JPH02299724A - Bending device - Google Patents

Abstract

PURPOSE:To easily bending with various bend radius by providing a bending mechanism on the tip of arm of a multiarticulated robot with at least more than three pairs of articulation which are turned around the parallel axis to the axial direction of work. CONSTITUTION:Each of at least three pairs of articulations is turned around the axis parallel to the axial direction of a work with the multiarticulated robot. The bending mechanism 16, which is provided to the tip of head arm 10 of the 1st arm 2 and the 2nd arm 6, is moved around the work P and is moved so that a prescribed groove of plural grooves 20, 22 corresponding to bending shapes is in a position corresponding to the work. Then the work is held between a bending die 18 and a fastening die 26 of the bending mechanism and is bent into prescribed bending shapes by revolving the fastening die around the bending die. Thereby, even if the bend radius of the work is plural, the work can be easily bent with various bend radii.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention (tomo) Long workpiece machine For example, when bending a pipe or bar-shaped material in a predetermined direction, the bending mechanism is connected to the workpiece. The present invention relates to a bending device that moves around and performs bending.

[Prior art] Conventionally, when bending a long workpiece at multiple locations, if the bending direction is different at each bending location, bulges occur.Is the workpiece twisted according to the bending direction? , or (
A mechanism is used in which the bending mechanism revolves around the workpiece depending on the bending direction. Which one to use is selected depending on the bending shape of the workpiece. Assuming that the bending mechanism revolves (for example f!
As disclosed in Japanese Unexamined Patent Publication No. 59-183938, a bending mechanism is attached to a support, the support is movable along the axis of the workpiece, and the support is moved along the axis of the workpiece according to the bending direction. It is known that the workpiece is rotated by a predetermined angle around the axis to sequentially bend the workpiece starting from the tip. In addition, as described in Japanese Patent Application Laid-open No. 62-93029 (mi), it has a chuck mechanism for gripping a workpiece at an arbitrary position, and at least one of the chuck mechanisms is provided with a support that moves in the axial direction of the workpiece, A rotating body that can rotate around the axis of the workpiece is supported on this support body, a bending mechanism is attached to this rotating body, and the rotating body is rotated by a predetermined angle according to the bending direction of the workpiece. It is known that bending is performed sequentially starting from the tip of the object.

[Problems to be Solved and Attempted by the Invention] However, when the bending radii at each bending location of the workpiece are different, one company has developed a method in which a plurality of grooves are formed in the bending mold in the axial direction according to the respective bending radii. Laminated [7] is provided.

With these conventional bending equipment.

When bending with different bending radii, the bending die must be moved in the axial direction according to the bending radius, and also moved in a direction perpendicular to the axial direction according to the difference in the bending radii. t8 To that point, two sets of moving mechanisms must be provided on the support or rotating body: a moving mechanism for moving the bending mechanism in its axial direction, and a moving mechanism that moves in the direction 1 perpendicular to the axial direction. It is difficult to install two sets of moving mechanisms whose moving force directions are perpendicular to each other on a support or rotating body, and even if they were installed, the equipment would be large, and the workpiece after bending would be difficult to install. There is a problem in that the tip of the object may interfere with the moving mechanism, support, rotating body, etc., and the bending direction may be suppressed.Therefore, the present invention aims to solve the above problems,
It is an object of the present invention to provide a bending device capable of moving a bending mechanism around a workpiece and easily bending the workpiece with different bending radii.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides means for solving the problems and 1. In other words, the workpiece can be bent by a bending mold having a plurality of grooves corresponding to the bending shape of the long workpiece, and a clamping mold that can revolve around the bending mold. A bending device having a bending mechanism that holds a workpiece and rotates the clamping die to perform the bending process, the bending device having at least three or more sets of joints that rotate around an axis parallel to the axial direction of the workpiece. This is the configuration of a bending device characterized in that the bending mechanism is attached to the tip of a robot arm.

