JPH0834071A - Automatic bent pipe hose molding method and apparatus - Google Patents

Abstract

PURPOSE:To automate the insertion work of a hose to a mold for molding a bent pipe by providing the teaching means of a robot main body controlling the operation of the robot main body, a hose holding device and a hose pressing device to mold a bent pipe hose. CONSTITUTION:A molding position moving signal is outputted and a drive circuit operates a wrist revolving shaft actuator on the basis of the moving data preliminarily stored in an ROM to move a wrist revolving shaft 12 along the hose insertion groove V of a mold M. Further, a hose pressing signal is outputted and the drive circuit operates a host pressing air cylinder 31a and the hose H guided to a hose holding hand part is pressed by a hose pressing hand part 30 to be inserted in the insertion groove V of the mold M.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic bending tube hose for inserting a substantially straight tubular short semi-vulcanized hose cut into a predetermined length into a mold having a predetermined bending groove. The present invention relates to a molding method and an automatic curved pipe hose molding device.

[0002]

2. Description of the Related Art Conventionally, in forming a hose curved tube for an automobile or the like, a long hose wound on a take-up reel and not being plastically deformed by primary vulcanization has a fixed length. It has been carried out by cutting, inserting a mandrel therein, preheating at about 150 ° C. for molding, and manually inserting a high temperature hose into a bending pipe molding die.
However, the work of inserting the hose into the mold for bending the tube is extremely laborious work, and the high temperature is transmitted to the hands through the protective gloves, which causes great pain to the worker. Further, it is also difficult to increase the productivity of the insertion work because of this. Further, no automatic curved tube hose forming device for automating such difficult work has been proposed so far. The present invention is intended to solve the above-mentioned problems, and an object of the present invention is to provide an automatic bending pipe hose forming apparatus capable of automatically forming a hose bending pipe.

[0003]

In order to achieve the above object, the structural feature of the invention according to claim 1 is that after cutting a semi-vulcanized long rubber hose into a predetermined length, Insert a substantially straight tubular short semi-vulcanized hose cut to a predetermined length into a molding die having a predetermined bending-shaped molding groove,
In a curved tube hose molding method in which secondary vulcanization is performed while it is attached and bending is performed, short semi-vulcanized hoses are intermittently placed in the same posture and at the same hose holding position, while the molding dies are intermittently the same. A robot body provided with a posture and a supply position at the same molding position, a hand body attached to a wrist capable of sequentially rotating, swinging and rotating the wrist from the tip side, and a teaching means for controlling the operation of the hand body, A pair of pinching shafts supported slidably with respect to the hand main body in parallel with the wrist turning axis and spaced apart from each other, and short semi-vulcanized hoses coaxially rotatably attached to the tips of the pinching shafts. A pair of guide rollers having an outer peripheral groove having a depth substantially equal to the radius of the hose, and a hose pinching device provided in the hand body for moving the pair of pinching shafts in mutually opposing directions; A holding shaft supported by a hand body extending parallel to the pair of holding shafts in the vicinity of the middle of the pair of holding shafts and parallel to the pair of holding shafts, and a pair of holding shafts provided at the tips of the holding shafts. Substantially provided with a pressing roller having an outer peripheral groove having a depth substantially equal to the radius of a short semi-vulcanized hose rotatably supported on a right angle shaft and a pressing shaft drive means for moving the pressing shaft in the axial direction. Using a robot equipped with a hose holding device attached to the hand main body, the hand main body is moved to the vicinity of the short semi-vulcanized hose provided at the hose holding position by the teaching means, and the pair of hose holding devices The guide roller is made non-rotatable, and is clamped by the pair of guide rollers between the outer peripheral grooves facing one end of the short semi-vulcanized hose, and the clamped short semi-vulcanized hose is supplied by moving the hand body. Tasei Move to the vicinity of the mold, bring the pair of guide rollers close to the curved molding groove, press one end of the short semi-vulcanized hose clamped at one end of the curved molding groove of the molding die, and drive and insert the roller. With the pair of guide rollers moving along with the molding groove while being placed in close proximity to the molding groove, the short semi-vulcanized hose is pressed from one end to the other end by inserting it into the curved molding groove while pressing it with the pressing roller. Then, after that, the short semi-vulcanized hose inserted into the molding die is vulcanized to be molded into a curved tube hose.

