JP6497172B2 - Metal processing apparatus and metal member manufacturing method - Google Patents

Description

  The present invention relates to a metal processing apparatus that performs bending on a metal material, and a metal member manufacturing method using the metal processing apparatus.

  Metal structural members used in automobiles and various machines are required to have high strength, light weight, and small size. For example, in the automobile industry, demands for increasing the strength and weight of automobile parts are becoming stricter from the viewpoint of improving fuel efficiency and collision safety.

  Many such structural members have a bent shape. Therefore, various techniques for bending a long metal material such as a steel pipe have been developed.

  For example, in Patent Documents 1 and 2, a feed mechanism that holds one end of a steel pipe and feeds the steel pipe in the longitudinal direction thereof, a support mechanism that guides and supports the fed steel pipe, and a heating mechanism that locally heats the steel pipe And a cooling mechanism that cools the heated portion of the steel pipe, and a clamping mechanism that sandwiches the steel pipe at the other end of the steel pipe and adds a bending load to the heated portion of the steel pipe. Is disclosed.

  In the technique described in Patent Document 1, in the hot bending apparatus, driving of the feeding mechanism and the clamping mechanism is controlled based on a predetermined control pattern so that the steel pipe after bending has a target quality. At the same time, driving of at least one of the support mechanism, the heating mechanism, and the cooling mechanism is controlled based on displacement information and / or temperature information of the steel pipe being processed. Further, in the technique described in Patent Literature 2, in the hot bending apparatus, when the load and / or acceleration acting on the manipulator that is the clamping mechanism is measured, and the deviation between the measured value and the target value is large, Control that issues an alarm and interrupts machining is performed.

  As described above, according to the techniques described in Patent Documents 1 and 2, since the bending process is controlled based on the state of the steel pipe or the clamping mechanism (manipulator) being processed, the bending is performed with high accuracy so as to obtain the target quality. Processing can be performed. Note that the techniques described in Patent Documents 1 and 2 relate to a so-called three-dimensional hot bending and quenching (3DQ: 3 Dimensional Hot Bending and Quench) technique.

  Further, for example, Patent Document 3 discloses a bending apparatus that sandwiches a steel pipe by a bending die and a clamping die that can revolve around the bending die, and bends the pipe by revolving the clamping die. The bending apparatus provided with the punch for terminal processing inserted in the both ends of the said steel pipe is disclosed. According to the bending apparatus described in Patent Document 3, it is possible to easily perform terminal processing of the steel pipe as well as bending of the steel pipe.

JP 2008-23573 A JP 2012-228714 A JP 2006-159282 A

  Here, while performing processing over a long period of time using a bending apparatus, a portion that slides with a steel pipe (for example, a support mechanism in the hot bending apparatus described in Patent Documents 1 and 2) wears out. The dimensions may change. If the part that slides with the steel pipe wears out, the gap between the part and the steel pipe will be larger than the reference value, which may cause unintended displacement of the steel pipe, which may lead to a decrease in machining accuracy. There is.

  In particular, in a hot bending apparatus for 3DQ as described in Patent Documents 1 and 2, since a steel pipe is gripped and bent using a manipulator as a clamping mechanism, it is described in, for example, Patent Document 3 It is considered that the mechanical rigidity of the processing apparatus itself is relatively lower than that of a bending apparatus that is fitted into a mold and sandwiches a steel pipe to perform bending. Therefore, in the hot bending apparatus for 3DQ, there is a high possibility that the steel pipe will deviate from the ideal clamping position by the clamping mechanism and / or the ideal supporting position by the support mechanism, resulting in insufficient bending, uneven heating, and uneven cooling. Etc. are likely to occur, and as a result, the processing accuracy is likely to deteriorate. Therefore, in the hot bending apparatus for 3DQ, a countermeasure against the displacement of the steel pipe in the clamping mechanism and / or the support mechanism is very important for improving the processing accuracy.

  In this regard, Patent Document 1 describes a technique for controlling the driving of a hot bending apparatus based on the displacement of a steel pipe as described above. If this technique is used, there is a possibility that bending can be performed in consideration of the displacement of the steel pipe caused by the wear of the support mechanism.

  However, Patent Document 1 does not describe a specific method for measuring the displacement of the steel pipe. For example, in the hot bending apparatus disclosed in Patent Document 1, it is a portion heated by a heating mechanism that is actually bent on a metal material. Therefore, the support mechanism, the heating mechanism, and the cooling mechanism are arranged close to each other in order to increase the processing accuracy. In order to accurately measure the displacement of the steel pipe during processing, the displacement is preferably measured in the vicinity of the heating mechanism in which bending is actually performed. However, as described above, the support mechanism, the heating mechanism, and the cooling mechanism. Since they are arranged close to each other, it is difficult to place measuring instruments around these mechanisms. Even if a non-contact displacement meter is used, there is high-precision displacement due to the presence of high-frequency noise from the cooling coil in the cooling mechanism and high-frequency noise from the heating coil in the heating mechanism. Measurement is considered difficult.

  Patent Document 2 describes a technique for controlling driving of a hot bending apparatus based on a load acting on a clamping mechanism (manipulator) as described above. Since the load acting on the manipulator is a reaction force (processing reaction force) of the bending load applied to the steel pipe, it can naturally reflect the bending load. If the steel pipe is displaced due to the wear of the support mechanism, it is considered that the intended bending load is not applied to the steel pipe, so that the machining reaction force measured by the manipulator is also lowered. Therefore, if this technique is used, there is a possibility that bending can be performed in consideration of the displacement of the steel pipe due to wear of the support mechanism.

  However, in the technique described in Patent Document 2, since the manipulator grips the end of the steel pipe, between the machining reaction force measured by the manipulator and the load actually acting on the steel pipe at the machining site. There is an error. As the processing proceeds, the steel pipe is sent in the axial direction, so that the distance between the manipulator and the processing part increases, and this error becomes larger. One of the causes of the error is, for example, a load acting on the manipulator due to elastic deformation of the steel pipe after quenching. Further, when a large deformation is performed in the second half of the bending process, the manipulator can be driven at a high speed because the distance between the manipulator and the processing site is long. During such high-speed driving, a high load is applied to the driving unit of the manipulator, and the control point of the manipulator is shifted due to deformation of an arm, a speed reducer, or the like constituting the manipulator. As a result, a high load can be applied to the manipulator. A high load generated in the manipulator due to such high-speed driving can also contribute to the error.

  Also, in order to perform bending work that corrects the displacement of the steel pipe caused by the wear of the support mechanism based on the work reaction force measured by the manipulator, the amount of wear of the support mechanism and the work reaction measured by the manipulator It is necessary to correlate with force. However, as described above, the manipulator is subjected to a complicated load due to various factors such as a load due to elastic deformation and a load due to its own high-speed drive, and these affect the measurement value of the processing reaction force. It is not easy to obtain the above correlation. If the amount of wear of the support mechanism can be predicted in advance, the bending load applied to the steel pipe by the manipulator may be corrected based on the predicted value, but the wear that occurs in the support mechanism is uneven. It is difficult to predict the amount of wear, and it is difficult to perform such control.

  Furthermore, the bending apparatus described in Patent Document 3 includes a support mechanism (wiper type and pressure type) that sandwiches and supports a steel pipe in front of a bending die and a clamping die that perform bending. Also in the bending apparatus described in Patent Document 3, as with the hot bending apparatus described in Patent Documents 1 and 2, there is a risk that the processing accuracy of the steel pipe may decrease due to wear of the support mechanism. However, in the technique described in Patent Document 3, the control itself of measuring the state of the steel pipe and changing the processing conditions based on the measurement result is not performed, and the wear in the support mechanism is naturally not taken into consideration.

  As described above, conventionally, in a metal processing apparatus that performs bending on a metal material, attention is paid to the wear of a support mechanism that supports the metal material during the bending process, and a change in the bending load caused by the wear is accurately detected. The detection technology has not been fully studied.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to accurately change the bending load applied to the metal material when bending the metal material. It is an object of the present invention to provide a new and improved metal processing apparatus and a method of manufacturing a metal member that can be detected in a simple manner.

In order to solve the above-described problem, according to an aspect of the present invention, a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material, and the metal material is sandwiched at another site of the metal material. And a clamping mechanism that applies a bending load to the metal material, and the support mechanism includes a measurement mechanism that measures a processing reaction force acting on the support mechanism when the bending load is applied to the metal material. is provided et is, the support mechanism includes a base material and the measuring member, said measuring member has a protrusion protruding in the longitudinal direction of the measuring member than the one end of the substrate, the measuring mechanism is that to measure the strain generated in the protrusion, metalworking apparatus is provided.

  In addition, the metal processing apparatus includes a bending failure detection unit that detects the occurrence of bending failure in the metal material based on the processing reaction force measured in the support mechanism, and an alarm that issues an alarm that a bending failure has occurred. An alarm device, and when the occurrence of bending failure is detected by the bending failure detection unit, the alarm device issues an alarm, or controls the driving of the clamping mechanism for bending the metal material The processing control unit that performs the processing may stop processing the metal material.

In order to solve the above problems, according to another aspect of the present invention, a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material, and the metal material at another site of the metal material. And a clamping mechanism that applies a bending load to the metal material, and the support mechanism measures a reaction force acting on the support mechanism when the bending load is applied to the metal material. A measurement mechanism; a drive mechanism that moves the support mechanism so as to reduce a gap amount between the support mechanism and the metal material; and a drive control unit that controls driving of the drive mechanism, drive control part, based on the processing reaction force measured in the support mechanism, as the processing reaction force follows the target processing reaction force to move the supporting mechanism by controlling the driving of said drive mechanism The metal processing equipment It is subjected.

