JPH0335820A - Bending apparatus - Google Patents

Abstract

PURPOSE:To execute bending in whichever direction by holding a material to be worked with the bending mechanism, rotating respective articulation and twisting the material to be worked when the articulated robot interferes with the material to be work. CONSTITUTION:Pipe P is worked with bending with a 1st bending mechanism 70 and a 2nd bending mechanism 72, the same operation is repeated and the pipe P is worked with bending successively from the outside. And when a 2nd articulated robot 52 interferes with the pipe P, holding of the pipe P with the chucking mechanism 1 is released and the pipe P is held with the 1st bending mechanism 70 and respective articulation 62, 64, 66 of the 1st articulated robot 50 is rotated and the pipe P is twisted by the prescribed angle. And when the 1st articulated robot 50 interferes with the pipe P, holding of the pipe P with the chucking mechanism 1 is released and the pipe P is held with the 2nd bending mechanism 72 and respective articulation of the 2nd articulated robot 52 is rotated and the pipe P is twisted by the prescribed angle. Therefore the bending in the prescribed direction is executed by moving the 1st bending mechanism 70 and the 2nd bending mechanism 72 around the pipe P.

Description

Detailed Description of the Invention [Industrial Application Field] Invention 1. Long workpiece machine For example, when bending a pipe or bar-shaped material in a predetermined direction, the bending mechanism is moved around the workpiece. The present invention relates to a bending device that moves and performs bending.

[Conventional technology] Conventionally, when bending a long workpiece at multiple locations and the bending direction is different at each bending location, the workpiece is rotated according to the bending direction. Or 1. t, a bending mechanism is used that swings around the workpiece depending on the bending direction. Which one to use? (The choice is made depending on the bending shape of the workpiece.For example, a device that swings the bending mechanism is one that rotates around an axis parallel to the axial direction of the workpiece. It has been proposed that a bending mechanism is attached to the tip of an articulated robot having three sets of movable joints, and each joint is rotated to move the bending mechanism to a predetermined position (Japanese Patent Application No. 1-117816).
.

[Problems to be Solved by the Invention] However, bending is performed using an articulated robot having such rotating joints (for example, the bending mechanism is moved to a predetermined position depending on the bending direction of the workpiece). For example (L), there was a problem where the arm of the articulated robot and the workpiece interfered, creating an area where the bending support W4 could not be moved to a predetermined position according to the bending direction. The present invention aims to solve the above-mentioned problems, and provides a bending device that moves a bending mechanism around a workpiece to perform bending in a predetermined direction, and is not subject to restrictions on the bending direction. It is in.

[Means for Solving the Problems] In order to achieve the above object, the present invention adopts the following configuration as a means for solving the problems. Namely, as illustrated in FIG. 1, a long workpiece is used. The workpiece is held between a bending mold having a groove according to the bending shape and a clamping mold that can revolve around the bending mold, and a bending mechanism Ml that performs bending by rotating the clamping mold. The bending apparatus includes a support base M3 that supports a chuck mechanism M2 capable of gripping the workpiece, and the chuck mechanism M2 moves on a trajectory parallel to the workpiece gripped by the chuck mechanism M2. A moving mechanism M4 is provided, and an articulated robot M5 having three or more sets of joints rotating around an axis parallel to the axial direction of the workpiece is mounted on the moving mechanism M4, and The tip of the mold robot MS is the bending mechanism M.
1, and when twisting the workpiece around its axis, the bending mechanism Ml is controlled to clamp the workpiece, and the chuck mechanism M2 is controlled to hold the workpiece. This is the configuration of a bending device characterized in that it is equipped with a twist control means M6 for controlling the articulated robot I-M5 to rotate each joint and twist the workpiece by a predetermined angle. .

[Function] Bending device having the above configuration (upper chuck mechanism M2
grips the workpiece, and the support base M3 supports the chuck mechanism M2 to fix the workpiece. Then, move Ti structure M4
moves the articulated robot M5 toward the support base M3 on a trajectory parallel to the workpiece, each joint of the articulated robot M5 rotates, moves the bending mechanism M1 around the workpiece, and performs bending. tl! Structure M] bends the workpiece in a predetermined bending direction. Furthermore, in order to bend other parts of the workpiece, the moving 111 mechanism M4 moves the articulated robot M5 on the trajectory parallel to the workpiece toward the chuck mechanism M2.