Further, the structural feature of the invention according to claim 2 is that in the automatic bent tube hose molding method according to claim 1, the robot body is attached to the hand body and is openable and closable. A mold clamping device having a clamping member driving means for opening and closing the clamping member is provided, and the molding tool is clamped by the teaching means using the molding device clamping device, and the hand body is moved to the hose processing position to reach the hose processing position. That is, the clamping operation of the mold by the mold clamping device is released.

Further, the structural feature of the invention according to claim 3 is that the guide roller lock for locking the guide roller in the hose holding device in the automatic bent tube hose molding method according to claim 1 or 2. Means is provided, and the guide roller lock means is operated under the control of the teaching means to lock the guide roller after the hand body reaches the hose holding position and unlock the guide roller after the hand body reaches the forming position. I have done so.

[0006] Further, the structural feature of the invention according to claim 4 is that a substantially straight tubular short semi-vulcanized hose is inserted and inserted into a mold having a predetermined bending groove. An automatic curved tube hose molding device for secondary vulcanization and bending as it is, a robot arm equipped with a wrist that can rotate, swing and rotate the wrist sequentially from the tip side, and the tip of the wrist rotation axis of the wrist And a pair of gripping shafts supported slidably with respect to the hand body in parallel with the wrist rotation axis and at a distance from each other, and pivotable coaxially with the tip of the gripping shaft. A hose provided with a pair of guide rollers having an outer peripheral groove having a depth approximately equal to the radius of the attached short semi-vulcanized hose and a pinch shaft driving means provided in a hand body for moving the pair of pinch shafts in opposite directions. Clamping device and a pair of clamps At the rear of the intermediate position of the holding shaft, which is supported near the pair of holding shafts and extends parallel to the pair of holding shafts, and which is supported by the hand body, and which is provided at the tip of the holding shaft and is perpendicular to the holding shafts. Attached to a substantially hand body provided with a pressing roller having an outer peripheral groove having a depth substantially equal to the radius of a rotatably supported short semi-vulcanized hose and a pressing shaft driving means for moving the pressing shaft in the axial direction. Move the hose holding device and the hand body near the hose holding position where the short semi-vulcanized hose is intermittently supplied to make the pair of guide rollers of the hose holding device non-rotatable. The short semi-vulcanized hose is clamped between the outer peripheral grooves facing one end of the semi-vulcanized hose, and the clamped short semi-vulcanized hose is moved near the molding position where the mold is intermittently supplied by moving the hand body. The curved shape A state in which a pair of guide rollers are brought close to the shaped groove and the one end of a short semi-vulcanized hose clamped at one end of the bending-shaped forming groove of the forming die is pressed down by driving the roller to be inserted and brought close to the forming groove. so,
A pair of guide rollers are moved along with the forming groove, and a teaching means is provided to control the pressing roller to press the short semi-vulcanized hose from one end to the other so as to insert it into the curved forming groove. It is in.

Further, the structural feature of the invention according to claim 5 is that, in the automatic bent tube hose molding apparatus according to claim 4, an openable and closable clip member attached to a hand main body is opened and closed. A forming die holding device having a holding member driving means is provided, and the forming die is held by the teaching means using the forming die holding device, the hand body is moved to the hose processing position, and the forming die holding is performed at the hose processing position. The purpose is to release the clamping operation of the mold by the device.