  In addition, the metal processing apparatus is provided at a subsequent stage of the support mechanism, and is provided at a subsequent stage of the heating mechanism and a heating mechanism that heats a part of the metal material in the longitudinal direction. A cooling mechanism for cooling the heated portion, and a bending load is applied to the portion of the metal material heated by the heating mechanism by the clamping mechanism, and the metal material is bent. It may be broken.

In order to solve the above problems, according to another aspect of the present invention, a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material, and the metal material at another site of the metal material. And a holding mechanism for applying a bending load to the metal material, and a metal member manufacturing method using a metal processing apparatus, wherein the support mechanism of the metal processing apparatus includes a base material and a measurement member. The measuring member has a protruding portion protruding in the longitudinal direction of the measuring member from one end of the base material, and the measuring mechanism is provided with the support mechanism when the bending load is applied to the metal material. There is provided a method for manufacturing a metal member , in which a strain generated in the protruding portion is measured by a measuring mechanism that measures a working reaction force acting thereon .

  Further, in the manufacturing method of the metal member, when the occurrence of a bending failure in the metal material is detected based on the processing reaction force measured in the support mechanism, and the occurrence of the bending failure is detected, An alarm may be issued that processing on the metal material is stopped or that a bending failure has occurred.

In order to solve the above problems, according to another aspect of the present invention, a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material, and the metal material at another site of the metal material. And a clamping mechanism for applying a bending load to the metal material, and a metal member manufacturing method using a metal processing apparatus, wherein the bending force is applied to the metal material by a measurement mechanism provided in the support mechanism. Driving reaction force acting on the support mechanism when a load is applied is measured, and the support mechanism is driven to drive the support mechanism so as to reduce a gap amount between the support mechanism and the metal material. mechanism, is provided, on the basis of the machining reaction force measured in the support mechanism, as the processing reaction force follows the target processing reaction force, the support mechanism via the drive mechanism Ru is driven, Metal part The method of manufacturing is provided.

  In the metal member manufacturing method, the metal processing apparatus is provided at a subsequent stage of the support mechanism, and is provided at a subsequent stage of the heating mechanism for heating a part of the metal material in the longitudinal direction and the heating mechanism. A cooling mechanism that cools a portion of the metal material heated by the heating mechanism, and a bending load is applied to the portion of the metal material heated by the heating mechanism by the clamping mechanism. By doing so, the metal material may be bent.

  As described above, according to the present invention, when bending a metal material, it is possible to detect a change in bending load applied to the metal material with high accuracy.

It is a figure which shows one structural example of the metal processing apparatus which concerns on the 1st Embodiment of this invention. It is sectional drawing in the AA cross section of the support mechanism shown in FIG. It is a figure which shows the other structural example of a support mechanism. It is a figure which shows one structural example of a guide shoe. It is explanatory drawing for demonstrating the measurement principle of the process reaction force by a guide shoe. It is a block diagram which shows the function structure of the control apparatus shown in FIG. It is a flowchart which shows an example of the procedure of the manufacturing method of the metal member which concerns on 1st Embodiment. It is a figure which shows the example of 1 structure of the metal processing apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing for demonstrating the drive of the shoe for a measurement by a drive mechanism. It is explanatory drawing for demonstrating the drive of the shoe for a measurement by a drive mechanism. It is a block diagram which shows the function structure of the control apparatus shown in FIG. It is a block diagram which shows the outline | summary of the feedback control performed in the metal processing apparatus which concerns on 2nd Embodiment. It is a flowchart which shows an example of the procedure of the manufacturing method of the metal member which concerns on 2nd Embodiment. It is a perspective view which shows one structural example of the metal processing apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows the processing shape of the steel pipe used for experiment. It is a figure which shows the structure of the support mechanism used for experiment.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

(1. First embodiment)
(1-1. Configuration of metal processing apparatus)
With reference to FIG. 1, the structure of the metal processing apparatus which concerns on the 1st Embodiment of this invention is demonstrated. FIG. 1 is a diagram showing a configuration example of a metal processing apparatus according to the first embodiment of the present invention. FIG. 1 shows a state in which a horizontal section of the metal processing apparatus according to the first embodiment is viewed from above. In addition, in the drawings shown below including FIG. 1, the size of some of the constituent members may be exaggerated for the sake of explanation, and the relative sizes of the constituent members illustrated in the respective drawings. This does not necessarily accurately represent the magnitude relationship between actual components.

  Referring to FIG. 1, a metal processing apparatus 10 according to the first embodiment guides and supports a feed mechanism 110 that feeds a metal material 1 intermittently or continuously in a longitudinal direction thereof, and the fed metal material 1. The support mechanism 120, the heating mechanism 130 for locally heating the metal material 1, the cooling mechanism 140 for cooling the heated metal material 1 part, and the metal material 1 part heated by sandwiching the metal material 1 A pinching mechanism 150 for applying a bending load to the metal member 1 is arranged in this order along the longitudinal direction of the metal material 1. Further, the metal processing apparatus 10 controls the driving of the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism 150, so that the metal material 1 is heated while moving the metal material 1 in the longitudinal direction. A control device 160 that performs inter-bending processing is provided. The metal processing apparatus 10 is a metal processing apparatus compatible with so-called 3DQ.

  Here, the following description demonstrates the case where the metal material 1 is a steel pipe as an example. However, the first embodiment is not limited to such an example, and the metal material 1 may be another member as long as it is a rod-shaped metal material such as a solid steel bar. Moreover, the metal material 1 should just be a metal which can be bent, and the material is not limited to steel. The metal material 1 may be, for example, various metals such as aluminum, aluminum alloy, and titanium in addition to steel and special steel.

(Sending mechanism)
The delivery mechanism 110 holds one end of the metal material 1 and moves the metal material 1 continuously or intermittently in the longitudinal direction under the control of the control device 160. As the delivery mechanism 110, for example, the same delivery mechanism of a conventional metal processing apparatus according to 3DQ exemplified in Patent Documents 1 and 2 may be used. For example, the delivery mechanism 110 can be composed of a drive source such as an AC servo motor or a hydraulic servo motor, or a mechanical element such as a ball screw that converts the rotational power of the drive source into a linear motion. Alternatively, the delivery mechanism 110 may be configured by a cylinder device such as a hydraulic cylinder or an air cylinder. When the end of the metal material 1 is pressed by the ball screw or the piston rod of the cylinder device, the metal material 1 is pushed out in the longitudinal direction.

  In the following description, the direction in which the metal material 1 is pushed out by the delivery mechanism 110 is also referred to as the x-axis direction. Two directions orthogonal to the x-axis direction are also referred to as a y-axis direction and a z-axis direction, respectively. The z-axis direction corresponds to the vertical direction.

(Support mechanism)
The support mechanism 120 is configured by, for example, a guide shoe disposed so as to cover the outer periphery of the metal material 1 at one portion in the longitudinal direction of the metal material 1, and guides and supports the metal material 1. In the first embodiment, the support mechanism 120 is provided with a measurement mechanism that detects a load acting on the support mechanism 120. That is, the support mechanism 120 has a function of measuring a reaction force (that is, a processing reaction force) acting on the support mechanism 120 by a bending load applied to the metal material. The value of the machining reaction force (measured machining reaction force) measured by the support mechanism 120 is transmitted to the control device 160.

  As will be described later, in the metal processing apparatus 10, it is the portion heated by the heating mechanism 130 that is actually bent on the metal material 1. Therefore, in order to improve the processing accuracy, the support mechanism 120 is disposed in the vicinity of the heating mechanism 130. Therefore, it can be said that the processing reaction force measured in the support mechanism 120 more accurately reflects the bending load applied to the metal material 1. Actually, as shown in Table 2 below as an example, as a result of the examination by the present inventors, the gap amount between the support mechanism 120 and the metal material 1, the processing reaction force detected in the support mechanism 120, and the post-processing It was found that there is a high correlation with the dimensional error in the metal material 1. This indicates that by measuring the processing reaction force in the support mechanism 120, it is possible to detect a decrease in bending load due to wear of the support mechanism 120 with high accuracy. That is, according to the first embodiment, based on the processing reaction force measured by the support mechanism 120, the bending load applied to the metal material 1 and the processing of the metal material 1 accompanying the change in the bending load. A change in accuracy can be detected with high accuracy.

  Specifically, in the first embodiment, the metal processing apparatus 10 stores at least information on the correlation between the measured processing reaction force by the support mechanism 120 and the dimensional error in the metal material 1 after processing. A reaction force DB 170 is provided. The correlation between the measured processing reaction force and the dimensional error depends on the processing conditions such as the material of the metal material 1 (steel pipe carbon concentration, etc.), shape (steel pipe diameter, etc.), feed rate, bending amount (bending radius R) Therefore, the correlation is acquired in advance for each product or each processing site and stored in the processing reaction force DB 170, for example. The control device 160 refers to the machining reaction force DB 170, and based on the correlation between the measured machining reaction force and the dimensional error corresponding to the product and part currently being machined, the measured machining reaction force allows the dimensional error. It has a function of determining whether or not the value is within a range.

  When the measured processing reaction force is equal to or less than a predetermined threshold value determined according to an allowable dimensional error, the control device 160 determines that a bending defect has occurred or is likely to occur. . Moreover, the control apparatus 160 determines with the bending defect not having generate | occur | produced when the measurement process reaction force is larger than the said predetermined threshold value. In the metal processing apparatus 10, based on the determination result, for example, a predetermined action that suppresses the occurrence of bending failure, such as stopping the processing or issuing an alarm, can be executed.

  Note that a more detailed configuration of the support mechanism 120 will be described later in (1-2. Configuration of Support Mechanism). Further, more detailed functions of the control device 160 will be described later (1-3. Functions of the control device).

