JPH0366970B2 - - Google Patents

Description

Detailed Description of the Invention [Field of Application of the Invention] The present invention relates to a fully automatic bending device applied to, for example, cold bending of pipes, and in particular to a rolling mill, a turbine,
The present invention relates to a fully automatic bending device suitable for operations from flange welding to pipe bending of pipes made of elastic materials for use in generators and other hydraulic piping and pneumatic piping, particularly flanged pipes.

[Background of the invention]

Conventionally, in order to obtain piping that is multidimensionally bent at multiple points, pipes 2 each having a flange 1 welded to its end were connected by a large number of joints 3, as shown in FIG.
However, in order to improve the yield of pipe materials, continuous cold bending as shown in FIG. 2 was required.

However, when performing multi-point, multidimensional bending of metal pipes, etc., it has been dependent on a bender that can only be used for bending on one plane. for example,
When determining the dimension between multiple points, after bending the pipe once, the pipe positioning was performed manually so that the next bending dimension would be the dimension between the bending points by visual measurement. Furthermore, in order to perform three-dimensional bending, that is, multidimensional bending, a simple angle setting device was used to manually twist the pipe to set the three-dimensional bending angle and perform the bending process.

Furthermore, in order to fix the flange 1 to the pipe 2,
After completing the multi-point multidimensional bending, the flange 1 is inserted into the bent pipe 2 and temporary welding is performed manually, and corrections such as the perpendicularity between the pipe 2 and the flange 1 are visually measured using a simple gauge. However, if the flange 1 is misaligned, remove the flange 1, temporarily weld it again, measure it with a gauge again, and correct the perpendicularity.Repeat the installation work by simple manual labor so that the flange 1 and the pipe 2 are at right angles. I was doing it.

Therefore, there are problems in that the work is extremely inefficient and takes a long time, and products with unstable quality are manufactured.

[Purpose of the invention]

The present invention has been developed in view of these problems, and allows welding of pipes and flanges and multi-point multidimensional bending to be performed consistently and fully automatically, thereby improving work efficiency, product quality, etc. The purpose of the present invention is to provide a fully automatic bending device that can achieve this.

[Summary of the invention]

That is, the first invention includes a bending mechanism for a pipe, a chuck mechanism, a three-dimensional bending angle positioning mechanism, and a dimension positioning mechanism between bending points, and these mechanisms are controlled by electrical signals. This is a fully automatic bending device that can completely automate the bending work of pipes.

In addition, the second invention is a fully automatic bending device that is equipped with a flange stocker, a flange positioning mechanism, and a flange positioner to completely automate the pipe bending work, and also fully automates the fixing of the flange to the pipe. be.

[Embodiments of the invention]

Next, one embodiment of the present invention will be described based on FIGS. 3 to 22. Each figure shows the case where the present invention is applied to a fully automatic processing machine for piping mainly used for piping work for rolling mills, which can fully automatically process piping to obtain an appropriate shape during hydraulic/pneumatic piping. FIG. 3 shows an overall plan view of the fully automatic piping processing machine, and FIG. 4 shows an overall front view.

This device has a flange stocker A, a flange positioning mechanism B, a flange positioner C with a welding machine, a marking machine D, a cutting machine E, a bending mechanism F, and a chuck mechanism to enable complex processing. G, and a positioning mechanism J of a three-dimensional bending angle positioning mechanism H and a positioning mechanism I for dimension between bending points.

The bending mechanism F, the chuck mechanism G, and the positioning mechanism J are provided with a bending mechanism base 9 fixed on a common base 8, and devices constituting each function on a chuck mechanism/positioning mechanism base 10. .

The stamping machine D and the cutting machine E are configured such that a movable base 13 thereof is moved back and forth by a cylinder 12 fixed on a base 11. Devices having respective functions are provided on this moving base 13.

