JPH10235431A - Butting positional deviation correcting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the bending precision of a work by providing a correction value calculating means to calculate the deviation in the Y-axis direction of the butting from the upper limit position of the butting on the locus and the deviation in the Y-axis direction and a butting control means to move a link mechanism to support a butting in the Y-axis direction by the command value in which the correction value is added to the target value in the Y-axis direction. SOLUTION: A butting position control means to calculate correction value C1 (Z0 ), C2 (Z0 ) to correct the positional deviation in the Y-axis direction of a butting 5 by a correction value calculating means from the upper limit position 130 of the butting 5 on the loci K1, K2 when the butt 5 is moved in the vertical direction and the deviations a, b in the Y-axis direction at the upper limit position 130, and to move a link mechanism B to support the butt 5 in the Y-axis direction by the command values D1, D2 which are added to the target value Y0 in the Y-axis direction, is provided. The positional deviation in the Y-axis direction to be generated according to the vertical movement of the butting 5 is corrected thereby, the butting 5 is moved apparently in the vertical direction, and the distance to a die center becomes constant irrespective of the height position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for correcting a displacement of an abutment, and more particularly to a device for correcting a displacement of an abutment in a back gauge device using a link mechanism in the Y-axis direction. Related to the device.

[0002]

2. Description of the Related Art It is well known that a bending machine is generally provided with a back gauge device at a rear portion thereof to position a workpiece before bending.

As a back gauge device in this case, for example, there is a device using a link mechanism B shown in FIG.

The link mechanism B is such that links (FIG. 5C) of the links 3 and 4 are crossed at the center thereof and connected by a pin 34, and is extendable and contractible in the Z-axis direction.

The link mechanism B has a hinge 9 at the lower end.
A and 10A (FIG. 5 (C)) pivotally attached to the Y-axis drive mechanism A, and the Y-axis drive mechanism A is fixed to both ends of the lower table 2.

The link mechanism B has a hinge 1 at the upper end.
5A and 16A (FIG. 5 (C)), the Z-axis drive mechanism C is pivotally connected to the Z-axis drive mechanism C, and both Z-axis drive mechanisms C are connected by a stretch D. It is mounted so as to be movable in the direction (FIG. 5A).

In the back gauge device having such a configuration, when the abutment 5 is moved in the X-axis direction, the abutment 5 is moved in the X-axis direction on the stretch D by an X-axis motor Mx (not shown). It is moved (FIG. 5A).

However, when the butting 5 is moved in the Y-axis direction and the Z-axis direction, the link is driven by the illustrated Y-axis motor My and Z-axis motor Mz (FIGS. 5B and 5C). The mechanism B must be moved in the Y-axis direction and the Z-axis direction.

That is, when the Y axis motor My is driven to rotate the ball screw 8 (FIG. 5B), the Y axis drive block 10 screwed to the ball screw 8 moves along the Y axis rail 7. Accordingly, the Y-axis driven block 9 also moves in the same direction along the Y-axis rail 7.

As a result, the entire link mechanism B moves in the Y-axis direction (arrow Y1).

When the Z-axis motor Mz is driven to rotate the ball screw 14 passing through the Z-axis fixing block 16 (FIG. 5C), the Z-axis screwed to the ball screw 14 is rotated. As the drive block 15 moves, the Z-axis drive block 15 approaches and separates from the Z-axis fixed block 16 (arrows Y2 and Y3), and accordingly, the Y-axis driven block 9 also drives the Z-axis. Similarly to the block 15, it moves toward and away from the Y-axis drive block 10 (arrows Y2, Y
3).

As a result, the link mechanism B moves in the Z-axis direction, that is, expands and contracts in the Z-axis direction (arrow Z1).

[0013]

However, the above prior art has the following problems.

That is, as described above, when the abutment 5 is moved in the Z-axis direction, the link mechanism B must be expanded and contracted in the Z-axis direction (arrow Z1 in FIG. 5C).

In this case, if the accuracy of each component such as the links 3 and 4 constituting the link mechanism B and the mounting accuracy are high,
As shown in FIG. 6, the locus M of the up-and-down movement (arrow Z1) of the butting 5 coincides with the Z axis.

However, the accuracy and the mounting accuracy of each component constituting the link mechanism B are not always high. In this case, as shown in FIG.
It may not coincide with the axis and may be inclined in the Y-axis direction.

