KR102495176B1 - Incremental forming apparatus - Google Patents

Abstract

The present invention relates to a gradual molding apparatus capable of molding a metal sheet into a predetermined shape without a mold by gradually locally molding the metal sheet in the thickness direction. A gradual molding apparatus may comprise: a pair of first gripping units which grip both ends of a metal sheet in the longitudinal direction; a pair of second gripping units which are formed in a direction perpendicular to the pair of first gripping units to grip both ends of the metal sheet in the width direction; a molding unit which is installed to be movable in at least one of the longitudinal direction, the width direction and the thickness direction of the metal sheet to gradually pressurize at least a portion of one surface of the metal sheet and gradually mold the metal sheet into a predetermined shape; a load support unit which comprises a flat plate-shaped support surface, is installed to be able to be raised and lowered in the thickness direction of the metal sheet, and supports the other surface of the metal sheet when the molding unit gradually molds the metal sheet; and a control unit which raises or lowers the load support unit by applying a control signal to the load support unit on the basis of position information of the molding unit, such that, when the molding unit gradually molds the metal sheet, the load support unit moves up and down depending on the position of the molding unit to maintain contact between the load support unit and the metal sheet. Therefore, it is possible to reduce a molding defect rate and increase productivity.

Description

Incremental forming apparatus {Incremental forming apparatus}

The present invention relates to a gradual forming apparatus, and more particularly, to a gradual forming apparatus capable of forming a metal sheet into a predetermined shape without a mold by gradually locally forming a metal sheet in a thickness direction.

In general, for forming a metal plate, a matching die forming method in which a metal plate is inserted between a pair of male and female molds and then pressed with a mold to form is most widely used. However, in the matching die molding method, it is difficult to manufacture and modify the mold, and the mold must be changed frequently to suit the product, and the precision gradually deteriorates due to wear of the mold during repeated use, and in the case of a large mold, in particular, it takes a lot of time to manufacture the mold. And there was a problem with cost consumption. Accordingly, economical and flexible manufacturing technologies that can replace the metal processing industry using conventional molds are continuously being developed.

For example, a scalable system capable of responding quickly to forming products of various shapes can be mentioned, and a typical forming technology based on such a scalable system includes incremental forming technology.

The progressive forming device is generally composed of a vertical structure of a load-applying part (forming tool) located at the top and a load-bearing part (variable support tool) located at the bottom opposite to the load-applying part based on a gantry structure. The load-applying part and the load-bearing part for the progressive forming of a three-dimensional shape tracing the progressive forming path for the three-dimensional free form based on position control through CNC (Computerized numerical control) and forming the metal plate locally, The final product of the desired shape can be molded.

This gradual forming device can expand the material forming limit in the conventional press process based on the local gradual forming of the metal sheet, and applies the lower load support unit capable of supporting the forming load by tracking the position of the upper load applying unit. It is possible to achieve mold-free multi-species molding process.

However, such a conventional progressive forming apparatus, after fixing the metal sheet material, induces local forming of the metal sheet material through position control between the load applying part (forming tool) and the load supporting part (supporting tool) of the forming part, thereby gradually forming the metal sheet material. In this process, there is a problem in that the contact between the metal plate and the load supporting part supporting the molding part of the metal plate is not made because the thickness reduction phenomenon occurs at the molding part of the metal plate due to the tension of the material.

In addition, in order to solve this phenomenon and to continuously maintain contact between the load support part supporting the molding part of the metal plate and the metal plate, the position compensation of the load support part is performed in consideration of the thickness reduction of the molding part of the metal plate. Even in this case, the feedback configuration and each control value for contact control of the load supporter are different depending on the material, so that the position compensation of the load supporter is not smoothly performed, so there is still a case where contact between the load supporter and the metal plate is not made. There were problems that arose.

The present invention is to solve various problems including the above problems, and when the metal sheet is progressively formed, even when the thickness of the formed portion of the metal sheet decreases, a load support unit and a metal sheet supporting the formed portion of the metal sheet It is an object of the present invention to provide a gradual molding device capable of inducing continuous contact between the two. However, these tasks are illustrative, and the scope of the present invention is not limited thereby.