A flange positioner C and a welding machine 16 are fixed to the common base 14 for the flange positioner C and welding machine. After welding the flange 1 to the pipe 2, the welding machine 16 provided in the flange positioner C rotates around point P using a cylinder 17 to avoid the welding. On the base 18 for the flange positioning mechanism B, devices constituting functions are provided.

Next, each mechanism will be explained.

The bending mechanism F will be explained based on FIGS. 5 to 10.

FIG. 5 shows the overall structure of the bending mechanism F, in which the pressure die 6 is fixed via supports 20 and 21, and the booster clamp die 19 is fixed to the support 21. A pressure cylinder 22 for clamping the pressure mold 6 in a direction perpendicular to the pipe 2, a booster clamp cylinder 24 for clamping the booster clamp mold 19 in a direction perpendicular to the pipe 2, a booster clamp mold 19 and a pressure mold 6. A booster cylinder 23 that moves the pipe 2 in the same direction as the pipe 2 via the support 21, and a clamp type cylinder 25 that clamps the clamp mold 4 in a direction perpendicular to the pipe 2 are provided.

Another gear 28 meshes with the gear 27 directly connected to the shaft 26 of the bending mold 5, and the shaft 2 of the gear 28
9 is directly connected to a hydraulic servo motor 30.

FIG. 6 shows a springback detection sensor 7 provided inside the clamp mold 4. As shown in FIG.

As shown in FIG. 7, when the size of the bending die 5 changes, the amount of bending also changes, and the centers of the flange 1 and pipe 2 also change by Z, making it impossible for the chucks to be aligned. This amount of change Z is corrected as shown in FIG.

That is, the slide base 200 has a rack 201.
is fixed, and a pinion 202 is engaged with the rack 201. The pinion 202 has a servo motor 20
3 are connected.

When the size of the bending mold 5 is input to the microcomputer, the servo motor 203 receives a command from the microcomputer and rotates by a predetermined amount, and the slide base 200 moves by a change amount Z. Next, the fixed support 204 connected to the bending mechanism F body moves the bending movement cylinder 20
5 until it touches the slide base 200. In this way, the entire bending mechanism F is moved to correspond to the amount of change Z.

Here, the operation of each part when performing multi-point multidimensional bending will be explained. FIG. 9 shows an operation flowchart of this device, and the part surrounded by broken lines is the operation flow that enables multi-point multidimensional bending.
FIG. 10 shows its operating state diagram.

First, the number of bending steps is checked using a microcomputer (initially one step), and the pipe 2 is positioned at a predetermined position using the chuck mechanism G and the positioning mechanism J.
Clamp with the pressure mold 6 and booster clamp mold 19 and open the chuck (FIG. 10a).

Next, with the pipe 2 checked, the hydraulic servo motor 30 is operated to perform the bending process (first
Figure 0 b). After the bending process is completed, the spring back amount of the pipe 2 is measured by the spring back detection sensor 7, and the amount is compared with the tolerance. If the springback amount is larger than the tolerance, corrective bending is performed, and then the springback amount is measured again and compared with the tolerance. Repeat this operation until the springback amount becomes smaller than the tolerance.
When the value becomes smaller, one step of bending is completed, and the number of bending steps is checked again by the microcomputer.

If the number of bending stages is still reduced, open the clamp die 4 to move on to the next bending, return the booster cylinder 23, check the position of the pipe 2, and check the checked part (three-dimensional bending angle). The positioning mechanism H (described later) allows for twisting and multidimensional bending at multiple points (FIG. 10c).

Next, the bending die 5 is returned to its original position using the hydraulic servo motor 30, and the pipe 2 is again clamped using the clamp die 4, the pressure die 6, and the booster clamp die 9 (FIG. 10d). Perform bending (Fig. 10e).
This operation is then repeated to enable multi-point, multi-dimensional bending.