Then, when twisting the workpiece around its axis (top
The twist control means M6 first controls the bending machine iMl so that the bending mechanism Ml clamps the workpiece, and the chuck mechanism M
2 to release the workpiece.

Next 1: Control the articulated robot M5 to rotate each joint and twist the workpiece by a predetermined angle. Thereafter, each joint of the articulated robot M5 rotates again to move the bending mechanism Ml around the workpiece, and the bending mechanism Ml bends the workpiece in a predetermined bending direction.

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

FIG. 2 is a front view of a bending device which is an embodiment of the present invention. A chuck mechanism 1 capable of gripping a long vibrator P as a workpiece is provided approximately in the center of the bending device. As shown in FIG. 4, this chuck mechanism 11 has two swingable chuck jaws 2 and 4, and drives a cylinder 6 to connect the chuck jaws 2 and 4 via a well-known link mechanism 8.
, 4 are swung, and the image tips of the chuck claws 2.4 are brought together to grip the outer periphery of the vibrator P.

The chuck mechanism 1 is attached to the tip of a sliding table 18, and this sliding table 18 is slidably supported on a swinging member 20.
The tip of the rod 22a is fixed to the sliding table 18. The swinging member 20 is swingably supported on the base 24 by a pin 26, and a rod 28a of a sampling cylinder 28 is locked to one end of the swinging member 20.

The chuck mechanism 1 is moved in the vertical direction (
The swinging cylinder 79 allows the chuck mechanism 1 to swing around the bottle 26 (in the direction of arrow B in FIG. 2). The sliding table 18, the swinging member 20, the vertical cylinder 22, the swinging cylinder 28, and the like constitute a support stand 29. Ugly The support stand 29 is not limited to one that can swing up and down as in this embodiment, but may also be of a fixed type that simply fixes the chuck mechanism 1 at the center.

Also, parallel to the vibrator P held by the chuck mechanism 1:
, and two rails 30.32 are laid on each side of the gripped pipe P to provide a track J34.36. On these rails 30 and 32, moving platforms 38 and 40 are mounted so as to be movable on the rails 30 and 32, respectively. Track 34.36 via chain 46.47 rotated by 42.44
It has been made to move along. These two moving tables 38, 40, circumferential orbits 34, 36. Two sets of drive mechanisms 4
2.44 etc. constitute two sets of moving mechanisms 48°49.

A first and second articulated robot 50.52 are placed on the circular moving tables 38 and 40, respectively, and both of the two articulated robots 50.52 have the same configuration. Both movable tables 38 and 40 are provided symmetrically with the chuck mechanism 1 as the center. 50 will be described in detail.The first articulated robot 50t of this embodiment includes a fixed part 54 fixed on the moving table 38, a first arm 56, a 27th arm 58, a tip arm 60, and a fixed part. 54 and each arm 56, 58 .
60 and three sets of joints 62, 64, and 66 that rotate around an axis parallel to the axial direction of the pipe P. Note that it is possible to implement the method even if there are three or more sets of joints.

And both pictures 1. First and second bending mechanisms 70 and 72 are attached to the tip arms 60 and 68 of the second articulated robot 50 and 52, respectively.

This first. Since the second bending mechanisms 70 and 72 have the same configuration, the first bending mechanism 70 attached to the first articulated robot 50 will be described in detail.

This first bending mechanism 70 il 5 @ As shown in FIG.
are provided coaxially, and two grooves 76 and 78 corresponding to two types of bending radii are formed around the other axial directions in the bending die 74 (in this embodiment). In the embodiment, two IL grooves 76 and 78 are provided, but it may be one groove.

Further, a clamping mold 80 is provided which is driven by a cylinder 79 and moves toward the bending mold 74 to clamp the pipe P together with the bending mold 74. The clamping mold 80
EIt is designed so that it can be rotated by a predetermined angle to perform so-called compression bending. And this tightening mold 80
1: Pressure molds 82 are provided side by side to receive reaction force during bending. Since the first bending mechanism 70 is attached to the first multi-joint robot 50 in this way, each joint 62,
Even if 64 and 66 are rotated, the axial direction of the bending die 74 (usually perpendicular to the axial direction of the pipe P).

