JPH0394921A - Device for bending work - Google Patents

Abstract

PURPOSE:To minimize the twisting motion and to shorten the time of bending work by calculating the twisting angle in advance and rotating the bending direction of the bending work data according to the twisting angle. CONSTITUTION:The working data storage means M3 storages the bending direction, the rotation calculating means M4 rotates the bending direction around the blank to be worked by every prescribed angles, the bending direction calculating means M5 calculates the number of the bending direction which are entered within the bending prohibited range set in advance at every prescribed angle rotated with the rotation calculating means M4. And the twisting angle deciding means M6 decides the twisting angle of the articulated type robot M2 so as to make the number of calculated bending direction minimum. And more, the articulated type robot M2 rotates the joint, and moves the bending mechanism M1 around the blank to be worked W so as to get the bending direction based on the twisting angle, and the bending mechanism M1 executes bending of the blank to be worked according to the bending work data.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention (Friend) For example, when bending a vibrator or a 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 to perform bending.

[Conventional technology] Conventionally, when a long workpiece is bent at multiple positions, and the bending direction is different at each bending position, the workpiece is rotated according to the bending direction. mosquito,
Alternatively, a bending mechanism is used that swings around the workpiece depending on the bending direction. Which one to use (selected according to the bending shape of the workpiece).
ヱ A bending mechanism is attached to the tip of an articulated robot that has three sets of joints that rotate around an axis parallel to the axial direction of the workpiece, and each joint is rotated to move the bending mechanism to a predetermined position. [Problems to be Solved by the Invention] However, bending is performed using an articulated robot having rotating joints (↓ For example, if a 1fS workpiece is When moving the bending mechanism to a predetermined position according to the bending direction, 1: The arm of the articulated robot and the workpiece interfere, and the bending mechanism is moved to a predetermined position according to the bending direction. Therefore, the present invention aims to solve the above problem and moves a bending mechanism around the workpiece to perform bending in a predetermined bending direction. It is an object of the present invention to provide a bending device which calculates in advance a bending direction that falls within a bending prohibited area and determines an optimal twist angle to shorten the bending time.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following configuration as a means for solving the problems. Namely, as shown in FIG. The bending mechanism M is provided at the tip of an arm of an articulated robot M2, which has a bending mechanism M1 that bends an object W, and has at least three sets of joints that rotate around an axis parallel to the axial direction of the workpiece W. ] is attached and the workpiece W is sent in the axial direction of the workpiece W according to the bending data stored in the processing data storage means M3 in advance, and the bending mechanism M1 is In the bending device that moves around the workpiece W and performs bending by the bending mechanism M1, the processing data storage means M3 includes a bending direction in the bending data stored therein, and the bending direction is set as the bending direction by the bending mechanism M1. Rotation calculating means M4 for rotating the workpiece W at predetermined angles; and calculating the number of bending directions that fall within a preset bending prohibited area for each predetermined angle rotated by the rotation calculating means M4. A bending method comprising: a bending direction number calculation means M5 to calculate the number of bending directions; and a twist angle determination means M6 to determine a twist angle of the multi-joint robot M2 that minimizes the calculated number of bending directions. This is the configuration of the processing equipment.

[Function] The bending device 1i having the above configuration, the processing data storage means M3 stores the bending direction, and the rotation calculation means M4
, the bending direction is rotated around the workpiece W every predetermined angle, and the bending direction number calculation means M5 determines that the bending direction falls within the bending prohibition area set in advance for every predetermined angle rotated by the rotation calculation means M4. Calculate the number of directions. Then, the twist angle determining means M6 determines the twist angle of the articulated robot M2 that minimizes the calculated number of bending directions. Further 1:,
The articulated robot M2 rotates the joints and bends the bending mechanism M1 to the workpiece W so that the bending direction is based on the twist angle.
The bending mechanism M1 bends the workpiece according to the bending data. Therefore, the bending direction that falls within the bending prohibited area is calculated in advance and the twist angle is determined to reduce the bending time of the workpiece.

[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 capable of gripping a long vibrator W as a workpiece is provided approximately in the center of the bending device. This chuck mechanism 1 has two swingable chuck jaws 2 and 4 as shown in FIG.
, 4 so that both ends of the chuck claws 2.4 come together to grip the outer periphery of the vipe W.

