JP6452874B1 - Metal processing apparatus, robot, and metal processing method - Google Patents

Abstract

A molded article having an arbitrary shape is produced. A metal processing apparatus (10) includes a pressing portion (1) for bending a plate material in a pressing direction by pressing the held plate material (100), a pressing portion, and a plate material held by the pressing portion. A position changing unit (4) for changing the relative position. The pressing force in the pressing direction applied to the plate material by the pressing portion or the pressing amount of the pressing portion in the pressing direction with respect to the plate material is adjusted as the pressing position of the plate material held by the pressing portion is changed. The [Selection] Figure 1

Description

  The present invention relates to a metal processing apparatus and the like for performing a forming process on a metal plate material.

  As a technique for performing a forming process on a metal plate material, there are various techniques such as a press process, a spinning process, an incremental process, a roller process, and a bending process. For example, the technique of patent document 1 is mentioned as an example of a bending process. Patent Document 1 discloses a bending apparatus including an upper mold that applies a pressing force to a metal plate, and a movable plate that moves with the elongation of the metal plate during bending.

JP 2015-199120 A (released on November 12, 2015)

  However, in the technique of Patent Document 1, the upper mold is a dedicated mold for a molded product that extends in one axial direction. Therefore, the plate cannot be bent into an arbitrary shape without replacing the upper mold.

  Note that, in roller processing (eg, roller hem processing), a dedicated die is used as in Patent Document 1. Further, the spinning process and the incremental process are not formed by bending a plate material.

  An object of one embodiment of the present invention is to realize creation of a molded product having an arbitrary shape without preparing a mold dedicated to the molded product.

  In order to solve the above problems, a metal processing apparatus according to an aspect of the present invention is a metal processing apparatus that performs a forming process on a metal plate material, and presses the held plate material, A pressing portion that bends the plate material in the pressing direction, the pressing portion, and a position changing portion that changes a relative position of the plate material held by the pressing portion, and is applied to the plate material by the pressing portion. The pressing force in the pressing direction or the pressing amount of the pressing portion in the pressing direction with respect to the plate material is adjusted as the pressing position of the plate material held by the pressing portion is changed.

  According to the above configuration, the amount of pressing at each part of the plate material can be changed, so that the bending angle at each part can be changed. Therefore, it is possible to bend an arbitrary part of the plate material to an arbitrary bending angle without preparing a mold dedicated to the molded product. That is, it is possible to create a molded product having an arbitrary shape (a variety of types (multiple types) of molded products) without preparing a mold dedicated to the molded product. In addition, since it is not necessary to prepare a mold dedicated to the molded product, it is not necessary to replace the mold according to the molded product.

  Furthermore, in the metal processing apparatus according to an aspect of the present invention, the pressing portion includes a first pressing portion that presses the plate material, a second pressing portion that holds the plate material that receives the pressing by the first pressing portion, and You may have.

  According to the said structure, it becomes possible to bend a board | plate material to a press direction by hold | maintaining the board | plate material which receives the press by a 1st press part with a 2nd press part.

  Furthermore, in the metal processing apparatus according to one aspect of the present invention, the first pressing portion may include a roller having a rotation axis that intersects the pressing direction.

  According to the said structure, it can press (action) at one point with respect to a board | plate material.

  Furthermore, in the metal processing apparatus according to the aspect of the present invention, the second pressing portion is provided on both sides of the second pressing portion side facing portion facing the first pressing portion and the second pressing portion side facing portion. The second pressing portion side contact portion is brought into contact with the second pressing portion side facing portion together with the second pressing portion side facing portion, and the second pressing portion side contact portion is moved to the first pressing portion with the pressing to the plate material by the first pressing portion. You may provide the 2nd press part side moving part moved to the 1 press part side.

  According to the said structure, a board | plate material can be bent by moving a 2nd press part side contact part to the 1st press part side by the press of a 1st press part. Moreover, the movement amount of the second pressing portion side contact portion can be changed according to the change of the pressing force or the pressing amount. Therefore, the bending angle of a board | plate material can be changed continuously by changing the pressing force or pushing amount in each site | part of a board | plate material, moving a board | plate material.

  Furthermore, in the metal processing apparatus which concerns on 1 aspect of this invention, the said 2nd press part side contact part is a roller which has the rotating shaft which cross | intersects the said board | plate material hold | maintained by the said 1st press part and the said 2nd press part. It does not matter.

  According to the said structure, when changing the relative position of the board | plate material with respect to a press part, it can prevent that a board | plate material is damaged by the contact with a 2nd press part side contact part.

  Furthermore, in the metal processing apparatus according to an aspect of the present invention, the second pressing portion side facing portion may be a roller having a rotation axis that intersects the pressing direction.

  According to the said structure, when changing the relative position of the board | plate material with respect to a press part, it can prevent that a board | plate material is damaged by the contact with a 2nd press part side opposing part.

  Furthermore, in the metal processing apparatus according to one aspect of the present invention, an end portion of the second pressing portion side facing portion that comes into contact with the plate material may have a concave cross-sectional shape.

  According to the said structure, a board | plate material can be bent by a total of 3 points | pieces, 2 points | pieces in the edge part which has a cross-sectional concave shape of a 2nd press part side opposing part, and 1 point | piece of a 1st press part. Therefore, even if the amount of movement of the first pressing portion in the pressing direction is small (that is, even when the bending angle is shallow), the bending radius of the plate material can be reduced, so that the plate material can be bent with high accuracy. Further, since it is easy to apply a pressing force to the bending apex of the plate material, elastic recovery (spring back) of the plate material can be suppressed.

  Furthermore, in the metal processing device according to one aspect of the present invention, the second pressing portion side facing portion holds the plate material that is pressed by the first pressing portion and presses the plate material, A 1st press part hold | maintains the said board | plate material which receives the press by the said 2nd press part side opposing part while pressing the said board | plate material, and a said 1st press part is a said 2nd press part side opposing part. A first pressing portion side facing portion, a first pressing portion side contacting portion which is provided on both sides of the first pressing portion side facing portion and contacts the plate member together with the first pressing portion side facing portion; A first pressing portion side moving portion that moves the first pressing portion side contact portion to the second pressing portion side in accordance with the pressing to the plate material by the two pressing portion side facing portions may be provided. .

  According to the said structure, a board | plate material can be bent by moving a 1st press part side contact part to the 2nd press part side by the press of a 2nd press part. Further, the movement amount of the first pressing portion side contact portion can be changed according to the change of the pressing force or the pressing amount. Therefore, the bending angle of a board | plate material can be changed continuously by changing the pressing force or pushing amount in each site | part of a board | plate material, moving a board | plate material.