Next, the chuck mechanism G, the three-dimensional bending angle positioning mechanism H, and the positioning mechanism J of the point-to-point dimension positioning mechanism I will be explained based on FIGS. 11 to 13. Fig. 11 is a front view of the chuck mechanism G and positioning mechanism J, Fig. 12 is a plan view, and Fig. 13 is a front view of the chuck mechanism G and positioning mechanism J.
FIG. 2 is a sectional view taken along the line in FIG.

A rack 31 fixed on the chuck mechanism/positioning mechanism base 10 meshes with a gear 32 and is connected to a DC servo motor 34 via a worm reducer 33, and this DC servo motor 34 can be electrically controlled. The predetermined dimensional positioning between the bending points is performed by.

The chuck mechanism G and the positioning mechanism J are provided on the same base 35. This base 35
A linear linear bearing 36 is fixed to the base 10, and meshes with a linear linear bearing guide 37 fixed on the base 10. When the gear 32 rotates via the rack 31, the linear linear bearing 36 and the linear linear bearing guide 37 are rotated. The base 35 slides back and forth in the same direction as the pipe 2.

The chuck of pipe 2 is the worm wheel 38
This is done at a hollow shaft 39 of an integral structure that has been hollowed out. That is, the pipe 2 is housed in the hollow shaft 39, and the claw 40 moves up and down to chuck the pipe 2.

In the hollow shaft 39, a cylinder guide 41 is fixed to a rod 43 by a nut 42. This rod 43 is moved back and forth in the same direction as the pipe 2 by hydraulic pressure via a rod guide 44. The rod guide 44 has a flange 4 fixed to the hollow shaft 39.
It is one with 5. The flange 46 is provided to prevent the guide of the rod 43 and the pressure oil from flowing out, and is fixed to the hollow shaft. The tip of the rod 43 engages with the groove 47 of the inclined T-slot. The pieces 48 having the inclined grooves 47 are arranged into three equal parts in the circumferential direction of the ring 49. The claw 40 is fixed to this piece 48.

A ring 50 that feeds hydraulic pressure into the hollow shaft 39 and also serves as a guide during rotation is provided with an inlet and an outlet for hydraulic oil at one location. A special bearing 53 is provided to aid in hanging. The ring 50 is a bearing housing 54
is fixed to the bearing cover 55 via a bearing cover 55. This bearing housing 54 is fixed to a gearbox 56.

An encoder 58 is directly connected to the worm 57 and the hollow shaft 39, and a DC servo motor 59 is directly connected to the opposite side.If an electrical signal with a predetermined twist angle is applied to the DC servo motor 59, the electric signal corresponding to the twist angle is applied. It can be rotated while holding the pipe 2.

Next, the cutting machine E will be explained based on FIG. 14, and the stamping machine D will be explained based on FIG. 15.

A cutting machine E and a stamping machine D are provided on a cutting machine/stamping machine moving base 13. Cutting machine base 6
1 is provided with a swing plate 62 and a clamp plate 63 that are movable in a direction perpendicular to the pipe 2.
A trunnion type cylinder 64 is attached to the clamp plate 63.
is fixed, and the rod of this cylinder 64 is constructed such that a hinge 65 is fixed to the swing plate 62 via a pin 66.

When the cylinder 64 moves, the swing plate 62 falls down as shown by the two-dot chain line and hits the stopper 67A, and when the cylinder 64 moves further, the swing plate moving base 68A moves and touches the stop screw 67.
corresponds to If the movement of the cylinder 64 continues even when the swing plate moving base 68A hits the stop screw 67, the clamp plate moving base 68 moves back and hits the other stop screw 67, and the movement of the cylinder 64 stops.

When clamping the pipe 2, this movement is reversed, but both the swing plate moving base 68A and the clamp plate moving base 68 come into contact with the center alignment block 69 and clamp the pipe 2. Incidentally, even if the sizes of the pipes 2 are different, the swing plate 62 tilts to clamp the pipes 2.