According to one embodiment of the present invention, a gradual molding apparatus is provided. The gradual forming device includes a pair of first gripping parts for gripping both ends of the metal sheet material in the longitudinal direction, and a pair of first gripping parts formed in a direction perpendicular to the pair of first gripping parts to grip both ends of the metal sheet material in the width direction. A pair of second gripping parts to gradually press at least a portion of one surface of the metal plate to gradually form the metal plate into a predetermined shape, the longitudinal direction, the width direction and the thickness of the metal plate It includes a molding part installed to be movable in at least one of the directions, and a flat plate-shaped support surface, installed to be able to move up and down in the thickness direction of the metal plate material, so that the molding part gradually moves the metal plate material. During molding, when the load supporting part supporting the other surface of the metal plate and the forming part gradually form the metal plate, the load supporting part moves up and down according to the position of the forming part, so that the load supporting part and the metal plate continue to contact each other. A control unit may be included to raise or lower the load support unit by applying a control signal to the load support unit based on positional information of the molding unit.

According to an embodiment of the present invention, the pair of first gripping parts may include a pair of first upper block bodies for pressing one surface of both ends of the metal plate member in the longitudinal direction; And a pair of first lower block bodies that are installed vertically opposite to the pair of first upper block bodies based on the metal plate member and support the other surfaces of both ends of the metal plate member in the longitudinal direction, The pair of second gripping parts may include a pair of second upper block bodies that press one surface of both ends of the metal plate material in the width direction; and a pair of second lower block bodies that are vertically opposite to the pair of second upper block bodies based on the metal sheet material and support the other surfaces of both ends of the metal sheet material in the width direction. can

According to one embodiment of the present invention, the load support portion is formed in a plate shape, the base plate is installed to be able to move up and down in the thickness direction of the metal plate on the lower side of the metal plate; an elastic plate formed on an upper surface of the base plate in a plate shape and made of an elastic material to elastically support the metal plate; and a driving unit for raising or lowering the base plate.

According to one embodiment of the present invention, the drive unit is formed in a rod shape, is rotatably installed on the lower side of the pair of first lower block bodies or the pair of second lower block bodies, and has a screw thread on the outer circumferential surface. A pair of elevating and descending threaded rods formed and screwed together with both ends of the base plate to raise or lower the base plate by rotational motion; and a drive motor for applying a driving force so that the pair of elevating and descending threaded rods can rotate.

According to one embodiment of the present invention, the driving unit is connected to one end of the base plate, a first driving cylinder for raising or lowering one end of the base plate; and a second driving cylinder connected to the other end of the base plate to raise or lower the other end of the base plate.

According to one embodiment of the present invention, the drive unit is formed in a rod shape, installed below the pair of first lower block bodies or the pair of second lower block bodies, and penetrates both ends of the base plate. A pair of elevating guide rods formed to guide the ascending or descending movement of the base plate; and a third driving cylinder connected to the middle portion of the base plate to raise or lower the base plate.

According to one embodiment of the present invention, the forming unit is formed in a rod shape, is installed in a direction facing one surface of the metal plate material, and presses at least a portion of the one surface of the metal plate material in the thickness direction of the metal plate material. It may include; a load application unit.

According to one embodiment of the present invention, the control unit is configured to allow the base plate to rise or fall by a distance that the load application unit moves upward or downward in the thickness direction of the metal sheet, so that the position of the load application unit received as an input. Based on the information, the driving unit may be feedback-controlled.

According to one embodiment of the present invention, the control unit, during the initial setting of the gradual forming, the separation distance between the end of the load applying unit and the support surface of the elastic plate can be maintained at a distance shorter than the thickness of the metal plate, A control signal may be applied to the driver based on the input thickness information of the metal plate.

According to one embodiment of the present invention made as described above, the load support unit including the flat-shaped elastic plate formed of an elastic material is synchronized with the movement of the forming unit for locally gradually forming the metal sheet material in the thickness direction of the metal sheet material. By being installed to be able to be driven up or down, the load support unit can be configured to elastically press the forming portion of the metal sheet by using the elastic plate while driving the load support unit up or down according to the movement of the forming unit during progressive forming of the metal sheet.

Accordingly, even when the thickness of the molded part of the metal plate material decreases due to the gradual molding of the molded part, contact between the elastic plate of the load support part and the molded part of the metal plate material is continuously made, and the load support part is made of the metal plate material by the elastic pressing force of the elastic plate. It can be induced to continuously apply a constant pressing force to the gradual molding.

Therefore, without a configuration for complex feedback control for position control of the load-applying unit and the load-bearing unit of the molding unit as in the prior art, through a device configuration capable of consistently adding contact between the load-bearing unit supporting the forming unit and the metal plate, It is possible to implement a gradual molding device that can reduce the molding defect rate and increase productivity compared to the mold-free gradual molding of Of course, the scope of the present invention is not limited by these effects.