Therefore, for example, the abutment 5 is replaced by the s shown in FIG.
When the link mechanism B is moved up and down in order to move to the position (5), the butting 5 moves inclining in the Y-axis direction along the trajectory N and moves to the position t shifted by u. .

As a result, the distance L between the center mc of the mold comprising the punch mounted on the upper table and the die mounted on the lower table and the abutment 5 depends on the height position of the abutment 5.
different.

The distance of the abutment 5 from the mold center mc has the greatest influence on the flange size of the work, and as described above, if the distance is not constant, the bending accuracy of the work is reduced. become.

An object of the present invention is to correct the distance between the abutment and the mold center by correcting the displacement in the Y-axis direction caused by the up-and-down movement of the abutment in a back gauge device using a link mechanism. And to improve the bending accuracy of the work.

[0021]

According to the present invention, an abutment 5 is supported by a link mechanism B movably mounted in the Y-axis direction and the Z-axis direction, and the abutment 5 is moved up and down by the link mechanism B. In the back gauge device in which the trajectories K1 and K2 are inclined in the Y-axis direction, the upper limit position 130 of the abutment 5 on the trajectories K1 and K2 and the Y at the upper limit position 130
Displacement amount a in the axial direction, the is b, abutting fifth correction value C1 for correcting the positional deviation in the Y-axis direction _{(Z 0), C2 (Z} 0)
Correction value calculating means 51 for calculating the correction value, and correction value calculating means 5
First correction value C1 calculated by _{(Z 0), C2 (Z} 0)
The by the Y-axis direction of the target value Y ₀ command value D1 obtained by adding to, D2, has a position control means 52 abutting to move in Y-direction a link mechanism B for supporting the 5 butting.

[0022] Therefore, according to the configuration of the present invention, the correction value C1 (Z _0), by C2 (Z ₀₎ command value D1, D2 which is obtained by adding the target value Y ₀ and the link mechanism supporting the 5 butting B
Is moved in the Y-axis direction, the displacement in the Y-axis direction caused by the vertical movement of the butting 5 is corrected.
It apparently moves vertically up and down, and regardless of its height position, the distance L from the mold center mc is (see FIG. 5).
(C)) It becomes constant, and the bending accuracy of the work is improved.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the accompanying drawings according to embodiments. FIG. 1 is a diagram showing an embodiment of the present invention.

The apparatus shown in FIG. 1 includes an input unit 50, a control unit 51, a storage unit 52, an NC 53, and a processing unit 54.

The input unit 50 is, for example, a keyboard.
This is an apparatus for inputting a program including a model of a bending machine used in the present invention, processing conditions such as a flange size of a work W (FIG. 5C), and a procedure (FIG. 2) of a correction method according to the present invention. .

The machining conditions include trajectories K1 and K2 (FIG. 3 (A)) when the abutment 5 described later moves up and down, and a target value P (X ₀ , Y ₀ , Z) of the abutment 5. ₀ ) (FIG. 3B).

The control unit 51 is, for example, a CPU, and calculates a command value for moving the abutment 5 (FIGS. 4 and 5) to a predetermined position based on the input signal S1 from the input unit 50. , The control signal S3 corresponding to the command value
Send to 53. In addition, the control unit 51 controls the entire apparatus illustrated in FIG.

The storage unit 52 temporarily stores the processing conditions and the program input from the input unit 50, and the control unit 51 reads the processing conditions and the program (signal S2) to calculate a command value.

The NC 53 numerically controls the next processing section 54 based on the control signal S3 transmitted from the control section 51.

The processing section 54 is an apparatus for performing the correction method according to the present invention, and more specifically, is a back gauge apparatus using a link mechanism B as shown in FIG.

FIG. 4 is a perspective view showing a case in which the back gauge device embodying the present invention is applied to a press brake which is a bending machine, as viewed from the rear of the press brake.

The press brake shown in FIG. 4 has a lower table 2 arranged in parallel to the X-axis direction, and an upper table 1 is provided directly above the lower table 2.
The work W (FIG. 5) is formed by cooperation of a punch (not shown) mounted on the lower table 2 and a die (not shown) mounted on the lower table 2.
(C)) is to be bent.

As shown in the drawing, a back gauge device provided with a stretch D is provided at the rear of the press brake, and the stretch D has an X-axis motor Mx (not shown).
As a result, an abutment 5 movable in the X-axis direction is attached.

