JP7332366B2 - Tracking device for bending machines - Google Patents

Description

The present invention relates to a follower device for supporting a workpiece to be bent by a bending machine.

In a bending machine, a work is placed on a die and pressed by a punch to bend the work. Tracking devices are used to support the workpiece during or after bending. The tracking device includes a support base on which the workpiece is placed. The follow-up device moves the support base according to deformation of the work due to bending. Thereby, the work is supported by the support table.

For example, in the tracking device disclosed in Patent Document 1, a support base is supported by a plurality of links. Rotation of one of the links by the actuator causes the links to rotate relative to each other. As a result, the support base tilts while rising.

JP 2009-190058 A

In the follow-up device described above, the support base tilts due to the operation of the plurality of links. Therefore, the tilting motion of the support base is determined by the configuration of the multiple links. Therefore, the degree of freedom of tilting motion is low. Moreover, it is difficult to raise and lower the support base independently of the tilting motion of the support base. Therefore, the conventional tracking device has a low degree of freedom in the tracking operation.

On the other hand, if an actuator is provided for tilting the support base, the follower device requires a space for arranging the actuator. Therefore, the follow-up device becomes large. Also, the structure of the link is complicated due to the tilting of the support base. The follow-up device becomes even larger.

An object of the present disclosure is to improve the degree of freedom of the follow-up operation while suppressing an increase in the size of the follow-up device.

A compliant device according to one aspect of the present disclosure is a compliant device for supporting a workpiece to be bent by a bending machine. The follow-up device includes a support base, a first rotating shaft, a first reduction gear, a first motor, and an elevating device. The support base supports the work. The first rotating shaft extends in the horizontal direction of the tracking device. The first rotating shaft is connected to the support base. The first speed reducer includes a first output shaft arranged coaxially with the first rotation shaft. The first output shaft is connected to the first rotating shaft. The first motor is connected to the first speed reducer. The first motor tilts the support base by rotating the support base around the first rotation axis. The lifting device supports the support base so as to be vertically movable.

In the tracking device according to this aspect, the rotation of the first motor is transmitted to the first rotating shaft via the first speed reducer. As a result, the support base rotates around the first rotation axis, thereby tilting. Therefore, the degree of freedom of the tilting motion is higher than when the support base is tilted by the motion of a plurality of links. Further, the support base is lifted and lowered by an elevating device. Therefore, the support base can be raised and lowered independently of the tilting motion. Thereby, the degree of freedom of the follow-up operation is improved.

A first output shaft of the first speed reducer is arranged coaxially with the first rotation shaft and connected to the first rotation shaft. Therefore, the first speed reducer and the first rotating shaft can be arranged compactly. As a result, an increase in the size of the tracking device can be suppressed. Furthermore, the first motor is connected to the first rotating shaft via the first speed reducer. Therefore, it is possible to reduce the size of the first motor while obtaining sufficient output to rotate the first rotating shaft. As a result, an increase in the size of the tracking device can be suppressed.

According to the present disclosure, it is possible to improve the degree of freedom of the follow-up operation while suppressing an increase in the size of the follow-up device.

It is a front view which shows the bending machine and follower device which concern on embodiment. Fig. 2 is a side view of the bending machine and follower device; Fig. 2 is a block diagram showing the control system of the bending machine and follower device; Fig. 2 is a perspective view of a tracking device; Fig. 2 is a perspective view of a tracking device; Fig. 3 is a side view of a tracking device; Fig. 3 is a side view of a tracking device; It is a perspective view which shows the structure inside a 1st reduction gear. It is a perspective view of a back-and-forth moving device. It is a figure which shows an example of operation|movement of the support base by a follower device. It is a figure which shows an example of operation|movement of the support base by a follower device. It is a figure which shows an example of operation|movement of the support base by a follower device. It is a figure which shows an example of operation|movement of the support base by a follower device. 4 is a timing chart showing an example of control of a follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending; FIG. 10 is a diagram showing an example of the movement of the support base by the follow-up device during bending;

A follow-up device for a bending machine according to embodiments will now be described with reference to the drawings. FIG. 1 is a front view showing a bending machine 1 and a follower device 2 according to an embodiment. FIG. 2 shows a side view of the bending machine 1 and the follower device 2. FIG. FIG. 3 is a block diagram showing the control system of the bending machine 1 and the follower device 2. As shown in FIG. As shown in FIG. 2, the bending machine 1 is a machine for bending a plate-like work W1. The bending machine 1 includes a body frame 11 , a fixed table 12 , a ram 13 , a driving device 14 , an operating panel 15 and a bending controller 16 .