  In addition, since the plate material can be bent toward the first pressing portion side and the second pressing portion side, the plate material can be processed into a more complicated shape.

  Furthermore, in the metal processing apparatus according to an aspect of the present invention, the second pressing portion has a predetermined concave shape at least in a portion facing the first pressing portion, and receives the pressing by the first pressing portion. The bent plate material may be held at at least two points.

  According to the said structure, a board | plate material can be bent by hold | maintaining the board | plate material bent by receiving the press by a 1st press part at at least 2 points | pieces of the 2nd press part which has a predetermined | prescribed concave shape. Moreover, the bending angle of a board | plate material can be changed continuously by changing the pressing force or pushing amount in each site | part of a board | plate material, moving a board | plate material.

  Furthermore, the metal processing apparatus according to one aspect of the present invention rotates around a rotation axis that intersects the pressing direction, and has a shape that is symmetric with respect to the rotation axis as a central axis. It doesn't matter.

  According to the said structure, when changing the relative position of the board | plate material with respect to a press part, it can prevent that a board | plate material is damaged by the contact with a 2nd press part.

  Furthermore, in the metal processing apparatus according to one aspect of the present invention, the position changing unit moves the plate material with respect to the pressing unit whose position is fixed on a plane intersecting the pressing direction. It doesn't matter.

  According to the said structure, the arbitrary parts of a board | plate material can be bent to the arbitrary bending angles by moving a board | plate material with respect to a press part.

  Furthermore, in the metal processing apparatus according to one aspect of the present invention, the position changing unit moves the support member supporting the end of the plate member and the plate member supported by the support member in the direction of the first axis. A first slide part to be moved, and a second slide part to move the plate material supported by the support part in a direction of a second axis intersecting the first axis, wherein the support part includes the first slide part The plate member may be rotated around a third axis that intersects the axis and the second axis.

  According to the said structure, a board | plate material can be freely moved by a support part and a 1st and 2nd slide part.

  Furthermore, in the metal processing apparatus according to one aspect of the present invention, the position changing unit moves the pressing unit with respect to the plate member whose position is fixed on a plane that intersects the pressing direction. It doesn't matter.

  According to the said structure, the arbitrary parts of a board | plate material can be bent to an arbitrary bending angle by moving a press part with respect to a board | plate material.

  Furthermore, the robot which concerns on 1 aspect of this invention is a robot provided with the said metal processing apparatus, Comprising: The press part holding part holding the said press part, The said position change part which moves the said press part holding part As a robot arm.

  According to the said structure, a press part can be freely moved with a robot arm.

  Furthermore, in order to solve the above-described problem, a metal processing method according to an aspect of the present invention is a metal processing method for forming a metal plate material, and the pressing portion presses the held plate material. A bending step of bending the plate material in the pressing direction, a position changing step of changing a relative position between the pressing portion and the plate material held by the pressing portion, and in the bending step, The pressing force in the pressing direction applied to the plate material by the pressing portion, or the pressing amount of the pressing portion in the pressing direction with respect to the plate material is the pressing position of the plate material held by the pressing portion. Adjusted as it changes.

  According to the above configuration, the amount of pressing at each part of the plate material can be changed, so that the bending angle at each part can be changed. Therefore, it is possible to bend an arbitrary part of the plate material to an arbitrary bending angle without preparing a mold dedicated to the molded product. That is, it is possible to create a molded product having an arbitrary shape (a variety of types (multiple types) of molded products) without preparing a mold dedicated to the molded product. In addition, since it is not necessary to prepare a mold dedicated to the molded product, it is not necessary to replace the mold according to the molded product.

  According to one aspect of the present invention, a molded product having an arbitrary shape can be created without preparing a mold dedicated to the molded product.

It is a block diagram which shows an example of a structure of the metal processing apparatus which concerns on Embodiment 1. FIG. (A) And (b) is a figure which shows an example of a structure of a press part. (A)-(d) is a figure which shows the mode of the press of the board | plate material by a press part. (A) And (b) is a figure which shows a mode that a board | plate material is shape | molded. It is a figure which shows an example of the metal processing apparatus as a uniaxial linear bending machine. It is a figure for demonstrating an example of operation | movement of the uniaxial linear bending machine shown in FIG. (A) And (b) is a figure for demonstrating an example of the metal processing apparatus as a biaxial linear bending machine, and its operation | movement. It is a figure which shows an example of the robot provided with the metal processing apparatus of Embodiment 2. (A)-(c) is a figure for demonstrating an example of the press part of Embodiment 3, and its operation | movement. (A)-(e) is a figure which shows an example of the press part of Embodiment 4. FIG. It is a figure which shows an example of the bending prevention mechanism of Embodiment 5.

Embodiment 1
Hereinafter, an embodiment of the present invention will be described in detail.

<Configuration of metal processing equipment>
First, the metal processing apparatus 10 will be described. FIG. 1 is a block diagram illustrating an example of the configuration of the metal processing apparatus 10. FIGS. 2A and 2B are diagrams illustrating an example of the configuration of the pressing unit 1. FIGS. 3A to 3D are views showing how the plate member 100 is pressed by the pressing portion 1. FIGS. 4A and 4B are views showing how the plate member 100 is formed. FIG. 2B is a view for explaining the internal structure of the second pressing portion side return portion 34. Moreover, (a)-(d) of FIG. 3 is also a figure for demonstrating another example of the internal structure of the 2nd press part side return part 34. As shown in FIG.

  As shown in FIG. 1, the metal processing apparatus 10 performs a forming process (bending process) on a metal plate material 100, and includes, for example, a pressing unit 1, a position changing unit 4, a driving unit 5, and a control. Part 6 is provided.

  The pressing unit 1 bends the plate material 100 in the pressing direction by pressing the held plate material 100. The pressing direction is an arrow direction shown in FIG. That is, the pressing direction is a direction intersecting with a plane (XY plane) including the surface of the plate member 100 before bending, and specifically, a direction substantially perpendicular to the plane (−Z axis direction).

  The pressing unit 1 includes a first pressing unit 2 and a second pressing unit 3. The first pressing unit 2 presses the plate material 100. The second pressing part 3 holds the plate member 100 that receives the pressing by the first pressing part 2. That is, the 1st press part 2 presses the board | plate material 100 hold | maintained at the 2nd press part 3 in a press direction by arrange | positioning between the 1st press part 2 and the 2nd press part 3. FIG.