While the pipe 2 is clamped and only the pressure mold 6 is operated to clamp the pipe 2, the pipe 2 near the swing plate 62 and the clamp plate 63 is cut by the cutter 70. This cutter 70
is driven and rotated by a motor 73, and the cutting machine moving base 71 is operated by a cylinder 72 to perform cutting.

Furthermore, on the cutting machine/stamping machine moving base 13,
The stamping press 74 is fixed. This stamp press 7
4 is composed of a stamping drum 75, a select knob 76 for selecting a stamped character, and a cylinder 77 for pressing the stamping drum 75 against the pipe 2 to stamp it (FIG. 15).

Pipes 2 of different diameters can be placed on the pipe fixing base 79 provided on the stamped pressbed 78, and the difference in pipe diameter is used as an electric signal to move the cylinder 80 in a direction perpendicular to the pipe 2. Fixed base 79 for marking by
can be prepared under pipe 2.

Further, in order to clamp the pipe 2 to the fixed base 79, a supporter 82 is provided on the rod of the cylinder 81 fixed to the stamped pressbed 78, and a V-shaped roller 84 is provided to the supporter 82 via a pin 83. There is. cylinder 8
By pulling the pipe 1, the pipe 2 is clamped and fixed between the pipe fixing base 79 and the rollers 84. This cylinder 81, supporter 8
2. The pins 83 and rollers 84 are both installed in pairs on both sides of the engraved press bed 78, and the cylinders operate simultaneously.

Next, the flange stocker A and the flange positioning mechanism B will be explained based on FIGS. 16 to 20.

FIG. 16 is a front view of the flange positioning mechanism B;
FIG. 17 is a plan view of the same, and the flange cassette 85 provided on the flange positioning mechanism base 18 functions as a flange stocker A for holding the flange 1, and has a size corresponding to the diameter of the pipe 2. Insert the flange 1. The bolt tightening holes in the flange 1 differ depending on the pipe diameter. The flanges 1 are pushed by a pusher 87 provided in a slide cylinder 86 and are transferred onto a push-up guide 88 one by one. This pressing guide 8
8 is fixed to a guide 89 that moves up and down a shaft 90. Guide 89 is fixed to plate 92.
The flange 1 transferred to the pressing guide 88 is raised by the operation of the cylinder 91.

Here, if the pipe diameter differs, the size of the flange 1 also differs, so when positioning the flange 1, it is necessary to correspond to the pipe diameter. Flange 1
Positioning is performed at two points: the center hole (pipe hole) and the bolt hole. The distance between the center hole and the bolt hole is a constant value determined by the diameter of the pipe 2.

18 to 20 show the details of the chuck portion that accurately positions the flange 1 in this manner. As shown in FIG. 19, the tapered pin 210 for positioning the center hole is attached to the compression spring
It is energized by the people and can appear at will. Also the 20th
As shown in the figure, the bolt hole taper pin 212 is fixed to a support 214 via a compression spring 213, and the support 214 is fixed to a bolt hole positioning cylinder 215.

When the pipe diameter is input into the microcomputer, the cylinder 215 for positioning and moving the bolt hole is located at the distance from the center hole to the bolt hole that matches the diameter.
The microcomputer issues a command to this cylinder 215.
is driven and taper pin 2 for the corresponding bolt hole
12 stands out. Taper pin 2 for this bolt hole
12 and center hole positioning taper pin 210
The flange 1 is accurately positioned with respect to the pipe 2 by.

Next, this accurately positioned flange 1 is clamped by clamp claws 93. That is,
The clamp claw 93 is rotated by the rotating clamp cylinder 94 to clamp the flange 1. This clamp claw 93 is fixed to a support 95, and the support 95 is fixed to a guide 97 provided on a rod of a cylinder 96. Guide 9
7 slides via a slide shaft 98.
Since the flange 1 is chucked from both the left and right sides, a pair of clamp claws 93 are provided in the lateral direction.