The fixed table 12 is fixed to the body frame 11 . A die 17 can be mounted on the upper surface of the fixed table 12 . The ram 13 is arranged above the fixed table 12 . The ram 13 is supported so as to be vertically movable with respect to the body frame 11 . A punch 18 can be attached to the lower surface of the ram 13 . The ram 13 descends and approaches the fixed table 12 . The work W1 is bent by being pressed by the die 17 and the punch 18 . A drive device 14 moves the ram 13 up and down. Drive 14 may include, for example, a hydraulic cylinder. Alternatively, drive 14 may be another drive such as an electric motor.

The operation panel 15 can be operated by an operator. The operation panel 15 includes an input device 19 such as hard keys. Alternatively, console 15 may include other input devices such as a touch screen. The operation panel 15 outputs a signal indicating an operation by an operator. The operator inputs data such as workpiece data, mold data, and machine data when performing bending. The work data includes data indicating the material of the work W1, the bending angle, and the like. The mold data includes data indicating the shapes of the punch 18 and the die 17. FIG. The machine data includes data indicating speed, stroke, etc. for operating the ram 13 .

Bending controller 16 includes a processor such as a CPU and memory such as RAM and ROM. The bending controller 16 stores data and programs for controlling the bending machine 1 . The bending controller 16 is communicably connected to the operation panel 15 . Bend controller 16 is communicatively connected to drive 14 . The bending controller 16 controls the operation of the bending machine 1 according to signals output from the operation panel 15 .

The following device 2 supports a workpiece W1 to be bent. As shown in FIG. 2, the tracking device 2 includes a support base 21 and a housing 22. As shown in FIG. The support table 21 supports the work W1. The following device 2 automatically moves the support base 21 according to the movement of the work W1 to be bent. The housing 22 is arranged below the support base 21 . 4 and 5 are perspective views of the tracking device 2. FIG. 6 and 7 are side views of the tracking device 2. FIG. 4 to 7, the housing 22 is omitted.

In the following description, the front, rear, left, and right directions of the tracking device 2 are defined as follows. The front of the follower device 2 is defined as the direction from the follower device 2 towards the bending machine 1 when the follower device 2 is installed relative to the bending machine 1 . The rear of the follower device 2 is defined as the direction opposite to the front of the follower device 2 . The left and right sides of the follower device 2 are defined respectively as the left and right sides of the bending machine 1 viewed from the follower device 2 .

As shown in FIG. 4, support base 21 includes a flat upper surface. A work W1 is placed on the upper surface of the support table 21 . The follower device 2 includes a retaining device 23 . The holding device 23 is arranged on the upper surface of the support base 21 . In FIG. 4, only one of the holding devices 23 is provided with reference numeral 23, and the reference numerals of the other holding devices are omitted. The number of holding devices is not limited to two or more, and may be one.

The holding device 23 is switched between an on state and an off state. The holding device 23 holds the workpiece W1 on the support base 21 in the ON state. The holding device 23 releases the workpiece W1 from the support base 21 in the OFF state. The holding device 23 may hold the work W1 by a holding force such as magnetic force or vacuum adsorption. The holding device 23 may, for example, include an electromagnet and be switched between an on state and an off state by turning on/off power to the electromagnet. Alternatively, the holding device 23 may include, for example, a compressor and be switched between an on state and an off state by turning the compressor on and off.

4 and 6 show the tracking device 2 with the support 21 horizontal. 5 and 7 show the tracking device 2 with the support 21 tilted. As shown in FIGS. 5 to 7, the following device 2 includes a tilting device 24, a lifting device 25, and a forward/backward moving device . The tilting device 24 tilts the support base 21 . As shown in FIG. 5 , the tilting device 24 includes a first frame 31 , a first rotating shaft 32 , a first speed reducer 33 and a first motor 34 .

The first frame 31 supports the first speed reducer 33 and the first motor 34 . The first frame 31 includes a first side plate 35 , a second side plate 36 and a connecting member 37 . The first side plate 35 and the second side plate 36 are arranged side by side in the left-right direction. The first side plate 35 and the second side plate 36 extend in the front-rear direction. The connecting member 37 connects the first side plate 35 and the second side plate 36 . The first side plate 35 includes a first long hole 38 extending in the front-rear direction. The second side plate 36 includes a second elongated hole 39 extending in the front-rear direction.