  In this embodiment, as shown to (a) of FIG. 2, the 1st press part 2 is provided with the roller 21 which has rotating shaft 21Ax which cross | intersects a press direction. Therefore, when the plate material 100 is pressed, the plate material 100 can be contacted at one point (not a surface), and therefore, the plate material 100 can be pressed at each point. The peripheral end portion of the roller 21 that contacts the plate member 100 has, for example, a tapered sectional convex shape. The shape of the roller 21 is not limited and is not limited to the roller 21 as long as it can contact the plate member 100 at one point and can press the plate member 100. For example, instead of the roller 21, a sliding member may be used.

  The second pressing part 3 includes a second pressing part side facing part 31, a second pressing part side contact part 32, a second pressing part side moving part 33, and a second pressing part side return part 34.

  The second pressing portion side facing portion 31 faces the first pressing portion 2 (specifically, the roller 21). The end of the second pressing portion side facing portion 31 that comes into contact with the plate member 100 has a concave cross-sectional shape. For example, the end portion may have a concave cross-sectional shape into which the roller 21 can be fitted. When the end portion has a concave cross-sectional shape, the plate member 100 can be bent at a total of three points including two points at the end portion and one point of the first pressing portion 2 when the plate member 100 is pressed. The bending radius of 100 can be reduced. That is, the plate member 100 can be accurately bent at a desired bending angle. Further, since it is easy to apply a pressing force to the bending apex of the plate member 100, spring back can be suppressed.

  For example, as shown in FIGS. 3A to 3D, the second pressing portion side facing portion 31 may be a roller having a rotation axis 31 </ b> Ax that intersects the pressing direction. Moreover, the peripheral edge part which contacts the board | plate material 100 in the roller as the 2nd press part side opposing part 31 is also a cross-sectional recessed part shape similarly to the said edge part. In the present embodiment, the peripheral end portion has a substantially V-shaped cross section, but is not limited thereto, and may be, for example, a substantially U-shaped cross section.

  In addition, although the 2nd press part side opposing part 31 differs in the point whether it is implement | achieved by the roller in FIG.2 and FIG.3, the other basic structure and function are the same. 2 will be described with reference to FIG. 3 as appropriate.

  The 2nd press part side contact part 32 is provided in the both sides of the 2nd press part side opposing part 31, and contacts the board | plate material 100 with the 2nd press part side opposing part 31. FIG. In this embodiment, the 2nd press part side contact part 32 is a roller which has rotating shaft 32Ax which cross | intersects the board | plate material 100 hold | maintained by the 1st press part 2 and the 2nd press part 3. FIG. Moreover, in this embodiment, although the 2nd press part side contact part 32 is provided one each on the both sides of the 2nd press part side opposing part 31, it is not restricted to this. Two or more second pressing portion side contact portions 32 may be provided on both sides of the second pressing portion side facing portion 31, and the number of the second pressing portion side contacting portions 32 is different on both sides of the second pressing portion side facing portion 31. (E.g., one on one side and two on the other side).

  As shown in FIGS. 3A to 3D, the second pressing portion side moving portion 33 moves the second pressing portion side contact portion 32 to the first as the first pressing portion 2 presses the plate material 100. Move to the pressing portion 2 side. FIG. 3A shows an initial state before the plate material 100 is pressed by the first pressing portion 2. If the 1st press part 2 presses the board | plate material 100 from this state, the 2nd press part side contact part 32 will move as shown to (b)-(d) of FIG. Specifically, the second pressing portion side moving portion 33 receives this pressing and approaches a straight line L that passes through the contact position (pressing position) of the first pressing portion 2 with the plate member 100 and is substantially perpendicular to the XY plane. Thus, the second pressing portion side contact portion 32 is moved so as to be symmetrical with respect to the straight line L.

  When the pressing force by the first pressing part 2 is unloaded, the second pressing part side return part 34 moves to the second pressing part side facing part 31, the second pressing part side contact part 32, and the second pressing part side. The part 33 is returned to the state before the pressing force is applied. Specifically, the second pressing portion side return portion 34 supports the second pressing portion side facing portion 31 in the + Z-axis direction when the pressing force by the first pressing portion 2 is applied. Further, when the pressing force is unloaded, the second pressing portion side return portion 34 moves the second pressing portion side facing portion 31, the second pressing portion side contact portion 32, and the second pressing portion side moving portion 33, Move to a position before the pressing force is applied.

  The second pressing portion side return portion 34 may be, for example, a compression spring 34a as shown in FIG. One end of the compression spring 34a is connected to the second pressing portion side facing portion 31 and expands and contracts as the second pressing portion side facing portion 31 moves in the ± Z-axis direction. Since the second pressing portion side moving portion 33 is connected to the second pressing portion side facing portion 31, the second pressing portion side facing portion 31 and the compression spring 34 a move in the ± Z-axis direction along with the second pressing portion side facing portion 31. The position of the pressing part side contact part 32 is moved.

  Moreover, the 2nd press part side return part 34 may be the air cylinder 340, for example, as shown to (a)-(d) of FIG. The air cylinder 340 has a configuration in which an air cylinder shaft 341 is provided inside the air cylinder frame 342, and the tip of the air cylinder shaft 341 is connected to the second pressing portion side facing portion 31. Thereby, the air cylinder shaft 341 moves with the movement of the second pressing portion side facing portion 31 in the ± Z-axis direction. Moreover, since the 2nd press part side moving part 33 is connected to the 2nd press part side opposing part 31, with the movement to the +/- Z-axis direction of the 2nd press part side opposing part 31 and the air cylinder shaft 341, it is. The position of the second pressing portion side contact portion 32 is moved. Thereby, the movement of the 2nd press part side opposing part 31 and the 2nd press part side contact part 32 as shown to (a)-(d) of FIG. 3 is attained.

  As shown in FIGS. 3B to 3D, at least when the plate member 100 is pressed, the plate member 100 is a sum of one point of the pressing position and one point of each of the two second pressing portion side contact portions 32. Supported at 3 points. In other words, the 2nd press part 3 supports the board | plate material 100 bent by receiving the press by the 1st press part 2 by at least two points. Therefore, the plate member 100 can be bent at a bending angle corresponding to the pressing force. That is, the plate member 100 can be bent even if the cross-sectional shape of the end portion of the second pressing portion side facing portion 31 is not a concave shape (eg, a substantially V shape). However, as described above, if the cross-sectional shape is a concave shape, the plate member 100 can be bent with high accuracy.

  The position changing unit 4 changes the relative position between the pressing unit 1 and the plate member 100 held by the pressing unit 1. Thereby, the pressing position is changed in the plate member 100. In the present embodiment, the position changing unit 4 moves the plate member 100 with respect to the pressing unit 1 whose position is fixed on a plane that intersects the pressing direction (eg, the above-described XY plane).