The chuck mechanism 1 is attached to the tip 12 of a sliding table 18, and this sliding table 18 is slidably supported on a swinging member 20. The tip of 22a is fixed to the sliding table 18. The swinging member 20 has a base 241 and a nibbin 2.
6, and a rod 28a of a swing cylinder 28 is locked to one end of the swing member 20. The chuck mechanism 1 is moved up and down by the vertical cylinder 22 (in the eight directions of arrows in FIG. 2). B direction). The sliding table 18, the swinging member 20, the vertical cylinder 22, the swinging cylinder 28, and the like constitute a support stand 29.

The support stand 29 (as in the Tomomoto embodiment 1) is not limited to one that can swing up and down, but can also be of a fixed type that simply fixes the chuck structure 1 at the center.

Also, parallel to the pipe W held by the chuck mechanism 1:
, and two rails 30, 32 are laid on each side of the gripped vibrator W to provide tracks 34, 36. On this rail 30.32, movable platforms 38 and 40 are mounted movably on the rails 30 and 32. Track 34. via chain 46.47 rotated by mechanism 42.44.
36. These two moving tables 38, 40, both tracks 34, 36, two sets of drive mechanisms 42, 44, etc. constitute two sets of moving mechanisms 48, 49.

On both the moving tables 38 and 40 (.t, respectively, the first and second
An articulated robot 50, 52 is mounted, and both the first and second articulated robots 50, 52 have the same configuration, and are mounted on both movable tables 38, 40 with the chuck mechanism 1 at the center. It is set up so that it is symmetrical. Regarding both the first and second articulated robots 50 and 52 (9) One of the first articulated robots 50 will be explained in detail.The first articulated robot 50 of this embodiment (.lt. A fixed part 54 fixed to the first arm 56 , a second arm 58 , a tip arm 60 , a fixed part 54 and each arm 56
, 58, 60, and rotates around an axis parallel to the axial direction of the pipe W.
66. It can be performed even if there are three or more sets of joints.

First and second bending mechanisms 70 and 72 are attached to the tip arms 60 and 68 of both the first and second articulated robots 50 and 52, respectively.

Since the first and 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 machine i70 It. 5th @ As shown in FIG.
In this embodiment, two grooves 76 and 78 corresponding to two types of bending radii are formed around the top in the axial direction. In this embodiment, two grooves 76 and 78 are provided, but one groove may also be provided.

Further, a clamping die 80 is provided which is driven by the cylinder 79 and moves toward the bending die 74 to clamp the pipe W together with the bending die 74. The clamping mold 80
By rotating it by a predetermined angle, it is possible to perform so-called compression bending. And this tightening mold 80
A pressure die 82 that receives reaction force during bending is provided alongside. Like this 1:. Since the first bending mechanism 70 is attached to the first articulated robot 50, each joint 62,
Even if 64.66 is rotated, the axial direction of the bending mold 74 is always perpendicular to the axial direction of the pipe W.

Next, the electrical system of this embodiment will be explained using the block diagram shown in FIG. This device includes a host computer 100,
It is driven and controlled by the first control device 102 and the second control device 104 to process the pipe W. In this example,
Host computer 1001, well-known CPU 106,
ROM108, RAM as processing data storage means M3
Input/output circuits 114 and the like that perform input/output with the keyboard 112 and the like are connected to each other via a common bus 116.

In this embodiment, the bending data (Y) is input to the host computer 100 from the keyboard 112 operated by the operator.
These are the XYZ orthogonal coordinate values of the intersection point ○ of the center line of the vibrator W at each bending position, which is the origin of the orthogonal coordinates. Host computer 100 {Top Example (f. First articulated robot 5
In the case of bending data regarding 0, the feed amount of the first articulated robot 50 is calculated by adding the bending radius along the pipe W axis direction by the moving mechanism 48 to the input XYZ orthogonal coordinate data of each intersection point Q. P, the bending direction angle R of the vibrator W, and the bending angle B of the vibrator W by the clamping die 80 of the bending mechanism 70 (hereinafter referred to as PRB bending data).The PRB bending data is stored in RAM1.
10.

