6 axes | shafts) which concerns on 3rd embodiment of this invention. The schematic diagram which shows the shaping | molding condition of the thin plate by the incremental shaping | molding apparatus which concerns on 3rd embodiment of this invention. The figure for demonstrating the prevention condition of the bending of a thin plate in the incremental shaping | molding apparatus which concerns on 3rd embodiment of this invention, (a) When preventing a thin plate from being bent by a roller clamp, (b) The generation | occurrence | production situation of a thin plate Illustration to explain. The figure which shows the prevention condition (when re-grabbing with a clamp mechanism) of the bending of a thin plate in the incremental shaping | molding apparatus which concerns on 3rd embodiment of this invention. The figure which shows the prevention condition (in the case of adding a supporting member) of the bending of a thin plate in the incremental shaping | molding apparatus which concerns on 3rd embodiment of this invention.

Next, embodiments of the invention will be described.
First, the overall configuration of the incremental molding apparatus according to the first embodiment of the present invention will be described with reference to FIGS.
An incremental forming apparatus 10 according to the first embodiment of the present invention is an apparatus for performing incremental forming on a thin plate 1 as a workpiece. As shown in FIG. 1, a tool 2, a stewart platform mechanism 20, a base 3 and the like. , Traveling table 4, control device 5, support frame 6, frame 7, lower mold 8, and the like.

  The tool 2 is a portion that is pressed against the thin plate 1 and plays a role of handling the surface of the thin plate 1, and has an R shape with a rounded tip. The R shape of the tool 2 is an R shape having a smaller R (radius) than the R shape having the smallest R (radius) among the R shapes to be processed on the thin plate 1.

The Stewart platform mechanism is a mechanism in which a plurality of links are connected in parallel, and has a characteristic that it can realize high-rigidity, high-precision, and high-speed operation while having a simple structure.
The Stewart platform mechanism 20 constituting the incremental molding apparatus 10 is used as a drive mechanism that is a power source that generates a processing force required for incremental molding, and is configured using three ball screw mechanisms 30, 30, and 30. Yes.
The Stewart platform mechanism 20 configured using such a ball screw mechanism 30 is particularly advantageous in securing rigidity and accuracy.

  And since the Stewart platform mechanism 20 is comprised using the three ball screw mechanisms 30,30,30, the tool 2 in the incremental molding apparatus 10 has three degrees of freedom with respect to the XYZ directions.

The ball screw mechanism 30 is a telescopic shaft-like mechanism, and as shown in FIG. 3, a ball screw 31, a ball screw nut 32, gears 33 and 34, a motor 35, a brake 36, a first case 37, a second case 38, and the like. It is comprised so that expansion-contraction is possible in the direction of arrow A (namely, axial direction of the ball screw 31).
The substantially cylindrical first case 37 has an inner diameter that is slightly larger than the substantially cylindrical second case 38, and the outer case of the ball screw mechanism 30 is configured by inserting the second case 38 through the first case 37. doing.

  In the ball screw mechanism 30, the gear 33 is rotated by the operation of the motor 35, and the rotational force is transmitted to the gear 34, whereby the ball screw 31 is rotated. Since the ball screw 31 meshes with the ball screw nut 32, the rotational force of the ball screw 31 is converted into a linear force in the axial direction of the ball screw 31 in the ball screw nut 32, so that the first case 37 is displaced, and the exterior of the ball screw mechanism 30 constituted by the first case 37 and the second case 38 is expanded and contracted in the direction of the arrow A.

The Stewart platform mechanism 20 includes three ball screw mechanisms 30, 30, 30 connected to a pair of substrates 22, 23 via universal joints 21, 21. The relative displacements of the substrates 22 and 23 are adjusted by adjusting the lengths 30, 30, and 30.
Each ball screw mechanism 30, 30, 30 is connected to the control device 5, and the rotation of each motor 35, 35, 35 and the operation of each brake 36, 36, 36 are controlled in accordance with commands from the control device 5. The

For example, when the tool 2 is attached to the Stewart platform mechanism 20 shown in FIG. 2, the movable range of the tip of the tool 2 is a range P shown in FIG. The range P is an axially symmetric three-dimensional range with the axis S as the center.
When the size of the thin plate 1 to be processed falls within the range P, the processing range for the thin plate 1 can be covered only by the Stewart platform mechanism 20.

In the present embodiment, as shown in FIG. 1, the Stewart platform mechanism 20 is configured to be supported by the traveling platform 4, thereby expanding the movable range of the tool 2.
The traveling platform 4 shown in the present embodiment is a device that displaces the Stewart platform mechanism 20 and the tool 2 in the X-axis direction, and is supported by the frame 7.
In the present embodiment, the case where the traveling platform 4 capable of displacement only in one axial direction is illustrated, but in the incremental molding apparatus 10 according to the first embodiment of the present invention, the size and shape of the thin plate 1 are illustrated. In accordance with this, it is also possible to employ a traveling platform configured to be displaceable also in the Y-axis direction and the Z-axis direction.