Next, the flange positioner C, which receives the flange 1 checked as described above and rotates the flange when welding the pipe 2 and the flange 1, will be explained based on FIGS. 21 and 22.

FIG. 21 is a front view of the flange positioner C, which is installed on the base 14. Clamp claws 101 are provided on the rods of a pair of upper and lower rotating clamp cylinders 100 provided on the rotating shaft 99, and the flange 1 checked by the flange positioning mechanism B is received and clamped by the clamp claws 101.

The pipe 2 is inserted into the clamped flange 1 and temporarily welded, but the rotating shaft 99 must remain stationary until this time. That is, the rod of the cylinder 103 is pressed against the V-shaped groove of the stopper 102 fixed to the outer periphery of the rotating shaft 99, and the rotating shaft 99 remains stationary. When the temporary welding between the pipe 2 and the flange 1 is completed, the rod of the cylinder 103 is retracted and the rotating shaft 99 becomes free.

When the temporary welding is completed, the pipe 2 and the flange 1 are fixed, and then, in the case of three-layer full-circumference welding, the chuck mechanism G is operated to chuck the pipe 2, and welding is performed with the welding torch 104. In addition, rotation during full circumference welding is achieved by rotating the DC servo motor 59, which rotates the rotating shaft 99 with the flange 1 clamped, and by the welding torch 104, the flange 1 and the pipe 2 are welded all around. be done. Incidentally, earthing during welding is performed via a pair of brushes 106 that are in contact with a slip ring 105 fixed to the rotating shaft 99.

Next, the operation when fixing the pipe 2 and the flange 1 will be explained with reference to FIG. 9. First, move the flange 1 corresponding to the appropriate pipe diameter to the flange stocker A.
One piece is taken out from the flange 1 and clamped while being positioned by the flange positioning mechanism B using the center hole and bolt hole of the flange 1. Next, the positioned flange 1 is transferred to the flange positioner C, and the flange positioner C is rotated 90 degrees in the longitudinal direction of the pipe 2.
The pipe 2, which can be held by the cylinder 60, is fed by a fixed length and stopped just before the flange 1, and the pipe 2 is pressed against the flange 1 by the cylinder 60 while rotating the pipe 2. Then, one-point temporary welding is performed using a welding torch 104 fixed to the flange positioner C.

Thereafter, the flange positioner C is rotated 90 degrees with the pipe 2 held in check, and the main welding is performed from that point using the welding torch 104.

After the main welding is completed, the pipe 2 is chucked by the chuck mechanism G and fed by a fixed length to the stamping machine D, the pipe stamping base is positioned according to the pipe diameter, and the stamping machine D performs the stamping.

Thereafter, multi-point multi-step bending is performed as described above, and finally, the pipe 2 is cut to a predetermined size by the cutting machine E.

According to this embodiment, since the bending process is performed while measuring the amount of spring back when bending the pipe 2, an accurate bending angle can be obtained, and highly accurate pipe bending process is possible.

In addition, by providing a chuck mechanism G that can chuck the pipe 2 even if the pipe diameter is different, it is possible to chuck the middle of the pipe 2 to perform bending, and the position of the pipe 2 at the bending part can be accurately determined. The yield of the pipe 2 is improved by bringing the bent part and chuck closer together.

Furthermore, the flange 1, which was previously done by hand,
All processing operations, from taking out, welding, stamping, bending, and cutting, can be performed automatically, so processing time can be shortened.