Next, the electrical system of this embodiment will be explained using the block diagram shown in FIG. This device includes a host computer 100,
The vibrator P is processed by being driven and controlled by the first control device 102 and the second control device @104. In this example, 1u1
1. , host computer 100 ft, each first . It is determined whether the second articulated robot 50, 52 interferes with the vibe P.

For example, depending on the bending direction of the pipe P, each joint 62, 64, 6
Depending on the relationship such as the distance between the two arms 6, the second arm 58 etc. and the pipe P may interfere with each other.

As shown by the solid line in FIG. 11, when the second arm 58 bends in such a way that it covers over the pipe P, the second arm 58 interferes with the vibe P, and the second arm 58 bends in a direction that bends further. 1. The bending mechanism 70 cannot be moved around the vibrator P. Also, as shown by the two-dot chain line, the second arm 5
When the bending direction of the pipe 8 is such that the pipe P is pushed up from below the pipe P, the second arm 58 interferes with the pipe P, and the first bending mechanism 70 is moved around the vibe P so that the pipe P is bent further. become unable.

In this way, three sets of joints 62. The first multi-jointed robot 5o has an angle of 64.66 (upper) each joint 62° 64.6
Depending on the distance between the pipes 6 and 6, interference with the vibrator P occurs in the fan-shaped area indicated by diagonal lines in FIG. 11, and the pipe P cannot be bent in the direction corresponding to the area. Further, the same applies to the second articulated robot 52.

This area is stored in the host computer 100 in advance,
It is determined whether the bending direction of the vibe P falls within this range. The whetstone chuck mechanism 11 sequentially bends the pipe P from the outer circumferential side.The first bending process on the outermost side (, t, the bending direction 1i may be any convenient direction. According to the input bending data, the bending process can be performed in a predetermined direction with respect to the bending direction of the first bending process. This occurs during bending after bending.

If it is determined that this interference will occur, a program is created according to a flowchart described later to twist the pipe P and avoid the interference through interaction between the host computer 100 and the operator. And both cylinders 1. Each program created according to the motion of the second articulated robot 50 and 52 is
It is transmitted to the control device 102 and the second control device 104.

First control device 102 F Well-known CPU 106, RO
A bending mechanism input/output circuit 112, a chuck mechanism input/output circuit 114, which performs input/output with an external servo motor, etc.
Support base input/output circuit 116, movement tl! Structure input output circuit 11
8. The first articulated robot input/output circuit 120 and the like are connected to each other via a common bus 122.

CPU 1061 Friend: Bending mechanism input/output circuit 112, chuck mechanism input/output circuit 114, support base input/output circuit 116, moving mechanism input/output circuit 118, first articulated robot input/output circuit 120 Enter via.

On the other hand, these data and signals and ROM108, RAM
Based on the data in ll0, CP (J106)
4. Support base input/output circuit 116, moving mechanism input/output circuit 11
8. Each servo valve 134 to 139 and servo motor 140 to 1 via the first articulated robot input/output circuit 120
It outputs a drive signal to drive 43 and controls each mechanism. In this way, in this embodiment (above first control device 102
However, the configuration is such that the chuck mechanism 1 and the support base 29 are controlled.

On the other hand, the second control device 1041 & the first control device 102
It has almost the same configuration as the well-known CPU150, ROM
152, the RAMI 54 is configured as the center of the logic operation circuit; a bending mechanism input/output circuit 156 that performs input/output with an external servo motor, etc.; a moving mechanism input/output circuit 158;
The articulated robot input/output circuit 160 etc. is connected to the common bus 16.
It is configured such that they are connected to each other through two intervening devices.

On the CPU 1501, signals from each position sensor 164 to 170 are sent to the bending mechanism input/output circuit 156, the moving mechanism input/output circuit 158, and the second articulated robot input/output circuit 160! Enter via E.

On the other hand, these data and signals and ROM152, RAM
Based on the data in 154, each servo valve 172 to 174 and servo motor 1 are
It outputs a drive signal for driving 75 to 178 to control each mechanism.

Next 1: Regarding the processing performed in the first control device 102 described above (above flowchart 1 shown in FIG. 8), regarding the processing performed in the second control device 104, according to the flowchart shown in FIG. 9,
A case where the vibrator P is bent will be explained. first,
The explanation will focus on the first articulated robot 50 side by the first control device 102, and the step numbers of the processes in the first control device 102 will be appended with a suffix a.
The step number of the process in step 4 is given a subscript.