1 is a plan view schematically showing the upper surface of a gradual molding apparatus according to an embodiment of the present invention.
Figure 2 is a front view schematically showing the front of the progressive molding apparatus of Figure 1;
3 and 4 are process diagrams schematically illustrating a process of gradually forming a metal sheet by the gradual forming apparatus of FIG. 1 .
5 is a front view schematically showing the front of a gradual molding apparatus according to another embodiment of the present invention.
6 is a front view schematically showing the front of a gradual molding apparatus according to another embodiment of the present invention.

Hereinafter, several preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art, and the following examples may be modified in many different forms, and the scope of the present invention is as follows It is not limited to the examples. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the spirit of the invention to those skilled in the art. In addition, the thickness or size of each layer in the drawings is exaggerated for convenience and clarity of explanation.

Hereinafter, embodiments of the present invention will be described with reference to drawings schematically showing ideal embodiments of the present invention. In the drawings, variations of the depicted shape may be expected, depending on, for example, manufacturing techniques and/or tolerances. Therefore, embodiments of the inventive concept should not be construed as being limited to the specific shape of the region shown in this specification, but should include, for example, a change in shape caused by manufacturing.

1 is a plan view schematically showing a top surface of a gradual molding apparatus 100 according to an embodiment of the present invention, FIG. 2 is a front view schematically showing a front surface of the gradual molding apparatus 100 of FIG. 1, FIG. 3 and FIG. 4 is process charts schematically illustrating a process of progressively forming the metal plate 1 by the gradual forming apparatus 100 of FIG. 1 . And, Figure 5 is a front view schematically showing the front of the gradual molding apparatus 200 according to another embodiment of the present invention, Figure 6 is a schematic front view of the gradual molding apparatus 200 according to another embodiment of the present invention It is a front view represented by .

First, as shown in FIGS. 1 and 2 , the gradual molding apparatus 100 according to an embodiment of the present invention largely includes a pair of first gripping parts 10 and a pair of second gripping parts. (20), a molding part (30), a load support part (40), and a control part (50).

As shown in FIGS. 1 and 2 , the pair of first gripping parts 10 may grip both ends of the metal plate 1 in the longitudinal direction. In addition, the pair of second gripping parts 20 are formed in a direction perpendicular to the pair of first gripping parts 10 to grip both ends of the metal plate 1 in the width direction.

More specifically, the pair of first gripping parts 10 include a pair of first upper block bodies 11 and a metal plate 1 that press one surface of both ends of the metal plate 1 in the longitudinal direction. Includes a pair of first lower block bodies 12 that are installed vertically opposite to the pair of first upper block bodies 11 as a reference and support the other surfaces of both ends of the metal plate 1 in the longitudinal direction The pair of second gripping parts 20 are based on the pair of second upper block bodies 21 and the metal plate 1 that press one side of both ends of the metal plate 1 in the width direction. It includes a pair of second lower block bodies (not shown) installed vertically opposite to the pair of second upper block bodies 21 and supporting the other side of both ends of the metal plate 1 in the width direction. can

The pair of first gripping parts 10 and the pair of second gripping parts 20, as a kind of clamp, have appropriate strength and durability capable of gripping and supporting the metal plate 1. It can be a block structure. For example, the pair of first gripping parts 10 and the pair of second gripping parts 20 may be a block structure made of one or more materials selected from among steel, stainless steel, aluminum, magnesium, and zinc. . However, the pair of first gripping parts 10 and the pair of second gripping parts 20 are not necessarily limited to those in FIGS. 1 and 2, and can grip and support the metal plate 1 in a wide variety of ways. Members of the material may be applied.

As shown in FIGS. 1 and 2 , the forming unit 30 gradually presses at least a portion of the metal plate 1 to gradually form the metal plate 1 into a predetermined shape, the metal plate ( 1) may be installed to be movable in at least one of the longitudinal direction, the width direction, and the thickness direction.

More specifically, the forming unit 30 is formed in a rod shape, and is movable in at least one of the longitudinal direction, the width direction, and the thickness direction of the metal plate 1, so that the metal plate 1 It is installed in a direction facing the upper surface of the, and may include a load applying unit 31 for pressing at least a portion of the upper surface of the metal plate (1) in the thickness direction of the metal plate (1).

The load applying unit 31 is a molding tool in the form of a stylus pen, and is moved in three dimensions, such as the longitudinal direction, the width direction, and the thickness direction of the metal plate 1, so that the metal plate 1 It may be mounted on a gantry-structured robot arm (not shown) having multi-joints, respectively, so as to gradually form a three-dimensional predetermined shape.

For example, the load applying unit 31 mounted on the robot arm (not shown) traces the progressive forming path for the three-dimensional free shape based on the position control through the CNC, and gradually forms the metal plate 1 locally. , The metal plate 1 can be molded into a predetermined desired shape.