Further, the structural feature of the invention according to claim 6 is that in the automatic bent tube hose molding apparatus according to claim 4 or 5, a guide roller lock for locking the guide roller to the hose holding device. A control means for activating the guide roller locking means in the teaching means to lock the guide roller after the hand body reaches the hose holding position and unlock the guide roller after the hand body reaches the forming position. Is to be done.

[0009]

In the invention according to claim 1 configured as described above, the operation of the hand body, the hose holding device and the hose holding device is controlled by the teaching means of the robot body to form the curved tube hose. By doing so, a series of work procedures for moving the preheated hose from the hose clamping position to the hose molding position and inserting the hose into the molding die is performed automatically without human intervention, so The problem of distressing hot hose treatment has been resolved. Further, since the automation work is performed without human labor, it is possible to improve the productivity of the work of inserting the hose into the bending tube molding die.

In the invention according to claim 2 configured as described above, in addition to the operation of the invention according to claim 1, the operation of the mold holding device is controlled by the teaching means. The movement of the molding die in which the hose is inserted to the hose processing position can be automatically performed without any manual operation.
In addition to the effects of the invention according to (1), it is possible to improve the productivity of the molding work of the hose into the curved tube molding die.

Further, in the invention according to claim 3 configured as described above, since the guide roller is locked when the hose is clamped, the hose is secured by the hose clamping device without rotating the guide roller. Sandwiched between.
Further, when the hose holding device guides the hose along the mold, the guide roller is unlocked so that the hose can be smoothly moved along the molding groove and inserted into the molding groove. Done.

Further, in the invention according to claim 4 configured as described above, an automatic bent tube hose molding including a hand body, a hose holding device and a hose holding device attached to the hand body, and a teaching means. By using the device to mold the curved tube hose, the series of work steps to move the preheated hose from the hose clamping position to the hose molding position and insert the hose into the mold is performed without human intervention. Since it is done automatically, the problem of causing a worker to suffer from the treatment of the high temperature hose has been solved. In addition, due to the automation work without human labor,
It has become possible to improve the productivity of the work of inserting the hose into the bending tube molding die.

In the invention according to claim 5 having the above-mentioned structure, the hose is formed by attaching the mold holding device to the hand body and controlling the operation of the mold holding device by the teaching means. It becomes possible to automatically move the inserted molding die to the hose processing position without human intervention. In addition to the effect of the invention according to claim 4, a hose for forming a curved pipe is formed. It has become possible to increase the productivity of the molding work for the mold.

Further, in the invention according to claim 6 configured as described above, since the guide roller is locked when the hose is clamped, the hose is securely clamped by the hose clamping device without the guide roller rotating. To be done. Also, since the guide roller is unlocked when the hose is guided by the hose holding device along the molding groove of the molding die,
Movement of the hose along the molding groove and insertion into the molding groove are smoothly performed.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram schematically showing the plane arrangement of an automatic bending tube hose molding apparatus according to the embodiment. The automatic bending tube hose forming device is a multi-joint type forming robot 10 having a hose clamping, conveying and forming function at the center front side, and a curved tube hose forming die is continuously supplied to the center rear side while hose forming work is performed. A mold supply table 52 having a work table to be performed and an electric control device 60 for controlling the hose bending tube forming process are provided. Further, on the right side of the automatic curved tube hose forming device, a hose carrier 51 is provided which continuously supplies the cut hose to the preheating furnace and sends the hose discharged from the preheating furnace to the hose take-out position S. There is. Further, on the left side of the automatic bending tube hose molding device, a secondary vulcanization furnace 54 for secondarily open vulcanizing the hose inserted in the molding die, and a cooling furnace 5 for cooling the vulcanized hose.
And 5 are provided.

The forming robot 10 is, as shown in FIG.
It has a wrist turning shaft 12 that can move back and forth, left and right, and up and down within a range of radii R1 to R2 around the main body 11, and the hose holding hand portion 20 is provided at the tip of the wrist turning shaft 12.
have. In the main body 11, a wrist turning axis actuator 11a for moving the wrist turning axis 12 is provided.
At the tip of the wrist swing shaft 12, a hose holding hand unit 20 is attached.
Is provided with a vertical rotation wrist flange 12a for rotating the hose in the range of 90 ° in the direction of arrow F shown in FIG. Laterally rotating wrist flange 12b
Is provided.

