JPH11221624A - Bending device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a bending device capable of easily correcting data. SOLUTION: Working data of a feed pitch, a bending directional angle and a bending angle between bending points are prepared from design data of an object to be worked in an inputted orthogonal coordinate system (S220). And dividing points of a first and second articulated robots, which are devided by a straight linear place as a border, of the object to be worked capable of being grasped by a chuck mechanism, are decided (S230). Next, the working data of the feed pitch, the bending directional angle and the bending angle between bending points are divided into the data for each first and second transfer mechanisms and each above described first and second articulated robots (S240) at the divided point. Thereafter, trial working is executed to correct the working data (S260).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for bending a long workpiece, for example, a pipe or a rod, by moving two sets of bending mechanisms to move the workpiece from both sides to the center thereof. The present invention relates to a bending apparatus that sequentially performs bending processing toward the same.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Publication No. 5-13011, there is provided a chuck mechanism for gripping substantially the center of an elongated workpiece such as a pipe, and a workpiece gripped by the chuck mechanism. Two sets of moving mechanisms are provided which move in parallel with the object and on two sets of tracks respectively provided on both sides thereof toward the chuck mechanism so as to face each other. Then, the articulated robots having joints that rotate around an axis parallel to the axis direction of the workpiece are placed on the two sets of moving mechanisms, and the bent shape of the workpiece is attached to the tip of the bi-articulated robot. 2. Description of the Related Art There is known a type in which a workpiece is sandwiched between a corresponding bending die and a clamping die capable of revolving around the bending die, and a bending mechanism for revolving the clamping die to bend the workpiece is attached.

[0003]

However, when a workpiece is bent according to the numerical values of the design data, the workpiece is often not bent as designed due to differences in hardness, elongation, etc. of the workpiece. Therefore, after trial processing, the difference from the design data is measured, the design data is corrected, and bending is performed again using the corrected design data. In many cases, coordinate data of imaginary points is given as design data. For example, a bending point, which is an intersection of the center line of the straight line portion of the workpiece extended, is given as design data.

Since the bending point is an imaginary point, it is not possible to directly measure the bending point of the bent workpiece.
Therefore, the pitch and angle of the workpiece after bending are measured, and the bending point is calculated from the measured data. Further, since there are many bending points, it is not easy to know which bending point should be corrected when the design data and the measurement data are different. That is, if you modify the data of one bending point, the correction will affect other bending points,
There was a problem that correction work was difficult.

[0005] An object of the present invention is to provide a bending apparatus capable of easily performing correction.

[0006]

In order to achieve the above object, the present invention takes the following means to solve the problem. That is, a chuck mechanism for gripping a long workpiece is provided, and the chuck mechanism moves on two sets of tracks provided in parallel with the workpiece gripped by the chuck mechanism and on both sides thereof. A first and a second moving mechanism are provided which move in opposition to each other, and the first and the second moving mechanisms have a joint which rotates around an axis parallel to the axial direction of the workpiece. And the second articulated robot are placed, respectively, and the work piece is clamped at the tip of the first and second articulated robots by a bending mold and a clamping mold that can revolve around the bending mold. In a bending apparatus equipped with a bending mechanism for revolving the clamping die and bending the workpiece, a feed pitch and a bending direction angle between bending points are obtained from input design data of the workpiece in an orthogonal coordinate system. With bending angle Machining data creating means for creating data, control means for controlling the first and second moving mechanisms and the respective joints of the first and second articulated robots based on the machining data, And a correcting means for correcting the processing data.

[0007] Further, there may be provided a division point determining means for determining a division point of the first and second articulated robots at a boundary of a linear portion of the workpiece which can be gripped by the chuck mechanism.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings. As shown in FIG. 1, a chuck mechanism 2 capable of gripping a long workpiece 1 such as a pipe is provided substantially at the center. The chuck mechanism 2 is configured to hold the outer periphery of the workpiece 1 by a chuck claw (not shown).

Also, two rails 3 and 4 are respectively laid on both sides of the workpiece 1 gripped by the chuck mechanism 2 and on both sides of the gripped workpiece 1.
Is provided. On the rails 3 and 4, movable tables 10 and 12 are mounted so as to be movable on the rails 3 and 4, respectively.

The moving tables 10 and 12 are moved along the tracks 6 and 8 via chains 18 and 20 which are rotated by driving mechanisms 14 and 16 provided at the ends of the tracks 6 and 8, respectively. It is configured. These two mobiles 1
The first and second moving mechanisms 22 and 24 are constituted by 0, 12 and both orbits 6, 8, 2 sets of driving mechanisms 14, 16, and the like.