  The control device 5 constituting the incremental molding apparatus 10 is connected to the Stewart platform mechanism 20, the traveling platform 4, etc., and operates the Stewart platform mechanism 20 and the traveling platform 4 based on a command from the control device 5. Thus, the incremental molding is performed by displacing the tool 2 to a desired position.

In the incremental molding apparatus 10, the lower mold 8 is arranged on the support base 6, the thin plate 1 is handled from the upper side by the tool 2, and the thin plate 1 is made to follow the shape of the lower mold 8, thereby performing incremental molding. Yes.
As described above, the incremental molding apparatus 10 according to the first embodiment of the present invention realizes a highly rigid and highly accurate configuration with a simple configuration using the Stewart platform mechanism 20, and performs the incremental molding with high accuracy. Is possible.

  In this embodiment, the case where the processing direction of the thin plate 1 by the tool 2 is the vertical direction is illustrated, but the processing direction by the tool 2 in the incremental molding apparatus 10 according to the first embodiment of the present invention is this. For example, it may be in the horizontal direction.

That is, in the incremental molding apparatus 10 according to the first embodiment of the present invention, the base 3 is supported by the traveling base 4 that is a displacement mechanism that can be displaced in at least one axial direction.
With such a configuration, the movable range of the tool 2 can be expanded with a simple configuration while ensuring high rigidity.

In the incremental apparatus according to the present invention, it is more preferable to employ a Stewart platform mechanism having six-axis ball screw mechanisms 30.
As shown in FIG. 4, the incremental molding apparatus 40 according to the second embodiment of the present invention is an apparatus for performing incremental molding on the thin plate 1 as a workpiece, like the incremental molding apparatus 10. A base 3, a Stewart platform mechanism 25, a traveling base 4, a control device 5, a support base 6, a frame 7, a lower mold 8, and the like are provided.
And the Stewart platform mechanism 25 which comprises the incremental shaping | molding apparatus 40 is comprised using six ball screw mechanisms 30 * 30 ....

  The Stewart platform mechanism 25 is a mechanism serving as a power source that generates a processing force required for incremental molding, and is configured by using six ball screw mechanisms 30, 30... As shown in FIG. Since the Stewart platform mechanism 25 constituting the incremental molding apparatus 40 is configured using six ball screw mechanisms 30, 30..., The XYZ directions and the Rx / Ry / Rz directions (XYZ directions) shown in FIG. 6 degrees of freedom with respect to each axis.

In the incremental molding apparatus 40, the tool 2 has six degrees of freedom, and the degree of freedom of the tool 2 is increased as compared with the incremental molding apparatus 10 described above.
And the freedom degree of the tool 2 increases, The processing precision in incremental shaping | molding can be improved, and a more complicated shape can also be processed.

That is, each of the incremental molding apparatuses 10 and 40 according to the first and second embodiments of the present invention is an apparatus that performs incremental molding by pressing the tool 2 against the thin plate 1 and includes a base 3 that supports the tool 2 and The Stewart platform mechanism 20 as a drive mechanism for driving the tool 2 and a control device 5 for adjusting the operation of the Stewart platform mechanism 20. The tool 2 is connected to the base 3 via the Stewart platform mechanism 20. The Stewart platform mechanism 20 that is supported is constituted by one having at least three-axis ball screw mechanisms 30, 30, 30.
With such a configuration, it is possible to configure the incremental molding apparatuses 10 and 40 having high rigidity while having a simple configuration.

In the incremental molding apparatus 40 according to the second embodiment of the present invention, the Stewart platform mechanism 25 includes six-axis ball screw mechanisms 30, 30... And has six degrees of freedom. .
With such a configuration, the workability of the incremental molding apparatus 40 can be improved.

Next, the overall configuration of the incremental molding apparatus according to the third embodiment of the present invention will be described with reference to FIGS.
In the incremental molding apparatus according to the present invention, it is more preferable that a pair of Stewart platform mechanisms are provided on both the front side and the back side of the thin plate 1 as a workpiece.

An incremental forming apparatus 50 according to the third embodiment of the present invention is an apparatus for performing incremental forming on a thin plate 1 as a workpiece. As shown in FIG. 6, a pair of tools 2 and 2 and a base 3. 3, a pair of Stewart platform mechanisms 20, 20, a pair of traveling platforms 4, 4, a control device 5, a frame 7, and the like.
In the incremental molding apparatus 50, the thin plate 1 is held at a predetermined processing position by holding the peripheral edge by a clamping mechanism (not shown).
The upper traveling platform 4 is supported by a ceiling-side frame 7, and the lower traveling platform 4 is supported by a floor-side frame 7.