(Heating mechanism)
The heating mechanism 130 is configured by, for example, a heating coil disposed so as to cover the outer periphery of the metal material 1 at one site in the longitudinal direction, and locally heats the metal material 1. When the high frequency current is applied to the heating coil under the control of the control device 160, the metal material 1 is locally heated. In addition, as the heating mechanism 130, the thing similar to the heating mechanism of the metal processing apparatus which concerns on the conventional 3DQ illustrated by patent document 1, 2, for example may be used.

(Cooling mechanism)
The cooling mechanism 140 is constituted by, for example, a water-cooling jacket disposed so as to cover the outer periphery of the metal material 1 at one site in the longitudinal direction, and cools the site heated by the heating mechanism 130 of the metal material 1. Or the cooling mechanism 140 may be comprised by the nozzle which sprays a cooling medium with respect to a metal material. The metal material 1 is cooled by appropriately controlling the supply of the cooling medium to the cooling jacket and / or the nozzle under the control of the control device 160. In addition, as the cooling mechanism 140, the thing similar to the cooling mechanism of the metal processing apparatus which concerns on the conventional 3DQ illustrated by patent document 1, 2, for example may be used.

(Clamping mechanism)
The clamping mechanism 150 is constituted by, for example, a manipulator of an industrial robot. The clamping mechanism 150 clamps an end opposite to the end gripped by the feeding mechanism 110 of the metal material 1 and applies a bending load to the metal material 1. Append. In the first embodiment, the manipulator configuring the clamping mechanism 150 is configured to have at least six degrees of freedom, and loads on the metal material 1 in the x-axis direction, the y-axis direction, and the z-axis direction A load in the rotation direction around these three axes can be applied. Therefore, according to the metal processing apparatus 10, a three-dimensional bending process for the metal material 1 can be realized. However, the configuration of the clamping mechanism 150 is not limited to this example, and the clamping mechanism 150 may have another configuration as long as a bending load can be applied to the metal material 1 in a predetermined direction. As the holding mechanism 150, for example, the same holding mechanism as that of a conventional metal processing apparatus according to 3DQ exemplified in Patent Documents 1 and 2 may be used.

  In the metal processing apparatus 10, the drive of the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism 150 described above is controlled in conjunction with each other by the control device 160, so that the metal material 1 has a desired shape. Processed. Specifically, the control device 160 locally heats the metal material 1 sent out in the longitudinal direction by the delivery mechanism 110 by the support mechanism 120 while locally supporting the metal material 1 by the heating mechanism 130, and the heated metal material 1 part. Each mechanism constituting the metal processing apparatus 10 is controlled such that a bending load is applied by the clamping mechanism 150 and immediately after that, the heated portion of the metal material 1 is cooled by the cooling mechanism 140.

  As described above, in the metal processing apparatus 10, the metal material 1 is actually bent at a position corresponding to the heating mechanism 130. Therefore, in the metal processing apparatus 10, in order to improve processing accuracy, the heating mechanism 130, the support mechanism 120 provided in the front stage of the heating mechanism 130, and the cooling mechanism 140 provided in the subsequent stage of the heating mechanism 130 are: Place as close as possible.

  The configuration of the metal processing apparatus 10 according to the first embodiment has been described above with reference to FIG.

  Here, in the metal processing apparatus 10, the inner wall of the guide shoe constituting the support mechanism 120 may be worn due to sliding with the metal material 1 while processing is performed for a long period of time. When the inner wall of the guide shoe is worn, the gap between the guide shoe and the metal material 1 becomes larger than the reference value, the metal material 1 is displaced from its original position, and the bending load is lowered from the target value. There is a risk that. If the bending load decreases, the processing accuracy deteriorates, leading to the occurrence of bending defects.

  On the other hand, for example, Patent Documents 1 and 2 describe techniques for improving the processing accuracy of a metal material in a metal processing apparatus according to 3DQ similar to the metal processing apparatus 10 according to the first embodiment. ing. For example, Patent Document 1 describes a technique for measuring the displacement of a steel pipe and controlling the driving of the machining apparatus according to the amount of displacement. Further, for example, in Patent Document 2, the driving of the machining apparatus is controlled based on a machining reaction force measured in a mechanism for applying a bending load to the steel pipe (corresponding to the clamping mechanism 150 in the first embodiment). The technology to do is described.

  The present inventors have examined whether or not it is possible to cope with a decrease in processing accuracy due to wear of the support mechanism 120 as described above by applying the techniques described in Patent Documents 1 and 2. .

  When applying the technique described in Patent Document 1, it is necessary to measure the displacement of the metal material 1 in the support mechanism 120 due to wear with high accuracy. However, as described above, in the metal processing apparatus 10, the support mechanism 120, the heating mechanism 130, and the cooling mechanism 140 are arranged close to each other. Therefore, it is difficult in terms of space to arrange a device for measuring the displacement of the metal material 1 in the support mechanism 120 in the vicinity of the support mechanism 120. Even if a non-contact type displacement meter is used, high-frequency noise from the heating coil in the heating mechanism 130, splashing of cooling water in the cooling mechanism 140, and the like may exist around the support mechanism 120. It is considered difficult to measure the displacement.

  In addition, regarding the technique described in Patent Document 2, if the machining reaction force measured by the clamping mechanism 150 accurately reflects the bending load applied to the metal material 1, It should be possible to detect the amount of wear in the support mechanism 120 and the amount of decrease in bending load due to the wear according to the amount of decrease. However, as described above, the bending process is actually performed on the metal material 1 in the portion heated by the heating mechanism 130. Due to the configuration of the apparatus, since the holding mechanism 150 and the processing part of the metal material 1 exist at positions separated from each other, the processing reaction force measured by the holding mechanism 150 and the actual action on the metal material 1 at the processing part. There is an error with the bending load being applied. The error is caused by various factors such as a load acting on the clamping mechanism 150 due to elastic deformation after quenching of the metal material 1 and a load acting on the clamping mechanism 150 due to the driving of the clamping mechanism 150 itself. Therefore, it is difficult to accurately correct the error. In addition, since the wear of the support mechanism 120 proceeds unevenly, it is difficult to predict the wear amount of the support mechanism 120 in advance.

  As described above, in the techniques described in Patent Documents 1 and 2, paying attention to the wear of the support mechanism 120 during the bending process, a technique for detecting a change in bending load caused by the wear with high accuracy is sufficiently examined. It can be said that was not done.

  On the other hand, as described above, in the first embodiment, the support mechanism 120 itself has a function of measuring the processing reaction force. As described above, since the support mechanism 120 is disposed in the vicinity of the heating mechanism 130, the support mechanism 120 is located near the processing site of the metal material 1. Therefore, it can be said that the processing reaction force measured by the support mechanism 120 reflects the bending load applied to the metal material 1 more accurately than the processing reaction force measured by the clamping mechanism 150. For example, as shown in Table 2 below as an example, there is a gap between the support mechanism 120 and the metal material 1, a measured reaction force by the support mechanism 120, and a dimensional error in the metal material 1 after processing. There is a high correlation. As described above, according to the first embodiment, by measuring the processing reaction force in the support mechanism 120, it is possible to detect a decrease in the bending load due to wear of the support mechanism 120 with high accuracy. In addition, it is possible to detect with high accuracy a decrease in processing accuracy (that is, occurrence of bending failure) accompanying a decrease in bending load.

  Furthermore, in the first embodiment, as a result of detecting a decrease in the bending load in the metal processing apparatus 10, for example, when it is determined that the dimensional error is outside the allowable range, the processing is interrupted or an alarm is issued. Predetermined actions for suppressing the occurrence of bending defects, such as firing, can be performed. Thereby, generation | occurrence | production of a bending defect can be suppressed suitably.

  In the case where an alarm is issued in response to the detection of a bending defect, the metal processing apparatus 10 may be provided with an alarm device configured by, for example, an audio output device such as a speaker and / or a display device such as a lamp. . When the occurrence of a bending failure is detected, the alarm device is driven, and a warning that a bending failure has occurred can be issued by sound and / or light.

(1-2. Configuration of support mechanism)
With reference to FIG. 2A, the structure of the support mechanism 120 is demonstrated in detail. FIG. 2A is a cross-sectional view of the support mechanism 120 shown in FIG. FIG. 2A shows a configuration example of the support mechanism 120 when the metal material 1 is a steel pipe having a circular cross-sectional shape.

  Referring to FIG. 2A, the support mechanism 120 includes a plurality of guide shoes 121. Each guide shoe 121 has a shape obtained by cutting a cylinder having a side wall with a predetermined thickness by a predetermined angle in the circumferential direction, and the plurality of guide shoes 121 cover the outer periphery of the metal material 1 in the longitudinal direction. Are arranged as follows.

  In the illustrated example, the support mechanism 120 is configured by the four guide shoes 121, but the number of guide shoes 121 configuring the support mechanism 120 is not limited to this example, and may be arbitrary. However, as will be described later, a measurement mechanism (for example, a strain gauge) is mounted on the guide shoe 121, and a processing reaction force corresponding to the deformation amount of the guide shoe 121 due to the pressing of the metal material 1 can be measured. Therefore, the arrangement and number of the guide shoes 121 can be set so that the guide shoes 121 are positioned at least in the direction of the machining reaction force to be measured. For example, if the bending of the metal material 1 is performed in a predetermined plane, the support mechanism 120 can be configured such that at least one guide shoe 121 exists in the plane.

  In FIG. 2A, the gap between the metal material 1 and each guide shoe 121 is exaggerated, but actually, the gap is appropriately adjusted so that both the movement and support of the metal material 1 are appropriately performed. Has been. For example, if the gap is too small, the metal material 1 slides with the inner wall of the guide shoe 121, and smooth movement of the metal material 1 in the axial direction may be hindered. On the other hand, if the gap is too large, the position of the central axis of the metal material 1 is not stable, which may make it difficult to apply a desired bending load during processing. Therefore, the gap is appropriately adjusted so that both the movement and support of the metal material 1 are appropriately performed.