[Function] A bending device having the above-mentioned configuration is attached to the tip of its arm by rotating each of at least three sets of joints around an axis parallel to the axial direction of the workpiece. The bending mechanism is moved around the workpiece, and the bending mechanism moves so that the predetermined grooves are at positions corresponding to the workpiece.
A workpiece is held between a bending die and a clamping die, and the clamping die revolves around the bending die to bend the workpiece P into a predetermined bending shape.

[Example] Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 is a front view of a bending apparatus which is an embodiment of the present invention. 1 is a fixed part, and this fixed part 1 and one end of the first arm 2 are connected by a first joint 4. This first leap joint 4 is a well-known mechanism that rotates the first arm 2 at a specified predetermined angle about an axis parallel to the axial direction of a long vibrator P, which is a workpiece. It has 4 packets.

Then, the other end of the first arm 2 and one end of the second arm 6 (
It is connected by a second joint 8. This second opening 8
also has the same configuration as the first open joint 4, and the 27th-
86 at the designated predetermined angle 1: Rotationally driven. Further, the other end of the second arm 6 and one end of the distal arm 10 (which are connected by a third joint 12,
The joint 2 also has the same configuration as the first joint 4 and the second open joint 8. This fixed part 1, the first arm 2, the 27th
-88, a tip arm 10, a first joint 4, a second joint 8, and a third joint 12 constitute a multi-joint robot 14.

Also, the tip of the tip arm 10 of the articulated robot 14]
A bending mechanism 16 is attached.

As shown in FIG. 2 on this bending mechanism 161,
The axis of a bending die 18 is coaxially provided in the extending direction of the axis of the tip arm 10, and the bending die 18 has two grooves 20 corresponding to two types of bending radii around the axial direction of the bending die 18. .22
are formed by stacking them.

Further, there is provided a clamping die 26 which is driven by the cylinder 24 and moves toward the bending die 18 and clamps the vibrator P together with the bending die 18. The clamping mold 26
By rotating it at a predetermined angle, it is possible to perform so-called compression bending. And this tightening mold 26
A pressure mold 28 that receives reaction force during bending is provided alongside. In this way 1: Since the bending mechanism 16 is attached to the multi-jointed robot 14, even if each joint 4°8 and 12 is rotated, the axial direction of the bending die 18 (always orthogonal to the axial direction of the vibe P) do.

In this example, the above-mentioned bending device was
As shown in FIG. 6, a vibrator P as a workpiece is fixed, and two articulated robots 14 each equipped with a bending mechanism 16 are moved in the axial direction of the vibrator P to bend the vibrator P. It is applied to equipment for This device is equipped with a chuck mechanism 30 that can hold a long vibrator P in the center of the front view.
It is fixed to the tip of a sliding table 32, and this sliding table 32 is slidably supported on a swinging member 34. The chuck mechanism 30 is moved vertically (in the direction of the arrow in FIG. 5).

Further, the swinging member 34 is swingably supported, and the swinging member 34 and the sliding base 32 are supported by a swinging cylinder (not shown).
The chuck mechanism 30 can be swung (in the direction of arrow B in FIG. 5) through the .

Further 1: Parallel to the vibrator P held by the chuck mechanism 30 1: And both sides 1 of the gripped vibrator P: 2 each
Two rails 38.40 are laid, and on these rails 38.40, movable platforms 42.44 are mounted so as to be movable on the rails 38.40. 44 are adapted to be moved along the rail 38.40 via chains 50, 52 rotated by drive mechanisms 46.48, respectively, provided at the ends of the rails 38.40.

Both moving tables 42. 441: I 飄 The above-mentioned articulated robots 14 are placed on each side, and both the hook-jointed robots 14 have the same configuration.
2.44 so as to be symmetrical about the chuck mechanism 30.

Next (mi) The operation of the bending apparatus of this embodiment described above will be explained with reference to FIG.