The hose gripping hand portion 20 is shown in FIGS.
As shown in FIG.
1 is provided. The gripping hand portion main body 21 has an air cylinder 22 provided therein, and has two drive shafts 23 directed downward at the lower end. Both drive shafts 23 are driven by the air cylinder 22 to move, and the distance between them is adjusted. A hose H is provided on the outer periphery of each drive shaft 23.
A pinching hand 24 for pinching is provided. The gripping hand 24 includes a shaft 24a and a bearing 24 provided at the lower end thereof.
A disk-shaped guide roller 24c is provided which is coaxially and rotatably supported via b. The guide roller 24c has an arcuate guide groove 24c1 formed in the circumferential portion, and the diameter of the upper side surface 24c2 is larger than the diameter of the lower side surface 24c3 in a state of being horizontally arranged. Then, the drive shaft 23 is moved inward by the operation of the air cylinder 22, so that the hose H can be held between the guide grooves 24c1 of the two guide rollers 24c. An air cylinder 25 for braking is attached to the shaft 24a on the left side of the sandwiching hand 24 shown in FIG. Air cylinder 2
The guide roller 24 is attached to the rotary shaft 25a protruding downward from
A pressing member 25b that is pressed against the upper side surface 24c2 of c is attached, and the pressing member 25b is driven by the air cylinder 25 to lock the guide roller 24c.

Wrist pivot 12 of hose gripping hand 20
As shown in FIG. 2, the mounting side is provided with a hose holding hand portion 30 via a support plate 30a. The hose holding hand portion 30 is provided with a vertically long holding body 31 having a rectangular parallelepiped shape, and an air cylinder 31 a is provided inside the head portion 31. On the shaft of the cylinder 31a protruding downward,
A supporting member 32 is attached, and a pressing roller 32a is attached to the supporting member 32 so as to be perpendicular to the axial direction and rotatable. The pressing roller 32a is provided with a circular arc-shaped guide groove 32a1 on its circumferential portion.

As shown in FIG. 2, a mold holding hand portion 40 is provided on the side of the hose holding hand portion 20 opposite to the wrist pivot shaft mounting position via a support plate 40a. The molding die holding hand portion 40 is provided with a horizontally long rectangular parallelepiped-shaped die holding hand portion body 41, and an air cylinder 42 is provided in the die holding hand portion body 41. As shown in FIG. 3, the air cylinder 4 is provided at the left end of the die clamping hand portion main body 41.
Two drive shafts 43 that move in the direction of the arrow by 2 are provided to the left. At the top and bottom of each drive shaft 43, there is provided a gripping hand 44 in which a tip for clamping the molding die is bent inward to form a gripping portion 44a.

The hose carrier 51 is provided with a hose take-out position S for taking out the hose discharged from the preheating furnace by the forming robot 10, and a hose detecting sensor for detecting whether or not there is a hose H at the hose take-out position S. 51a
Is provided. The molding die supply table 52 is provided with a working table 52a for performing a molding operation on the front side. The working table 52a holds the molding die M, and a push-up device 53 that pushes up the molding die M with an air cylinder 53a after the molding is completed. It is provided. In addition, a robot passage detection sensor 53b is provided at the workbench position to detect that the robot has passed from the workbench after completion of molding. The secondary vulcanizing furnace 54 and the cooling furnace 55 are belt furnaces, and the belt is provided with mounting jigs 54a and 55a for setting a molding die for forming a hose.