Further, steps that perform the same operation are given the same step numbers, one of which will be explained in detail, and a detailed explanation of the other operation will be omitted.

The first multi-joint robot 50 and the second multi-joint robot 52 are moved synchronously to hold the vibrator P, which has been placed at a predetermined location, between the bending die 74 and the clamping die 80 of the bending mechanism 70. After pinching the pipe P, move the first articulated robot 50 and the second articulated robot 52,
The vibrator P is transported so that the chuck mechanism 1 is located approximately at the center of the vibrator P. Then, the cylinder 6 is driven, the chuck claw 2.4 grips the vibrator P almost at the center, and the pipe P is loaded (step 200).
a, 200b).

Next 1: Read processing data stored in advance in the RAM 110 (202a). Then, based on the read machining data, the moving mechanism 48 is controlled to send the first articulated robot 50 to the first bending position on the outermost side of the pipe P (step 204a). After sending it to the bending position, each joint 62°64.66 is rotated and the bending mechanism 1
around the vibrator P, and move it one position in a predetermined bending direction according to the bending data f2 (step 2
06a).

For example (f), when bending is performed with a small bending radius according to the groove 78 of the bending die 74, the groove 78 is moved so as to come into contact with the pipe P. At this time, Figs.
As shown in Figure 1, depending on the bending direction of the pipe P, the bending direction of the vibrator P and the direction of the bending die 74 are made to coincide with each other.

In this embodiment, Ii. Since the axial direction of the bending die 74 and the axial direction of the pipe P are always orthogonal, the longitudinal direction of the tip arm 60 is 1 mm perpendicular to the bending direction, and the groove 78 is brought into contact with the pipe P. Accordingly, the position of one joint 66 is determined.

Also, the position of another joint 64 (, t, is on a circular arc with the joint 62 as the center and the distance between the joint 62 and the joint 64 as the radius, and the joint 64 as the center with the joint 64 and the joint 6 as the center).
It is on an arc whose radius is the distance between 6 and 6. Therefore, if the joint 64 is located at the intersection of these two circular arcs, the position of the bending die 74 is determined. At this time, there may be two intersection points, but in that case, select the intersection point where the first and second arms 58 do not interfere with the pipe P, and the tip of the pipe P after bending does not interfere with the arm 58. do.

In this way, since the positions of each joint 62, 64, 66 are determined, the angle formed between the fixed part 54 and the first arm 56,
The angle between the first arm 56 and the second arm 58 and the angle between the second arm 58 and the tip arm 6o are determined. Each joint 62. 64.
66, the first arm 56, second arm 58, and tip arm 6o are rotated to a predetermined angle. As a result, the bending die 7
The groove 78 of No. 4 is moved so as to come into contact with the vibrator P.

Ugly When bending the vibe P with a large bending radius (
Similarly, the other groove 76 is moved so as to come into contact with the vibrator P, as shown in FIG. 10(c). In this way, in this embodiment, the groove 76 for large bending radius,
It has two grooves, one for a small bending radius and the other for a small bending radius, but if there are more types of bending radii, three or more grooves with those bending radii can be stacked and provided. , can be implemented in the same way.

Next, based on the read data, it is determined whether or not to remain on standby (step 208a). When it is determined that the pipe P is not on standby, the bending mechanism 70 is driven to bend the pipe P (step 210a). Bending process (move the clamping mold 8°, sandwich the pipe P between the bending mold 74 and the clamping mold 8o, and press the pressure mold 82 into the pipe P.
Then, the clamping die 80 is rotated around the bending die 74 at a predetermined angle (in the direction of arrow C in FIG. 5).
, bending the vibrator P.

After rotating the clamping die 80 at a predetermined angle to bend the pipe P at a predetermined angle, it is determined whether or not it is a twisting motion (step 212a). When it is determined that the twisting motion is not a twisting motion or not (determined based on preset data), the clamping mold 80 and the pressure mold 82 are moved to release the clamping of the vibrator P. The clamping mold 80 is rotated in the opposite direction by a predetermined angle and returned to its original position (224a)
. Next, it is determined whether or not the entire bending process has been completed.
6a) If the process has not been completed yet, repeat the processing in step 202a13 described above to sequentially bend the pipe P from the outside toward the chuck mechanism 1.

