JPH03114613A - Correcting device for bending axial line of long sized metallic member - Google Patents

Abstract

PURPOSE:To always enable exact correction without making excessively the amount of deformation of axial line part by controlling the amount of deformation so as to be gradually smaller as it is approached to the correction target value when the axial line part of metallic member is corrected toward the correction target value. CONSTITUTION:When a correcting table 6 is moved from the reference position to the direction of the reference angle line of bending, correcting parts 10 is brought into contact with the axial part of the metallic member S which is fixed to a fixing device 2. Because contact is detected with a sensor, a value FRC at the moving position of the table 6 is detected. An AV value that shows each divided division where the distance between the axial line part S1 and the reference angle line of bending is devided into plural division and the FRC value are compared. The AV value corresponding to the FRC value and the BV value of the amount of a first correction corresponding to the AV value are selected and the amount of correction is operated and a driving motor is controlled. The axial line part is gradually corrected in the direction of the reference angle line of bending and, when the value FRC at the relevant position of the correcting part to the axial line part after correcting is approximately coincided with the correction target value and is made within tolerance, correcting action is stopped.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention is applicable to automobile door sashes, guide rails, etc.
The present invention relates to an axial bending straightening device for straightening a long metal member that has been axially bent into a desired shape in advance.

(Prior Art) Conventionally, as a means for correcting the bent state of a workpiece, it is known that in the manufacturing process of a door subassembly with an automobile frame, the brazing is performed to correct the position of the building material of the door frame ( Utility Model No. 61-92413).

This correction means moves the correction part of the door frame building material position to the measurement origin position using a drive source at the start of work, stops it by detecting the measurement origin position with a detection sensor, and then moves the correction part of the building material position in the correction part. The position of the building material on the door frame is measured by a position measurement sensor, the amount of bending of the door frame to be corrected is calculated based on this measurement signal, and the drive source of the correction section is activated according to the amount of bending. After correcting the door frame by pushing it by the amount of bending, the correction unit is returned to its original position, and the position of the building material on the door frame is measured again using a position measurement sensor with a ball.The measurement signal is sent to the controller, and the next door frame is adjusted. The amount of bending is calculated, and the correcting section is repeatedly operated by moving the correcting section according to the amount of bending until the amount of bending becomes zero.

When the straightening means is applied to straighten an automobile door sash S having a cross-sectional shape as shown in FIG. 15 and an axially bent shape as shown in FIG. 16, the axial portion SL is fixed. , whether the axis line portion S2 or S3 extending from it is located on the plus side or minus side with respect to the predetermined bending shape reference point O, and to what extent this position exceeds the allowable range as shown in Fig. 17. After measuring the amount of bending, etc. as initial data before starting work, and then moving the correction part based on the measured data, the next bending amount is measured between the measurement origin and the current position of the axis S2 or S3. This must be done by measuring the amount of bending and repeatedly operating the correction unit until the amount of bending reaches the target value of zero.

(Problems to be Solved by the Invention) However, when applying the above-mentioned correction means to an axial bending member such as an automobile door sash, correction is performed from both the plus and minus sides of the correction target value.
Not only is the amount of data difficult to handle, but the amount of bending must also be determined by taking into account variations in the material, type of workpiece, correction location, initial setting position, etc., so the data may be unclear. It becomes something.