Next, the electric control unit 60 for electrically controlling the automatic bending tube hose forming apparatus constructed as described above will be explained. FIG. 6 shows an electric circuit configuration of the apparatus. The electric control unit 60 includes a ROM, a CPU, and a RAM.
7 and 8 is provided with a control circuit 61 configured by a microcomputer including the above.
The "bending tube hose molding program" corresponding to the flowchart shown in is executed. In addition, wrist rotation axis movement data, molding data, and the like for each of various hoses are stored in the ROM of the control circuit 61.

The input side of the control circuit 61 is connected with the hose detection sensor 51a, the robot detection sensor 53b, a keyboard switch 62a for inputting robot control data, and a start switch 62b for starting a curved tube hose molding operation. On the output side of the control circuit 61, the wrist swing shaft actuator 11a, the vertical rotation wrist flange 12a, the horizontal rotation wrist flange 12b, the hose holding air cylinder 22, the brake air cylinder 2 are provided.
5, the hose pressing air cylinder 31a, the molding die clamping air cylinder 42, and the molding die lifting air cylinder 53a are connected through the respective drive circuits 63a to 63h. The drive circuits 63a to 63h, according to the control signal from the control circuit 61, the wrist rotation axis actuator 11a, the vertical rotation wrist flange 12a, and the horizontal rotation wrist flange 12.
b, energization to the hose holding air cylinder 22, the brake air cylinder 25, the hose holding air cylinder 31a, the forming die holding air cylinder 42, and the forming die pushing air cylinder 53a is controlled. However, as each of the above control circuits, an analog type sequence control circuit may be used instead of the microcomputer.

Next, the operation of the embodiment configured as described above will be described. After the preheated hose H is discharged from the preheating furnace at regular time intervals, and after the secondary vulcanization furnace 54 and the cooling furnace 55 are put into an operating state, a power switch (not shown) of the molding robot 10 is turned on, The control circuit 61 is
The execution of the "curved tube hose molding program" shown in FIG. 7 is started at step 70. The control circuit 61 first initializes various variables in step 71 and then determines in step 72 whether hose part number data has been input. With the keyboard switch 62a,
When data such as the product number of the hose to be molded is input, “YE
Based on the determination of “S”, the hose part number data input in step 73 is temporarily stored in the RAM of the control circuit 61. Next, the hose H at the hose take-out position S is clamped by the forming robot 10 and automatically moved to the position of the hose forming die M on the workbench 52a.

That is, when the start switch 62b of the electric control unit 60 is turned on, in step 74, "YE
Based on the determination of "S", the program proceeds to step 75, and it is determined whether or not the hose H is supplied to the hose takeout position S. If the hose H exists, "Y
Based on the determination of "ES", the program is moved to step 76, and the wrist turning axis movement signal is output. In response to this, the drive circuit 63a operates the wrist swing shaft actuator 11a to move the wrist swing shaft 12 to the hose take-out position S. Then, in step 77, a rotation signal of the hose gripping hand portion 20 is output, and in response thereto, the drive circuit 63.
c operates the laterally rotating wrist flange 12b to rotate the hose holding hand portion 20 according to the position where the hose H is held.

Next, at step 78, the guide roller lock signal is output and the drive circuit 63e causes the air cylinder 25 to move.
Is operated to lock the guide roller 24c. As a result, since the guide roller 24c does not move, the hose H does not slide down when the hose holding hand unit 20 holds the hose. Further, in step 79, a hose pinching signal is output, and in response to this, the drive circuit 63d operates the hose pinching air cylinder 22 to pinch the hose H by the hose pinching hand unit 20. Then, in step 80, a wrist turning axis return signal is output, and the drive circuit 63a responds to this by the wrist turning axis actuator 11a.
Is operated to move the wrist swing shaft 12 to the mold position of the workbench 52a. Further, in step 81, the guide roller lock release signal is output, and the drive circuit 63e operates the air cylinder 25 to release the locked state of the guide roller 24c.