The first rotating shaft 32 extends in the left-right direction. The first rotating shaft 32 is connected to the support base 21 . The first rotating shaft 32 passes through the first frame 31 in the left-right direction. The first rotating shaft 32 protrudes leftward from the first side plate 35 . The first rotating shaft 32 protrudes rightward from the second side plate 36 .

The first speed reducer 33 and the first motor 34 are arranged between the first side plate 35 and the second side plate 36 . The first motor 34 is connected to the first reducer 33 . The first motor 34 is, for example, a servomotor. The first motor 34 is arranged behind the first speed reducer 33 . The first motor 34 rotates the support base 21 around the first rotating shaft 32 .

FIG. 8 is a perspective view showing the internal structure of the first speed reducer 33. As shown in FIG. As shown in FIG. 8, the first reduction gear 33 includes a first gear 41, a second gear 42, a third gear 43, a fourth gear 44, a first output shaft 45, and a gear case 46. include. The first gear 41 is connected to the output shaft 48 of the first motor 34 . An output shaft 48 of the first motor 34 extends in the front-rear direction. The second gear 42 meshes with the first gear 41 . The first gear 41 and the second gear 42 are, for example, spiral bevel gears. The third gear 43 is connected to the second gear 42 . The fourth gear 44 meshes with the third gear 43 . The third gear 43 and the fourth gear 44 are pinion gears. However, the first to fourth gears 41-44 are not limited to these gears, and may be gears of other types.

The first output shaft 45 is connected to the fourth gear 44 . The first output shaft 45 extends in the left-right direction. The first output shaft 45 is arranged coaxially with the first rotating shaft 32 . The first output shaft 45 is connected to the first rotating shaft 32 . Specifically, the first output shaft 45 includes a hole 47 penetrating the first output shaft 45 in the left-right direction. The first rotating shaft 32 is inserted into the hole 47 of the first output shaft 45 and fixed to the first output shaft 45 . The first to fourth gears 41-44 are housed in a gear case 46. As shown in FIG. The gear case 46 rotatably supports the first output shaft 45 .

The tilting device 24 rotates the support base 21 around the first rotation shaft 32 by the first motor 34 . Thereby, as shown in FIG. 7, the inclination angle of the upper surface of the support base 21 with respect to the horizontal direction is changed. In a state in which the lifting device 25 and the back-and-forth moving device 26 are not driven, even if the tilting device 24 changes the tilting angle of the support base 21, the vertical position and the front-back position of the support base 21 remain unchanged. maintained. That is, the tilting device 24 tilts the support base 21 independently of the lifting device 25 and the front-rear moving device 26 .

The lifting device 25 supports the support base 21 so as to be vertically movable. The lifting device 25 supports the tilting device 24 together with the support base 21 so as to be vertically movable. As shown in FIG. 5, the lifting device 25 includes a first link mechanism 51, a second link mechanism 52, a second rotating shaft 53, a second speed reducer 54, a second motor 55, and a second frame 56. including.

The first link mechanism 51 and the second link mechanism 52 support the support base 21 . The first link mechanism 51 and the second link mechanism 52 are arranged below the first frame 31 . The first link mechanism 51 and the second link mechanism 52 are arranged side by side in the left-right direction. The first link mechanism 51 and the second link mechanism 52 are connected to the first frame 31 . As shown in FIG. 6 , the first link mechanism 51 and the second link mechanism 52 are connected to each other by a first connection shaft 75 and a second connection shaft 76 . The first connecting shaft 75 and the second connecting shaft 76 extend in the left-right direction. The first link mechanism 51 and the second link mechanism 52 have a so-called pantograph-type link structure.

The second rotating shaft 53 extends in the left-right direction. In a side view of the following device 2 , the second rotating shaft 53 is positioned directly below the first rotating shaft 32 . The second speed reducer 54 is connected to the second rotating shaft 53 . The second motor 55 is connected to the second reducer 54 . The second speed reducer 54 and the second motor 55 have the same configurations as the first speed reducer 33 and the first motor 34 .

As shown in FIG. 6 , the second speed reducer 54 includes a second output shaft 57 . The second output shaft 57 is connected to the second rotating shaft 53 . The second output shaft 57 is arranged coaxially with the second rotating shaft 53 . Although not shown, the second output shaft 57 includes a hole passing through the second output shaft 57 in the left-right direction, like the first output shaft 45 . The second rotating shaft 53 is inserted into a hole of the second output shaft 57 and fixed to the second output shaft 57 .