(Means for Solving the Problems) The axial bending straightening device according to the present invention includes a fixing device for fixing a part of a metal member that has been axially bent into a desired shape in advance, and a fixing device for fixing a part of the metal member whose axial line is to be straightened by bending. An axial bending straightening device comprising a straightening section table for moving and deforming in the direction of a bending reference angle line, and a drive device for reciprocating this straightening section table, A sensor for detecting contact and separation of an axial portion with respect to a correction section provided on a correction section table to be moved and deformed in an angular direction; a position detection device for detecting a movement position of the correction table from a reference position; A showing each divided area where the interval between the axis line part and the bending reference angle line at the initial set position is divided into multiple areas.
V value, the BV value of the initial correction amount corresponding to each AV value, the BVD value of the increase in the correction amount for each BV value, and the CV value of a plurality of rough aim values set near the bending reference angle line, Each C
A correction data storage section that stores in advance the DV value of the increase in the amount of minute correction with respect to the V value, and a sensor that detects when the correction section table moves from the reference position and the correction section first contacts the axis portion. The value FRC of the movement position of the correction unit table at the time is compared with the AV value of the correction data storage unit, and the AV corresponding to the FRC value is determined.
In addition to selecting a value, the BV value corresponding to the AV value is selected to calculate the initial correction amount, and when it is determined that the axial portion contacts the correction part for the second or more time, the correction corresponds to the selected BV value. The BVD value is increased each time to the initial correction amount, and the sum of each correction amount during an appropriate number of corrections is calculated, and by repeating the correction of the axial line portion, the FRC value becomes rough near the correction target value of the AV value. a calculation unit that calculates a correction amount by increasing each DV value corresponding to each CV value of each rough aim value to the sum of the correction amounts each time the target value position is exceeded; a drive control unit that controls a drive motor to move the straightening unit table in the direction of the bending reference angle line each time to correct the axial line portion; The action is repeated several times and the correction is stopped when the FRC value at the position where the correction part of the correction part table comes into contact with the post-correction axis line portion almost matches the correction target value A12 of the AV value. It is.

(Function) In the above configuration, when the drive motor is rotated under the control of the drive control unit and the correction unit table is moved from the reference position in the direction of the bending reference angle line, the axis of the metal member fixed to the fixing device Since the correction part contacts and the sensor detects the contact of the axis portion, the FRC value is detected. When the correction section contacts the axis part for the first time, the AV value and FRC value stored in the correction data storage section are compared, and the AV value corresponding to the FRC value and the B value corresponding to the AV value are compared.
The V value is selected, and the amount of correction (in this case, the amount of movement from the reference position to the position to which the correction unit table should be moved) is calculated based on the FRC value, AV value, and BV value, and based on this calculation result, the drive motor is controlled.

From the second time onwards when the axis portion comes into contact with the correction part under the control of the drive motor, the BVD value corresponding to the BV value is increased to the correction amount each time, and the sum of the correction amounts is calculated each time, based on the calculation result each time. The drive motor is controlled and the axial portion is gradually corrected in the direction of the bend reference angle line.

After repeating the correction of the axial line part several times, if the value FRC of the contact position of the correction part with respect to the axial line part after correction exceeds the CV value of a plurality of coarse aim values in the vicinity of the correction aim value, each coarse aim value The amount of correction is calculated each time by increasing the DV value corresponding to the CV value and gradually decreasing the rate of increase in the amount of correction.Based on the calculation result, the drive motor is controlled each time to further repeat the correction of the axis portion. The correction action is stopped when the value FRC of the correcting part at the relevant position with respect to the rear axis line portion almost matches the correction target value and falls within the tolerance.

Therefore, according to the present invention, when the axial portion of the metal member is corrected toward the correction target value, the amount of deformation of the axial portion is gradually controlled to be small depending on the degree to which it approaches the correction target value from one direction, and finally Since the correction is stopped when the correction value substantially matches the correction target value, the amount of deformation of the axial line portion does not become excessive, and accurate correction can always be performed.

(Example) The following will be described with reference to FIGS. 1 to 14.

The axial bending straightening device is applied to straightening workpieces that have been axially bent into a desired shape in advance, such as long metal materials such as automobile door sashes and guide rails. As a specific example of axis bending, take the door sash shown in FIG. 1 as an example. This door sash (metal member) S has an axis line portion s2. s
3 was previously bent into a desired shape using a bending machine (not shown). During the axial bending, a small range of bending angles β1. Each axis line portion s2... or a large range that does not reach the reference angle α. Bend s3 along its axis. According to this axial bending process, in FIG. 1, the axial portion S2 has a small bending angle β1 which exceeds the reference angle α. β2... In other words, it is shown bent to the minus side, and everything except the tolerance range shown in the white area shown in FIG. 2 is exceeded to the minus side indicated by diagonal lines.