The stretch D connects the Z-axis drive mechanisms C at both ends, and the Z-axis drive mechanism C is connected to the Y-axis through the link mechanism B.
It is supported by the shaft drive mechanism A.

The link mechanism B is such that the center portions of the links 3 and 4 are crossed and connected by a pin 34, and are extendable and contractible in the Z-axis direction, and the lower ends thereof are hinges 9A and 10A.
And the upper end thereof is pivotally connected to the Z-axis drive mechanism C by hinges 15A and 16A.

The Y-axis drive mechanism A includes support members 18 and 6
Y-axis motor My fixed to lower table 2 through
A ball screw 8 coupled to the Y-axis motor My;
It comprises a Y-axis drive block 10 which is screwed into the ball screw 8 and moves along the Y-axis rail 7, and a Y-axis driven block 9 which moves along the Y-axis rail 7 according to the movement of the Y-axis drive block 10. ing.

Accordingly, by controlling the NC 53 (control signal S4 in FIG. 1), the Y-axis motor My is driven to move the link mechanism B in the Y-axis direction as shown in FIG. Y1) The entire stretch D is moved in the Y-axis direction, whereby the abutment 5 can also be moved in the Y-axis direction.

The Z-axis drive mechanism C includes a Z-axis motor Mz fixed to the support member 12, a ball screw 14 connected to the Z-axis motor Mz, and a Z screw It is composed of a Z-axis drive block 15 that moves along the axis rail 13 and a Z-axis fixing block 16 through which a ball screw 14 passes and is fixed to the support member 12.

Accordingly, under the control of the NC 53 (control signal S4 in FIG. 1), the Z-axis motor Mz is driven, and as shown in FIG. 5C, the Z-axis drive block 15, the Z-axis fixed block 16, and the Y-axis Axis driven block 9 and Y-axis drive block 10
Are moved toward and away from each other (arrows Y2 and Y3), and the entire stretch D is moved in the Z-axis direction by extending and contracting the link mechanism B (arrow Z1), whereby the abutment 5 can also be moved in the Z-axis direction. it can.

Further, the Z-axis drive mechanism C causes the abutment 5
Trajectories K1 and K2 when the robot moves up and down together with the link mechanism B
Are inclined in the Y-axis direction, as shown in FIG.

Hereinafter, the operation of the present invention in a back gauge device using such a link mechanism B will be described with reference to FIGS.

(1) Movement of the abutment 5 in the X-axis direction and the Z-axis direction First, in step 101 of FIG. 2, the abutment 5 is moved in the X-axis direction and the Z-axis direction.

In this case, the target value P (X ₀ ,
(Y ₀ , Z ₀ ) (FIG. 3B) is recognized by the control unit 51 in advance.

Therefore, the control unit 51 calculates a command value to move the butting 5 to the target values X ₀ and Y ₀ in the X-axis direction and the Y-axis direction, and receives the command value as the control signal S3.
53 converts the command value into a pulse train, and uses the pulse train as a control signal S4 to control the X-axis motor Mx (not shown) of the back gauge device (FIG. 5) constituting the processing unit 54.
To the Z-axis motor Mz, the X-axis motors Mx and Z
The link mechanism B supporting the abutment 5 is moved in the X-axis direction (arrows X1 and X2 in FIG. 5A) and the Z-axis direction (arrow Z1 in FIG. 5C) by the shaft motor Mz.

Thus, the abutment 5 can reach a predetermined target value X ₀ in the X-axis direction and a target value Z ₀ in the Y-axis direction.

(2) Movement of the butting 5 in the Y-axis direction Next, the butting 5 is moved in the Y-axis direction. Since K2 is tilted in the Y-axis direction (FIG. 3A), the displacement is corrected as follows.

First, in steps 102 and 103,
The upper limit position of the abutment 5 on the trajectories K1 and K2 and the shift amount at the upper limit position are input to the control unit 51, respectively.

In this case, the control unit 51 reads the processing conditions from the storage unit 52 (signal S2 in FIG. 1), for example, 130 [mm], which is the upper limit position of the abutment 5, and the shift amount a, b [mm] as shown in FIG.
(C)), respectively.

FIG. 3A shows a back gauge apparatus similar to that of FIG.
1 is a perspective view showing a state where the upper limit position 130 is reached along K2 and a state where the abutment 5 at that time is shifted by a and b in the Y-axis direction.