  The configuration of the support mechanism 120 is not limited to the example illustrated in FIG. 2A, and the support mechanism 120 may be appropriately configured according to the shape of the metal material 1. For example, FIG. 2B is a diagram illustrating another configuration example of the support mechanism 120. 2B is a cross-sectional view corresponding to the AA cross section shown in FIG. 1, as in FIG. 2A, but in FIG. 2B, one of the support mechanisms 120 when the metal material 1 is a steel pipe having a rectangular cross-sectional shape. A configuration example is shown.

  As shown in FIG. 2B, when the metal material 1 is a steel pipe having a rectangular cross-sectional shape, for example, a guide shoe 121 having a rectangular shape is disposed on each of the four sides of the cross-section of the metal material 1. Is done. Even when the metal material 1 is a steel pipe having a rectangular cross-sectional shape, as in the example shown in FIG. 2A, the guide shoe 121 is positioned so that the guide shoe 121 is positioned at least in the direction of the processing reaction force to be measured. The arrangement and number can be set.

  The configuration of the guide shoe 121 will be described in more detail with reference to FIG. FIG. 3 is a diagram illustrating a configuration example of the guide shoe 121. In FIG. 3, the structure of the rectangular guide shoe 121 shown in FIG. 2B is illustrated as an example.

  Referring to FIG. 3, the guide shoe 121 is configured by attaching a plate-shaped measuring member 123 to the surface of a substantially rectangular base material 122. The base material 122 is formed of a material having relatively high rigidity such as a steel material. On the other hand, the measurement member 123 is formed of a material having relatively low rigidity such as a resin.

  The measuring member 123 is configured such that the length in the longitudinal direction is longer than the length in the longitudinal direction of the substrate 122. The guide shoe 121 is configured such that the end of the measurement member 123 protrudes from the end of the base material 122 at one end in the longitudinal direction. Thereby, the protrusion part 124 which protrudes rather than the edge of the base material 122 of the measurement member 123 can function as a cantilever.

  A strain gauge 125 is provided along the longitudinal direction in a region corresponding to the protrusion 124 of the measurement member 123 on the surface of the measurement member 123 (the surface opposite to the surface to which the base material 122 is attached). The strain gauge 125 is an example of a measurement mechanism provided in the support mechanism 120. The strain gauge 125 can measure the amount of deformation of the protruding portion 124 of the measurement member 123 and the load acting on the measurement member 123.

  Further, on the surface of the measurement member 123, protrusions 126 that protrude toward the surface direction are provided at portions corresponding to both ends of the measurement member 123 in the longitudinal direction. As shown in FIG. 4 to be described later, the guide shoe 121 is arranged so that the surface of the measurement member 123 faces the metal material 1, and therefore, by providing the projection 126, the metal material 1 is bent and measured. When the metal member 1 comes into contact with the member 123, the metal material 1 comes into contact with the projection 126 and does not come into contact with the strain gauge 125, so that the strain gauge 125 is prevented from being damaged.

  FIG. 4 is an explanatory diagram for explaining the measurement principle of the processing reaction force by the guide shoe 121. 4, only the support mechanism 120 and the metal material 1 are extracted from the configuration shown in FIG.

  Here, in the first embodiment, the support mechanism 120 may be configured by a guide shoe 121 having a processing reaction force measurement function as shown in FIG. 3 and a guide shoe having no measurement function. This is because it is sufficient if the guide shoe 121 having a measuring function is arranged only in the direction in which the processing reaction force is to be measured. In the following description, for the sake of distinction, the guide shoe 121 having a measurement function is also called a measurement shoe 121, and the guide shoe having no measurement function is also called a fixed shoe. The fixed shoe only needs to fulfill the function of guiding and supporting the metal material 1 and may be, for example, a substantially rectangular steel material.

  In the example shown in FIG. 4, in the support mechanism 120, two guide shoes are arranged so as to sandwich the metal material 1 in the y-axis direction, but a measurement shoe 121 is arranged in the positive direction of the y-axis, A fixed shoe 127 is arranged in the negative direction of the y-axis. That is, the configuration shown in FIG. 4 is for measuring the processing reaction force when the metal material 1 is bent in the positive direction of the y-axis.

  As shown in FIG. 4, the measurement shoe 121 and the fixed shoe 127 are arranged so that their longitudinal directions are substantially parallel to the longitudinal direction of the metal material 1. At this time, in the measuring shoe 121, the protruding portion 124 that functions as a cantilever of the measuring member 123 is arranged so that the surface of the measuring member 123 faces the metal member 1 and the metal member 1 is fed out (that is, (Positive direction of x-axis)

  In this state, if the metal material 1 is processed to bend the metal material 1 in the positive direction of the y-axis, the deformed metal material 1 becomes the end of the measuring shoe 121 in the positive direction of the x-axis, That is, it contacts with the protruding portion 124 of the measuring member 123 of the measuring shoe 121, and the protruding portion 124 is pressed in the positive direction of the y-axis and deformed in that direction. As shown in FIG. 3, since the protruding portion 124 is provided with the strain gauge 125, the deformation amount of the protruding portion 124 and the load applied to the protruding portion 124 (that is, the processing reaction force) are detected. obtain.

  As described above, in the configuration shown in FIG. 4, the processing reaction force when the metal material 1 is bent in the positive direction of the y axis is measured by the measuring shoe 121 arranged in the positive direction of the y axis. The Rukoto. If it is desired to measure the processing reaction force when the metal material 1 is bent in another direction, the measuring shoe 121 may be similarly arranged in that direction.

  The configuration of the support mechanism 120 and the configuration of the guide shoe 121 (measurement shoe 121) that configures the support mechanism 120 have been described above in detail. The configuration of the measurement shoe 121 shown in FIG. 3 is merely an example, and the configuration of the measurement shoe 121 is not limited to this example. The measurement shoe 121 only needs to be configured to guide and support the metal material 1 and to be able to measure the load acting on the metal material 1, and the configuration may be arbitrary. For example, in the configuration example described above, the strain gauge 125 is used as the load measuring mechanism in the measurement shoe 121. However, for example, a force sensor other than the strain gauge 125 such as a piezoelectric element is used as the load measuring mechanism. May be.

(1-3. Functions of control device)
With reference to FIG. 5, a functional configuration of control device 160 shown in FIG. 1 will be described. FIG. 5 is a block diagram showing a functional configuration of the control device 160 shown in FIG. In FIG. 5, the processing reaction force DB 170 is also shown together with the control device 160 for explanation.

  The control device 160 detects the occurrence of a bending failure in the metal material 1 based on the measured reaction force by the support mechanism 120. The control device 160 is, for example, various processors such as a CPU (Central Processing Unit) and a DSP (Digital Signal Processor), or an information processing device on which the processor is mounted. The functions of the control device 160 described above can be realized by operating the processor constituting the control device 160 according to a predetermined program.

  If FIG. 5 is referred, the control apparatus 160 will have the bending defect determination part 161 as the function. Although illustration is omitted, as a function of the control device 160, in order to bend the metal material 1 into a desired shape, the feeding mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism of the metal processing device 10 are used. A machining control unit that appropriately controls the driving of 150 is also provided. Since the function of the processing control unit in the control device 160 is the same as the function of a general existing metal processing device according to 3DQ, detailed description thereof is omitted here.

  The bending failure determination unit 161 compares the measured reaction force by the support mechanism 120 with a threshold value determined from the correlation between the measured reaction force and a dimensional error in the metal material 1 after processing. 1 is determined whether or not a bending failure occurs.

  Specifically, information about the measurement processing reaction force is input from the support mechanism 120 to the bending failure determination unit 161. The measurement of the processing reaction force in the support mechanism 120 may be performed at any time during the bending process, and the bending failure determination unit 161 may determine the measurement reaction force at any time according to the measurement timing. May be entered.

  Moreover, the bending defect determination part 161 is comprised so that the process reaction force DB170 can be accessed. The processing reaction force DB 170 stores information on the correlation between the measured processing reaction force by the support mechanism 120 and the dimensional error in the processed metal material 1 in association with each product and each processing site. (See Table 1 below). The processing reaction force DB 170 also stores information about a target value (target processing reaction force) of a processing reaction force for performing normal processing. In the example shown in Table 1 below, the machining reaction force DB 170 stores information on the ratio of the measured machining reaction force to the target machining reaction force for each product and each machining site. The bending failure determination unit 161 refers to the processing reaction force DB 170 to set a value of a measured processing reaction force that is considered to have a dimensional error exceeding an allowable range as a threshold value for occurrence of a bending failure. And the threshold value are compared to detect the occurrence of bending failure.

  For example, the bending failure determination unit 161 refers to the machining reaction force DB 170, and in the product and the machining part currently being machined, when the measured machining reaction force is reduced by 30% from the target machining reaction force, the dimensional error is increased. Information that exceeds the allowable range can be obtained. In this case, the bending failure determination unit 161 sets a value 30% lower than the target processing reaction force as a threshold value for determining a bending failure, and compares the measured processing reaction force by the support mechanism 120 with the threshold value. I do.

  As the target processing reaction force, an appropriate load value that is calculated in advance and is to be applied to the metal material 1 when performing the target bending process is used. The appropriate load value can be determined according to the material of the metal material 1 (carbon concentration of the steel pipe, etc.), shape (tube diameter of the steel pipe, etc.), feed rate, bending amount (radius R of the bent portion), etc. If these machining conditions are determined, they can be calculated in advance by simulation.

  If the measured reaction force by the support mechanism 120 is larger than the threshold value, the dimensional error is considered to be within an allowable range, so the bending failure determination unit 161 determines that no bending failure has occurred. To do. On the other hand, when the measured processing reaction force by the support mechanism 120 is equal to or less than the above threshold value, it is considered that there is a high risk that the dimensional error exceeds or exceeds the allowable range. It is determined that bending failure has occurred. The determination process for the occurrence of bending failure by the bending failure determination unit 161 can be executed whenever the processing reaction force is measured by the support mechanism 120 during the bending process.