Next, a molding step of mounting the hose H on the molding die is performed. That is, in step 82, the molding position movement signal is output, and the drive circuit 63a is previously stored in the ROM.
The wrist swing shaft actuator 11a is actuated based on the movement data stored in, and the wrist swing shaft is moved along the hose insertion groove V of the molding die M. In addition, step 8
3, the hose holding signal is output, and the drive circuit 63f operates the hose holding air cylinder 31a to move the hose H guided by the hose holding hand unit 30 to the hose holding hand unit 20 as shown in FIG. It is pressed and inserted into the insertion groove V of the molding die M. That is, in FIG.
As shown in (b), the hose holding hand section 20 moves along the insertion groove V, and the pressing roller 32a of the hose pressing hand section 30 presses the hose H while pressing the hose H into the insertion groove V after that. By inserting, the curved tube hose is automatically molded.

When the insertion of the hose H into the molding die M is completed and the hose holding hand section 20 leaves the hose molding position, the robot detection sensor 53b detects this and outputs a robot passage signal. In response to this, the control circuit 6
1 shifts the program to step 85 based on the judgment of "YES" at step 84, outputs a presser roller lift signal, and the drive circuit 63f operates the hose pressing air cylinder 31a to operate the hose pressing hand. The pressing roller 32a of the portion 30 is raised. Further, in step 86, a molding die push-up signal is output, and in response to this, the drive circuit 63
h operates the push-up air cylinder 53a to lift the forming die M from the workbench 52a. Next, step 8
A mold clamping signal is output at 7, and in response to this, the drive circuit 63h operates the mold air cylinder 42 to clamp the mold M by the clamping hand 44 of the mold clamping hand unit 40.

Then, in step 88, a wrist swing axis drive signal is output, and in response thereto, the drive circuit 63a actuates the wrist swing axis actuator 11a, and the wrist swing axis 1
2 is moved to the hose processing position of the secondary vulcanization furnace 54. Further, in step 89, a molding die clamping release signal is output, the drive circuit 63g operates the air cylinder 42 to release the clamping of the molding die M by the clamping hand 44, and sets the molding die M on the mounting jig 54a. . And step 9
At 0, a wrist turning axis return signal is output, and in response to this, the drive circuit 63a operates the wrist turning axis actuator 11a to move the wrist turning axis 12 to the initial position. Then, in step 91, it is determined whether or not all the curved tube hose molding steps have been completed. If the curved tube hose molding process is not completed yet, the program is returned to step 75 based on the determination of "NO", and steps 75 to 91 are executed.
The above process is repeatedly executed to perform the hose molding process. Then, when the bending tube hose molding process is completed, based on the determination of “YES” in step 91, step 9
At 2, the execution of the program ends.

As described above, according to this embodiment, the preheated hose is moved from the hose supply position to the hose molding position, the hose is inserted into the mold, and the hose is inserted into the mold. Since a series of work procedures for attaching the to the mounting jig of the secondary vulcanization furnace are automatically performed without human intervention, the problem of giving the worker a pain due to the treatment of the high temperature hose has been solved. Further, since the automation work is performed without human labor, it is possible to improve the productivity of the work of inserting the hose into the bending tube molding die.

In the above-mentioned embodiment, the mounting of the molding die to the mounting member of the secondary vulcanization furnace is automated, but the insertion of the hose into the molding die is automated and the molding die is removed. It can also be done manually. Further, in the above-described embodiment, the guide roller is provided with the lock mechanism for preventing the hose movement, but the lock mechanism may be omitted if necessary.

[Brief description of drawings]

FIG. 1 is a block diagram schematically showing an automatic bending tube hose molding apparatus according to an embodiment of the present invention.

FIG. 2 is a front view schematically showing a forming robot of the automatic bending tube hose forming apparatus.

FIG. 3 is a left side view schematically showing a forming robot of the automatic bending tube hose forming apparatus.

FIG. 4 is an operation explanatory view showing an inserting operation of a hose into a molding die by the molding robot.

FIG. 5 is an explanatory diagram showing operations of a guide roller and a press roller of the forming robot.