As shown in FIGS. 3 to 5, the straightening device that straightens the bending of the axial portion SI or S2 of the metal member S, which has been pre-processed in advance, The clamp 2 is an example of a fixing device that fixes the metal member S in accordance with the reference point 1 attached to the portion S1 and a mark attached at a certain length from the tip of the metal member S before bending the metal member S. We are prepared. This clamp 2 is capable of clamping and fixing the uncorrected axial line portion SI of the metal member S along the longitudinal direction using a drive cylinder 2a such as air pressure or hydraulic pressure.

Servos and pulses are located at positions protruding from the set position to the left and right of the axial line portions S2 and S3 of the metal member S.

A drive mechanism unit for operating a drive motor 3 such as a stepping motor is disposed, and this drive motor 3 is connected to a coupling 4a.
By rotating the ball screw shaft 4 connected to the corrector table 6, the correction unit table 6 is moved in a predetermined direction along the guide rail 5. The ball screw shaft 4 is supported by supports 4b and 4c, and the left and right ends of the guide rail 5 are supported by brackets 5a.
, 5b, respectively, or directly fixed to the board with bolts.

An actuator dog 6a for the origin and overrun prevention is provided on the side of the movement path of the correction unit table 6, and a pulse generator 7 as an example of a position detection device is provided on the opposite side. This pulse generator 7 is connected to a metal fitting 6b attached to the orthodontic part cheek 2 pull 6 and a wire 7 connected to the terminal.
The amount of movement of the wire 7a is detected by transmitting the amount of movement of the wire 7a through the sliding piece 7b, and the wire 7a is a grooved guide piece 7c.

7d and is rotatably supported under tension. Also, on the side equipped with the actuator dog 6a, there is an origin detection actuator 8 and overrun prevention actuators 9a and 9b.
is installed.

The correction unit 10 mounted on the table 6 has an abbreviated shape that can receive and place the axis line portion S2+83 of the metal member S, as shown in FIGS. The cam follower 11 is attached to the correction unit table 6 so as to be freely (rotatable) by fixing the cam follower 11 with set bolts 11b and llc through a thrust bearing lla. The correction unit 10 includes sensors 12a such as a light emitter and a light receiver on the upper and lower ends of the vertical portion.
12b, the axial portion s2. The configuration is such that contact and separation of s3 can be detected. The position of the holder 13 that supports the ball screw shaft 4 can be detected by appropriately processing the output signal of the pulse generator 7.

In this orthodontic device, the clamp 2 is aligned with the reference point 1.
After setting the metal member S by sandwiching the axis line portion S1,
Axis line portion s2. By moving and deforming s3 several times in the correction unit 10, the bending is corrected to a predetermined reference angle line. To correct this, as shown in Fig. 6, the distance between the initial set position and the predetermined position of the bending reference angle is adjusted as shown in Fig. , multiple areas A, , A2 , A3...An(
The initial correction amount (hereinafter referred to as "rBV value") is set for each classification, and rough target values C1 and C2 are set.

C3... (hereinafter abbreviated as "CV value") is set to a correction amount in which the added value of the correction amount is decreased little by little as the CV value set from the side closer to the mechanical origin is passed one step at a time. However, the CV value is set in the (±) direction of the upper or lower target value detected by the sensors 12a, 12b, and when it is within the (±) range, the CV value is not applied.

As shown in Fig. 7, these are the predetermined positions (
(hereinafter abbreviated as "correction target value") is AV value - A12
As shown in FIG. 6, the CV value is set as s2. When s3 is bent in the positive direction, the tolerance value for over-correction is -c, -A, 2, and when it is bent in the negative direction, the tolerance value for under-correction is set to c2-A 12. . Also,
An increase in the amount of correction is set for each of the set BV values (hereinafter abbreviated as "BVD value"). In addition, a minute increase in correction amount is set for each CV value (hereinafter referred to as rD
(abbreviated as “V value”). At this time, BVD value>DV value, and the DV value is set to a larger value as the corresponding CV value approaches the origin, and smaller as the corresponding CV value approaches the correction target value.