  The drive unit 5 drives the pressing unit 1. The drive part 5 can control the 1st press part 2 and the 2nd press part 3 independently. In the present embodiment, the drive unit 5 drives the first pressing unit 2 to move the first pressing unit 2 in the pressing direction (−Z axis direction) or in the opposite direction (+ Z axis direction). In addition, the driving unit 5 drives the second pressing unit 3 to move the second pressing unit 3 along with the pressing by the first pressing unit 2. Furthermore, the drive part 5 may control rotation of the roller 21 (and the roller when the 2nd press part side opposing part 31 is a roller).

  The control unit 6 controls the metal processing apparatus 10 in an integrated manner, and includes, for example, a processing control unit 61, a position change control unit 62, and a drive control unit 63.

  The processing control unit 61 controls each part of the metal processing apparatus 10 in order to process the plate material 100 into a desired shape (the shape of the molded product) by performing sheet metal analysis or the like. The processing control unit 61 performs FEM (Finite element method) analysis and the like based on various parameters, for example, to provide a pressing force for realizing a processing path in the plate material 100 and a bending angle at each point on the processing path. decide. That is, the processing control unit 61 adjusts the pressing force in the pressing direction applied to the plate material 100 by the pressing unit 1 as the pressing position of the plate material 100 held by the pressing unit 1 is changed. Examples of the various parameters described above include the shape of the molded product, the characteristics of the plate material 100, and the characteristics of each part of the metal processing apparatus 10.

  In addition, the process control part 61 may determine the pushing amount for implement | achieving the bending angle in each point on the processing path in the board | plate material 100, and a processing path by performing the said FEM analysis etc., for example. That is, the processing control unit 61 sets the pressing amount for moving the first pressing unit 2 in the pressing direction (the pressing amount of the pressing unit 1 in the pressing direction with respect to the plate member 100) to the pressing position of the plate member 100 held by the pressing unit 1. You may adjust as you change.

  The position change control unit 62 controls the position change unit 4 based on the machining path determined by the machining control unit 61 to change the relative position between the pressing unit 1 and the plate material 100. In the present embodiment, the position change control unit 62 moves the plate member 100 with respect to the fixed pressing unit 1 on the XY plane described above.

  The drive control unit 63 controls the drive unit 5 based on the pressing force at each point determined by the processing control unit 61 to drive the first pressing unit 2 or the second pressing unit 3, respectively. In the present embodiment, the first pressing unit 2 is moved in the pressing direction so that the pressing force determined by the processing control unit 61 is applied to the plate member 100 at each point of the plate member 100.

  As described above, the control unit 6 controls the pressing unit 1 and the position changing unit 4, so that the pressing at each point is performed along the processing path (arrow indicated by the dotted line in FIG. 4) determined by the processing control unit 61. The plate member 100 can be bent while changing the pressure. 4A shows an initial state, and FIG. 4B shows a state in which the plate member 100 is pressed with a determined pressing force at an arbitrary point in the determined machining path.

  That is, a metal working method for forming the plate material 100 can be realized by the metal working apparatus 10 described above. Specifically, the metal processing method includes a bending step of bending the plate member 100 in the pressing direction by the pressing unit 1 pressing the held plate member 100, and a position changing step of changing the relative position. The bending process and the position changing process are performed at each point on the machining path set in the plate material 100. Further, in the bending step, as described above, the pressing force or the pressing amount is adjusted as the pressing position is changed.

  Here, the formability of the plate material 100 may be improved by heating the plate material 100. In this case, the metal processing apparatus 10 includes a heating unit (not shown) that heats the plate material 100. Heating the plate material 100 is locally performed near the processing position (pressing position) of the plate material 100. When performing local heating, it is realizable by energizing the 1st press part 2 and the 2nd press part 3, for example. In this case, the 1st press part 2 and the 2nd press part 3 become a heating part. The heating may be performed over the entire plate member 100 (uniformly).

  In the present embodiment, the first pressing portion 2 that presses the plate material 100 is provided above the pressing portion 1, and the second pressing portion 3 that receives the pressed plate material 100 is provided below the pressing portion 1. However, it is not limited to this. The first pressing part 2 may be provided below the pressing part 1, and the second pressing part 3 may be provided above the pressing part 1.

<Example of metal processing apparatus: 1-axis linear bending machine>
Next, an embodiment of the metal processing apparatus 10 will be described. FIG. 5 is a diagram illustrating an example of a metal processing apparatus 10 as a uniaxial linear bending machine. FIG. 6 is a diagram for explaining an example of the operation of the uniaxial linear bending machine shown in FIG.

  As shown in FIG. 5, the metal processing apparatus 10 includes a pressing unit 1, a servo cylinder as the position changing unit 4, and an air cylinder as the driving unit 5.

  An air cylinder moves the 1st press part 2 to an up-down direction (± Z-axis direction). The air cylinder has a telescopic member and is attached to the upper surface of the first pressing portion 2. Due to the expansion and contraction of the air cylinder, the first pressing portion 2 moves in the ± Z-axis direction.

  The servo cylinder is a slide portion (first slide portion) that moves the plate material 100 in the ± X axis (first axis) direction, and extends in the ± X axis direction with the first slider 41 to which the plate material 100 is fixed, And a first moving mechanism 42 for moving the first slider 41 in the ± X-axis direction. As shown in FIG. 5, the first slider 41 is provided on the upper surface of the housing of the first moving mechanism 42, and the first slider 41 is moved in the ± X axis direction by the drive mechanism built in the first moving mechanism 42. Let

  Specifically, as shown in FIG. 6, the second pressing portion 3 is fixed near the end of the servo cylinder. Further, the metal processing apparatus 10 includes a guide part 11 that guides the movement of the plate member 100 in the ± X-axis direction in the vicinity of the second pressing part 3, and an air hand that fixes the guide part 11 to the housing of the metal processing apparatus 10. 12.

  In this embodiment, the guide part 11 is comprised from a pair of nail | claw part which pinches | interposes the inserted board | plate material 100. As shown in FIG. The air hand 12 has a pair of slider portions 121 that open and close symmetrically by supplying air, and a pair of claw portions constituting the guide portion 11 are fixed on the upper surface of the slider portion 121. In addition, the air hand 12 fixes each of the two claw portions so as to be pressable in the + Y-axis direction or the −Y-axis direction. As a result, it is possible to suppress the peristalsis of the plate material 100 generated by bending the plate material 100 by sandwiching the plate material 100, so that the target pressing position and the actual pressing position of the plate material 100 in the ± Y-axis direction Can be reduced. That is, the shape accuracy of the bent molded product can be improved. In addition, even when a pressing force is reapplied to the same part with respect to a molded product that has already been bent, the displacement of the pressing position can be reduced.