As an example (f.), we will explain the case of bending the pipe W into the shape shown in Fig. 8. It is a perspective view showing the side to be bent.The tip of this vibrator W is set as the origin of the XYZ rectangular coordinates, and the intersection Q of the center line of the vibrator W when bent is set as the bending position.
In FIG. 8, 1t. ．． Subscripts are given that increase in number from the origin toward the chuck mechanism 1. When the XYZ orthogonal coordinate values of each intersection point Q are input into the host computer 1001,
As shown in Table 1 below, this bending data is converted into PRB bending data in consideration of the bending radius.

Table 1 also shows the bending direction angle R in the PRB bending data.
E is converted so that the upper direction is O°, the direction of clockwise rotation is expressed as a negative value, and the direction of counterclockwise rotation is expressed as a positive value. Further 1: Joints 62, 64 of the first multi-joint robot 50. 66 to move the first bending mechanism 70 around the pipe W to change the bending direction angle R]:
, the direction E in which the first bending mechanism 70 moves is once determined to be the rotational direction in which the amount of movement is small, as shown in FIG. 10(a).

Example 1'L First bending mechanism 70 from intersection Ql to intersection Q2
When moving, it is once determined that the amount of movement is smaller than 1 in the clockwise direction. These bending data are stored in the RAM II of the host computer 100. Furthermore, the 10th @
In FIG. 11, each intersection point Q is shown at a position corresponding to the bending direction angle R.

For example ('L), depending on the bending direction of the vibrator W, each joint 6
2, 64, 66, etc., the second arm 58 and the like may interfere with the vibrator W. As shown by the two solid lines in FIG. 13, when the second arm 58 bends over the vibrator W, the second arm 58 interferes with the vibrator W, and the bending direction exceeds the boundary line KM. As a result, the first bending mechanism 70 cannot be moved around the pipe W. Also, as shown by the two-dot chain line, 1:. When the second arm 58 bends in a direction that pushes up the vibe W from below the pipe W, the second arm 58 interferes with the pipe W, and the first bending mechanism 70 is moved so that the bending direction is above the boundary line KP. You will not be able to move around the pipe W.

In this way, the first multi-jointed robot 50 has three sets of joints 62, 64.66. Each joint 62, 64.6
6, interference with the vibe W occurs in the fan-shaped bending prohibited area surrounded by one boundary line KM and the other boundary line KP indicated by diagonal lines in FIG. The vibrator W cannot be bent in the corresponding direction. Also,
The same holds true for the second articulated robot 52.

This bending prohibited area is stored in the RAM of the host computer 100.
This is stored in the IIO in advance, and it is determined whether the bending direction of the pipe W falls within this bending prohibited area.

Note that the pipe W is bent sequentially from both outside sides toward the chuck mechanism 1, but if it is determined that this interference will occur, the pipe W is twisted and the interference is removed by interaction between the host computer 100 and the operator. Programs are created to avoid this. And both first,
Respective programs created in accordance with the actions 12 of the second multi-articulated robots 50 and 52 are transmitted to the first control device 102 and the second control device 104, respectively.

Friend of the first control device 1021: well-known CPU 120, ROM
122, RAM 124 is configured as the center of the logic operation circuit; bending mechanism input/output circuit 126 that performs input/output with external servo motors, etc.; chuck mechanism input/output circuit 128; support base input/output circuit 130; moving mechanism input/output circuit. 132, the first articulated robot input/output circuit 134, etc. is connected to the common path 1
The first bending mechanism 70, the chuck mechanism 1, the support base 29, the moving mechanism 48, and the first articulated robot are connected to each other via the CPU 120 and
-50 is input via the bending mechanism input/output circuit 126, the chuck mechanism input/output circuit 128, the support base input/output circuit 130, the moving mechanism input/output circuit 132, and the first articulated robot input/output circuit 134.