First, the chuck mechanism 30 grips approximately the center of a long vibrator P as a workpiece. Then, both movable tables 42,44 are moved to predetermined positions by means of drive mechanisms 46,48 via chains 50.degree.52. This movement position 1
It is not necessary for both moving tables 42 and 44 to be in symmetrical positions with respect to the chuck mechanism 30, and it is sufficient if they are moved to separate predetermined positions depending on the bending shape. Moving, double pot joint type robot 14
After moving to the specified position, use the preset operation to
For example, in the case of one multi-jointed robot 14 in Section 1, each joint 4, 8.12 is rotated and moved so that the bending start position of 20.22 of the bending die 18 comes into contact with the vibrator P. .

For example, when bending is performed with a small bending radius corresponding to the full length 22 of the bending die 18 (L), the groove 22 is moved so as to come into contact with the vibrator P. At this time, Fig. 4 (a) and (b)
, As shown in (C); Mi Depending on the bending direction of the vibe P, the bending direction of the vibe P and the direction of the groove 22 of the bending die are made to match.

In this embodiment, since the axial direction of the bending die 18 and the axial direction of the vibrator P are always perpendicular to each other, the longitudinal direction of the tip arm 12 is perpendicular to the bending direction.
The position of the third joint 12 is determined by bringing it into contact with the third joint 12.

Also, the position of the second interphalange 8 (centered on the first joint 4,
It is on an arc whose radius is the distance between the first joint 4 and the second joint 8, and the third joint 12 is the center, and the second joint 8
It is on a circular arc whose radius is the distance between and the third intersection 12. Therefore, the second joint 8 is located at the intersection of these two circular arcs.
f. The position of the bending die 18 is determined. At this time, there may be two intersection points, but in that case (an intersection where the second arm 6 does not interfere with the vibrator P or the tip of the vibrator P after bending does not interfere with the second arm 6) In this way, by determining the position of each joint 4, 8, 12, the angle between the fixed part 1 and the first arm 2, the angle between the 17th arm 2 and the second arm 6, and the second The angles formed by the arm 6 and the distal arm 12 are determined respectively. According to each of the determined angles, the first arm 2 is
, the second arm 6 and the tip arm 12 are rotated to a predetermined angle. From this second step, the groove 22 of the bending die 18 is moved so as to come into contact with the pipe P. In addition, when bending the pipe P with a large bending radius (as shown in FIG. In this embodiment, two grooves are provided, a groove 20 for a large bending radius and a groove 22 for a small bending radius, but if there are more types of bending radii, , three or more grooves having these bending radii may be laminated and implemented in the same manner.

Next 1st bending mechanism] Move the clamping die 26 of 6, sandwich the pipe P between the bending die 18 and the clamping die 26, and press the pressure die 2.
8 into contact with the pipe P, then bend the clamping die 26 with the bending die 1.
8 (arrow C in FIG. 2), the pipe P is bent. Predetermined angle clamping mold 2
6 and after bending the pipe P at a predetermined angle,
The clamping die 26 and the pressure die 28 are moved to release the pipe P from being held. Incidentally, the bending mechanism 16 of the other articulated robot 14 performs a similar operation to bend the pipe P. The bending angle of the pipe P at this time (Table
One bending mechanism] 4 (2 bending mechanisms and the other bending mechanism 1
It is also possible to set different angles depending on the angle.

Further 1: It is also possible to perform bending with different bending radii.

After finishing the bending process at one location, the both station movement mechanism 46
．． 48, both moving tables 4 move to the next bending position.
2. 44 are moved opposite each other towards the chuck mechanism 30. When the robot moves to the next bending position, the bending mechanism 16 is moved in a predetermined bending direction and with a predetermined bending radius by the single hook joint type robot 14 as described above.

Then, the bending mechanism 16 bends the pipe P at a predetermined angle, in a predetermined bending direction, and with a predetermined bending radius.

In this way, the above-described operations are repeatedly performed to sequentially bend the pipe P held by the chuck mechanism 30 from both ends toward the chuck mechanism 301. When bending is performed near the chuck mechanism 30]
: If the articulated robot 14 interferes with the chuck mechanism 30, sliding table 32, swinging member 34, etc. In case of interference (top chuck mechanism 30
is lowered in the direction of the arrow, and swung in the direction of arrow B to retreat.