  The servo cylinder further has a plate material fixing portion 43 attached to the first slider 41, a plate material fixing portion 43, and an end portion of the plate material 100 for fixing the plate material 100 to the first slider 41. And a plate material support portion 44 to be supported. The plate material support portion 44 includes a shaft portion that supports the plate material 100, and a fixture 44a that fixes the plate material 100 and the shaft portion by being fitted to the shaft portion. The shaft portion is, for example, a bolt, and the fixture 44a is, for example, a nut.

  As shown in FIG. 6, when processing the plate material 100, for example, after passing the shaft portion of the plate material support portion 44 through a through-hole formed in the end portion of the plate material 100, ) To attach the fixture 44a. In this state, the position of the plate member 100 is adjusted by the guide portion 11 so that the traveling direction of the plate member 100 is the ± X axis direction. Thereafter, under the control of the control unit 6, the servo cylinder moves the plate member 100 in the ± X-axis direction while the air cylinder moves the first pressing portion 2 in the ± Z-axis direction. Can be bent (linear bending).

  In the present embodiment, an air cylinder is employed as the drive unit 5 and a servo cylinder is employed as the position changing unit 4, but the present invention is not limited to this. For example, servo cylinders may be employed for both the position changing unit 4 and the drive unit 5. That is, as long as the functions of the position changing unit 4 and the driving unit 5 are realized, any configuration may be used.

<Example of metal processing apparatus: biaxial linear bending machine>
Next, another embodiment of the metal processing apparatus 10 will be described. FIGS. 7A and 7B are diagrams for explaining an example of the metal processing apparatus 10 as a biaxial linear bending machine and its operation.

  As shown in FIG. 7A, the metal processing apparatus 10 includes a pressing unit 1 and an air cylinder as the driving unit 5. Moreover, the position change part 4 is provided with the 1st slide part 40a (example: servo cylinder) which has the 1st slider 41 and the 1st moving mechanism 42, as shown to (a) and (b) of FIG. Further, the position changing unit 4 extends the plate material 100 in the ± Y-axis (second axis intersecting the first axis) direction, the second slider 46, and extends in the ± Y-axis direction. A second slide portion 40b having a second moving mechanism 47 that moves in the Y-axis direction is provided. As shown in FIGS. 7A and 7B, the second slider 46 is provided on the upper surface of the housing of the second moving mechanism 47. Further, the second slider 46 is moved in the ± Y-axis direction by a drive mechanism built in the second moving mechanism 47. In this case, the second slider 46 and the second moving mechanism 47 may be servo cylinders.

  As shown in FIGS. 7A and 7B, the position changing unit 4 includes a fixing jig 45 that fixes the first slider 41 and the second moving mechanism 47. That is, the first slide part 40 a and the second slide part 40 b are fixed by the fixing jig 45. Further, as shown in FIG. 7B, the position changing unit 4 supports the end portion of the plate member 100 and moves the plate member 100 around the Z axis (a third axis intersecting the first axis and the second axis). A rotating mechanism 48 (supporting portion) for rotating the rotating mechanism. The rotation mechanism 48 is a bolt, for example, and is fixed to the end of the second slider 46.

  Thus, the position changing unit 4 supports the plate member 100 and rotates it around the Z axis, the first slide unit 40a that moves the plate member 100 in the ± X axis direction, and the plate member 100 ± And a second slide part 40b that moves in the Y-axis direction. Thereby, the board | plate material 100 can be moved to biaxial direction with each movement of the 1st slide part 40a and the 2nd slide part 40b. That is, the plate material 100 can be bent freely on the XY plane. Note that the rotation mechanism 48 may also be referred to as a third slide portion that slides the plate member 100.

  In order to enable movement of the plate material 100 in the biaxial direction, the guide portion 11 is removed from the air hand 12 as shown in FIG. The air hand 12 may also be removed from the housing of the metal processing apparatus 10.

  As shown in FIG. 7B, when processing the plate member 100, for example, the rotation mechanism 48 is passed through the through hole formed in the end portion of the plate member 100 and the hole formed in the second slider 46. The tip of the rotation mechanism 48 is fitted or screwed. As a result, the plate member 100 is fixed to the first slide portion 40a and the second slide portion 40b in a state allowing rotation around the Z axis. Thereafter, under the control of the control unit 6, the drive unit 5 (for example, an air cylinder) moves the first pressing unit 2 in the ± Z-axis direction while the first slide unit 40a moves in the ± X-axis direction and / or the first The two slide portions 40b move the plate member 100 in the ± Y axis direction. Thereby, the bending process (for example, the bending process along a crank path | route (processing path | route)) to the biaxial direction with respect to the board | plate material 100 can be performed.

  Note that the first moving mechanism 42 and / or the second moving mechanism 47 may not have a driving mechanism. When the first moving mechanism 42 and the second moving mechanism 47 do not have a driving mechanism, they serve as guide mechanisms for moving the first slider 41 in the ± X-axis direction and the second slider 46 in the ± Y-axis direction, respectively. Function. In this case, the user manually moves the first slider 41 or the second slider 46 based on the machining path determined by the machining control unit 61 (for example, while confirming the machining path displayed on the display unit (not shown)). Move. On the other hand, the rotation mechanism 48 may be rotationally controlled by a drive mechanism such as an electric rotary actuator.

  Further, in the case where the first moving mechanism 42, the second moving mechanism 47, and the rotating mechanism 48 have a driving mechanism, if these mechanisms realize the function of the position changing unit 4, what is the structure of the mechanism? It doesn't matter.

[Embodiment 2]
Another embodiment of the present invention will be described below. For convenience of explanation, members having the same functions as those described in the above embodiment are given the same reference numerals, and the description thereof will not be repeated. The same applies to the following embodiments.

  In order to change the relative position, the plate material 100 is moved in the first embodiment. In this embodiment, the position change part 4 moves the press part 1 with respect to the board | plate material 100 with which the position was fixed in the plane (XY plane) which cross | intersects a press direction. That is, the position change control unit 62 controls the position change unit 4 based on the machining path determined by the machining control unit 61 to move the pressing unit 1 relative to the fixed plate member 100 on the XY plane described above. Let

<Example of metal processing apparatus: robot>
The metal processing apparatus 10 of this embodiment is implement | achieved by the robot 70, for example. FIG. 8 is a diagram illustrating an example of the robot 70 including the metal processing apparatus 10. As shown in FIG. 8, the plate member 100 is fixed to the pedestal 200 so that a portion to be bent is outside the pedestal 200. In addition, the fixing method of the board | plate material 100 is not restricted to this, For example, you may fix the board | plate material 100 with respect to the press part 1 by fixing the corner | angular part of the board | plate material 100. FIG. As an example of this, a form in which a corner is gripped by a robot is shown in FIG. 11 described later.