On the other hand, the second control device 104 executes the process shown in FIG. 9, and the second articulated robot 52
Similar to the multi-joint zero-joint robot 50, steps 202b-2
10b, 224b, and 226b are executed to sequentially bend the vibrator P toward the chuck tll structure 1 from the opposite outside. When no interference occurs (Top) Regarding the operations of the first articulated robot 50 and the second articulated robot 52 (, t.

In this embodiment, separate operations are performed based on the processing data, and no synchronization is achieved.

For example, when moving the second bending mechanism 72 to a position corresponding to the area shown in FIG. 11 of the second articulated robot 52 and bending the pipe, If this condition occurs during bending processing, the second
In order for the articulated robot 52 to perform bending at a position where it does not interfere with the vibrator P, process data and programs for twisting the vibrator P at a predetermined angle are created in advance and stored in RAMll0.
It is stored in ゜154 etc.

In the second articulated robot 52, if interference occurs (i.e., the first controller 102
In the process a, it is determined that a twisting motion is to be performed. When it is determined that there is a twisting motion, it is determined whether or not there is a standby synchronization signal (step 214a).

Meanwhile, at this time, the second articulated robot 52 controlled by the second control device 104 (upper step 202b to
206b is executed. Processing data that has been corrected in advance by the twisting angle of the vibrator P by a predetermined angle to a position that does not interfere with each other is created by the host computer 100 and transmitted to the second control device 104,
According to the processing data, the second articulated robot 52 is driven, and the second bending mechanism 72 is moved to a position corresponding to the bending direction after twisting the pipe P.

After moving the second bending mechanism 72, it is determined whether or not it is on standby (step 208 b). If interference occurs in the second articulated robot 52, E is determined to be on standby, and the second control device 1
04 outputs a standby synchronization signal to the first controller 102 (step 250b).

Then, the bending die of the bending mechanism 72 is kept in contact with the pipe P without starting the bending process until the chuck mechanism 1 tightening completion synchronization signal is input to the second control device 104 (step 252b). .

When the standby synchronization signal is input to the first articulated robot 50, the chuck mechanism 1 is once loosened (step 216a), that is, the operation of the first articulated robot 50 is changed to the second articulated robot. If the operation of the robot 52 is completed earlier than the operation of the robot 52, the first articulated robot 50 waits in that state until the standby synchronization signal is input. If the action is faster.

The second articulated robot 52 is on standby.

Further, loosening of the chuck mechanism 1 is performed by driving the upper cylinder 6 and releasing the grip of the pipe P by the chuck claws 2.4. Even if chuck mechanism 1 is loosened, step 21
By processing 0a, the pipe P becomes the first articulated robot 1-
50 of the first bending mechanism 70, the vibrator P will not come off from the chuck mechanism 1.

Next IQ Each joint of the first articulated robot 50 is 62°6
4. Rotate 66 and center the vibe P around that axis.
The pipe P is twisted at a predetermined angle so as to be in an area where the second articulated robot 52 does not interfere (step 218a). When the twisting of the pipe P is finished, the cylinder 6 is driven and the chuck jaws 2. grip the vibrator P and tighten the chuck mechanism 1 (step 220a).
, when the pipe P is tightened by the chuck mechanism 1.

The chuck mechanism 1 tightening completion synchronization signal is transmitted to the second control device 104.
(step 222a). Note that when the second control device 104 determines that the tightening completion synchronization signal h<h is input, it repeats the processing from step 2106 onwards (step 222a).
Then, the second articulated robot 52 bends the biple 1.

Then, as described above (:, the clamping die 80 and the pressure die 82
and release the clamping of the vibrator P, and at the same time rotate the clamping mold 80 in the opposite direction by a predetermined angle and return it to its original position (
224a), Next, it is determined whether or not the entire bending stroke has been completed (2268), and if it has not been completed, the process below step 202a9 described above is repeatedly executed to bend the pipe P from the outside. Bending is performed sequentially toward the chuck mechanism 1.

As described above, in this embodiment, when the second articulated robot 52 interferes with the pipe P, the first articulated robot 50 twists the pipe P; A case where the vibrator P interferes with the vibrator P will be explained.