On the other hand, these data and signals and ROM122, RAM
Based on the data in 124 , the CPU 120 operates through the bending mechanism input/output circuit 126 , the chuck mechanism input/output circuit 128 , the support base input/output circuit 130 , the moving mechanism input/output circuit 132 , and the first articulated robot input/output circuit 134 . Each first bending mechanism 70, chuck mechanism 1, support base 29, and moving mechanism 4
8. Outputs a drive signal to drive the first articulated robot 50 and controls each mechanism. In this way, in this embodiment, the first control device 102 controls the chuck mechanism 1 and the support base 29.

On the other hand, the second control device 104 [L first control device 102
It has almost the same configuration as the well-known CPU150, ROM
152, the RAM 154 is configured as the center of the logic operation circuit. A bending mechanism input/output circuit 156, a moving mechanism input/output circuit 158, a second articulated robot input/output circuit 160, etc. that perform input/output with an external servo motor, etc. common bus 162
are interconnected through.

CPIJ150fL Each second song ffm structure 72, four moving mechanisms, signals from the second articulated robot 52 are sent to the bending mechanism input/output circuit 156, the moving mechanism input/output circuit 158, the second
It is input via the articulated robot input/output circuit 160.

On the other hand, these data and signals and ROM152, RAM
Based on the data in 154, the CPU 150
Structure input/output circuit 156, moving mechanism input/output circuit 158, second
Drive signals for driving each of the second bending mechanisms 72, the four moving mechanisms, and the second articulated robot 52 are outputted via the articulated robot input/output circuit 160 to control each mechanism.

Next 1: With regard to the processing performed in the host computer 100 described above, the case where the twisting angle of the vibrator W is determined will be explained with reference to the flowchart shown in FIG.

First, initialization is performed and the rotation angle counter OFK is set to O (step 200). And rotation angle counter OF
Determine whether K is less than 360 degrees (step 210)
, At the beginning it is 0 and it is less than 360 degrees, so FR
B Read the bending data as is, and select the intersection point 0 where the bending direction is within the bending prohibited area and the rotation angle counter ○F.
The angle value of K is stored in RAMT10. And the 10th
As shown in the figure, the number of intersections ◯ within the bending prohibition area is calculated and stored (step 220).

Figure 10 (mouth) 1 In the case shown, {friend intersection Q5, Q
4, the number of intersections "2" is calculated and stored.

Next, the intersection Q closest to one boundary line KM of the bend prohibition area within the bend prohibition area is calculated, and the intersection Q closest to this boundary line KM and the boundary line KM within the bend prohibition area is calculated. Calculate the angle WP formed by (step 230
). In the case of Figure 10 (mouth), {friend intersection Q5 and angle WP
Q5 is calculated and stored.

Next, as shown in FIG. 10(c), all the intersection points Q are rotated by the angle W P Q5 about the axis of the pipe W (step 235). And rotation angle counter○
The angle W P Q5 is added to FK and stored in the rotation angle counter ○FK (step 240).

Step 2 4. When processing 0 is executed, step 2
10. Repeat the following steps to calculate the number of intersections Q within the bending prohibition area, in this case the number of intersections Q4 and 02, ``2'', as shown in Figure 10 (C). (Step 220). Next, the intersection Q4 closest to the boundary line KM and the angle WP between this boundary line KM and the intersection Q, which is 1 in this case, are calculated (step 230).

Next 1:. As shown in Figure 10 (2), all the intersections Q
is rotated by the angle W P Q4 around the axis of the vibrator W (step 235), and the rotation angle counter ○ "K
Add the angle W P Q4 to and store it (Step 2 4
0), After that, the processes of steps 210 to 240 are repeatedly executed to calculate the number of intersections within the bending prohibition area, the intersection Q closest to the boundary line KM, and its angle wp, and rotate the intersection Q by the angle WP. In the case of Figure 10 (2), the number of intersections is “1”.
”, the intersection Q2, and the angle WPQ2 are calculated, and the intersection Q is rotated by the angle WPQ2.

In this way, the process described above is repeatedly executed until the angle value of the rotation angle counter ○K exceeds 360 degrees, that is, until it has made one rotation or more. Number of intersections in Around the axis of pipe W {
Rotate twice to find the intersection Q within the bending prohibition area and the number of intersections Q. In this way, in this embodiment, when the bending direction is rotated every predetermined angle, it is rotated every angle WP between the intersection points Q.
It is also possible to execute the above process by rotating the intersection point 0 every L 1°.