Note that the aforementioned articulated robot 1411. ．． Although the case where there are three joints 4, 8.12 has been described, depending on the relationship such as the distance between each joint 4, 8.12, as shown in FIG. may interfere. For example (as shown by the solid line in Figure 7), if the second arm 6 bends over the pipe P, the 27th arm 6 will interfere with the pipe P, and the bending direction will As a result, the bending die 16 cannot be moved around the pipe P. Also, as shown by the two-dot chain line, if the bending direction is such that the second arm 6 pushes up the pipe P from below the pipe P, the second arm 6 interferes with the pipe P, making it impossible to move the bending die 16 around the pipe P so as to bend it in a further direction.

In this way, the articulated robot 14 having three joints 4, 8, and 12 has 1. t, Depending on the distance between each joint 4, 8, 12, interference occurs in the fan-shaped area indicated by diagonal lines in Fig. 7, and there is an area in which the pipe P cannot be bent in the direction corresponding to the area. There are cases. Therefore, the number of joints of the multi-jointed robot 14 is set to four sets of joints 4.8.12°54 as shown in FIG.
By adding , the bending direction of the pipe P is not restricted without creating the above-mentioned area, and
The pipe P can be bent in any direction. Furthermore, if necessary, the pipe P can be bent in the same manner even if the number of joints is increased to five or more.

As mentioned above, the bending apparatus of this embodiment (the multi-jointed robot 14) has three or more sets of joints 4,8°
As a result, the bending mechanism 16 attached to the tip thereof is rotated around an axis parallel to the axial direction of the vibrator P. Then, the bending mechanism 16 is moved in a predetermined bending direction (mi), and the grooves 20 and 221 according to the bending radius are moved so that the pipes P are in contact with each other, and the bending mechanism 16 is moved by the bending mold 18 and the clamping mold 26. While holding the vibrator P, the clamping die 26 is rotated and bent.

Therefore, the bending mechanism 16 is attached to the tip of the multi-jointed robot 14.
By attaching this, the device does not become larger (2) Even if the vibe P has multiple bending radii, it can be moved around the vibe P so that it comes into contact with the grooves 20 and 22 corresponding to the bending radii. , can be easily bent with different bending radii.

The present invention is not limited to these embodiments in any way, and may be implemented in various forms without departing from the gist of the present invention.

[Effects of the Invention] As detailed above, by attaching a bending mechanism to the tip of the bending device of the present invention (or an articulated robot), it is possible to bend a workpiece with multiple bending radii without increasing the size of the device. Even if the workpiece is moved around the workpiece so that it comes into contact with the groove corresponding to the bending radius, it is possible to easily bend the workpiece with a different bending radius.

[Brief explanation of drawings]

FIG. 1 is a front view of a bending device as an embodiment of the present invention. FIG. 2 is a top view of the bending mechanism of this embodiment. FIG. 3 is a side view of the bending mechanism of this embodiment. Figure 5 shows a side view of a device to which the bending apparatus of this embodiment is applied. Figure 6 shows the top view of Figure 5.
FIG. 7 is an explanation of the interference region of this embodiment. FIG. 8 is a front view of a bending device as another embodiment. P... Vibrator 1... Fixed part 2... First arm 4, 8. 12. 54...Joint 6...Second arm 10...Tip arm 14
...Articulated robot

Claims (1)

[Scope of Claims] The workpiece is held between a bending mold having a plurality of grooves corresponding to the bending shape of the long workpiece, and a clamping mold that can revolve around the bending mold, In a bending device that has a bending mechanism that rotates the clamping mold to perform bending, the arm tip of an articulated robot has at least three sets of joints that rotate around an axis parallel to the axial direction of the workpiece. A bending device, characterized in that the bending mechanism is attached to the bending mechanism.