  The bending defect determination unit 161 determines the determination result based on, for example, an alarm device provided in the metal processing apparatus 10, a processing control unit that controls driving of the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism 150 (FIG. Not shown.) Etc. Based on the determination result, for example, an alarm is issued in the alarm device, or the processing is stopped by the processing control unit.

  Note that the bending failure determination unit 161 may detect the risk of occurrence of bending failure by appropriately setting a threshold value used for determining the occurrence of bending failure. For example, the threshold value may be set to a value higher than a value at which a bending defect is actually considered to occur. As a result, when a bending failure is about to occur, a predetermined action such as an alarm can be issued or machining can be stopped, so that it is possible to prevent the occurrence of bending.

  The processing reaction force DB 170 is configured by a storage device that can store various types of information, such as a magnetic storage device such as an HDD, a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The processing reaction DB 170 stores at least information about the correlation between the measured processing reaction force by the support mechanism 120 and the dimensional error in the metal material 1 after processing, as shown in Table 1 below, for example. Since the correlation can vary depending on the processing conditions such as the material of the metal material 1 (carbon concentration of the steel pipe, etc.), shape (tube diameter of the steel pipe, etc.), feed rate, bending amount (radius R of the bent portion), etc. The correlation is acquired in advance for each product and each processing site, for example, and stored in the processing reaction force DB 170.

  In addition, as shown in Table 1 below, the processing reaction force DB 170 also includes information on the correlation between the amount of gap between the support mechanism 120 and the metal material 1 and the measured processing reaction force by the support mechanism 120. It may be stored. Since the correlation is used for drive control of the metal processing apparatus 20 in the second embodiment to be described later, a detailed description thereof is omitted here. If only the control in the first embodiment described above is performed, the processing reaction force DB 170 may not include information on the gap amount.

  The functional configuration of the control device 160 shown in FIG. 1 has been described above with reference to FIG. As described above, according to the first embodiment, the occurrence of bending failure or the risk of occurrence of bending failure in the metal material 1 is detected based on the measured processing reaction force by the support mechanism 120. As described in (1-1. Configuration of metal processing apparatus) above, in the metal processing apparatus 10, the support mechanism 120 is located in the vicinity of the processing site of the metal material 1, and thus measurement by the support mechanism 120 is performed. It can be said that the processing reaction force more accurately reflects the bending load applied to the metal material 1 than the processing reaction force measured at other parts such as the clamping mechanism 150. Therefore, it is possible to detect the occurrence of bending failure with high accuracy by determining the occurrence of bending failure using the measured reaction force by the support mechanism 120.

(1-4. Manufacturing method of metal member)
With reference to FIG. 6, the manufacturing method of the metal member which concerns on 1st Embodiment is demonstrated. FIG. 6 is a flowchart showing an example of a procedure of the metal member manufacturing method according to the first embodiment. The processing procedure shown in FIG. 6 corresponds to the metal member manufacturing method executed in the metal processing apparatus 10 described above.

  Referring to FIG. 6, in the metal member manufacturing method according to the first embodiment, first, a working reaction force is measured in the support mechanism 120 during bending of the metal material 1 (step S <b> 101). In addition, as the said bending process, since the process similar to the process which concerns on general existing 3DQ is performed, description about the specific process sequence for performing the said bending process is abbreviate | omitted.

  Next, the measured processing reaction force by the support mechanism 120 is compared with a predetermined threshold value (step S103). As the threshold value, based on the information about the correlation between the measured processing reaction force by the support mechanism 120 and the dimensional error in the metal material 1 after processing, which is stored in the processing reaction force DB 170 shown in FIG. A value of the processing reaction force that is considered to have a high risk that the dimensional error exceeds or exceeds the allowable range is set. In addition, the process shown to step S103 may be performed by the bending defect determination part 161 shown in FIG.

  If it is determined in step S103 that the measured processing reaction force is greater than the threshold value, the dimensional error that occurs in the metal material 1 after processing is within an allowable range, that is, it is considered that no bending failure occurs. Accordingly, in this case, the process returns to step S101 and waits until the processing reaction force is measured by the support mechanism 120 at the next measurement timing.

  On the other hand, if it is determined in step S103 that the measured processing reaction force is equal to or less than the threshold value, the dimensional error generated in the metal material 1 after processing has a high risk of exceeding or exceeding the allowable range, that is, there is a bending failure. It is possible that Accordingly, in this case, the process proceeds to step S105, and a predetermined action for suppressing the occurrence of bending failure, such as processing stop or warning, is executed.

  The metal member manufacturing method according to the first embodiment has been described above with reference to FIG.

(2. Second Embodiment)
A second embodiment of the present invention will be described. In the second embodiment, as in the first embodiment, the processing reaction force is measured in the support mechanism, but the subsequent processing is different. In the second embodiment, in the metal processing apparatus, feedback control is performed such that the measured processing reaction force follows the target processing reaction force based on the measured processing reaction force by the support mechanism. Specifically, in the second embodiment, the guide shoe (measuring shoe) of the support mechanism is configured to be drivable, and the measurement is performed so as to compensate for the processing reaction force that is reduced due to wear of the support mechanism. The drive of the shoe is controlled.

  Here, the metal processing apparatus according to the second embodiment is driven by the guide shoe 121 (measuring shoe 121) of the support mechanism 120 with respect to the metal processing apparatus 10 according to the first embodiment shown in FIG. Corresponds to the one added. In addition, the metal processing apparatus according to the second embodiment has a function of performing control related to bending of the metal processing apparatus and controlling the drive of the drive mechanism instead of the control apparatus 160 according to the first embodiment. A control device 260 is provided. The other configuration of the metal processing apparatus according to the second embodiment is substantially the same as that of the metal processing apparatus 10 according to the first embodiment. Therefore, in the description of the second embodiment below, the first implementation will be described. The description overlapping with the form is omitted, and differences from the first embodiment will be mainly described.

(2-1. Configuration of metal processing equipment)
With reference to FIG. 7, the structure of the metal processing apparatus which concerns on the 2nd Embodiment of this invention is demonstrated. FIG. 7 is a diagram illustrating a configuration example of a metal processing apparatus according to the second embodiment of the present invention. FIG. 7 shows a state in which a horizontal section of the metal processing apparatus according to the second embodiment is viewed from above.

  Referring to FIG. 7, the metal processing apparatus 20 according to the second embodiment guides and supports the feed mechanism 110 that feeds the metal material 1 intermittently or continuously in the longitudinal direction thereof, and the fed metal material 1. The support mechanism 220, the heating mechanism 130 for locally heating the metal material 1, the cooling mechanism 140 for cooling the heated metal material 1 part, and the metal material 1 part heated by sandwiching the metal material 1 A pinching mechanism 150 for applying a bending load to the metal member 1 is arranged in this order along the longitudinal direction of the metal material 1. In addition, the metal processing apparatus 20 includes a control device 260 that controls driving of the metal processing apparatus 20 and a processing reaction force DB 170.

  Here, since the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, the clamping mechanism 150, and the processing reaction force DB 170 are the same as those described in the first embodiment, detailed descriptions thereof are omitted. Further, the control device 260 controls the driving of the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism 150, thereby hot bending the metal material 1 while moving the metal material 1 in the longitudinal direction. Although it has the function to process, since the said function is also the same as the function which the control apparatus 160 which concerns on 1st Embodiment has, the detailed description is abbreviate | omitted.

  The support mechanism 220 is configured by a guide shoe that is disposed so as to cover the outer periphery of the metal material 1 at one part in the longitudinal direction of the metal material 1, for example, and guides and supports the metal material 1. In the second embodiment, the measurement shoe 121 shown in FIG. 3 is used as the guide shoe constituting the support mechanism 220, as in the first embodiment. Therefore, also in the second embodiment, the processing reaction force can be measured more accurately by the measuring shoe 121. Further, the arrangement position and the number of the arrangement of the measurement shoes 121 may be appropriately set in consideration of the measurement direction of the processing reaction force, or the support mechanism 220 is configured by combining the measurement shoes 121 and the fixed shoes 127. It may be the same as in the first embodiment.

  In the second embodiment, the support mechanism 220 is provided with a drive mechanism (not shown) for driving the measurement shoe 121. The drive mechanism is configured by an actuator having a power source such as a motor, for example, and has a function of moving the measurement shoe 121 in a predetermined direction. In the second embodiment, the control device 260 controls the driving of the measurement shoe 121 in the support mechanism 220 as well as the function of controlling the driving of the delivery mechanism 110, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism 150 described above. It has a function. The function of the control device 260 will be described in detail below (2-2. Function of the control device).

  8 and 9 are explanatory diagrams for explaining the driving of the measurement shoe 121 by the drive mechanism. 8 and 9, only the support mechanism 220 and the metal material 1 are extracted from the configuration shown in FIG.

  For example, the drive mechanism (not shown) of the support mechanism 220 is configured to drive the measurement shoe 121 in translation with respect to the direction of the metal material 1 as shown in FIG. By configuring the measurement shoe 121 so that it can be translated, the measurement shoe 121 is reduced when the clearance between the measurement shoe 121 and the metal material 1 increases due to wear of the measurement shoe 121 and the processing reaction force decreases. Since the measurement shoe 121 can be moved so as to reduce the gap between the metal member 1 and the metal material 1, the processing reaction force can be corrected to an appropriate value. For example, as a condition that can be generally assumed, if the stroke in the translation direction is 1 (mm) or less, the driving speed is about 800 (mm / s), and the load that can be applied during processing is about 5 (kN), The drive mechanism can be realized by using a general linear motion mechanism such as a ball screw.