First and second articulated robots 26 and 28 are mounted on the two movable tables 10 and 12, respectively. The two articulated robots 26 and 28 have the same configuration. It is provided on the tables 10 and 12 so as to be symmetrical about the chuck mechanism 2.

First and second articulated robots 26, 28
As shown in FIG. 3, fixed portions 29 and 30 fixed on movable tables 10 and 12 and three arms 31 to 33 and 34 are provided.
To 36, fixing portions 29, 30 and arms 31 to 33,
34 to 36, and three joints 37 to 39 and 40 to rotate around an axis parallel to the axial direction of the workpiece 1.
42.

The first and second articulated robots 2
The first and second arms 33 and 36 respectively have the first
And second bending mechanisms 44 and 46 are attached. Since the first and second bending mechanisms 44 and 46 have the same configuration, the first bending mechanism 44 attached to the first articulated robot 26 will be described in detail. This first bending mechanism 44
As shown in FIG. 4 and FIG. 5, the axis of a bending mold 48 is provided coaxially in the direction in which the axis of the arm 33 extends, and a groove 50 corresponding to the bending radius is provided on the outer circumference of the bending mold 48. Are formed.

Further, the workpiece 1 is driven by the cylinder 52 to move toward the bending mold 48 and, together with the bending mold 48,
A clamping die 54 for holding the clamping die 5 is provided.
Numeral 4 is configured to revolve around the bending mold 48 while holding the workpiece 1 and to rotate the clamping mold 54 by a predetermined angle to perform so-called compression bending. A pressure mold 56 is provided alongside the clamping mold 54 for receiving a reaction force during bending.

Next, the electric system of the present embodiment will be described with reference to a block diagram shown in FIG. The present apparatus is driven and controlled by a host computer 100 as a control means, a first control apparatus 102, and a second control apparatus 104, so that the workpiece 1
Perform processing. The host computer 100 is a well-known C
The PU 106, the ROM 108, and the RAM 110 are configured as the center of a logical operation circuit, and an input / output circuit 114 for performing input / output with the keyboard 112, the display device 113, and the like are mutually connected via a common bus 116.

In this embodiment, design data is input to the host computer 100 from a keyboard 112 operated by an operator. From the host computer 100, respective programs created according to the operations of the first and second articulated robots 26 and 28 are transmitted to the first control device 102 and the second control device 104, respectively.

The first control device 102 includes a well-known CPU 12
0, a ROM 122, and a RAM 124 as the center of a logical operation circuit, and an input / output circuit 126 for performing input / output with an external servo motor or the like is mutually connected via a common bus 128.

The CPU 120 inputs signals from the first bending mechanism 44, the chuck mechanism 2, the first moving mechanism 22, and the first articulated robot 26 via the input / output circuit 126.
On the other hand, these data and signals, ROM 122, RAM
Based on the data in 124, the CPU 120 causes the first bending mechanism 44, the chuck mechanism 2,
It outputs a drive signal for driving the first moving mechanism 22 and the first articulated robot 26, and controls each mechanism.

On the other hand, the second control device 104 has substantially the same configuration as the first control device 102,
0, a ROM 152, and a RAM 154 as the center of a logical operation circuit, and an input / output circuit 156 for performing input / output with an external servomotor or the like is connected to each other via a common bus 158.

The CPU 150 inputs signals from the second bending mechanism 46, the second moving mechanism 24, and the second articulated robot 28 via the input / output circuit 156. On the other hand, based on these data and signals and the data in the ROM 152 and the RAM 154, the CPU 150 drives the second bending mechanism 24, the second moving mechanism 24, and the second articulated robot 28 via the input / output circuit 156. It outputs signals and controls each mechanism.

Next, the operation of the above-described bending apparatus of the present embodiment will be described. First, in the case of processing into the shape shown in FIG.
Is gripped by the chuck mechanism 2. Then, both the moving tables 10 and 12 are moved, and the first and second articulated robots 2 are moved.
After moving the first and second joints 6, 28 to a predetermined position, the joints 37 to 39 are rotated by a preset operation, for example, as shown in FIG. Then, the first bending mechanism 44 is inverted, and the bending start position of the groove 50 of the bending mold 48 is moved so as to contact the workpiece 1. At this time, the joints 37 to 39 are rotated so that the groove 50 of the bending die 48 is along the bending direction of the workpiece 1.