As described above, when the first bending mechanism 70 is moved in the bending direction corresponding to the area shown in FIG.
and interfere. If this condition occurs during bending, check the host computer 100 in advance. Machining data and a program for twisting the machine by a predetermined angle are created in advance and stored in RAM 110.154 or the like.

When interference occurs in the first articulated robot 50, the second control device 104 determines to execute a twisting motion in the process of step 212b. control device]02 (step 300b), then it is determined whether or not the loosening completion synchronization signal is input to the second control device 104 (step 302b), and the process remains in that state until the loosening completion synchronization signal is input. stand by.

On the other hand, the first articulated robot 50 controlled by the first control device 102 executes the processes of steps 202a to 206a. Pre-corrected machining data is created by the host computer 100 and sent to the first control device 102, and the first articulated robot 50 is driven according to the machining data to operate the first bending machine. @70 is moved to a position corresponding to the bending direction after the pipe P is twisted.

After moving the first bending mechanism 70, it is determined whether or not it is on standby (step 208a). If interference occurs in the first articulated robot 50 (step 208a), if it is determined that the robot is on standby, the chuck mechanism 1
Determine whether or not the loosening start synchronization signal has been input to the first control device 102 (step 230a). If the loosening start synchronization signal has been input by the process of step 300b, the process is performed similarly to the process of step 216a. Loosen the chuck mechanism to release the vibe P (step 23
2a).

Next, output a loosening completion synchronization signal to the second control device 104 (step 234a), determine whether or not a twist completion synchronization signal has been input from the second control device 104, and wait in that state until input (step 234a). 236a).

On the other hand, in the second articulated robot 52 controlled by the second control device 104, when the loosening completion synchronization signal from the process of step 234a is input to the second control device 104, it is determined that the loosening completion synchronization signal is present. (Step 30
2b). Next, as in step 218a, 1:, the first
In order to prevent interference between the articulated robot 50 and the vibe P, the second articulated robot 52 is driven to twist the pipe P held by the second bending mechanism 72 at a predetermined angle (step 218 b). When the twist at a predetermined angle is completed, a twist completion synchronization signal is sent to the second control device 10.
2 to the first control device 104 (step 304
b) Then, it is determined whether or not the chuck mechanism 1 tightening completion synchronization signal is input to the second control device 104 (step 306b), and the process waits in that state until the tightening completion synchronization signal is input.

In addition, the first control device 102 (above step 304
When it is determined that the twist completion synchronization signal has been input by the process b (step 236a), the vibrator P is tightened by the chuck mechanism 1 (step 238a), similarly to step 220a. Next, after outputting the chuck mechanism 1 tightening completion synchronization signal to the second control device @104 (step 240a)
, Step 2108 and subsequent steps are executed, and the first bending mechanism 70 bends the vibe PG.

On the other hand, the second control device 104 determines that there is a tightening completion synchronization signal by the process of step 240a through the process of step 306b, and the second articulated robot 52
Bending t1! The clamping mold and pressure mold (not shown) of the mechanism 72 are moved to release the pipe P from being clamped, and the clamping mold is rotated at a predetermined angle in the opposite direction to return to its original position (224b).
. Next, determine whether the entire bending process has been completed or not.
26 b) If the bending process has not been completed, the above-described steps 1 to 7 from step 202b onwards are repeated to sequentially bend the pipe P toward the chuck 11111911 from the outside.

In this way, the above-described process is repeatedly executed, and the first multi-joint robot 50 and the second multi-joint robot 52 move the vibrator P gripped from the chuck mechanism 11 toward the chuck mechanism 1 from the outside of its circumference. Bending is performed sequentially. Then, when the bending process is completed, the chuck mechanism 1 is loosened to release the vibrator P (Step 227a), the first articulated robot 50 is returned to the predetermined original position (Step 228a), and the Control processing ends. Furthermore, in synchronization with the loosening of the chuck mechanism 1, the second articulated robot 52 clamps the bent pipe P with the bending mechanism 7, drives each joint, and moves the vibrator P to a predetermined location. (step 308)
b). Thereafter, the second articulated robot 52 is returned to the predetermined original position (step 228b), and the main control process is immediately terminated.