  Further, for example, as shown in FIG. 9, the drive mechanism (not shown) of the support mechanism 220 is configured to rotationally drive the measurement shoe 121 in the horizontal plane (in the xy plane). Since the measurement shoe 121 is configured to be rotatable, the measurement shoe 121 is reduced when the clearance between the measurement shoe 121 and the metal material 1 increases due to wear of the measurement shoe 121 and the processing reaction force decreases. Since the measurement shoe 121 can be moved so as to reduce the gap between the metal member 1 and the metal material 1, the processing reaction force can be corrected to an appropriate value. For example, generally assumed conditions include a stroke in the rotation direction (inclination direction) of ± 0.5 (degrees), a driving speed of about 70 (rpm), and a torque that can be applied during processing is 1 (kN · m). The driving mechanism can be realized by combining a general high output torque motor and a reduction gear having an appropriate reduction ratio.

  In the second embodiment, the support mechanism 220 may include only the translation drive mechanism described above, may include only the rotation drive mechanism described above, or may include both. . The drive mechanism of the support mechanism 220 drives the measurement shoe 121 in translation and / or rotation so that the measurement reaction force by the support mechanism 220 follows the target reaction force under the control of the control device 260. The driving amount (translational and / or rotational movement amount) at this time is a correlation between the amount of clearance between the support mechanism 220 and the metal material 1 stored in the machining reaction force DB 170 and the measured machining reaction force. Can be determined based on By performing the drive control of the support mechanism 220 as described above, the support mechanism 220 is driven so as to compensate for the decrease even when the processing reaction force is reduced due to wear of the support mechanism 220. That is, the occurrence of bending defects can be suppressed.

  The configuration of the metal processing apparatus 20 according to the second embodiment has been described above with reference to FIG. As described above, according to the second embodiment, similarly to the first embodiment, the support mechanism 220 is provided with a measurement function for measuring the processing reaction force, thereby changing the bending load during the bending process. Can be measured more accurately. In the second embodiment, feedback control is performed such that the measured machining reaction force follows the target machining reaction force based on the measured machining reaction force by the support mechanism 220. Therefore, it becomes possible to suppress the occurrence of bending defects.

  For example, also in the technique described in Patent Document 1, the mechanism corresponding to the support mechanism 220 in the second embodiment is configured to be drivable, and is based on displacement information and / or temperature information of the steel pipe being processed. It is described that the drive of the support mechanism is controlled. However, in the technique described in Patent Document 1, the support mechanism can only be driven to rotate around the axis of the steel pipe so as to assist the twisting of the steel pipe. Therefore, with the technique described in Patent Document 1, the support mechanism cannot be driven so as to compensate for insufficient bending due to wear of the support mechanism. On the other hand, in the second embodiment, the support mechanism 220 is configured to be capable of translational driving and / or rotational driving. Accordingly, since the support mechanism 220 can be driven in a plane including the bending direction, it is possible to perform drive control that compensates for insufficient bending due to wear of the support mechanism.

(2-2. Functions of control device)
With reference to FIG. 10, a functional configuration of control device 260 shown in FIG. 7 will be described. FIG. 10 is a block diagram showing a functional configuration of the control device 260 shown in FIG. In FIG. 10, for the sake of explanation, the drive mechanism 228 that drives the guide shoe 121 of the support mechanism 120 and the processing reaction force DB 170 are shown together with the control device 260.

  The control device 260 controls the drive of the support mechanism 220 based on the measured machining reaction force by the support mechanism 120 so that the measured machining reaction force follows the target machining reaction force. The control device 260 is, for example, various processors such as a CPU and a DSP, or an information processing device on which the processor is mounted. The functions of the control device 260 described above can be realized by operating the processor constituting the control device 260 according to a predetermined program.

  Referring to FIG. 10, the control device 260 includes a control amount calculation unit 261 and a drive control unit 262 as its functions. In addition, although illustration is abbreviate | omitted, in order that the control apparatus 260 may bend the metal material 1 in a desired shape as the function, the sending mechanism 110 of the metal processing apparatus 20, the heating mechanism 130, the cooling mechanism 140, and the clamping mechanism A machining control unit that appropriately controls the driving of 150 is also provided. Since the function of the processing control unit in the control device 260 is the same as the function of a general existing metal processing device according to 3DQ, detailed description thereof is omitted here.

  The control amount calculation unit 261 calculates a control amount (amount of movement of the guide shoe 121) when driving the guide shoe 121 based on the measured processing reaction force by the support mechanism 120. Specifically, the control amount calculation unit 261 receives information about the measured processing reaction force from the support mechanism 220. The processing reaction force measurement in the support mechanism 220 may be performed at any time during the bending process at a predetermined timing, and the control amount calculation unit 261 determines the measurement reaction force at any time at the predetermined timing according to the measurement timing. May be entered.

  Further, the control amount calculation unit 261 is configured to be accessible to the machining reaction force DB 170. In the processing reaction force DB 170, information on the correlation between the amount of the gap between the support mechanism 220 (that is, the guide shoe 121) and the metal material 1 and the measured processing reaction force by the support mechanism 220 is stored for each product and processing site. Are stored in association with each other (see Table 1 above). The processing reaction force DB 170 also stores information about the target processing reaction force. In the example shown in Table 1 above, the processing reaction force DB 170 stores information about the ratio of the measured processing reaction force to the target processing reaction force for each product and each processing site. The control amount calculation unit 261 refers to the machining reaction force DB 170 to reduce the amount of gap between the measurement shoe 121 and the metal material 1 necessary for the measured machining reaction force to reach the target machining reaction force. (That is, the amount of movement of the measuring shoe 121 corresponding to the difference between the target machining reaction force and the measured machining reaction force) can be calculated.

  As in the first embodiment, an appropriate load value to be applied to the metal material 1 when performing the target bending process is used as the target process reaction force. The target processing reaction force can be calculated and acquired in advance by simulation based on the processing conditions of the metal material 1. Further, as shown in Table 1 above, the processing reaction force DB 170 can store information on the correlation between the measured processing reaction force by the support mechanism 120 and the dimensional error in the metal material 1 after processing. Since the correlation is used for drive control of the metal processing apparatus 10 in the first embodiment described above, if only the control in the second embodiment is performed, the processing reaction force DB 170 includes: Information about the dimensional error may not be included.

  The control amount calculation unit 261 provides information on the calculated movement amount to the drive control unit 262. The drive control unit 262 drives the drive mechanism 228 based on the information about the movement amount calculated by the control amount calculation unit 261 so as to move the measurement shoe 121 by an amount corresponding to the movement amount.

  The drive mechanism 228 is configured by an actuator having a power source such as a motor, for example, and has a function of moving the measurement shoe 121 in a predetermined direction. The drive mechanism 228 may be configured to translate the measurement shoe 121 as shown in FIG. 8, or may be configured to rotationally drive the measurement shoe 121 as shown in FIG. Or you may be comprised so that both a translation drive and a rotational drive may be performed.

  With reference to FIG. 11, the feedback control performed in the metal processing apparatus 20 demonstrated above is demonstrated in detail. FIG. 11 is a block diagram showing an overview of feedback control performed in the metal working apparatus 20 according to the second embodiment.

  Referring to FIG. 11, in the feedback control performed in the metal processing apparatus 20, the controller 301 corresponds to the difference between the target processing reaction force and the measured processing reaction force as a control amount when driving the measurement shoe 121. The amount of movement of the measurement shoe 121 is calculated. The controller 301 performs the same function as the control amount calculation unit 261 described above.

  Based on the control amount calculated by the controller 301, the actuator 303 is driven and the measurement shoe 305 is driven. At this time, the actuator 303 is related to the linear motion mechanism and / or the rotation mechanism, and the measurement shoe 305 is a gap between the measurement shoe 305 and the metal material 1 by an amount corresponding to the control amount. It is translated and / or rotationally driven so as to reduce the. The actuator 303 corresponds to the drive mechanism 228 described above. The measurement shoe 305 is the same as the measurement shoe 121 described above.

  A strain gauge 307 is attached to the measurement shoe 305, and a measured value (that is, a measured processing reaction force) is input to the controller 301 at any time at a predetermined timing. The strain gauge 307 corresponds to the strain gauge 125 shown in FIG. 3 and is an example of a load measuring mechanism in the measurement shoe 305. In the metal processing apparatus 20, the series of operations described above are repeated as needed every time the processing reaction force is measured during bending of the metal material 1. Therefore, the metal working apparatus 20 is controlled so that the measured working reaction force during the bending process follows the target working reaction force, and the occurrence of defective bending can be suppressed.

  The functional configuration of the control device 260 shown in FIG. 7 will be described above with reference to FIG. Moreover, with reference to FIG. 11, the feedback control performed in the metal processing apparatus 20 which concerns on 2nd Embodiment was demonstrated.

(2-3. Manufacturing method of metal member)
With reference to FIG. 12, the manufacturing method of the metal member which concerns on 2nd Embodiment is demonstrated. FIG. 12 is a flowchart showing an example of the procedure of the metal member manufacturing method according to the second embodiment. The processing procedure shown in FIG. 12 corresponds to the metal member manufacturing method executed in the metal processing apparatus 20 described above.

  Referring to FIG. 12, in the metal member manufacturing method according to the second embodiment, first, during the bending process on the metal material 1, the processing reaction force is measured in the support mechanism 220 (step S <b> 201). In addition, as the said bending process, since the process similar to the process which concerns on general existing 3DQ is performed, description about the specific process sequence for performing the said bending process is abbreviate | omitted.

  Next, a control amount of the support mechanism 220 is calculated based on the machining reaction force measured in the support mechanism 220 and the target machining reaction force (step S203). Specifically, in step S203, the correlation between the amount of clearance between the support mechanism 220 (that is, the measurement shoe 121) and the metal material 1 stored in the machining reaction force DB 170 and the measured machining reaction force is calculated. Based on this, the amount of movement of the measurement shoe 121 necessary to compensate for the difference between the target machining reaction force and the measured machining reaction force is calculated as a control amount when driving the support mechanism 220.