  As shown in FIG. 8, the robot 70 includes a pressing unit holding unit 71 that holds the pressing unit 1 and a robot arm 72 that moves the pressing unit holding unit 71. The pressing unit holding unit 71 functions as a driving unit, and the robot arm 72 functions as the position changing unit 4.

  The pressing portion holding portion 71 has a substantially C-shaped cross section attached to the distal end portion of the robot arm 72, and the first pressing portion 2 is provided on the upper end portion 71a and the second pressing portion 3 is provided on the lower end portion 71b. Is attached. In the pressing part holding part 71, the tip upper part 71a to which the first pressing part 2 is attached is configured to be movable in the direction of the tip lower part 71b. Thereby, the board | plate material 100 hold | maintained between the 1st press part 2 and the 2nd press part 3 can be pressed to a press direction (direction of the front end lower side part 71b). Note that the lower tip end portion 71b may move in the direction of the upper tip end portion 71a. In this case, the 1st press part 2 may be provided in the front-end | tip lower side part 71b.

  The robot arm 72 moves the pressing portion holding portion 71 in the three axial directions of ± X axis direction, ± Y axis direction, and ± Z axis direction. Further, the pressing portion holding portion 71 is attached to the tip portion so as to be rotatable around the X axis, the Y axis, and the Z axis with the tip portion of the robot arm 72 as a rotation axis. As a result, the robot 70 can start the bending process on the plate material 100 from an arbitrary position, and can perform the bending process on the plate material 100 in an arbitrary direction.

  For example, under the control of the control unit 6, the robot arm 72 moves the pressing unit holding unit 71 so that the second pressing unit 3 is brought into contact with the lower part of the plate material 100. Thereafter, the control unit 6 controls the pressing unit holding unit 71 to move the first pressing unit 2 in the ± Z-axis direction, while the robot arm 72 moves the pressing unit holding unit 71 in the ± X-axis direction and / or the ± Y-axis. By moving in the direction, the bending process for the plate member 100 as described above can be realized.

  In the above description, an example in which bending is performed using the robot 70 on the plate material 100 placed substantially horizontally has been described, but the present invention is not limited thereto. As described above, the pressing portion holding portion 71 can move in the three axial directions of the ± X axis direction, the ± Y axis direction, and the ± Z axis direction, and can rotate around the X axis, the Y axis, and the Z axis. It is. Therefore, regardless of the state in which the plate member 100 is placed (for example, whether the plate member 100 is inclined with respect to the horizontal plane or stands substantially vertically), the robot 70 is Thus, the bending process as described above can be performed.

[Embodiment 3]
In Embodiment 1, the 1st press part 2 functions as what hold | maintains the board | plate material 100 which pressed the board | plate material 100, and the 2nd press part 3 was pressed. In the pressing portion 1a of the present embodiment, both the first pressing portion 2a and the second pressing portion 3a have a function of pressing the plate material 100 and a function of holding the pressed plate material 100.

  Specifically, the second pressing portion side facing portion 31 of the second pressing portion 3a functions to hold the plate material 100 that receives the pressure by the first pressing portion 2a and to press the plate material 100. The 2nd press part side opposing part 31 may be a roller which can be fitted with the roller 21 of the 1st press part 2a as shown, for example in FIG. In addition, the first pressing portion 2 a functions to hold the plate material 100 that presses the plate material 100 and receives pressure from the second pressing portion side facing portion 31.

  (A)-(c) of Drawing 9 is a figure for explaining an example of press part 1a of this embodiment, and its operation. As shown in FIG. 9B, the first pressing portion 2 a includes a roller 21 (first pressing portion side facing portion) facing the second pressing portion side facing portion 31 as in the first embodiment. The first pressing part 2 a includes a first pressing part side contact part 22 and a first pressing part side moving part 23. The 1st press part side contact part 22 is provided in the both sides of the roller 21, and contacts the board | plate material 100 with the roller 21. As shown in FIG. The 1st press part side moving part 23 moves the 1st press part side contact part 22 to the 2nd press part 3 side with the press to the board | plate material 100 by the 2nd press part side opposing part 31. As shown in FIG. That is, the 1st press part side contact part 22 has the same function as the 2nd press part side contact part 32, and the 1st press part side moving part 23 has the same function as the 2nd press part side moving part 33. Have.

  Further, the first pressing portion side return portion 24 moves the roller 21, the first pressing portion side contact portion 22 and the first pressing portion side moving portion 23 when the pressing force by the second pressing portion 3a is unloaded. This is to restore the state before the pressing force is applied. That is, the first pressing portion side return portion 24 has the same function as the second pressing portion side return portion 34. In addition, the first pressing unit side return unit 24 moves the roller 21 in the pressing direction when the roller 21 presses the plate member 100.

  As in the first embodiment, the second pressing portion 3a includes the second pressing portion side facing portion 31, the second pressing portion side contact portion 32, the second pressing portion side moving portion 33, and the second pressing portion side return portion 34. Prepare. However, the 2nd press part side return part 34 functions also as what moves the 2nd press part side opposing part 31 to a pressing direction, when the 2nd press part side opposing part 31 presses the board | plate material 100. FIG.

  Similarly to the first embodiment, when the driving unit 5 moves the first pressing unit 2a in the ± Z-axis direction in order to press the plate member 100, the driving unit 5 moves the second pressing unit 3a along with the pressing by the first pressing unit 2a. Move. In addition, in this embodiment, when the drive part 5 moves the 2nd press part 3a to +/- Z-axis direction in order to press the board | plate material 100, with the press by the 2nd press part 3a, the 1st press part 2a Move.

  When the roller 21 of the 1st press part 2a presses the board | plate material 100, as shown to (a) of FIG. 9, in the 2nd press part 3a, the 2nd press part side moving part 33 makes the 2nd press part side contact. The part 32 moves to the 1st press part 2a side with the said press. Moreover, in the 1st press part 2a, with the operation | movement of the 2nd press part 3a (that is, with the press of the roller 21), the 1st press part side contact part 22 is the roller 21 side by the 1st press part side moving part 23. And move.

  On the other hand, when the 2nd press part side opposing part 31 of the 2nd press part 3a presses the board | plate material 100, as shown to (c) of FIG. 9, in the 1st press part 2a, the 1st press part side moving part 23 is shown. Thus, the first pressing portion side contact portion 22 moves to the second pressing portion 3a side with the pressing. Moreover, in the 2nd press part 3a, with the operation | movement of the 1st press part 2a (that is, with the press of the 2nd press part side opposing part 31), the 2nd press part side moving part 33 makes the 2nd press part side contact. The part 32 moves to the second pressing part side facing part 31.

