JPH06269861A - Bending device - Google Patents

Abstract

PURPOSE:To measure the cycle of the operation of each shaft, to eliminate variation in working precision to enable reduction of a tact. CONSTITUTION:The device is constituted of a die 2 which is integrally fixed on a turntable 1 and along which a material to be worked as a workpiece is placed for a bender working, a clamping device 3 which consists of clamping members 31, 32 of one side and the other side for clamping both ends of the workpiece W, a table rotation driving device 4 with a servo motor 41 for the table to rotate the turntable 1, and a vertical motion device 5 with a servo motor 51 by which the other clamping member 32 is integrally fixed and moved vertically in the axial direction of the turntable 1. In addition, the device is further constituted of a tension control device 6 with a servo motor 61 for controlling tension, by which the table 62 with the vertical motion device 5 integrally fixed on it is moved and actuated on the workpiece W, and an NC control device 7 which is provided with a memory 71 with the positional data of each servo motor 41, 51, 61 preliminarily stored and by which the positional data for the control is outputted based on such storage.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bender for performing bending by controlling servo motors for table, up / down and tension control based on position data stored in a memory of an NC controller. Regarding processing equipment.

[0002]

2. Description of the Related Art As shown in FIG. 11, a conventional bender processing apparatus moves an X-axis fluid pressure cylinder X and a Z-direction which move a gripping member G, which holds a workpiece W along a mold K, in the X-direction. It consists of a Z-axis fluid pressure cylinder Z that moves and a Y-axis fluid pressure cylinder (not shown) that rotates the horizontal arm H in a direction perpendicular to the plane of the drawing, and bends the workpiece W along the mold K. There was something to process.

[0003]

SUMMARY OF THE INVENTION In the above-mentioned conventional bending machine, variations in the flow rates of the fluid pressure cylinders of the X, Y, and Z axes and a response delay of the fluid pressure occur, and the operations of the respective axes are synchronized. However, there is a problem in that it is difficult to reduce the processing accuracy and the tact due to the characteristics of the material to be processed and the temperature change.

Therefore, the inventors of the present invention have previously obtained position data enabling proper bender processing and stored it in the memory of the NC control device, and based on this position data, table, vertical and tension control data. As a result of further research and development, focusing on the technical idea of the present invention that bender processing is performed by controlling each servo motor,
By synchronizing the operation of each axis, there is no variation in machining accuracy,
The present invention has been achieved which achieves the object of enabling tact reduction.

[0005]

SUMMARY OF THE INVENTION A bender processing apparatus according to the present invention is integrally arranged on a rotary table and has a mold for bending a work piece along with a work piece, and a rotating machine having one end of the mold. A gripping device integrally arranged on the table and configured of one gripping member that grips one end of the workpiece and the other gripping member that grips the other end of the workpiece, and a table that rotationally drives the rotary table. And a table rotation drive device having a servo motor for use with the table, and a vertical device having a vertical servo motor that integrally fixes the other holding member of the holding device and moves the other holding member in the axial direction of the rotary table. A tension control device provided with a tension control servo motor that applies tension to the workpiece by fixing the upper and lower devices integrally and changing the distance from the rotary table; It has a memory in which the position data for controlling the servo motor for the bull, the servo motor for the up and down and the servo motor for the tension control are stored in advance, and outputs the position control data to the table rotation drive device, the up and down device and the tension control device. And an NC controller.

[0006]

In the bender processing apparatus of the present invention having the above-mentioned configuration, the NC control device outputs each position data based on the control position data of each servo motor for table, up and down and tension control stored in the memory, Based on this position data, the rotation amount of each servo motor for table, up / down and tension control is controlled,
The position of the other gripping member is controlled, and the work material is subjected to bender processing.

[0007]

According to the bender processing apparatus of the present invention having the above-described operation, the positions of the rotary table and the other gripping member are controlled, and the mold can be rotated, bent, and tensioned in a synchronized manner. In addition, there is no variation in processing accuracy, and the tact can be shortened.

[0008]

Embodiments of the present invention will be described below with reference to the drawings.