The incremental molding apparatus 50 does not require the lower mold 8 that is necessary in each of the incremental molding apparatuses 10 and 40 according to the first and second embodiments of the present invention, and the role of the lower mold 8 is the tool 2. And Stewart platform mechanisms 20 and 20.
That is, in the incremental molding apparatus 50, the Stewart platform mechanism 20 is a drive mechanism that serves as a power source for generating a processing force required for the incremental molding, and also plays a role of supporting the thin plate as a mold for keeping the thin plate along. Yes.

In the incremental molding apparatus 50, when molding a convex shape on the lower side, the upper tool 2 and the Stewart platform mechanism 20 play a role of imparting a processing force required for incremental molding. The lower tool 2 and the Stewart platform mechanism 20 serve as a lower mold that supports the thin plate along.
Further, when forming a shape that protrudes upward, the lower tool 2 and the Stewart platform mechanism 20 play a role of imparting a processing force required for incremental forming, and the upper tool 2 and the Stewart platform. The mechanism 20 plays the role of an upper mold that supports the thin plate along.

When performing incremental molding, as shown in FIG. 8, a pair of tools 2 and 2 are arrange | positioned so that each axial center (alpha) and (beta) may not correspond. Then, by shifting the axes α and β of the tools 2 and 2, it is possible to handle the surface of the thin plate 1 while supporting the back surface of the thin plate 1.
More specifically, when the surface of the thin plate 1 is handled, the upper tool 2 is arranged at a position preceding the lower tool 2 in the machining direction, and the lower tool 2 is arranged on the upper side in the machining direction. The second tool 2 is displaced following the upper tool 2 while being delayed.
In addition, at the time of incremental molding using the incremental molding apparatus 50, for example, the axes α and β of the pair of tools 2 and 2 may coincide with each other at the molding start time or molding end time.

The operation of the pair of tools 2 and 2 is controlled by the control device 5.
A pair of stewart platform mechanisms 20, 20, a pair of carriages 4, 4, etc. are connected to the control device 5 constituting the incremental molding device 50, and each stewart platform mechanism is based on a command from the control device 5. The incremental molding is performed by displacing each tool 2. 2 to a desired position by operating 20 20 and each traveling platform 4 4.

  The processed shape of the thin plate 1 by the incremental molding apparatus 50 is determined by factors such as the distance (gap, inter-axis distance), relative angle, and traveling speed of the pair of tools 2 and 2. In the incremental molding apparatus 50, control is performed. Incremental molding can be realized without using a mold by cooperatively controlling the operation of the upper and lower Stewart platform mechanisms 20 and 20 and the operation of the upper and lower traveling platforms 4 and 4 with the apparatus 5.

  The incremental molding apparatus 50 according to the third embodiment of the present invention may be configured using a Stewart platform mechanism 20 having three ball screw mechanisms 30, 30, and 30, as shown in FIG. As shown in FIG. 7, a Stewart platform mechanism 25 having six ball screw mechanisms 30, 30... May be used. In order to ensure the processing accuracy in the incremental molding, it is preferable to configure the incremental molding apparatus 50 using the Stewart platform mechanism 25.

  That is, the incremental molding apparatus 50 according to the third embodiment of the present invention is a device in which the tool 2, the base 3, and the Stewart platform mechanism 20 are arranged in a pair on the front surface side of the thin plate 1 and the back surface side of the thin plate 1. is there.

  Moreover, in the incremental molding apparatus 50 which concerns on 3rd embodiment of this invention, the tool 2 arrange | positioned at the surface side of a thin plate and the tool 2 arrange | positioned at the back surface side of the thin plate 1 shift | deviate mutually axial positions. It is arranged and displaced in cooperation in the machining direction in accordance with a command from the control device 5.

  With such a configuration, the mold can be omitted in the incremental molding. And if the incremental shaping | molding apparatus 50 which concerns on 3rd embodiment of this invention is used, since it becomes unnecessary to manufacture a metal mold | die, the cost concerning incremental shaping | molding can be suppressed.

  In the incremental molding apparatus 50 according to the third embodiment of the present invention, the molds (lower mold and upper mold) can be omitted. When the mold is omitted, incremental molding proceeds, and when the pressing position by the tool 2 moves away from the clamping position by the clamping mechanism 60, the stress F as shown in FIG. The problem that 1 breaks occurs.

  For this reason, in the incremental shaping | molding apparatus 50, it is preferable to change the support position of the thin plate 1 according to progress of incremental shaping | molding, or to add a support position.