  In this way, the plate material 100 can be bent not only by the first pressing portion 2 but also by the pressing of the second pressing portion 3. That is, the plate material 100 can be bent in the ± Z-axis direction. Therefore, the plate material 100 can be processed into a more complicated shape.

[Embodiment 4]
Although the 2nd press part 3 of Embodiment 1 is provided with the 2nd press part side contact part 32 and the 2nd press part side moving part 33 which move by the press by the 1st press part 2, the 2nd press part 3 The configuration does not have to be moved by the pressing of the first pressing portion 2. (A)-(e) of FIG. 10 is a figure which shows an example of the press parts 1b-1f of this embodiment.

  As shown to (a)-(c) of FIG. 10, 2nd press part 3b-3d has a predetermined | prescribed concave shape in the part which opposes the 1st press part 2 at least. That is, the second pressing portions 3b to 3d do not move with the pressing of the first pressing portion 2 as in the first embodiment. Moreover, the 2nd press parts 3b-3d hold | maintain the board | plate material 100 bent by receiving the press by the 1st press part 2 at at least 2 points | pieces. Thereby, according to the change of the pressing force by the 1st press part 2, the bending angle of the board | plate material 100 can be changed.

  In (a) of FIG. 10, the cross-sectional shape (predetermined concave shape) of the part which opposes the board | plate material 100 (namely, 1st press part 2) of the 2nd press part 3b is a substantially U shape. In (b) of FIG. 10, the cross-sectional shape of the part which opposes the board | plate material 100 of the 2nd press part 3c is a substantially V shape.

  Further, as shown in FIG. 10C, the second pressing portion 3d rotates around a rotation axis 3Ax that intersects the pressing direction. As shown in the figure, the rotating shaft 3Ax of the second pressing portion 3d extends in the same direction (± Y-axis direction) as the rotating shaft 21Ax of the first pressing portion 2. Thereby, the 2nd press part 3d can be rotated according to the rotation direction of the 1st press part 2. FIG. That is, the second pressing portion 3d as a whole has the function of the second pressing portion side contact portion 32.

  The second pressing portion 3d has a shape that is axially symmetric when the rotation axis 3Ax is the central axis. That is, even if the second pressing portion 3d rotates around the rotation axis 3Ax, the cross-sectional shape of the portion facing the plate member 100 (first pressing portion 2) can be a predetermined concave shape. In FIG. 10C, the predetermined concave shape is substantially V-shaped. However, the shape is not limited to this, and may be, for example, substantially U-shaped (see FIG. 10B). .

  In addition, although the 2nd press part 3b and the 2nd press part 3c which are shown to (a) of FIG. 10 and the 2nd press part 3c are one-piece | unit structures comprised from one object, it is not restricted to this, (d of FIG. As shown in (e) and (e), it may have a split type structure composed of two or more objects. For example, as shown in FIG. 10 (d), the second pressing portion 3e of the pressing portion 1e includes a facing portion 3e1 facing the roller 21 and a peripheral portion 3e2 separate from the facing portion 3e1. The portion 3e1 has a substantially U-shaped cross section that defines the bottom. Similarly, as shown in FIG. 10E, the second pressing portion 3f of the pressing portion 1f includes a facing portion 3f1 facing the roller 21 and a peripheral portion 3f2 separate from the facing portion 3f1, The facing portion 3f1 has a substantially V-shaped cross section that defines the bottom.

[Embodiment 5]
In the present embodiment, an example of a bending prevention mechanism for preventing the bending of the plate member 100 will be described. As an example of the bending prevention mechanism, there is a mechanism that holds the end portion of the plate member 100 and applies an outward tension to the plate member 100. An example is shown in FIG. FIG. 11 is a diagram illustrating an example of a bending prevention mechanism.

  In FIG. 11, the case where the metal processing apparatus 10 is provided in the robot 70 will be described as an example. As shown in FIG. 11, plate material holding robots 91 to 95 that hold an end portion of the plate material 100 and apply an outward tension to the plate material 100 are provided. In this example, the plate material holding robots 91 to 94 are provided at any necessary positions of the plate material 100, and the plate material holding robot 95 is an end of the plate material 100 that is in the vicinity of a position where bending processing is started with respect to the plate material 100. Provided in the department. The plate material holding robots 91 to 95 include plate material gripping portions 91 a to 95 a that grip the plate material 100, respectively.

  The plate material holding robots 91 to 95 hold the plate material 100 by the plate material gripping portions 91a to 95a and then pull the gripped plate material 100 outward. The plate material holding robots 91 to 95 fix the position of the plate material 100 in a state where the plate material 100 is pulled. At this time, the plate material holding robots 91 to 95 may each perform force control to escape in a preset direction when a force exceeding a preset value is applied. Further, the control unit 6 may calculate the movement path of the plate material gripping portions 91 a to 95 a so as not to hinder the bending process from the result of the FEM analysis performed by the processing control unit 61. In this case, the controller 6 may move the plate material holding robots 91 to 95 in accordance with the calculated movement path of the plate material gripping portions 91a to 95a when the application of the pressing force by the robot 70 is started.

  In this state, the robot 70 moves the pressing portion holding portion 71 relative to the plate material 100 by the robot arm 72 while performing a pressing operation on the plate material 100 by the pressing portion 1a. As a result, the bending process can be started with respect to the plate material 100 from an arbitrary position, and the bending process can be performed with respect to the plate material 100 in an arbitrary direction.

  In this way, by applying an outward tension to the plate member 100, the plate member 100 can be prevented from being bent by its own weight. Therefore, it is possible to perform bending on the plate material 100 with high accuracy. In addition, it is easy to bend by own weight, so that the board | plate material 100 is large. Therefore, it is particularly useful to use the above-described bending prevention mechanism in bending a relatively large plate material 100.

  In the present embodiment, the plate material holding robots 91 to 95 prevent deflection of the plate material 100, but the number is not limited to five. If there are at least two plate material holding robots, the plate material 100 can be prevented from bending.

  Moreover, in FIG. 11, although the press part 1a is attached to the robot 70, not only this but the press part 1 and the press parts 1b-1f may be attached. Further, the plate material holding robots 91 to 95 are examples of a bending prevention mechanism, and any mechanism may be used as long as the mechanism can prevent the bending of the plate material 100 to be processed by the metal processing apparatus 10.

  For example, in the configuration in which the plate member 100 moves with respect to the pressing portion 1 whose position on the XY plane is fixed as in the first embodiment, a bending prevention mechanism may be used. In this case, for example, the bending prevention mechanism may be a mechanism that moves corresponding to the movement of the plate member 100 by the position changing unit 4 while pulling the plate member 100 outward.