The bender processing apparatus of this embodiment bends an automobile door sash, and is integrally fixed on the rotary table 1 as shown in FIGS. 1 to 10, and is a work material as a work. A mold 2 for processing the bender along W and a rotary table 1 on which one end of the mold 2 is located.
The rotary table 1 and the gripping device 3 that is integrally fixed to the upper part of the workpiece W and includes one gripping member 31 that grips one end of the workpiece W and the other gripping member 32 that grips the other end of the workpiece W. A table rotation driving device 4 having a table servo motor 41 that is rotationally driven via a speed reducer 42 and the other gripping member 32 of the gripping device 3 are integrally fixed, and the other of them is axially fixed to the rotary table 1. By changing the distance from the rotary table 1 by moving the vertical device 5 equipped with the vertical servomotor 51 for moving the table 52 to which the gripping member 32 is fixed, and the table 62 integrally fixed to the vertical device 5. , A tension control device 6 having a tension control servomotor 61 for controlling the tension acting on the workpiece W, and the table servomotor 4
1, a servo motor 51 for vertical movement, and a memory 71 in which position data for controlling the servo motor for tension control is stored in advance, and position control data is stored in the table rotation drive device 4, vertical device 5, and tension control device 6. And an NC controller 7 for outputting.

As shown in FIGS. 2 and 3, the mold 2 includes a rotary shaft 11 vertically mounted on a speed reducer 42 of a table rotary drive device.
Is fixed on the rotary table 1 which is horizontally fixed on the rotary table 1, and has an arc side wall 20, and the height gradually increases in the moving direction of the vertical device 5 as the upper end 21 of the arc side wall 20 moves away from the one grip member 31. Is formed.

One and the other gripping member 3 of the gripping device 3.
Reference numerals 1 and 32 are chucks, and are integrally fixed to the rotary table 1 and the member 53 at one end of the vertical device 5, respectively.

As is apparent from FIG. 3, the table rotation drive device 4 has a table servomotor 41 disposed behind the rotary table 1 and a front (lower side in FIG. 3) speed reducer 41.
Is connected to the rotary shaft 11 by rotating the rotary shaft 90 degrees by a bevel gear (not shown) in the speed reducer. The table servo motor 41 has an encoder 43
Are arranged in series and coaxially.

The vertical device 5 grips the other end of the workpiece W in the upward Y-axis direction via the feed screw 54 by the rotational drive of the vertical servomotor 51 fixed upward in FIG. The member 32 is movable.
An encoder 55 is arranged in series and coaxially with the tension servo motor 51.

The tension control device 6 is shown in FIGS.
In the above, the table 62 to which the vertical device 5 is fixed can be moved in the left-right X-axis direction via the feed screw 63 by the rotational drive of the tension control servomotor 61 fixed to the upper right end of the bed 6B. An encoder 64 is arranged in series and coaxially with the force control servomotor 61.

The load cell 8 is integrally inserted between the chuck constituting the other gripping member 32 of the gripping device 3 and the member 53 of the tension applying device 5, and the tension acting on the workpiece W is fixed. It consists of a detectable structure. Figure 4
As shown in FIG. 5, the output of the load cell 8 is converted into a current tension force value by the amplifier 81, and the arithmetic unit 82 controls the controller 86 based on the operation signal from the controller 85.
The torque command is output in comparison with the tension set value output by the motor drive device 83, and the rotation command is output to the servo motor 51 in the motor drive device 83 in consideration of the position command from the positioning controller 84.

The twist imparting device 9 imparts a twist to the workpiece W by rotating the other grasping member 32 which is grasping the other end of the workpiece W as a work. Then, the rotation of the twisting servo motor 91 arranged vertically is communicated to the speed reducer 92, the speed is reduced and the rotation direction is changed, and the shaft 93 integrally fixed to the gripping member 32 is rotated. It has a possible configuration. The twisting servo motor 91 includes
The encoder 94 is arranged in series and coaxially.

The NC control device 7 prestores in the memory 71 the position data of each servo motor obtained by the operation described later, and outputs the position data for control to each servo motor based on the stored data. To do.

As shown in FIG. 5, the basic flow in the case of bending a new work material (product) is as follows. First, rough teaching is performed, and then a torque bending operation for adjusting the mold is performed. The first position bending operation, in which the teaching operation is performed, and bending is performed based on the position data for fine adjustment of the mold and adjustment of the position data, and then the second position is performed in the same manner as described above for full-scale machining. The bending operation is performed.

The torque bending operation is performed according to the procedure shown in FIG. The torque control mode shown in FIG.
It is performed according to the procedure shown in. Similarly, the position control mode is performed according to the procedure shown in FIG. The teaching operation is performed according to the procedure shown in FIG. Both the first and second position bending are performed according to the procedure shown in FIG.