However, in order to simplify the drawing, FIG.
In the back gauge device (A), unlike FIG.
The Y-axis motor My is arranged at the rear of the Y-axis driving mechanism A, and the Z-axis motor Mz is arranged at the rear of the Z-axis driving mechanism C.

FIG. 3B is a diagram showing the relationship between the correction value C1 (Z) of one of the abutments 5 and the command value D1.
The same applies to the correction value C2 (Z) of the other butting 5 and the command value D2. FIG. 3C is a plan view and FIG.
(D) is a side view.

In FIG. 3A, the link mechanism B on the left side as viewed in the drawing is raised, and the abutment 5 is moved to the upper limit position 130.
, The abutment 5 is shifted by a in the + direction of the Y-axis, and the link mechanism B on the right side as viewed in the drawing rises,
When the collision 5 reaches the upper limit 130, the collision 5
Are shifted by b in the negative direction of the Y axis.

Accordingly, when FIG. 3A is viewed from above, it becomes as shown in FIG. 3C, and the upper limit position of the double abutment 5 is set with respect to the line cd connecting the lower limit position of the double abutment 5. The connecting line segment ef is
Tilt as shown.

When the double striking contact 5 reaches the upper limit 130, the shift amounts a and b in the Y-axis direction are as shown in FIG.
It does not change at any position on the Y axis.

That is, no matter which position on the Y axis is moved together with the link mechanism B by the Y-axis drive mechanism A (FIGS. 4 and 5), as shown in FIG. The line segment ef connecting the upper limit position always has the same inclination as the line segment cd connecting the lower limit position.

Further, when the abutment 5 moves up and down together with the link mechanism B, the trajectories K1 and K2 (FIG. 3A) are both straight lines, and correction values C1 (Z) and C2 (Z) to be described later.
Is obtained using the inclination of the straight lines K1 and K2.

Next, in step 104, the collision 5
The correction values C1 (Z) and C2 (Z) of the double abutment 5 are obtained from the upper limit position 130 and the shift amounts a and b.

In this case, the control unit 51 calculates correction values C1 (Z) and C2 (Z) from the input upper limit 130 and the shift amounts a and b according to the following equations.

A / 130 = C1 (Z) / Z ... b / 130 = C2 (Z) / Z ...

That is, the trajectory K when the two butts 5 move up and down.
1. Since K2 is a straight line as described above,
Is established, and the following correction values C1 (Z) and C2 (Z) proportional to Z are calculated from this equation. C1 (Z) = Z × a / 130 ... C2 (Z) = Z × b / 130 ...

The correction values C1 (Z) and C2 (Z) correspond to the amount of displacement in the Y-axis direction at an arbitrary height position Z of the double abutment 5.

Accordingly, if the control unit 51 transmits the command value to the NC 53 without modifying the target value Y ₀ of the abutment 5 in the Y-axis direction, the control of the NC 53 causes the Y-axis motor My to link. When the mechanism B is moved, the abutment 5 reaches the position Q shifted from the target value P by the correction value C1 (Z ₀ ). This is the same for the other abutment 5.

This means that the target value Y ₀ has changed from the viewpoint of the NC 53, and it is necessary for the NC 53 to follow this change.

Therefore, in step 105, the correction values C1 (Z ₀ ) and C2 (Z ₀ ) are considered,
Command values D1 and D2 are obtained.

[0065] That is, the control unit 51, the correction value C1 to the target value Y ₀ (Z _0), by adding the C2 (Z _0), calculates the next command value D1, D2.

D1 = Y ₀ −C 1 (Z ₀ ) = Y ₀ −Z ₀ × a / 130... D 2 = Y ₀ −C 2 (Z ₀ ) = Y ₀ −Z ₀ × b / 130. ...

The command values D1 and D2 correspond to the amount of movement of the link mechanism B in the Y-axis direction.
Shifts the target value Y ₀ by the correction value C 1 (Z ₀ ) and drives the Y-axis motor My to move the link mechanism B from the current position to the positions of the command values D 1 and D 2.

In other words, the meaning of the command value D1 is as shown in FIG.
The straight line K1 shown by the solid line (B), the only Y correction values along the axis C1 (Z ₀₎ - is to be translated to the position of the dashed line in the direction, thereby, the one abutment 5,
The target value Y ₀ in the Y-axis direction is reached. This is the same for the command value D2 of the other butting 5.