When the above-mentioned process is executed for all the bending data after one rotation or more, the next step is to calculate how many temporary twist angles O there are that minimize the number of intersections within the bending prohibition area calculated by the above process. The twist angle number A is calculated (step 250). Here, the temporary twist angle θ and 1. For example, {ヱ is the value of the rotation angle counter OFK when the number of intersections is the minimum, and in the case of Fig. 10 (2) where the number of intersections is 1 (the temporary twist angle θ: OFK: WPQ5 + WPQ4. In this example, there are several times when this minimum number of intersections is reached, namely, (2), (E), (E), (
This is the case in (g) and (h). In this example, the temporary twist angle θ when the minimum number of intersections is
The twist angle number A, which indicates how many twist angles there are, is 5.

Next 1:. It is determined whether or not the number of twist angles A obtained by the process of step 250 is 1 (step 2
60), if it is 2 or more, {↓ 1 to select a better temporary twist angle θ from among multiple temporary twist angles θ.
:, minimum passing twist angle number B indicating how many temporary twist angles θ that minimize the number of times the bending prohibited area is passed
is calculated (step 270). In the case shown in Fig. 10 of this embodiment, Fig. 10 (2) is 1 @ Fig. 10 (
1 time in Figure 10 (E), 1 @ in Figure 10 (G), 3 times in Figure 10 (G), and 3 times in Figure 10 (H). Therefore, in this embodiment, the temporary twist angle θ in the states shown in FIG. 10 (2), (E), and (F) is selected.

Subsequently, this selected minimum passing twist angle number B is
It is determined whether it is 1 (step 280). 2 or more, select the tentative twist angle θ when the opening angle Eh to the intersection Q closest to the other boundary line KP outside the bending prohibited area is <maximum (step 290
). In this embodiment, the 11th
As shown in figure (a), the opening angle E becomes maximum.

Then, select the tentative twist angle θ at which the selected opening angle E becomes the maximum, so that the intersection point Q is equal on both sides with respect to the bending prohibited area. The tentative twist angle θ is corrected by dividing E into equal parts to calculate the twist angle θ0 (step 300). In the case shown in FIG. 11 (opening), the twist angle θO is as shown below.

θO =WPQ5+WPQ4+WPQ2+WPQ1+E
/2Next, when this twist angle is θ0, 12, if there is a direction of movement that passes through the bending prohibited area, the direction of movement is corrected so that it is the opposite direction (step 310).
. In this embodiment (above), although this does not apply, when considering the twist angle θ0, 1: When the bending mechanism 70 is moved around the pipe W and moved between the intersection points Q, the bending prohibited area The direction of movement is reversed so that it does not pass through.

Like this I:. By calculating the largest opening angle E, dividing the opening angle E into equal parts, correcting the temporary twisting angle θ, and calculating the twisting angle θ0, the bending direction can be moved away from both boundary lines KM and KP. , interference with the vibrator W can be more reliably prevented. On the other hand, when it is determined that the number of twist angles A is 1 through the process of step 260, it is sufficient to select the tentative twist angle θ, so that the process of steps 270 to 290 is not performed. 300 and below, the temporary twist angle θ is corrected and the twist angle θ0 is calculated (step 300). , Next 1:. The direction of movement is determined (step 310).

If it is determined that the minimum passing twist angle number B is 1 through the processing in step 280, then the provisional twist angle θ can be selected, so step 290
Without executing the process in step 3001J, the temporary twist angle θ is corrected and the twist angle OO is
is calculated (step 300), and then the moving direction is determined (step 310).

Then, once the process of step 310 is executed, the present control process is temporarily terminated. Furthermore, steps 210.230-2
The execution of the process of step 40 acts as the rotation calculation means M4, the execution of the process of step 220 acts as the bending direction number calculation means M5, and the execution of the process of steps 250 to 310 acts as the twist angle determination means.

In this embodiment, the twist angle θ0 is calculated by correcting the tentative twist angle θ through the processing of steps 260 to 300, but the twist angle θ0 is calculated by the processing of step 250 without performing such processing. It is also possible to calculate one of the tentative twist angles θ as the twist angle θ0.