〔Effect of the invention〕

As explained above, according to the present invention, high-precision piping can always be stably obtained, the reliability of the piping can be greatly improved, and manual work can be eliminated to significantly reduce the number of man-hours.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of a conventional multi-point multi-dimensional bent piping using a joint, Fig. 2 is an explanatory diagram of a multi-point multi-dimensional bent piping which is a target of the device of the present invention, and Figs. 3 to 22 are illustrations of the present invention. 3 is an overall plan view, FIG. 4 is an overall front view, FIG. 5 is an explanatory diagram of the bending mechanism, FIG. 6 is a sectional view taken along the line of FIG. 5, and FIG. An explanatory diagram of the positioning mechanism of the bending mechanism, FIG.
9 is a flowchart of the operation of the device, FIG. 10 is an explanatory diagram of the multi-point multidimensional bending operation state, FIG. 11 is a front view of the chuck mechanism and positioning mechanism, FIG. 12 is the same, Plan view, Figure 13 is the 1st
Fig. 2 - line sectional view, Fig. 14 is an explanatory diagram of the cutting machine, Fig. 15 is an explanatory diagram of the stamping machine, Fig. 16 is a front view of the flange positioning mechanism, Fig. 17 is a plan view of the same, Fig. 18 19 is a sectional view taken along the line XI-XI in FIG. 18, FIG. 20 is a sectional view taken along the line in FIG. 21 Figure XII-XII
FIG. 1...flange, 2...pipe, 4...clamp type,
5... Bending type, 6... Pressure type, 7... Spring back sensor, 22... Pressure type cylinder, 23... Booster cylinder, 24... Booster clamp type cylinder, 25... Clamp type cylinder, 30
...Hydraulic cylinder, 31...Rack, 32...Gear, 34...DC servo motor, 35...Base, 3
8...worm wheel, 39...hollow shaft, 40...
Claw, 47...T slot groove, 57...Worm, 5
9...DC servo motor, 104...Welding torch, A
...Flange stocker, B...Flange positioning mechanism, C...Flange positioner, D...Stamping machine, E
...cutting machine, F...bending mechanism, G...chuck mechanism, H
... Three-dimensional bending angle positioning mechanism, I... Dimension positioning mechanism between bending points, J... Positioning mechanism.

Claims (1)

[Scope of Claims] 1. A holding die for holding the blank pipe, a hydraulic cylinder provided in the holding die, a bending die for removably fixing the bent portion of the blank pipe at the bending position, and a holding die for fixing the bending die at the bending position. A bending mechanism that has a hydraulic servo motor that rotates by the bending angle; A chuck mechanism that has a hollow shaft that stores and holds the raw pipe and a claw that chucks the raw pipe by moving a T-slot provided in the hollow shaft. and; a three-dimensional bending angle positioning mechanism having a gear provided on the hollow shaft and a motor that rotates the hollow shaft about its axis via the gear; equipped with the chuck mechanism and the three-dimensional bending angle positioning mechanism. A fully automatic bending device comprising a bending point-to-bending point dimension positioning mechanism having a base and a motor that moves the base via a gear. 2. A holding die that holds the blank pipe, a hydraulic cylinder installed in this holding die, a bending die that removably fixes the bent portion of the blank pipe at the bending position, and a bending die that rotates the bending die by the bending angle. a bending mechanism having a hydraulic servo motor for holding the raw pipe; a chuck mechanism having a hollow shaft for storing and holding the raw pipe; and a chuck mechanism for chucking the raw pipe by moving a T-slot provided on the hollow shaft; a three-dimensional bending angle positioning mechanism having a gear and a motor that rotates the hollow shaft about its axis via the gear; a base equipped with the chuck mechanism and the three-dimensional bending angle positioning mechanism; and this base. A dimensional positioning mechanism between bending points, which has a motor that moves the flange through a gear; a flange stocker that stocks flanges predetermined according to the diameter of the raw pipe; and a flange stocker that takes out the flanges one by one from the flange stocker and grips them. A fully automatic bending device equipped with a flange positioning mechanism for welding a flange to the end of a blank pipe, and a rotatable flange positioner that has a welding machine for welding a flange to the end of a blank pipe. 3. The fully automatic bending device according to claim 2, wherein the holding type includes a clamp type, a pressure type, and a booster clamp type. 4. The fully automatic bending device according to claim 3, wherein the clamp die is provided with a springback sensor so that the amount of springback of the bent blank pipe can be compared with a tolerance.