The second frame 56 rotatably supports the second rotating shaft 53 . The second frame 56 supports the first link mechanism 51 , the second link mechanism 52 , the second speed reducer 54 and the second motor 55 . As shown in FIG. 5, the second frame 56 includes a bottom plate 58, a third side plate 59, and a fourth side plate 60. As shown in FIG. The third side plate 59 and the fourth side plate 60 are arranged on the bottom plate 58 . The third side plate 59 and the fourth side plate 60 extend in the front-rear direction. The third side plate 59 and the fourth side plate 60 are arranged side by side in the left-right direction. The third side plate 59 includes a third long hole 61 extending in the front-rear direction. The fourth side plate 60 includes a fourth long hole 62 extending in the front-rear direction.

The first link mechanism 51 includes multiple links. A plurality of links are rotatably connected to each other. The second link mechanism 52 includes multiple links. A plurality of links are rotatably connected to each other. The first link mechanism 51 and the second link mechanism 52 are connected to the second rotating shaft 53 . As the second rotating shaft 53 rotates, the first link mechanism 51 and the second link mechanism 52 expand and contract in the vertical direction.

Specifically, the first link mechanism 51 includes a first link 63 , a second link 64 , a third link 65 and a fourth link 66 . The first link 63 and the second link 64 are rotatably connected to each other in an X shape. The third link 65 and the fourth link 66 are rotatably connected to each other in an X shape.

One end of the first link 63 is rotatably connected to the first rotating shaft 32 . The other end of the first link 63 is rotatably connected to one end of the third link 65 . The other end of the third link 65 is connected to the second rotating shaft 53 . One end of the second link 64 is connected to the first sliding shaft 67 . The first sliding shaft 67 is arranged inside the first elongated hole 38 of the first side plate 35 . The first sliding shaft 67 is slidable along the first elongated hole 38 . The other end of the second link 64 is rotatably connected to one end of the fourth link 66 . The other end of the fourth link 66 is connected to the third sliding shaft 68 . The third sliding shaft 68 is arranged inside the third elongated hole 61 of the third side plate 59 . The third sliding shaft 68 is slidable along the third elongated hole 61 .

The second link mechanism 52 includes a fifth link 69 , a sixth link 70 , a seventh link 71 and an eighth link 72 . The fifth through eighth links 69-72 have structures similar to the first through fourth links 63-66, respectively. The fifth link 69 is rotatably connected to the first rotating shaft 32 . The seventh link 71 is connected to the second rotating shaft 53 . The sixth link 70 is connected to the second sliding shaft 73 . The second sliding shaft 73 is arranged inside the second elongated hole 39 of the second side plate 36 . The second sliding shaft 73 is slidable along the inside of the second long hole 39 . The eighth link 72 is connected to the fourth sliding shaft 74 . The fourth sliding shaft 74 is arranged inside the fourth elongated hole 62 of the fourth side plate 60 . The fourth sliding shaft 74 can slide along the inside of the fourth elongated hole 62 .

The lifting device 25 rotates the third link 65 and the seventh link 71 around the second rotation shaft 53 by the second motor 55 . Thereby, as shown in FIGS. 6 and 7, the first link mechanism 51 and the second link mechanism 52 extend and contract in the vertical direction. Thereby, the height of the upper surface of the support base 21 is changed. When the tilting device 24 and the forward/backward moving device 26 are not driven, even if the lifting device 25 changes the height of the supporting stand 21, the tilt angle and the longitudinal position of the supporting stand 21 are maintained. be. That is, the lifting device 25 vertically moves the support base 21 independently of the tilting device 24 and the front-rear moving device 26 .

The front-rear moving device 26 supports the lifting device 25 so as to be movable in the front-rear direction. FIG. 9 is a perspective view of the forward/backward moving device 26. As shown in FIG. As shown in FIG. 9 , the forward/backward moving device 26 includes a movable member 81 , a base member 82 , a slide screw 83 , a third speed reducer 84 and a third motor 85 . The movable member 81 supports the second frame 56 of the lifting device 25 . The movable member 81 includes a first side portion 86 , a second side portion 87 and a connecting portion 88 . The first side portion 86 and the second side portion 87 extend in the front-rear direction. The first side portion 86 and the second side portion 87 are arranged side by side in the left-right direction. The connecting portion 88 connects the first side portion 86 and the second side portion 87 .