After calculating the twist angle θ0 in this way, the host computer 10011 sends the program created through interaction with the operator to the first control device 102, and the first control device 102ti controls the first articulated robot 5o according to this program. Control.

In the case of the above-mentioned embodiment, first, the vibrator W is gripped by the chuck mechanism 1, and the first articulated robot 50 is sent to the position corresponding to the intersection point Ql by the moving mechanism 48 according to the PRB bending data.

Then, since no interference will occur if the intersection Q11iPRB bending data remains unchanged, the first articulated robot 50 is driven so that the bending direction is in the direction of the bending direction angle R of the FRB bending data. The bending mechanism 70 is vibrated W
move around.

Then, the first bending mechanism 70 bends the pipe W at an angle B
After bending the vibrator W by the first bending mechanism 70
While holding the vibrator W, the grip of the vibrator W by the chuck mechanism 1 is released. Next 12. Each joint 62, 64 of the first multi-joint robot 50. 66 to rotate the pipe W around the axis of the vibrator W by the twist angle θ0. Subsequently, the pipe W is gripped again by the chuck mechanism 11, the support of the vibrator W by the first bending mechanism 70 is released, and the first articulated robot 50 is sent to the position corresponding to the intersection point 02.

Next 12. Each joint 62, 64 of the first multi-joint robot 50
．． Drive 66 and make the first bend 11! Move l'W470 around the pipe W. The bending direction after the movement of the first bending mechanism 70 is a direction obtained by rotating the bending direction angle R of the IPPB bending data about the axis of the pipe W by the twist angle θ0.

Subsequently, the first bending mechanism 70 bends the pipe W to a bending direction angle R that takes into account the twist angle θ0. From then on,
For each of the intersection points Q3, Q4, Q5, and 06, bending is performed in accordance with the PRB bending data, taking into account the twist angle θ0. As a result, the pipe W is bent as shown in FIG.

In this way, if the bending direction angle R of the input PRB bending data is within the bending prohibited area, bending cannot be performed as it is, so the vibrator W is twisted so that it is outside the bending prohibited area, but bending is prohibited. When bending the two intersection points Q in the area, the pipe W must be twisted each time. Intersection of the above-mentioned example (friend intersection Q5
, Q4, and because of the twist, the subsequent intersection Q may be within the bending prohibited area, in which case an additional twisting operation must be performed, Takt time becomes longer due to twisting motion.

Therefore, as mentioned above]:. In the case described above, by bending with the twist angle θ
Since it is only necessary to twist l once after bending, the takt time of bending is shortened.

Also, by calculating the twist angle θ0, PRB
Depending on the bending direction of the bending data, there may be no intersection Q that falls within the upper bending prohibited area. In that case, there is no need to perform a twisting operation, and the takt time can be significantly shortened.

In addition, in the above-mentioned embodiment (the first articulated robot 50
In the above description, the pipe W is bent from both sides by both the first articulated robot 50 and the second articulated robot 52.
When the bending process is performed sequentially toward the second articulated robot 52, interference with the pipe W similarly occurs. The interference area and bending position of the first articulated robot 50 are the first bending prohibited area and the intersection points Ql-6, and the interference area and bending position of the second articulated robot 52 are the second bending prohibited area and the intersection 0.
7 to 12, the pipe W is integral, so when rotating the intersection Q at every predetermined angle, {top all intersections Ql ~ 1
All you have to do is turn 2 times. And the intersection Ql~6 is the first
It is sufficient to make a judgment based on the bending prohibited area, and to judge the other intersections 07 to 12 only based on the second bending prohibited area. Then, the twist angle 00 may be calculated in the same manner as described above.

When the twist angle θ0 is calculated in this way, the first control device 102 and the second control device 104 control the first and second articulated robots 50, 52, the chuck mechanism 1, the support base 29,
Moving mechanisms 48, 49, first and second bending mechanisms 70. 72
is controlled to bend the vibrator W.