Cholera AV, BV, BVD,
When the D V SCV values are organized, they can be expressed as a line graph as shown in FIG. 7, which is used as correction data. Sunawachi above AV, BV,
The B V D , D V , and C■ values are stored in advance as correction data in the correction data storage section of the control device that controls the correction device. When using this correction data, the origin detection actuator 8 is at the position (
) may be the position when the pulse generator 7 outputs the origin signal) as the reference position, and the axis portion s2 of the metal member S. When comparing the positional relationship between the position when s3 is detected by the sensors 12a and 12b and the correction target value, two series are used: a comparison section based on AV value and a comparison section based on CV value. Based on this, the amount of correction is calculated in the calculation section of the control device.

That is, the operating system is shown in FIG. 8, and before starting the comparison based on the AV value prior to the first correction, it is determined whether it is the first time or the second time or later, and the comparison based on the AV value or the C
Select whether to compare by V value. The drive motor 3 is rotated under the control of the control device, and the correction unit 10 starts moving from the origin (reference position), and moves to the axis section s2. When the sensors 12a and 12b sense that it has come into contact with s3, the position detected by the pulse generator 7 (hereinafter abbreviated as rF RCl) is read into the memory section of the control device, the position is stored and sent to the comparison section. Move. The comparison section determines whether it is the first comparison or the second or subsequent comparison and calculates the AV value (or CV value).
By comparing and selecting the above, it is possible to prevent in advance the over-correction of the correction target value, which occurs when the metal member is corrected. When this comparison operation does not satisfy A1≧FRC, the next A
The process proceeds sequentially as 2≧FRC, &A3≧FRC, and so on. Furthermore, if the test is satisfied, the AV value comparison unit is made to remember that the first test has been passed, and a flag is set. At this time, FRC
Since the positional relationship satisfies V value +7) AK-, <FRC≦AK, the corresponding initial correction amount BV value is selected.

Further, in order to proceed with the correction toward the CV value of 01 from the second time onward, a BVD value is selected as an additional value of the correction amount. In this way, the correction amount is determined including the initially set correction amount. That is, FR that satisfies the classification AK-1<FRC≦A
The correction amount for C - (BV value) + (FRC) + (correction amount) is calculated by the calculation unit of the control device. The calculation result is stored as a total sum from the reference position and is further preset. The drive motor 3 is controlled by the drive control section based on the calculation result of the calculation section, and the table 6 and the correction section 10 are controlled by the drive control section.
is moved. The movement of the correction unit 10 is constantly checked via the pulse generator 7, and the drive motor 3 continues to operate up to a preset value. When the moving distance reaches the preset value by this operation, the drive motor 3 is stopped and the return operation is started after a short period of time until the time set on the timer has elapsed. At this time, the counter that stores the position of the correction section 10 is configured to count hairs and lumps in the correction direction and to count down in the return direction.

The correction portion 10 is located at the axial line portion s2 of the metal member S. When the sensors 12a and 12b detect that the robot has moved away from s3, the return operation is stopped, and after a short period of time until the set time on the timer has elapsed, or after retreating an appropriate distance from the above-mentioned separation position, it returns to the correction direction again. Start moving. Accordingly, the counter that stores the position of the correction unit 10 starts to count up. Note that the position where the correction unit 10 starts the return operation and the axis line portions S2, S from the correction unit 10
The amount of springback can be detected by detecting the position where 3 is separated and calculating the difference.

By the way, when performing correction by moving the axis portions S2 and S3 with the correction section 10, since the correction section 10 is provided so as to be swingable (rotatable) with respect to the correction section table 6, the correction section 10 10 is the axis line portion s2. The part in contact with s3 is always the axis part s2. s3, line contact or surface contact with the axis line portion is maintained, and stable orthodontic force is applied to the axis line portion s2. It can be given to s3. That is, the axis line portion s2. There is no need to cause extra deformation to s3 other than correction.

In the second and subsequent corrections, the sensors 12a and 12b detect the axial line portion s2 of the metal member S. When s3 is sensed, the detection position by the pulse generator 7 is read and the position (FRC
) and select the comparison section in one row. The flag is set for that selection the first time, so
That's how you can tell. In the second time, the comparison with the CV value is started, and if the condition C2≧FRC is satisfied, the BVD value selected in the first time is added to the previous total (calculation result), and the total is again calculated. Saved. Further, in the second and subsequent correction operations, the initially selected BVD value is sequentially added as an increment of the correction amount until the condition no longer meets the CV value of 01.