The movable member 81 is supported by the base member 82 so as to be movable in the front-rear direction. Base member 82 includes a first rail 89 and a second rail 90 . The movable member 81 is arranged on the first rail 89 and the second rail 90 . The movable member 81 can move forward and backward on the first rail 89 and the second rail 90 . A nut portion 91 is attached to the movable member 81 .

The slide screw 83 , the third speed reducer 84 and the third motor 85 are arranged between the first side portion 86 and the second side portion 87 . The slide screw 83 extends in the front-rear direction. The slide screw 83 is screwed into the nut portion 91 . The slide screw 83 is connected to the movable member 81 via the nut portion 91 . The third speed reducer 84 is connected to the slide screw 83 . Although illustration is omitted, the third reduction gear 84 includes a plurality of gears like the first reduction gear 33 and the second reduction gear 54 . The third motor 85 is arranged behind the third speed reducer 84 . The third motor 85 is connected to the third speed reducer 84 . The third motor 85 is, for example, a servomotor.

The back-and-forth moving device 26 rotates the slide screw 83 by the third motor 85 . Thereby, the movable member 81 moves in the front-rear direction. When the tilting device 24 and the lifting device 25 are not driven, even if the back-and-forth movement device 26 moves the support base 21 back and forth, the tilt angle and the vertical height of the support base 21 are maintained. be done. That is, the front-rear moving device 26 moves the support base 21 in the front-rear direction independently of the tilting device 24 and the lifting device 25 .

In addition, as shown in FIG. 4 , the following device 2 includes a plurality of running rollers 92 . In the drawing, only one of the plurality of running rollers 92 is denoted by reference numeral 92, and the reference numerals of the other traveling rollers are omitted. A plurality of running rollers 92 are attached to the base member 82 . The plurality of running rollers 92 are rotatable around a rotation axis extending in the front-rear direction. The following device 2 can move in the left-right direction by a plurality of running rollers 92 .

The following device 2 includes multiple stops 93 . In the drawing, only one of the plurality of stoppers 93 is denoted by reference numeral 93, and the reference numerals of the other stoppers are omitted. The stopper 93 is attached to the base member 82 . The stopper 93 is provided so as to be vertically movable. By lowering the stopper 93, the stopper 93 contacts the ground. Thereby, the movement of the following device 2 is restricted. By moving the stopper 93 up and down, the stopper 93 is separated from the ground. Thereby, the following device 2 becomes movable.

As shown in FIG. 2, the bending machine 1 is fitted with guide rails 94 . The guide rail 94 extends in the lateral direction of the bending machine 1 . The follower device 2 includes multiple guide rollers 95 . In the drawing, only one of the plurality of guide rollers 95 is denoted by reference numeral 95, and the reference numerals of the other guide rollers are omitted. A plurality of guide rollers 95 are engaged with the guide rail 94 in the front-rear direction. A plurality of guide rollers 95 are movable in the left-right direction along the guide rails 94 . The plurality of guide rollers 95 are restricted from moving forward and backward with respect to the guide rail 94 . The following device 2 moves left and right along the guide rail 94 by the guide rollers 95 . The following device 2 is restricted from moving forward and backward by guide rollers 95 .

As shown in FIG. 3 , the tracking device 2 includes a tracking controller 96 . Tracking controller 96 includes a processor such as a CPU and memory such as RAM and ROM. The tracking controller 96 stores data and programs for controlling the tracking device 2 . The follow-up controller 96 is communicably connected to the first to third motors 34, 55, 85 and the holding device 23. As shown in FIG. Tracking controller 96 is communicatively connected to bend controller 16 . The follower controller 96 controls the operation of the follower device 2 according to the signal output from the bending controller 16 . The bending controller 16 outputs signals to the follower controller 96 indicative of movement of the ram 13 or punch 18, for example. The follow-up controller 96 controls the tilting device 24 , the lifting device 25 and the back-and-forth moving device 26 so as to move the support table 21 according to the movement of the ram 13 or the punch 18 . Note that the punch 18 operates together with the ram 13 . Therefore, in the following description the movement of the punch 18 may be regarded as the movement of the ram 13 .