First, the pipe W is gripped by the chuck mechanism 1, and the first articulated robot 50 and the second articulated robot are gripped by the moving mechanisms 48 and 49.
The articulated robot 52 is moved to a predetermined position. Then, the first articulated robot 50 and the second articulated robot 5
2 to move the first bending mechanism 70 and the second bending mechanism 72 around the pipe W. Next, the vip W is bent by the first bending mechanism 70 and the second bending mechanism 72,
Repeat this operation to sequentially bend the pipe W starting from the outside. When the second articulated robot 52 and the vibrator W interfere with each other, the chuck mechanism 1 releases the vibrator W, the first bending mechanism 70 clamps the vibrator W, and the first articulated robot 50 Rotate each joint 62, 64, 66,
Twist the pipe W by an angle θ0. In addition, when the first articulated robot 50 and the vip W interfere,
The grip on the pipe W by the chuck mechanism is released, the second bending mechanism 72 grips the pipe W, rotates each joint of the second multi-joint robot 52, and twists the pipe W at an angle θ.
Twist by 0.

As a result, even if there is a bending direction within the first bending prohibition area, or even if there is a bending direction within the second bending prohibition area, instead of twisting the pipe W each time to avoid interference, the twist angle can be adjusted in advance. By calculating θ0, interference with the pipe W can be avoided and the takt time of bending can be shortened.

In addition, in this embodiment, {top host computer 100, first
Although it is equipped with a control device 102 and a second control device 104,
This may be configured by one large-sized control device.

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

[Effects of the Invention] As detailed above, the bending apparatus of the present invention (the upper bending mechanism is moved around the workpiece to perform bending in 12 predetermined directions, and the articulated robot and the workpiece are If there is interference, calculate the twist angle in advance, rotate the bending direction of the bending data according to the twist angle, minimize the twisting movement to avoid interference, and shorten the bending time. It has the effect of being able to

[Brief explanation of drawings]

FIG. 1 shows a block of a bending device according to an embodiment of the present invention. FIG. 2 shows a front view of a bending device according to this embodiment. FIG. 3 shows a top view of a bending device according to this embodiment. The side surface of the bending device of this embodiment is as follows. Figure 5 is the top surface of the bending mechanism of this embodiment. Figure 6 is the side surface of the bending mechanism of this embodiment.
FIG. 7 shows a block diagram showing an example of the control circuit of this embodiment.
FIG. 8 is a perspective view of the pipe after the pipe bending process of this embodiment, FIG. 9 is a flowchart showing an example of twist angle calculation processing performed in the control device of this embodiment, and FIG. 10 is a perspective view of the pipe after the pipe bending process of this embodiment. An explanation explaining the rotation of the intersection according to
Fig. 11 is an explanation of how to distribute the twist angles of this embodiment. Fig. 12 is an explanation of the motion of the articulated robot of this embodiment. Fig. 13 is an explanation of the prohibited bending area of the articulated robot. The figure shows two articulated robots in this example.
It is an explanatory view explaining a bending prohibition area when there is a stand. M1... Bending mechanism M2... Articulated robot M3... Machining data storage means M4... Rotation calculation means M5... Bending direction number calculation means M6... Twisting angle determining means W... Vibrator 1...Chuck mechanism 29
... Support stand 34.36 ... Track 48.4
9... Movement mechanism 50... First multi-joint robot 52... Second multi-joint robot 62, 64, 66... Joint 70... First bending mechanism 72... Second bending mechanism 1
00...Host computer

Claims (1)

[Scope of Claims] An articulated robot having a bending mechanism for bending a long workpiece, and having at least three sets of joints that rotate around an axis parallel to the axial direction of the workpiece. The bending mechanism is attached to the tip of the arm of the robot, and the multi-jointed robot is moved in the axial direction of the workpiece according to bending data stored in advance in the processing data storage means, and the bending mechanism In the bending apparatus, the bending device moves the workpiece around the workpiece and bends it using the bending mechanism, wherein the processing data storage means includes a bending direction in the bending data stored, and the bending direction is set as the bending direction. a rotation calculation means for rotating the workpiece by a predetermined angle; and a rotation calculation means for rotating the workpiece by the predetermined angle.
a bending direction number calculation means for calculating the number of bending directions that fall within a preset bending prohibited area; and a twisting angle for determining a twisting angle of the articulated robot that minimizes the calculated number of bending directions. A bending device comprising: a determining means;