  Next, the support mechanism 220 is driven based on the calculated control amount (step S205). Specifically, in step S205, the measurement shoe 121 is driven to translate and / or rotate so as to reduce the gap between the measurement shoe 121 and the metal material 1. As a result, the reduction in the processing reaction force due to the enlargement of the gap between the measuring shoe 121 and the metal material 1 is compensated.

  In the metal member manufacturing method according to the second embodiment, the processes in steps S201 to S205 described above are repeated at any time during the bending process at the timing when the processing reaction force is measured by the support mechanism 220.

  The metal member manufacturing method according to the second embodiment has been described above with reference to FIG.

(3. Third embodiment)
A third embodiment of the present invention will be described. 1st and 2nd embodiment mentioned above was related with the metal processing apparatus based on what is called 3DQ which processes with respect to the heated metal material 1. FIG. The third embodiment relates to a more general metal processing apparatus that performs bending without heating the metal material 1 as described in Patent Document 3, for example. In the metal processing apparatus according to the third embodiment, a function of measuring a processing reaction force is added to a support mechanism that supports a metal material at the time of bending of a general metal processing apparatus exemplified in Patent Document 3. Corresponding to things.

(3-1. Configuration of metal processing apparatus)
With reference to FIG. 13, the structure of the metal processing apparatus which concerns on the 3rd Embodiment of this invention is demonstrated. FIG. 13 is a perspective view showing a configuration example of a metal processing apparatus according to the third embodiment of the present invention.

  If FIG. 13 is referred, the metal processing apparatus 30 which concerns on 3rd Embodiment is a metal processing apparatus which performs a bending process on elongate metal materials 1, such as a steel pipe. The metal processing apparatus 30 includes a support mechanism 320 and a clamping mechanism 350. In addition, the metal processing apparatus 30 includes a control device 360 that performs bending on the metal material 1 by controlling the driving of the support mechanism 320 and the clamping mechanism 350. Further, similarly to the first and second embodiments, the metal working apparatus 30 stores a work reaction force in which a correlation between a work reaction force and a dimensional error and / or a correlation between a gap amount and a work reaction force is stored. A DB 170 is provided.

  The clamping mechanism 350 includes a cylindrical bending mold 351 having a shape corresponding to the bending radius of the metal material 1 and a clamping mold 353 that clamps the metal material 1 between the bending mold 351. A groove 352 corresponding to the shape of the metal material 1 is formed on the outer periphery of the bending die 351, and the metal material 1 is disposed so as to fit into the groove 352.

  A groove 354 corresponding to the shape of the metal material 1 is also formed on the surface of the clamping die 353 facing the bending die 351 through the metal material 1. The fastening mold 353 is configured to be movable in the direction of the bending mold 351 (in the y-axis direction in the figure) by an actuator 357. With the metal material 1 fitted in the groove 352 of the bending die 351, the fastening die 353 is moved toward the bending die 351, so that both the groove 352 of the bending die 351 and the groove 354 of the fastening die 353 are provided. The metal material 1 is clamped by the bending die 351 and the fastening die 353 so as to be fitted.

  Both the bending mold 351 and the clamping mold 353 are fixedly installed on a bending arm 355 configured to be rotatable in a horizontal plane. The bending arm 355 is configured to be rotatable in a horizontal plane by using an actuator 356 with the central axis of the cylindrical bending mold 351 as a rotation axis. The bending mold 351 and the clamping mold 353 also rotate in the horizontal plane together with the bending arm 355. . In a state where the metal material 1 is sandwiched, the bending material 351 and the fastening die 353 are rotated by the actuator 356, so that the metal material 1 is bent along the outer periphery of the bending material 351.

  The support mechanism 320 is provided in the vicinity of the pinching mechanism 350 and supports the metal material 1 when bending the metal material 1. The support mechanism 320 includes a wiper mold 321 and a pressure mold 323 configured to sandwich the metal material 1 in a partial region in the longitudinal direction. At the time of bending, the processing is performed in a state where the metal material 1 is sandwiched between the wiper mold 321 and the pressure mold 323. That is, the support mechanism 320 receives a processing reaction force corresponding to the bending load from the metal material 1 during the bending process.

  The wiper mold 321 is installed adjacent to the bending mold 351 in the longitudinal direction of the metal material 1. A groove 322 corresponding to the shape of the metal material 1 is provided on the surface of the bending die 351 that contacts the metal material 1.

  A pressure die 323 is installed at a position facing the wiper die 321 through the metal material 1. Similar to the bending die 351, the pressure die 323 is also provided with a groove 324 corresponding to the shape of the metal material 1 on the surface in contact with the metal material 1. The pressure mold 323 is configured to be movable in the direction of the wiper mold 321 (the y-axis direction in the figure) by an actuator 326. When the pressure die 323 is moved toward the wiper die 321, the metal material 1 is moved by the wiper die 321 and the pressure die 323 so as to fit in both the groove 322 of the wiper die 321 and the groove 354 of the pressure die 323. It is pinched.

  Further, the pressure die 323 is disposed on the slide base 325. The slide base 325 is configured to be movable in the longitudinal direction of the metal material 1 by an actuator 327, and the pressure die 323 is also moved in the longitudinal direction together with the slide base 325. The actuator 327 is driven so that the holding mechanism 350 is rotationally driven and the metal material 1 is bent, and at the same time, the slide base 325 and the pressure die 323 are moved in the longitudinal direction of the metal material 1 (that is, the rotational direction of the clamping mechanism 350). Is done. As a result, the metal material 1 is supported by the wiper mold 321 and the pressure mold 323 even during the bending process.

  The control device 360 performs bending on the metal material 1 by controlling the driving of the support mechanism 320 and the clamping mechanism 350. Specifically, in the bending process in the metal processing apparatus 30, first, the metal material 1 is disposed so as to fit into the groove 352 of the bending mold 351 and the groove 322 of the wiper mold 321. At this time, the position of the metal material 1 in the longitudinal direction is adjusted so that the processed portion of the metal material 1 contacts the bending die 351. In this state, when the actuators 357 and 326 are driven by the control device 360, the clamping mold 353 and the pressure mold 323 are driven to translate toward the metal material 1, and the bending mold 351, the clamping mold 353, and the wiper mold are driven. The metal material 1 is sandwiched between the 321 and the pressure die 323.

  Next, when the actuator 356 is driven by the control device 360, the bending arm 355 (that is, the clamping die 353 and the pressure die 323) is rotationally driven. Further, in synchronization with the rotational drive, the actuator 327 is also driven by the control device 360, and the slide base 325 (that is, the pressure die 323) is translated in the same direction as the rotation direction of the bending arm 355. By rotating the bending arm 355, the metal material 1 is bent so as to be wound around the outer periphery of the bending die 351. Further, the metal material 1 is bent while being supported by the wiper mold 321 and the pressure mold 323 by the translational drive of the slide base 325 synchronized with the rotation drive.

  Here, as in the first and second embodiments, the support mechanism 320 has a function of measuring a load acting on the support mechanism 320, that is, a processing reaction force. For example, a strain gauge (not shown) for detecting a machining reaction force acting on at least one of the wiper mold 321 and the pressure mold 323 on at least one of the wiper mold 321 and the pressure mold 323 constituting the support mechanism 320. ) May be provided. The measured value of the strain gauge is transmitted to the control device 360 at any time during the bending process at a predetermined timing. In FIG. 13, a state in which a measurement value is transmitted from the strain gauge provided in the wiper mold 321 to the control device 360 is schematically illustrated by an arrow from the wiper mold 321 to the control device 360.

  The control device 360 may have the same function as the control device 160 according to the first embodiment or the control device 260 according to the second embodiment.

  For example, the control device 360 can detect the occurrence of a bending failure in the metal material 1 based on the measured processing reaction force by the support mechanism 320 as in the first embodiment. The control device 360 can perform the same control as in the first embodiment as described above by using the correlation between the measured processing reaction force and the dimensional error by referring to the processing reaction force DB 170. When a bending failure is detected, the control device 360 can perform processing for stopping the processing or issuing an alarm. In the case where an alarm is issued, the metal processing device 30 is provided with a sound output device such as a speaker and / or a display device such as a lamp, as in the metal processing device 10 according to the first embodiment. A configured alarm device may be provided, and an alarm to the effect that bending failure has occurred due to sound and / or light or the like may be issued by the alarm device.

  Alternatively, similarly to the second embodiment, the control device 360 drives the support mechanism 320 based on the measured machining reaction force by the support mechanism 320 so that the measured machining reaction force follows the target machining reaction force. Can be controlled. The control device 360 can perform the same control as in the second embodiment as described above by using the correlation between the gap amount and the measured machining reaction force by referring to the machining reaction force DB 170. In this case, the control device 360 appropriately controls the driving of the actuator 326 to translate the pressure die 323 toward the metal material 1 so that the machining reaction force follows the target machining reaction force. The amount of the gap between the metal member 1 and the metal material 1 can be adjusted. In the example shown in FIG. 13, the pressure die 323 is provided with only the translation drive mechanism (that is, the actuator 326). However, as in the second embodiment, the pressure die 323 is provided with the translation drive mechanism or the translation drive. Instead of the mechanism, a rotation drive mechanism may be provided.