As described above, the bending apparatus of this embodiment (top) grips the pipe P with the chuck mechanism 1, and moves the first articulated robot 50 and the second articulated robot 52 to predetermined positions using the circular movement mechanisms 48 and 49. do.

Then, the first multi-joint robot 50 and the second multi-joint robot 52 are driven to move the first bending mechanism 70 and the second bending mechanism 72 one turn around the vibrator P.

Next, the pipe P is bent by the first bending mechanism 70 and the second bending mechanism 72, and the operation is repeated.

Bending is performed sequentially from the outside of the vibrator P.

In addition, when the second articulated robot 52 and the vibrator P interfere with each other, the grip of the vibrator P by the chuck mechanism 1 is released, and the pipe P is clamped by the first bending mechanism 70.
Each joint 62, 64, 66 of the first multi-joint robot 50 is rotated to twist the vibrator P by a predetermined angle. In addition, when the first multi-joint robot 50 and the pipe P interfere, the chuck mechanism 1 releases the grip on the vibrator P, the second bending mechanism 72 clamps the vibe P, and the second multi-joint robot Each joint of the robot 52 is rotated to twist the vibrator P by a predetermined angle.

Therefore, in the bending apparatus of this embodiment, the first bending mechanism 7
0, move the second bending mechanism 72 until the vibration P is flat 1:
Bend it in a predetermined direction. Furthermore, when the first articulated robot 50 and the second articulated robot 52 interfere with the pipe P, the pipe P is twisted, so it can be bent in any direction.

In the above-described embodiment, the first articulated robot 50 is
Although there are two robots, a robot and a second articulated robot 52, it is also possible to perform the same operation with only one robot. (if only the first articulated robot 50)
If there is interference between the first articulated robot 50 and the pipe P, simply twist the pipe P with the first articulated robot 50.

Further, although the present embodiment includes a host computer 100, a first control device 102, and a second control device 104, it may be configured with -1 large-sized control device.

The present invention is not limited to these embodiments in any way, and may be implemented in various ways without departing from the gist of the present invention. Invention O: The oil processing device moves the bending mechanism around the workpiece to bend the bending mechanism in a predetermined direction (':
While bending (2. In case of interference between the articulated robot and the workpiece 1. - (Y. Since it is twisted, it has the effect of being able to be bent in any direction.

[Brief explanation of drawings]

Figure 1 shows an embodiment of the present invention, and the block of the bending device shown in 12. Figure 2 shows the front view of the bending device of this embodiment.
Figure 3 shows the top side of the bending device of this embodiment. Figure 4 shows the side surface of the bending device of this embodiment. Figure 5 shows the top side of the bending mechanism of this embodiment. Figure 6 shows the bending mechanism of this embodiment. The aspects of the mechanism are as follows: FIG. 7 is a block diagram showing an example of the control circuit of this embodiment; FIG.
FIG. 9 is a flowchart showing an example of the second articulated robot control process performed by the control device of this embodiment, and FIG. 10 is an explanation of the operation of the articulated robot of this embodiment. FIG. P... Pipe 1... Chuck mechanism 29
...Support stand 34.36--Race 48.4
9...Movement mechanism 50...First multi-joint robot j...52...Second multi-joint robot 62.64.66...Joint 70...First bending mechanism 72... Second bending mechanism 7
4...Bending die 80...Tightening die 82...
pressure type

Claims (1)

[Scope of Claims] The workpiece is held between a bending die having a groove corresponding to the bending shape of the long workpiece and a clamping die that can revolve around the bending die, and the clamping die is A bending device having a bending mechanism that performs bending by rotating a mold, comprising a support base that supports a chuck mechanism capable of gripping the workpiece, and provided parallel to the workpiece gripped by the chuck mechanism. A moving mechanism is provided that moves toward the chuck mechanism on a given trajectory, and an articulated robot having three or more sets of joints that rotates around an axis parallel to the axial direction of the workpiece is mounted on the moving mechanism. the bending mechanism is attached to the tip of the articulated robot, and when twisting the workpiece around its axis, the bending mechanism is controlled to clamp the workpiece, and then the chuck mechanism is turned on. A bending device comprising twist control means for controlling the workpiece to release the workpiece, and then controlling the articulated robot to rotate each joint and twist the workpiece by a predetermined angle.