FIG. 6 is a block diagram showing a circuit configuration of an electric control device of the automatic bending tube hose molding device.

7 is a part of a flowchart of a "bent tube hose molding program" executed by the control circuit shown in FIG.

FIG. 8 is a part of a flowchart of a “curved tube hose molding program” executed by the control circuit shown in FIG.

[Explanation of symbols]

10 ... Molding robot, 11 ... Main body, 11a ... Wrist rotation axis actuator, 12 ... Wrist rotation axis, 12a ... Vertical rotation wrist flange, 12b ... Horizontal rotation wrist flange, 2
0 ... Hose clamping hand part, 21 ... Clamping hand part body, 2
2 ... Air cylinder, 24 ... Nipper hand, 24c ... Guide roller, 24c1 ... Arc groove, 25 ... Air cylinder, 25
b ... pressing member, 30 ... hose pressing hand portion, 31 ... air cylinder, 32a ... pressing roller, 40 ... molding die clamping hand portion, 41 ... die clamping hand portion main body, 42 ... air cylinder, 44 ... clamping portion, 46 ... Hose detection sensor, 51 ... Hose transfer table, 51a ... Hose detection sensor, 52 ... Mold supply table, 53 ... Push-up device, 53b ... Robot passage detection sensor, 54 ... Vulcanizing furnace, 54a ... Mounting jig, 55 ... Cooling Furnace, M ... Mold, S ... Hose take-out position, 60 ... Electric control device, 61 ... Control circuit.

Claims (6)