Next, the clamping die 54 of the first bending mechanism 44 is moved, the workpiece 1 is held between the bending die 48 and the clamping die 54, and the pressure die 56 is brought into contact with the workpiece 1. Thereafter, the clamping die 54 is revolved around the bending die 48 by a predetermined angle (arrow C in FIG. 4), and the workpiece 1 is bent.

After the workpiece 1 is bent at a predetermined angle by revolving the clamping mold 54 at a predetermined angle, the clamping mold 54 and the pressure mold 5 are bent.
6 to release the gripping of the workpiece 1. The same operation is performed in the second bending mechanism 46 of the second articulated robot 28, and the workpiece 1 is bent.

When the bending at one location is completed, the drive mechanism 14 is driven again to move the movable table 10 toward the chuck mechanism 2 to the next bending position as shown in FIG. Let it. When the workpiece 1 is moved to the next bending position, the workpiece 1 is bent by the first bending mechanism 44 as described above.

Further, as shown in FIG. 9C, the first articulated robot 26 is moved to the next bending position, and the joints 37 to 39 are rotated to vertically move the first bending mechanism 44. Stand up. Then, the first bending mechanism 44 is driven to bend the workpiece 1. In this manner, the workpiece 1 gripped by the chuck mechanism 2 is moved from its end side to the chuck mechanism 2.
To bend sequentially.

Next, processing data creation processing performed by the control circuit of the above-described embodiment will be described with reference to a flowchart shown in FIG. The bending of the workpiece 1
The processing is performed based on the design data of the workpiece 1. For example, when the workpiece 1 is processed into a shape as shown in FIG. 8, the design data is given as three-dimensional coordinate data in a rectangular coordinate system. The design data is input from the keyboard 112 to the host computer 100.

The design data is coordinate data of the center line of the workpiece 1. At the bending point, the intersection of the center lines of the straight line portions of the workpiece 1 is defined as a bending point, and the bending point X
The YZ coordinates are used as design data. The coordinate data of both ends of the workpiece 1 is also input as design data. In the case shown in FIG. 8, as shown in Table 1, one end of the workpiece 1 is defined as a bending point Q0 (origin), the other end is defined as a bending point Qe, and the design data of each bending point Q1 to Q6 therebetween. Is entered.

[0028]

[Table 1]

When the processing data creation processing is executed, it is first determined whether or not to create design data of a new workpiece 1 (step 200). Whether it is new or not is determined according to the input from the keyboard 112, and if it is new design data, the design data is read (step 210).

Next, the design data is converted into machining data including a feed pitch P between bending points Q, a bending direction angle R, and a bending angle B (step 220). This processing data is, for example, data in the case where bending is performed only by the first joint type robot 26 in order from the bending point Q0 side to the bending point Qe at the other end.

The feed pitch P is the feed of the first articulated robot 26 taking into account the bending radius (30 in Table 1) along the axial direction (the Z-axis direction in FIG. 8) of the workpiece 1 by the first moving mechanism 22. Quantity. Further, the bending direction angle R is equal to the first and second angles.
An angle indicating the posture of the bending mechanisms 44 and 46, a bending angle B is an angle at which the workpiece 1 is bent, and an arrow C shown in FIG.
The rotation angle of the clamping mold 54 in the direction. The values of these processing data are calculated by the increment method.

After the conversion into the processing data, a process for determining the division point A0 is executed (step 230). The division point A0 is a place where the workpiece 1 is gripped by the chuck mechanism 2, and the first articulated robot 26 and the second articulated robot 28 perform bending on both sides of the division point A0. . As shown in FIG. 8, the center of a straight line portion of the workpiece 1 having a sufficient length that can be gripped by the chuck mechanism 2 is selected as the division point A0.

Next, processing for distributing the processing data to the respective processing data of the first and second articulated robots 26 and 28 is performed based on the division point A0 (step 24).
0). As shown in Table 2, the first articulated robot 26 shares the bending points Q1 to Q3 from the bending point Q0 of one end of the workpiece 1 to the dividing point A0.

[0034]

[Table 2]

Since the second articulated robot 28 moves in the opposite direction to the first articulated robot 26, as shown in Table 3, each bending from the bending point Qe on the other end to the dividing point A0 is performed. Points Q4 to Q6 are shared. Therefore, in the second articulated robot 28, it is converted into machining data that moves from the bending point Q6 to the bending point Q4.