Therefore, by changing the correction amount, the correction target value (AV
By proceeding with the correction operation toward the coarse correction target value CV value 01, rather than approaching the value A12),
Even if there are variations in the material or properties, variations in the cross-sectional shape, variations from the processing process, etc., and the correction results for the correction amount include variations from uncertain factors, C1 can be achieved without exceeding the tolerance. The dimensional and positional relationships are brought together to be sufficient to satisfy the condition <FRC≦C2.

Incidentally, the increase or decrease in the amount of correction due to variations in the material or characteristics of the metal member is set as a coded correction amount using an external converter, thumb switch, etc., and this is set as a coded correction amount using an external converter or thumb switch. If used as a calculation element during calculation, it is possible to correct changes in the amount of correction due to variations in material or properties, so even if material properties vary greatly from lot to lot,
Various data used for correction operations (e.g. AV, BV,
It is possible to avoid the need to significantly change the values of CV, etc.).

When the condition C1<FRC≦C2 is satisfied in the previous correction operation, the subsequent comparison is made with the CV value of 02, and if the condition is satisfied, the increase DV value is smaller than the increase BVD value of the correction amount. By being selected according to the CV value,
The amount of correction is (DV value) + (total sum). Also, after that, FRC will have D until it no longer meets the condition of C2≧FRC.
Since the V value is added, the change in the amount of correction becomes as shown in FIG. If the result does not meet the condition of 02≧FRC, it will be compared with the CV value C3, so as shown in Figure 8, if the condition of C2<FRC≦C3 is satisfied, is OK. That is, the correction operation is repeated by gradually setting the rate of increase in the amount of correction to a smaller value.

In addition, in the case of FRC>C3, the positive tolerance is exceeded, so it is judged as NG. Therefore, a CV value of 02 indicates a tolerance in the negative direction, and a CV value of 03 indicates a tolerance in the positive direction. Furthermore, as shown in Fig. 10, if CV values divided into several rough aim values are used (c+≧+C2≧, C3
,. 4≧), correction ≧ Since it is possible to change the correction value little by little as it approaches the leprosy value, the correction accuracy can be sufficiently maintained against variations in many conditions that the metal member S includes.

In this case, the operation system diagram shown in FIG. 8 has a comparison section based on CV values expanded, so it becomes an operation system diagram as shown in FIG. 11, and the AV at that time.

The BV, BVD, DV, and CV values are as shown in FIG.

In addition to this, CV, which is a rough aim value, is used for the purpose of increasing accuracy.
As an example of using the values, the operation system diagram shown in FIG. 13 can be applied. In this example, the coarse aim value 111 and the addition amount are adjusted to gradually reduce the relationship between the coarse aim value classification and the addition amount, similar to the slope down method used for speed control, so that the correction aim value is approached. ing. Furthermore, the AV value A) 3 is used as the tolerance in the positive direction. At that time, the DV and CV values (other relationships remain unchanged) are set as shown in FIG. 14. In this way, the accuracy of the correction target value can be further ensured and the accuracy can be doubled, and at the same time, the X-Y axis relationship shown in Figure 7, which occurs due to small variations in materials and characteristics within the same lot, can be Changes can be fully absorbed and stable correction results can be obtained.

In addition, although the above-mentioned embodiment explained only the linear correction operation, at the same time as the correction operation starts, the bar or clamp part that partially supports the metal member is moved up or down so as to apply surface pressure to the planar correction area. If you set it from the direction, and also make it guideable during the linear correction operation, and control the surface pressure by controlling the movement in the vertical direction according to the linear correction operation, you can also correct the surface shape at the same time. Become.