[Claims] 1. A semi-vulcanized long rubber hose is cut into a predetermined length, and then a substantially straight tubular short semi-vulcanized hose cut into the predetermined length is cut into a predetermined bent shape. In a method for forming a curved tube hose, which is inserted into a forming die having a forming groove, and secondary vulcanization is performed while the insertion is being performed to perform bending, the short semi-vulcanized hose is intermittently in the same posture and at the same hose holding position. On the other hand, the mold is intermittently supplied and arranged in the same posture and the same molding position, and the hand body and the hand body are attached to the wrist capable of rotating the wrist, swinging the wrist, and rotating the wrist sequentially from the tip side. A robot body provided with a teaching means for controlling the operation of the holding body, a pair of holding shafts slidably supported with respect to the hand body parallel to the wrist rotation axis and at a distance from each other, and the holding shaft. Can be rotated coaxially at each tip And a pair of guide rollers having an outer peripheral groove having a depth substantially equal to the radius of the short semi-vulcanized hose attached to the pair of holding rollers and a holding shaft driving means provided in the hand main body for moving the pair of holding shafts in mutually opposing directions. And a holding shaft supported by the hand main body extending in parallel to the pair of holding shafts in the vicinity of the pair of holding shafts and behind the intermediate position of the pair of holding shafts. A pressing roller having an outer peripheral groove having a depth substantially equal to the radius of the short semi-vulcanized hose rotatably supported by an axis perpendicular to the pair of holding shafts provided at the tip of the pressing shaft, and the pressing shaft. Using a robot having a hose holding device substantially attached to the hand body, which comprises a holding shaft driving means for moving the hand body by the teaching means. Supply to position Between the peripheral grooves facing the one end of the short semi-vulcanized hose by the pair of guide rollers so that the pair of guide rollers of the hose holding device cannot rotate. The short semi-vulcanized hose that is clamped by, the near main body is moved to move the hand body near the mold, the pair of guide rollers are brought close to the curved forming groove, The pair of guide rollers in a state where one end of a short semi-vulcanized hose sandwiched between one ends of the curved forming grooves of the forming die is driven and inserted by the pressing roller and is brought close to the forming groove as it is. While being moved along with the molding groove, the short length semi-vulcanized hose is pressed by the pressing roller to be inserted into the curved molding groove from one end to the other end, and then the short length inserted into the molding die. Curing the semi-vulcanized hose by vulcanizing Automatic bend hose forming method characterized by forming the hose. 2. The automatic bending tube hose molding method according to claim 1, wherein the robot main body has a pinching member driving means for opening and closing an openable pinching member attached to the hand main body. A mold clamping device is provided, the molding die is clamped by the teaching means using the molding clamp device, the hand body is moved to a hose processing position, and molding is performed by the molding tool clamping device at the hose processing position. An automatic bending tube hose molding method characterized in that the clamping operation of the mold is released. 3. The automatic bending tube hose molding method according to claim 1 or 2, wherein the hose holding device is provided with guide roller lock means for locking the guide roller, and the guide is provided by controlling the teaching means. By operating the roller lock means, the guide roller is locked after the hand body reaches the hose holding position, and the guide roller is unlocked after the hand body reaches the molding position. A method for forming an automatic curved tube hose characterized by. 4. An automatic bending machine in which a short straight semi-vulcanized hose having a substantially straight tube shape is inserted into a molding die having a molding groove having a predetermined bending shape, and secondary vulcanization is performed while the insertion is performed to perform bending. A pipe hose molding apparatus, comprising a robot arm having a wrist capable of sequentially rotating, swinging, and rotating the wrist from the tip side, a hand body attached to the tip of the wrist rotation axis of the wrist, and a hand body. On the other hand, a pair of sandwiching shafts slidably supported in parallel with the wrist swing axis and spaced apart from each other, and the short semi-vulcanized hose coaxially rotatably attached to the tips of the sandwiching shafts. A pair of guide rollers each having an outer peripheral groove having a depth substantially equal to the radius of the pair of holding rollers, and a pair of holding shaft driving means provided in the hand body for moving the pair of holding shafts in opposite directions; Behind the intermediate position of the clamping shaft of The holding shaft supported near the pair of holding shafts and extending in parallel to the pair of holding shafts and supported by the hand body, and a shaft provided at the tip of the holding shaft and orthogonal to the pair of holding shafts. Substantially the hand main body provided with a pressing roller having an outer peripheral groove having a depth substantially equal to the radius of the short semi-vulcanized hose movably supported and a pressing shaft driving means for moving the pressing shaft in the axial direction. And a hose holding device attached to the hose holding device, and the hand main body is moved to a position near a hose holding position where the short semi-vulcanized hose is intermittently supplied, and the pair of guide rollers of the hose holding device are made non-rotatable. The short semi-vulcanized hose is clamped between the outer peripheral grooves of the guide roller facing one end of the short semi-vulcanized hose, and the clamped short semi-vulcanized hose is moved intermittently by moving the hand body. Move it near the supplied molding position The pair of guide rollers are brought close to the curved forming groove, and one end of the short semi-vulcanized hose clamped at one end of the curved forming groove of the forming die is driven by the pressing roller to be inserted. Then, in the state of being brought close to the molding groove as it is, while moving the pair of guide rollers along the molding groove, the short length semi-vulcanized hose is pressed from the one end to the other end by being pressed by the pressing roller. An automatic bending tube hose molding apparatus, which is provided with a teaching means for controlling the insertion into a molding groove. 5. The automatic bending tube hose molding apparatus according to claim 4, further comprising a molding die clamping device having a clamping member driving means for opening and closing an openable and closable clamping member attached to the hand main body. , The teaching means clamps a mold using the mold clamping device, moves the hand body to a hose processing position, and performs clamping operation of the mold by the mold clamping device at the hose processing position. An automatic curved tube hose molding device characterized by being released. 6. The automatic curved tube hose molding apparatus according to claim 4 or 5, wherein the hose holding device is provided with guide roller locking means for locking the guide roller, and the teaching means is provided with:
A control for operating the guide roller locking means to lock the guide roller after the hand body reaches the hose holding position and unlock the guide roller after the hand body reaches the molding position. An automatic bending tube hose molding device characterized by being performed.