The follow-up controller 96 freely moves the support base 21 by combining the motions of the tilting device 24, the lifting device 25, and the front-rear moving device 26. FIG. For example, as shown in FIG. 10A , the follow-up controller 96 can tilt the support table 21 while raising and lowering it by combining the tilting T by the tilting device 24 and the elevation V by the lifting device 25 . As shown in FIG. 10B , the follow-up controller 96 can tilt while moving the support base 21 forward and backward by combining the tilting T by the tilting device 24 and the forward/backward movement FR by the forward/backward moving device 26 . .

As shown in FIGS. 11A and 11B, the follow-up controller 96 can slide the support base 21 along the tilt direction of the support base 21 by combining up/down and front/rear movement. Specifically, the tracking controller 96 moves back and forth with the lifting device 25 so that the support base 21 slides in the tilt direction of the support base 21 while maintaining the tilt angle of the support base 21 with respect to the front-rear direction of the follow-up device 2 . and the device 26 are operated simultaneously.

As shown in FIG. 11A , the follow-up controller 96 slides the support base 21 downward in the tilt direction of the support base 21 by simultaneously performing the forward movement F by the forward/backward moving device 26 and the downward movement VD by the lifting device 25 (SD ). Conversely, the follow-up controller 96 causes the support table 21 to slide upward in the inclination direction of the support table 21 by simultaneously performing the backward movement R by the forward/backward moving device 26 and the upward movement VU by the lifting device 25 (SU).

Next, an example of control of the follow-up device 2 during processing by the bending machine 1 will be described. FIG. 12 is a timing chart showing changes in tilting, lifting, forward and backward movement of the support table 21, movement of the punch 18, and operation of the holding device 23 during bending called box bending.

At time T0, the punch 18 descends, and the workpiece W1 is bent by the punch 18 and the die 17 as shown in FIG. 13A. As a result, the work W1 tilts upward and rises. At this time, the tracking controller 96 causes the tilting device 24 to tilt the support base 21 upward as indicated by the arrow TU, and raises the support base 21 by the lifting device 25 as indicated by the arrow VU. Further, the follow-up controller 96 sets the holding device 23 to the OFF state. As a result, the support base 21 follows the workpiece W1 and tilts and rises.

When the punch 18 stops at time T1, the follow-up controller 96 stops tilting and lifting of the support table 21 . Further, the following device 2 sets the holding device 23 to the ON state. Thereby, the workpiece W1 is held on the support table 21 even when the support table 21 is inclined.

At time T2, as the punch 18 rises, the tracking controller 96 causes the lifting device 25 to lift the support base 21, as indicated by the arrow VU in FIG. 13B. As a result, the workpiece W1 is lifted together with the support table 21 and separated from the die 17 as the punch 18 is lifted.

At time T3, when the punch 18 stops rising, the follow-up controller 96 stops the support base 21 from rising. Then, at time T4, the follow-up controller 96 lowers the support base 21 by the lifting device 25 as indicated by the arrow VD in FIG. Let As a result, the support base 21 slides downward in the direction of inclination of the support base 21 as indicated by an arrow SD. Thereby, the bent work W1 is released from the punch 18. - 特許庁After the workpiece W1 is removed from the punch 18, the punch 18 is lifted at time T5. Thereby, as shown in FIG. 14B, the punch 18 moves upward from the work W1.

At time T6, when the punch 18 stops rising, the tracking controller 96 causes the back-and-forth movement device 26 to move the support base 21 backward, as indicated by arrow R in FIG. 15A. As a result, the work W1 moves backward together with the support base 21. As shown in FIG. After that, at time T7, as indicated by arrow TD in FIG. 15B, tracking controller 96 tilts support table 21 downward by tilting device 24, and raises and lowers support table 21 by lifting device 25, as indicated by arrow VD. lower. At time T8, when the support 21 returns to the horizontal position as shown in FIG. Further, the follow-up controller 96 sets the holding device 23 to the OFF state. Thereby, the work W1 can be removed from the support table 21. As shown in FIG.

17A and 17B are diagrams showing another example of control of the follow-up device 2 during bending. As shown in FIG. 17A, the punch 18 rises after bending. After that, the follow-up controller 96 advances the support base 21 by the back-and-forth moving device 26 as indicated by the arrow F, and increases the tilt angle of the support base 21 by the tilting device 24 to a predetermined angle as indicated by the arrow TU. . As a result, the work W1 is further tilted forward, and the position of the front end W2 of the work W1 is lowered.