[0036]

[Table 3]

After the conversion, it is determined whether or not the correction is made (step 250). Whether the correction is made or not is determined in accordance with the input from the keyboard 112. If the correction is not made, the processing from step 270 is executed, and the respective processing data is transferred from the host computer 100 to the first controller 100 and the second controller 102. Transfer to After the transfer, the control process is temporarily terminated, and the above-described workpiece 1 is processed based on the transferred processing data.
Is performed.

After bending according to the processing data, the feed pitch P, bending direction angle R,
The bending angle B is measured. When the shape of the workpiece 1 after the bending is different from the processing data, Tables 2 and 3
The feed pitch P, bending direction angle R, and bending angle B of the processing data shown in FIG.

Then, the above-described processing data creation processing is executed, and when it is determined that the data is not new by the processing of step 200, and when it is determined that the correction is made by the processing of step 250, for example, the processing of step 260 Table 1 is displayed on the display device 113, and the processed data in Table 1 is corrected based on the input from the keyboard 112.

For example, when the pitch between the bending points Q2 and Q3 is different from the processing data, the feed pitch P of the bending point Q3 of the processing data shown in Table 1 is corrected. The correction amount may be obtained by measuring the pitch between the bending points Q2 and Q3 with a ruler or the like and increasing or decreasing the feed pitch P. Even if this feed pitch P is corrected,
It does not affect the feed pitch P of the other bending points Q.

The same applies to the bending direction angle R and the bending angle B. The correction can be made for each bending point Q, and the correction does not affect the other bending points Q. Steps 200 to 220
Execution of the processing of step 250 functions as processing data creation means, and execution of the processing of steps 250 and 260 functions as correction means. The execution of the processing in step 230 functions as a division point determining unit.

As described above, the present invention is not limited to such an embodiment, and can be implemented in various modes without departing from the gist of the present invention.

[0043]

As described in detail above, the bending apparatus of the present invention can convert design data into processing data of a feed pitch, a bending direction angle, and a bending angle, and can correct the processing data. There is an effect that the change can be easily performed. In addition, by determining the division points and distributing them to the respective processing data by the first and second articulated robots, the respective processing data can be easily corrected.

[Brief description of the drawings]

FIG. 1 is a front view of a bending apparatus as one embodiment of the present invention.

FIG. 2 is a plan view of the bending apparatus according to the embodiment.

FIG. 3 is an enlarged side view of the bending apparatus according to the embodiment.

FIG. 4 is an enlarged plan view of a first bending mechanism of the embodiment.

FIG. 5 is an enlarged side view of the first bending mechanism of the embodiment.

FIG. 6 is a block diagram illustrating an example of a control device of the bending apparatus according to the embodiment.

FIG. 7 is a flowchart illustrating an example of processing data creation processing performed in the control device of the present embodiment.

FIG. 8 is a perspective view of a workpiece after bending by the bending apparatus of the embodiment.

FIG. 9 is an explanatory diagram of a bending process performed by the first articulated robot according to the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Workpiece 2 ... Chuck mechanism 6, 8 ... Trajectory 22 ... 1st moving mechanism 24 ... 2nd moving mechanism 26 ... 1st articulated robot 28 ... 2nd articulated robot 44 ... 1st bending mechanism 46 ... 2nd Bending mechanism 48 Bending mold 54 Clamping mold 56 Pressure type 100 Host computer 102 First control device 104 Second control device

Claims (2)

[Claims] A chuck mechanism for gripping a long workpiece is provided, and two sets of tracks provided in parallel with and on both sides of the workpiece gripped by the chuck mechanism are provided. First and second moving mechanisms that move toward each other toward the chuck mechanism are provided, and the first and second moving mechanisms include a joint that rotates around an axis parallel to an axial direction of the workpiece. The first and second articulated robots are mounted, respectively, and the workpiece is mounted on the distal ends of the first and second articulated robots using a bending mold and a clamping mold that can revolve around the bending mold. A bending mechanism for clamping and revolving the clamping mold to bend the workpiece by bending the workpiece; and a feed pitch between bending points based on input design data of the workpiece in a rectangular coordinate system. Bending direction angle and bending angle Processing data generating means for generating the processing data of the above; control means for controlling the first and second moving mechanisms and the respective joints of the first and second articulated robots based on the processing data; A bending unit that corrects the processing data in accordance therewith. 2. The apparatus according to claim 1, further comprising: a dividing point determining means for determining a dividing point of the first and second articulated robots at a boundary of a straight portion of the workpiece that can be gripped by the chuck mechanism. Item 2. The bending device according to Item 1.