  Further, for example, in the first embodiment, the second pressing portion side contact portion 32 is applied to the plate material 100 according to the deformation of the plate material 100 due to the pressing of the first pressing portion 2 and the change of the position of the plate material 100 with respect to the pressing portion 1. Move to touch. Therefore, it can be said that the 2nd press part side contact part 32 is hold | maintaining so that the board | plate material 100 may not bend. In this case, it can be said that the 2nd press part side contact part 32 functions as a bending prevention mechanism. Similarly, it can be said that the first pressing portion side contact portion 22 of the third embodiment also functions as a bending prevention mechanism.

[Embodiment 6]
In the above-described embodiment, the pressing portions 1 and 1a to 1f are each configured to include one set of the first pressing portions 2 and 2a and the second pressing portions 3 and 3a to 3f. You may be the structure provided with two or more sets. For example, the pressing unit 1 may be configured to include a plurality of sets of the first pressing unit 2 and the second pressing unit 3 as shown in FIG. 2 or FIG. Moreover, the structure provided with at least 2 of the press parts 1, 1a-1f may be sufficient as a press part. That is, the pressing part only needs to include at least one first pressing part and at least one second pressing part.

[Example of software implementation]
The control block (particularly each part of the control unit 6) of the metal processing apparatus 10 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

  In the latter case, the metal working apparatus 10 includes a computer that executes instructions of a program that is software for realizing each function. The computer includes, for example, one or more processors and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. Note that one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Additional Notes]
The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1, 1a-1f Press part 2, 2a 1st press part 3, 3a-3f 2nd press part 3Ax Rotating shaft 4 Position change part 10 Metal processing apparatus 21 Roller (1st press part side opposing part)
21Ax Rotating shaft 22 First pressing portion side contact portion 23 First pressing portion side moving portion 31 Second pressing portion side facing portion 31Ax Rotating shaft 32 Second pressing portion side contacting portion 32Ax Rotating shaft 33 Second pressing portion side moving portion 40a First slide part 40b Second slide part 48 Rotating mechanism (support part)
70 Robot 71 Pressing Unit Holding Unit 72 Robot Arm 100 Plate Material

Claims (11)

A metal processing apparatus for forming a metal plate material,
A pressing portion that bends the plate material in the pressing direction by pressing the held plate material; and
A position changing unit that changes a relative position between the pressing unit and the plate material held by the pressing unit;
The pressing portion is
A first pressing portion for pressing the plate material;
A second pressing portion that holds the plate material that is pressed by the first pressing portion,
The second pressing portion is
A second pressing portion side facing portion facing the first pressing portion;
A second pressing portion side contact portion that is provided on both sides of the second pressing portion side facing portion and contacts the plate member together with the second pressing portion side facing portion;
A second pressing part side moving part that moves the second pressing part side contact part to the first pressing part side in accordance with the pressing to the plate material by the first pressing part,
The pressing force in the pressing direction applied to the plate material by the pressing portion or the pressing amount of the pressing portion in the pressing direction with respect to the plate material is the pressing position of the plate material held by the pressing portion. The metal processing apparatus is characterized in that it is adjusted according to the change in the size. The metal processing apparatus according to claim 1 , wherein the first pressing portion includes a roller having a rotation axis that intersects the pressing direction. The said 2nd press part side contact part is a roller which has a rotating shaft which cross | intersects the said board | plate material hold | maintained by the said 1st press part and the said 2nd press part, The Claim 1 or 2 characterized by the above-mentioned. Metal processing equipment. The second pressing portion side opposing part, metal machining apparatus according to any one of claims 1 to 3, characterized in that a roller having an axis of rotation intersecting the pressing direction. Said second pressing portion facing portion, the end portion in contact with the plate material, metal processing apparatus according to claim 1, any one of 4, which is a cross-sectional concave shape. The second pressing portion side facing portion holds the plate material that is pressed by the first pressing portion and presses the plate material,
The first pressing portion holds the plate material that presses the plate material and receives pressure from the second pressing portion side facing portion,
The first pressing portion is
A first pressing portion side facing portion facing the second pressing portion side facing portion;
A first pressing portion side contact portion that is provided on both sides of the first pressing portion side facing portion and contacts the plate member together with the first pressing portion side facing portion;
A first pressing portion side moving portion that moves the first pressing portion side contact portion to the second pressing portion side in accordance with the pressing to the plate material by the second pressing portion side facing portion. The metal processing apparatus according to any one of claims 1 to 5 . The said position change part moves the said board | plate material with respect to the said press part by which the position was fixed in the plane which cross | intersects the said press direction, The any one of Claim 1 to 6 characterized by the above-mentioned. The metal processing apparatus as described in. The position changing unit is
A support portion for supporting an end portion of the plate material;
A first slide part that moves the plate material supported by the support part in the direction of the first axis;
A second slide part that moves the plate material supported by the support part in a direction of a second axis that intersects the first axis, and
The metal processing apparatus according to claim 7 , wherein the support portion rotates the plate material around a third axis that intersects the first axis and the second axis. The said position change part moves the said press part with respect to the said board | plate material by which the position was fixed in the plane which cross | intersects the said press direction, The any one of Claim 1 to 8 characterized by the above-mentioned. The metal processing apparatus as described in. A robot comprising the metal working device according to claim 9 ,
A pressing part holding part for holding the pressing part;
And a robot arm as the position changing unit for moving the pressing unit holding unit. A metal processing method for forming a metal plate material,
A bending step of bending the plate material in the pressing direction by pressing the held plate material by a pressing portion;
A position changing step for changing a relative position between the pressing portion and the plate material held by the pressing portion,
The pressing portion is
A first pressing portion for pressing the plate material;
A second pressing portion that holds the plate material that is pressed by the first pressing portion,
The second pressing portion is
A second pressing portion side facing portion facing the first pressing portion;
A second pressing portion side contact portion that is provided on both sides of the second pressing portion side facing portion and contacts the plate member together with the second pressing portion side facing portion;
A second pressing part side moving part that moves the second pressing part side contact part to the first pressing part side in accordance with the pressing to the plate material by the first pressing part,
In the bending step,
The second pressing part side moving part moves the second pressing part side contact part to the first pressing part side with the pressing of the plate material by the first pressing part.
The pressing force in the pressing direction applied to the plate material by the pressing portion or the pressing amount of the pressing portion in the pressing direction with respect to the plate material is the pressing position of the plate material held by the pressing portion. The metal working method is characterized in that the metal working method is adjusted according to the change.

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