  The configuration of the metal processing apparatus 30 according to the third embodiment of the present invention has been described above with reference to FIG. As described above, even in a metal processing apparatus that performs bending without performing heat treatment (that is, a metal processing apparatus that does not support 3DQ), by providing the support mechanism 320 with a function of measuring a processing reaction force, The processing reaction force during bending can be measured more accurately, and a change in bending load can be detected with higher accuracy. Therefore, even when the support mechanism 320 is worn and a desired processing reaction force cannot be obtained, this is detected more accurately, and for example, an alarm is issued or feedback control is performed to compensate for the processing reaction force. It is possible to take a predetermined action that suppresses the occurrence of bending defects such as

  Note that the metal member manufacturing method according to the third embodiment is similar to the processing procedure described with reference to FIG. 6 if the same control as in the first embodiment is performed, for example. If the same control as in the embodiment is performed, the processing procedure is the same as that described with reference to FIG.

  In the support mechanism according to the present invention, in order to confirm that the correlation between the measured machining reaction force and the dimensional error and the correlation between the gap amount and the measured machining reaction force can be obtained with high accuracy, FIG. Using the measuring shoe 121 shown, the metal material 1 was actually bent and the processing reaction force during the processing was measured. As the metal processing apparatus, a metal processing apparatus corresponding to 3DQ having the same configuration as that of the metal processing apparatus 10 shown in FIG. 1 was used.

  In the experiment, a steel pipe 1 having a rectangular cross-sectional shape was used as the metal material 1, and the steel pipe 1 was processed into the shape shown in FIG. FIG. 14 is a diagram showing a processed shape of the steel pipe 1 used in the experiment. As shown in FIG. 14, the shape of the steel pipe 1 after processing is a shape in which a region having a predetermined length in the center in the longitudinal direction of the steel pipe 1 protrudes in one direction perpendicular to the longitudinal direction. The pipe diameter d1 of the steel pipe 1 is 40 (mm), the protrusion amount d2 is 60 (mm), and the length L of the steel pipe 1 after processing is 600 (mm).

  FIG. 15 is a diagram illustrating a configuration of the support mechanism 120 used in the experiment. In FIG. 15, only the support mechanism 120 and the steel pipe 1 are extracted and shown in the configuration of the metal processing apparatus used in the experiment. Since the shape shown in FIG. 14 can be realized by bending the steel pipe 1 four times in the horizontal plane, as shown in FIG. 15, the horizontal plane (in the example shown, in the xy plane). ), The measuring shoe 121 is arranged on one side in the direction in which the metal material 1 is sandwiched, and the fixed shoe 127 is arranged on the other side to constitute the support mechanism 120.

  In the experiment, in order to simulate the wear of the measuring shoe 121, when the gap amount between the measuring shoe 121 and the steel pipe 1 is 0.1 (mm), and the gap amount is 0.5 (mm). In each case, the steel pipe 1 was bent, and the reaction force during processing and the dimensional error in the steel pipe 1 after processing were measured. 0.1 (mm) simulates a state in which the gap amount is relatively small, and the metal processing apparatus is adjusted so as to obtain a target machining reaction force when the gap amount is 0.1 (mm). . 0.5 (mm) simulates a state in which the gap amount after the measurement shoe 121 is worn is relatively large. The gap between the fixed shoe 127 and the steel pipe 1 is fixed at 0.1 (mm). Note that the gap amounts “0.1 (mm)” and “0.5 (mm)” used in the experiment are values used as an example only to confirm a decrease in the reaction force due to the progress of wear.

  The experimental results are shown in Table 2 below.

  As shown in Table 2, it was confirmed that when the gap amount between the measuring shoe 121 and the steel pipe 1 was increased, the measurement processing reaction force by the measuring shoe 121 was reduced. It was also confirmed that the dimensional error deteriorated due to the decrease in the measurement reaction force due to the increase in the gap amount. In order to confirm reproducibility, the same experiment was repeatedly performed on the plurality of steel pipes 1, and almost the same result as above was obtained. From the result, by using the measurement shoe 121 shown in the first and second embodiments, the correlation between the measurement processing reaction force and the dimensional error and the correlation between the gap amount and the measurement processing reaction force are obtained with high accuracy. It was confirmed that it was possible.

  In the first and second embodiments, for example, information as shown in Table 2 can be stored in the processing reaction force DB 170 for each product and each processing site. For example, in the case of performing the control according to the first embodiment, if the dimensional error allowed when processing the steel pipe 1 into the shape shown in FIG. 14 is 0.3 (mm), it is shown in Table 2. From the relationship, it can be seen that the lower limit of the allowable measurement reaction force is about 276 (N). Therefore, the bending failure determination unit 161 shown in FIG. 5 sets the threshold value used as a criterion for determining the occurrence of bending failure to a value slightly larger than 276 (N) or 276 (N) considering variation. The occurrence of bending failure in the steel pipe 1 can be detected by comparing the measured processing reaction force by the shoe 121 and the threshold value.

  Further, for example, if the control according to the second embodiment is performed, based on the measurement reaction force by the measurement shoe 121 from the relationship shown in Table 2, the measurement shoe 121 and the steel pipe 1 at that time Can be obtained. For example, if the processing reaction force in the vicinity of 276 (N) is measured, it can be seen that the gap amount between the measuring shoe 121 and the steel pipe 1 at that time is about 0.5 (mm). Therefore, the control amount calculation unit 261 shown in FIG. 10 sets the movement amount of the measurement shoe 121 so as to reduce the current gap amount 0.5 (mm) to the normal gap amount 0.1 (mm). This is calculated as a control amount of the measurement shoe 121. Then, the measurement shoe 121 is driven by the drive control unit 262 shown in FIG. 10 based on the control amount. Thereby, it is possible to perform feedback control such that the measured machining reaction force follows the target machining reaction force, and it is possible to suppress the occurrence of bending defects.

(4. Supplement)
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

1 Metal material (steel pipe)
10, 20, 30 Metal processing device 110 Delivery mechanism 120, 220, 320 Support mechanism 121 Measuring shoe 130 Heating mechanism 140 Cooling mechanism 150 Holding mechanism 160, 260, 360 Control device 170 Processing reaction force DB

Claims (8)

A support mechanism for supporting the metal material at one site in the longitudinal direction of the metal material;
A sandwiching mechanism that sandwiches the metal material at another part of the metal material and applies a bending load to the metal material;
With
Wherein the support mechanism, the bending measurement mechanism in which the load to measure the processing reaction force acting on the support mechanism when the load is provided, et al is in the metallic material,
The support mechanism has a base material and a measurement member,
The measuring member has a protruding portion protruding in the longitudinal direction of the measuring member from one end of the base material,
The measurement mechanism measures the strain generated in the protrusion,
Metal processing equipment. Based on the processing reaction force measured in the support mechanism, a bending failure detection unit that detects the occurrence of bending failure in the metal material,
An alarm device that issues an alarm that a bending failure has occurred;
Further comprising
When the occurrence of a bending failure is detected by the bending failure detection unit, the alarm device issues an alarm, or a processing control unit that controls the driving of the clamping mechanism for bending the metal material is the metal Stop processing on materials,
The metal processing apparatus according to claim 1. A support mechanism for supporting the metal material at one site in the longitudinal direction of the metal material;
A sandwiching mechanism that sandwiches the metal material at another part of the metal material and applies a bending load to the metal material;
With
The support mechanism is
A measurement mechanism for measuring a reaction force acting on the support mechanism when the bending load is applied to the metal material;
A drive mechanism for moving the support mechanism to reduce the amount of clearance between the metal member and the support mechanism,
A drive control unit for controlling the drive of the drive mechanism;
Further comprising
The drive control part, based on the processing reaction force measured in the support mechanism, as the processing reaction force follows the target processing reaction force, moves said support mechanism by controlling the driving of said drive mechanism Ru is,
Metal processing equipment. A heating mechanism that is provided at a subsequent stage of the support mechanism and heats a part of the metal material in the longitudinal direction;
A cooling mechanism that is provided at a subsequent stage of the heating mechanism and cools a portion of the metal material heated by the heating mechanism;
Further comprising
Bending of the metal material is performed by applying a bending load to the portion heated by the heating mechanism of the metal material by the clamping mechanism.
The metal processing apparatus of any one of Claims 1-3. A metal comprising: a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material; and a clamping mechanism that clamps the metal material at another site of the metal material and applies a bending load to the metal material. A method of manufacturing a metal member using a processing apparatus,
The support mechanism of the metal processing apparatus has a base material and a measurement member,
The measuring member has a protruding portion protruding in the longitudinal direction of the measuring member from one end of the base material,
Strain generated in the protrusion is measured by a measurement mechanism that measures a processing reaction force acting on the support mechanism when the bending load is applied to the metal material .
A method for producing a metal member. Based on the processing reaction force measured in the support mechanism, the occurrence of bending failure in the metal material is detected,
When the occurrence of the bending failure is detected, the processing for the metal material is stopped, or an alarm that a bending failure has occurred is issued,
The manufacturing method of the metal member of Claim 5. A metal comprising: a support mechanism that supports the metal material at one site in the longitudinal direction of the metal material; and a clamping mechanism that clamps the metal material at another site of the metal material and applies a bending load to the metal material. A method of manufacturing a metal member using a processing apparatus,
By a measurement mechanism provided in the support mechanism, a processing reaction force acting on the support mechanism when the bending load is applied to the metal material is measured,
The support mechanism is provided with a drive mechanism that drives the support mechanism so as to reduce the amount of gap between the support mechanism and the metal material,
Based on the processing reaction force measured in the support mechanism, as the processing reaction force follows the target processing reaction force, the support mechanism via the drive mechanism Ru is driven,
A method for producing a metal member. The metal processing apparatus is
A heating mechanism that is provided at a subsequent stage of the support mechanism and heats a part of the metal material in the longitudinal direction;
A cooling mechanism that is provided at a subsequent stage of the heating mechanism and cools a portion of the metal material heated by the heating mechanism;
Further comprising
Bending of the metal material is performed by applying a bending load to the portion heated by the heating mechanism of the metal material by the clamping mechanism.
The manufacturing method of the metal member of any one of Claims 5-7.

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