Therefore, in step 106, the control unit 51 transmits the command values D1 and D2 to the NC 53,
The C53 converts this into a pulse train and inputs it to the Y-axis motor My. In step 107, the Y-axis motor My moves the link mechanism B in the Y-axis direction from the current position to the position of the command values D1 and D2. Accordingly, to move the two butting 5 to the position of the target value Y ₀ of the Y-axis direction.

Thus, the abutment 5 can reach the target value P (X ₀ , Y ₀ , Z ₀ ) while correcting the displacement in the Y-axis direction.

(3) Positioning and Bending of Work W As described above, when the abutment 5 reaches the target value P, in step 108, the work W is abutted against the abutment 5 (FIG. C)) Perform positioning and step 1
At 09, the work W is bent.

If all the machining is not completed in step 110 (NO), the first step 1
01 and if all the processing is completed (YE
S) Stop the device to end the work (END).

In this embodiment, the case where the trajectories K1 and K2 (FIG. 3) when the abutment 5 moves up and down is a straight line has been described.

However, the present invention is not limited to this. The present invention is also applied to the case where the trajectory when the abutment 5 moves up and down is a curve. In this case, an approximate straight line obtained by dividing the curve into sections is obtained. The correction value can be obtained by an approximate straight line for each section, and in the same case, the entire approximate curve can be obtained, and the correction value can be obtained by the approximate curve. By moving the abutment in the Y-axis direction together with the link mechanism, the displacement of the abutment in the Y-axis direction can be corrected, and the same effect as in FIG.
Of course.

[0075]

As described above, according to the present invention, a method for correcting a displacement of a collision is performed by obtaining a correction value for correcting a displacement in the Y-axis direction of the collision, and adding the correction value to a target value. By moving the link mechanism in the Y-axis direction according to the command value given, the displacement in the Y-axis direction caused by the vertical movement of the collision is corrected, and the collision is apparently vertically As a result, the distance between the abutment and the mold center is constant, and the technical effect of improving the bending accuracy of the work is achieved.

[0076]

[Brief description of the drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is a flowchart illustrating the operation of the present invention.

FIG. 3 is an operation explanatory view of the present invention.

FIG. 4 is a configuration diagram of a back gauge device used in the present invention.

FIG. 5 is a general explanatory view of a back gauge device.

FIG. 6 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

Reference Signs List 50 input unit 51 control unit 52 storage unit 53 NC 54 processing unit K1, K2 trajectory a, b when bump 5 moves up and down A, b Shift amount in the Y-axis direction in upper limit 130 of bump 5 cd bump 5 Ef A line segment connecting the lower limit position ef A line segment connecting the upper limit position of the abutment 5 P Target values of the abutment 5 C1 (Z), C2 (Z) Correction values D1, D2 Command values A Y-axis drive mechanism B Link mechanism C Z-axis drive mechanism D stretch 1 Upper table 2 Lower table 3, 4 Link 5 Abutment 6, 12, 18 Support member 7 Y-axis rail 8, 14 Ball screw 9 Y-axis driven block 10 Y-axis drive block 13 Z-axis rail 15 Z axis drive block 16 Z axis fixed block

Claims (5)

[Claims] An abutment is supported by a link mechanism movably mounted in the Y-axis direction and the Z-axis direction, and a locus in which the abutment moves up and down together with the link mechanism is inclined in the Y-axis direction. In the gauge device, a correction value calculating means for calculating a correction value for correcting the displacement of the collision in the Y-axis direction from the upper limit position of the collision on the trajectory and the amount of displacement in the Y-axis direction at the upper limit position. And a striking position control means for moving the link mechanism supporting the striking in the Y-axis direction by a command value obtained by adding the correction value calculated by the correction value calculating means to the target value in the Y-axis direction. A misalignment correction device for a collision. 2. The projecting device according to claim 1, wherein the control unit calculates the correction value and the command value, and moves the link mechanism supporting the abutment in the Y-axis direction by control of the NC that receives the command value. This misalignment correction device. 3. The apparatus according to claim 1, wherein when the trajectory of the abutment moves up and down is a straight line, the correction value is obtained using the straight line. 4. When the trajectory when the abutment moves up and down is a curve, an approximate straight line obtained by dividing the curve into sections is obtained.
2. The apparatus according to claim 1, wherein the correction value is obtained using an approximate straight line for each section. 5. The position of the abutment according to claim 1, wherein when the trajectory of the abutment moves up and down is a curve, an overall approximate curve is determined and the correction value is determined using the approximate curve. Deviation correction device.