[Effects of the Invention] 3 As can be understood from the description of the embodiments as described above, according to the present invention, when the axial portion of a metal member is straightened from one direction to the straightening target value, the straightening data is stored in advance in the straightening data storage unit. The amount of correction is calculated based on the correction data, and as the axial line portion is gradually corrected to the correction target value, the rate of increase in the amount of correction becomes smaller, so the axial line portion is corrected to a state far away from the correction target value. Therefore, accurate correction can always be performed within the allowable accuracy.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram that graphically shows the setting conditions of the correction data used in the apparatus of the present invention for metal parts to be corrected by the device according to the present invention, and Fig. 7 shows the amount of correction performed several times in succession based on the same correction data. Figure 11 is an explanatory diagram showing the amount of deformation performed in a minute range using strokes, Figure 11 is an operation system diagram showing only the extended part when the CV value comparison part is expanded, and Figure 12 is an illustration of An explanatory diagram showing graphically the AV, BV, BVD, DV, and CV values when using the operation system diagram shown in Figure 11, and Figure 13 is an example of the modified usage of the CV value comparison section for the purpose of increasing accuracy. FIG. 14 is an explanatory diagram showing the DV and CV values (other relationships remain unchanged) when the operating system diagram shown in FIG. 13 is used. Fig. 15 is a sectional view showing a long metal member, Figs. 1-6 are explanatory diagrams showing the axially bent shape of the metal member corrected by the conventional method, and Fig. 17 is an axial bend that occurs in the same metal member. It is a bar graph showing the distribution with variation. S... Metal member Sl... Axis line portion to be positioned and set s2. s3...
・Axle line portion α for straightening part...bending reference angle β1. β2...Bending angle in a range that exceeds or does not reach the reference angle 2...Fixing device 6...Correcting section table 10...Correcting section 3...Drive motor 7...Position detecting devices 12a, 12b −・・Sensor

Claims (1)

[Claims] (1) A fixing device 2 for fixing a part of the metal member S whose axis has been bent in advance into a desired shape, and a device for moving and deforming the axis portion S_2 of the metal member S whose bending is to be corrected in the direction of a predetermined bending reference angle line 0. Orthodontic department table 6 and this orthodontic department table 6
A straightening unit 10 is provided on a straightening unit table 6 to move and deform the axial line portion S_2 of the metal member S in the direction of the bending reference angle line. Sensors 12a and 12b that detect the contact and separation of the axis line portion S_2 with respect to, the position detection device 7 that detects the movement position of the correction unit table 6 from the reference position, and the axis line portion S_1 at the initial set position of the metal member S. The distance from the bending reference angle line to multiple areas A_1, A_2, A
_3... AV value indicating each segmented area divided into An, BV value of the initial correction amount corresponding to each AV value, BVD value of the increase in correction amount for each BV value, and the vicinity of the bending reference angle line CV of multiple rough aim values C_1, C_2... set to
and a correction data storage section that stores in advance the DV value of the increase in the amount of minute correction for each CV value; The sensor 12a,
12b compares the movement position value FRC of the correction unit table 6 at the time of detection with the AV value of the correction data storage unit, selects the AV value corresponding to the FRC value, and selects the BV value corresponding to the AV value. select and calculate the initial correction amount, and when it is determined that the axis line portion S_2 is in contact with the correction section 10 for the second or more time, the BVD value corresponding to the selected BV value is increased to the initial correction amount each time. The total sum of each correction amount during a suitable number of corrections is calculated, and by repeating the correction of the axis line portion S_2, the FRC value becomes the coarse aim value C_1, C_2, near the correction aim value A_1_2 of the AV value.
Each coarse aim value C_1, C_2.
a calculation unit that calculates the correction amount by increasing each DV value corresponding to each CV value to the sum of the correction amounts each time, and bending the correction unit table 6 in the reference angle line direction based on the calculation result of the calculation unit. a drive control section that controls the drive motor 3 to correct the axis section S_2 by moving the navel each time; repeating the action of correcting the axis section S_2 several times based on the calculation result of the calculation section; It is characterized by being configured so that the correction is stopped when the FRC value at the position where the correction part 10 of the correction part table 6 comes into contact with the post-correction axis line portion S_2 almost matches the correction target value A_1_2 of the AV value. A straightening device for axial bending of long metal members.