In the bending machine of the first embodiment having the above-mentioned structure, when the first and second gripping members 31 and 32 are made to grip the workpiece W as a work and activated, the NC controller 7 The table rotation servomotor 41 and the force control servomotor 61 that controls the tension force are activated to operate, and tensile stress is generated in the workpiece W.

As shown in FIG. 4, this stress is detected by the load cell 8 and the detected actual tension force value is compared with the tension force set value set by an operation signal from the outside to give a torque command and a position command to the motor. Is calculated by a drive device for a vehicle, and a rotation command based on the difference is output to the servomotors 41 and 61, and the rotational position of the servomotors 41 and 61 resulting therefrom is detected by the encoder 43 and configured by the NC control device 7. The workpiece W is wound around the die 2 and bender-bent while feeding back to the positioning controller 84. During this operation, the position data of each servo motor 41, 51, 61 is transferred to the encoder 4
The memory 7 in the NC control device 7 via 3, 55, 64
Write to 1.

Based on the position data written in the memory 71 as described above, the table rotation servomotor 41,
The vertical servomotor 51 and the tension control servomotor 61 are operated by the interpolation operation of the NC control device 7 to perform the bending process.

The bender processing apparatus of the present embodiment having the above-mentioned operation operates the servo motors 41, 51, 61 by the interpolation operation of the NC controller 7 based on the position data at the time of bending stress control written in the memory 71. Since it is driven to rotate,
Since highly accurate bender machining can be realized and positional deviation and useless operation can be avoided, it is possible to perform bender machining at approximately twice the high speed and to shorten the tact time.

Further, since the apparatus of the present embodiment performs the interpolation operation using the position data, it is not easily affected by the variation in the characteristics of the material to be processed and the data can be easily corrected with the correction of the mold. Has the effect.

Further, since the apparatus of this embodiment performs the temporary drawing step prior to the full-scale bender processing, it is possible to eliminate the strain in the material and the backlash after processing even when the material to be processed is a coil material or the like. Produce an effect.

The embodiments described above are merely examples for the purpose of explanation, and the present invention is not limited to them. Those skilled in the art will recognize from the claims, the detailed description of the invention and the description of the drawings. Modifications and additions can be made without departing from the technical idea of the present invention.

[Brief description of drawings]

FIG. 1 is a block diagram showing an apparatus according to an embodiment of the present invention.

FIG. 2 is a front view showing the device of this embodiment.

FIG. 3 is a plan view showing the device of this embodiment.

FIG. 4 is a block diagram showing control of the apparatus of this embodiment.

FIG. 5 is a chart showing a basic operation of the apparatus of this embodiment.

FIG. 6 is a chart showing a procedure of a torque bending operation of the device of this embodiment.

FIG. 7 is a chart showing a procedure of a torque control mode of the apparatus of this embodiment.

FIG. 8 is a chart showing a procedure of a position control mode of the apparatus of this embodiment.

FIG. 9 is a chart showing a procedure of a teaching operation of the apparatus of this embodiment.

FIG. 10 is a chart showing a procedure of a position bending operation of the apparatus of this embodiment.

FIG. 11 is a partial front view showing a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 rotary table 2 type 3 gripping device 4 table rotation drive device 5 vertical device 6 tension control device 7 NC control device 8 load cell 9 twist imparting device 11 rotary shaft 20 circular arc side wall 21 upper end 31 one gripping member 32 the other gripping member 41 table servo motor 42, 92 speed reducer 51 tension force up / down servo motor 52, 62 table 54, 63 feed screw 43, 55, 64, 94 encoder 61 tension control servo motor 81 amplifier 82 arithmetic unit 83 motor drive unit 84 Positioning controller 85 Operating device 86 Control device 91 Twisting servo motor 93 Axis

Claims (1)

[Claims] 1. A mold, which is integrally disposed on a rotary table and is used for bending a workpiece along a bending process, and a workpiece, which is integrally disposed on a rotary table where one end of the mold is located. A gripping device including one gripping member that grips one end of the workpiece and the other gripping member that grips the other end of the workpiece, and a table rotation drive device that includes a table servomotor that rotationally drives the rotary table, An upper and lower device equipped with a vertical servomotor for integrally fixing the other holding member of the holding device and moving the other holding member in the axial direction of the rotary table; A tension control device equipped with a tension control servo motor that applies tension to a workpiece by changing a distance from the table, the table servo motor, and a vertical servo motor And a NC controller that outputs position control data to a table rotation drive device, a vertical device, and a tension controller, having a memory that stores position data for controlling the tension control servo motor in advance. Bender processing equipment.