For example, the incremental molding apparatus 50 can employ a roller-shaped clamp mechanism 61 as shown in FIG.
In such a configuration, as shown in FIG. 9A, the clamp mechanism 61 can be rolled and moved in the moving direction of the tool 2 in accordance with a command from the control device 5 in accordance with the progress of the incremental molding. Therefore, it is possible to prevent the pressing position by the tool 2 from being separated from the clamping position and to prevent the thin plate 1 from being broken.

  Further, in the incremental molding apparatus 50, as shown in FIG. 10, a clamp mechanism 62 configured to be displaceable can be employed. When the clamp mechanism 62 is used, the clamp mechanism 62 is displaced in the moving direction of the tool 2 in accordance with a command from the control device 5 in accordance with the progress of the incremental molding, and the thin plate 1 is re-gripped to press the tool 2. It is possible to prevent the thin plate 1 from being bent by preventing the position and the clamp position from being separated.

Furthermore, the incremental molding apparatus 50 can employ a configuration in which support mechanisms 63 and 64 as shown in FIG.
The support mechanism 63 includes a cylinder 63a and a support member 63b. As shown in FIG. 11, a control device is provided between the clamp position by the clamp mechanism 60 and the press position by the tool 2 as the incremental molding progresses. By adding the supporting member 63b along the thin plate 1 in accordance with the command of 5, it is possible to prevent the thin plate 1 from being broken.

Further, the support mechanism 64 includes a cylinder 64a and a support member 64b, and as shown in FIG. 11, according to the progress of the incremental molding, between the support position by the support member 63a and the pressing position by the tool 2, By adding a support member 64b along the thin plate 1 in accordance with a command from the control device 5, the thin plate 1 can be prevented from being broken.
In the present embodiment, the incremental molding apparatus 50 having the structure including the support mechanisms 63 and 64 is illustrated. However, there are more (two or more locations) between the clamp position by the clamp mechanism 60 and the press position by the tool 2. It is good also as a structure which provides a supporting member.

  That is, the incremental molding apparatus 50 according to the third embodiment of the present invention includes the clamp mechanism 61 or the clamp mechanism 62 that holds the thin plate 1, and the clamp mechanisms 61 and 62 can be displaced in the processing direction. It is configured to follow the tool 2 in accordance with a command from the control device 5 and change the gripping position toward the machining direction.

  The incremental molding apparatus 50 according to the third embodiment of the present invention further includes a clamp mechanism 60 that grips the thin plate 1 and support mechanisms 63 and 64 that support the thin plate 1, and the support mechanisms 63 and 64 include: Support members 63b and 64b configured to be able to contact the thin plate 1 between a gripping position by the clamp mechanism 60 and a processing position by the tool 2 are further provided, following the tool 2 in accordance with a command from the control device 5 and supporting. The members 63b and 64b are brought into contact with the thin plate 1.

  With such a configuration, it is possible to prevent the thin plate 1 from being broken when the incremental molding apparatus 50 performs incremental molding without using a mold.

1 Thin plate (work)
2 Tool 3 Base 4 Traveling platform 5 Control device 10 Incremental molding device (first embodiment)
20 Stewart platform mechanism (3 degrees of freedom)
25 Stewart platform mechanism (6 degrees of freedom)
30 Ball screw mechanism 40 Incremental molding device (second embodiment)
50 Incremental molding machine (third embodiment)
60 Clamping mechanism 61 Clamping mechanism (roller clamp)
62 Clamp mechanism (displaceable)
63b Support member 64b Support member

Claims (4)

An incremental molding apparatus that performs incremental molding by pressing a tool against a thin plate,
A base supporting the tool;
A drive mechanism for driving the tool via the base ;
A control device for adjusting the operation of the drive mechanism;
A clamp mechanism for gripping the thin plate;
Equipped with a,
The drive mechanism;
A stewart platform mechanism having at least a triaxial ball screw mechanism ;
The tool, the base and the drive mechanism;
Arranged in a pair on the front side of the thin plate and the back side of the thin plate,
The clamping mechanism is
It is configured to be displaceable in the processing direction,
According to the instructions of the control device,
Follow the tool and change the grip position in the processing direction.
An incremental molding apparatus characterized by the above. The tool arranged on the surface side of the thin plate;
The tool arranged on the back side of the thin plate is:
Are arranged with their axes shifted from each other,
According to the instructions of the control device,
Displaced in cooperation with the machining direction,
The incremental molding apparatus according to claim 1 . The Stewart platform mechanism is
6-axis ball screw mechanism,
6 degrees of freedom
The incremental molding apparatus according to claim 1 or 2 , wherein the apparatus is an incremental molding apparatus. The base is
Supported by a displacement mechanism displaceable in at least one axial direction;
The incremental molding apparatus according to any one of claims 1 to 3 , wherein

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