Then, as indicated by arrow R in FIG. 17B , follow-up controller 96 causes support base 21 to retreat as indicated by arrow R by forward/backward moving device 26 while maintaining the tilt angle of support base 21 at a predetermined angle. . As a result, the work W1 moves backward from the position between the punch 18 and the die 17.例文帳に追加

In the follow-up device 2 according to this embodiment described above, the rotation of the first motor 34 is transmitted to the first rotating shaft 32 via the first reduction gear 33 . As a result, the support base 21 rotates around the first rotation shaft 32 and tilts. Therefore, compared with the case where the support base 21 is tilted by the motion of a plurality of links, the degree of freedom of the tilting motion is high. Further, the support table 21 is moved up and down by a lifting device 25 . Therefore, the support base 21 can be raised and lowered independently of the tilting motion. Thereby, the degree of freedom of the follow-up operation is improved.

A first output shaft 45 of the first speed reducer 33 is connected to the first rotating shaft 32 . Therefore, an increase in the size of the tracking device 2 can be suppressed. Furthermore, the first motor 34 is connected to the first rotary shaft 32 via the first speed reducer 33 . Therefore, it is possible to reduce the size of the first motor 34 while obtaining sufficient output to rotate the first rotating shaft 32 . As a result, an increase in the size of the tracking device 2 can be suppressed.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the invention.

For example, the configuration of the tilting device 24 may be changed. For example, the arrangement of the first speed reducer 33 and the first motor 34 may be changed. The configuration of the first speed reducer 33 may be changed. The configuration of the lifting device 25 may be changed. For example, the lifting device 25 may have a structure different from the link mechanism. The lifting device 25 is not limited to the pantograph type, and may have another link structure. The arrangement of the second speed reducer 54 and the second motor 55 may be changed. The configuration of the second speed reducer 54 may be changed. The configuration of the forward/backward movement device 26 may be changed. For example, instead of the slide screw 83, another transmission mechanism such as a bevel gear may be used. The arrangement of the third speed reducer 84 and the third motor 85 may be changed. The configuration of the third speed reducer 84 may be changed.

The forward/backward movement device 26 may be omitted. The tracking device 2 may be manually movable back and forth.

According to the present disclosure, it is possible to improve the degree of freedom of the follow-up operation while suppressing an increase in the size of the follow-up device.

21 support stand 25 lifting device 26 forward/backward moving device 31 first frame 32 first rotary shaft 33 first reduction gear 34 first motor 53 second rotary shaft 54 second reduction gear 55 second motor 57 second output shaft 63 first Link 81 Movable member 82 Base member 83 Slide screw 84 Third reduction gear 85 Third motor

Claims (7)

A compliant device for supporting a workpiece to be bent by a bending machine, comprising:
a support base for supporting the workpiece;
a first rotating shaft extending in the left-right direction of the following device and connected to the support base;
a first speed reducer including a first output shaft arranged coaxially with the first rotation shaft, the first output shaft being connected to the first rotation shaft;
a first motor connected to the first reduction gear and tilting the support base by rotating the support base around the first rotation axis;
an elevating device that supports the support base so as to be vertically movable;
with
The lifting device is
a plurality of links supporting the support platform and rotatably connected to each other;
a second rotating shaft connected to at least one of the plurality of links;
a second speed reducer connected to the second rotating shaft;
a second motor connected to the second speed reducer;
including
The lifting device vertically moves the support base by rotating at least one of the plurality of links around the second rotation axis.
tracking device. The lifting device supports the first speed reducer and the first motor together with the support base so as to be vertically movable.
A tracking device according to claim 1 . further comprising a frame that supports the first speed reducer and the first motor;
The lifting device supports the frame so as to be vertically movable.
A tracking device according to claim 1 or 2. The support base is rotatable about the first rotation axis with respect to the frame,
Tracking device according to claim 3. The second reduction gear includes a second output shaft connected to the second rotating shaft,
The second output shaft is arranged coaxially with the second rotation shaft,
A tracking device according to any one of claims 1 to 4 . further comprising a front-rear movement device that supports the lifting device so as to be movable in the front-rear direction of the following device;
A tracking device according to any one of claims 1 to 5 . The back-and-forth moving device includes:
a movable member that supports the lifting device;
a base member that supports the movable member so as to be movable in the longitudinal direction of the following device;
a slide screw extending in the longitudinal direction of the follower device and connected to the movable member;
a third speed reducer connected to the slide screw;
a third motor connected to the third speed reducer;
including,
Tracking device according to claim 6 .