In addition, a ball bearing is formed at an end of the load applying unit 31, so that the load applying unit 31 can easily move the metal plate 1 in a pressurized state.

In addition, in the present embodiment, the load applying unit 31 of the molding unit 30 is installed above the metal plate 1 to press at least a portion of the upper surface of the metal plate 1, and the load support unit 40 to be described later ) is installed below the metal plate 1 to support the lower surface of the portion of the metal plate 1 being pressed by the load applying portion 31, but is not necessarily limited to FIGS. 1 and 2, The load application unit 31 of the molding unit 30 may be installed below the metal plate 1, and the load support unit 40 may be installed above the metal plate 1.

As shown in FIG. 2 , the load support part 40 includes a flat plate-shaped support surface, is installed to be able to move up and down in the thickness direction of the metal plate 1, and applies a load to the molding part 30. The portion 31 may support the other surface of the metal plate 1 when the metal plate 1 is progressively formed.

More specifically, the load support unit 40 is formed in a plate shape, and a base plate 41 installed below the metal plate 1 to be able to move up and down in the thickness direction of the metal plate 1, and a plate shape The elastic plate 42 formed of an elastic material and the base plate 41 in which the elastic plate 42 is installed are formed on the upper surface of the base plate 41 and are formed of an elastic material so as to elastically support the metal plate 1. It may include a driving unit 43 that raises or lowers.

The driving unit 43 that raises or lowers the base plate 41 on which the elastic plate 42 is installed is formed in a rod shape and is formed in a pair of first lower block bodies 12 or a pair of second lower block bodies A pair of elevating and descending screw rods (43a) rotatably installed on the lower side of and threaded on the outer circumferential surface are screwed together with both ends of the base plate 41 to raise or lower the base plate 41 by rotational motion. ) And a pair of elevating threaded rods (43a) may include a driving motor (M) for applying a driving force to rotate.

For example, a pair of elevating screw rods 43a having male threads formed on the outer circumferential surface are rotatably coupled to both ends of the base plate 41 and screwed to the hinge member 44 having female threads formed on the inner diameter, so that the base plate It can be screwed with both ends of (41).

Accordingly, when the pair of elevating screw rods 43a are rotationally driven by the driving of the drive motor M, the hinge member 44 rises along the male thread of the pair of elevating screw rods 43a or By lowering, the base plate 41 on which the elastic plate 42 is installed can be raised or lowered.

The driving unit 43 is not limited to the above-described embodiment and may be installed in a variety of forms.

For example, as shown in FIG. 5 , the driving unit 43 is connected to one end of the base plate 41, and the first driving cylinder C1 and the base plate raise or lower one end of the base plate 41. It may be configured to include a second driving cylinder (C2) connected to the other end of the base plate 41 to raise or lower the other end of the base plate 41.

More specifically, the first driving cylinder C1 and the second driving cylinder C2 connected to both ends of the base plate 41 are connected to hinge members 44 rotatably coupled to both ends of the base plate 41 By doing so, both ends of the base plate 41 can be supported.

Accordingly, the hinge member 44 rotatably coupled to both ends of the base plate 41 rises or falls according to the driving of the first drive cylinder C1 and the second drive cylinder C2, thereby raising or lowering the elastic plate 42 ) can raise or lower the base plate 41 installed.

Any one of an electric cylinder, a hydraulic cylinder, and a pneumatic cylinder may be applied to the first driving cylinder C1 and the second driving cylinder C2. In addition, the first driving cylinder (C1) and the second driving cylinder (C2) are all driving devices that can linearly raise or lower the hinge member 44 rotatably coupled to both ends of the base plate 41 can be used

In addition, as shown in FIG. 6, the drive unit 43 is formed in a rod shape and installed below the pair of first lower block bodies 12 or the pair of second lower block bodies, and the base plate ( The base plate It may be configured to include a third driving cylinder (C3) that raises or lowers (41).

More specifically, the pair of elevating and descending guide rods 43b are rotatably coupled to both ends of the base plate 41 and coupled through the hinge member 44 having a through hole formed in the inner diameter thereof, so that the base plate ( 41) can be combined with both ends.

Accordingly, when the third driving cylinder C3 supporting the middle portion of the base plate 41 is driven to directly raise or lower the base plate 41, the base plate is driven by a pair of elevating guide rods 43b. While the ascending or descending movement direction of 41 is guided, the base plate 41 can be stably ascended or descended even with one drive unit.

As the third driving cylinder C3, any one of an electric cylinder, a hydraulic cylinder, and a pneumatic cylinder may be applied. In addition, as the third driving cylinder C3, any driving device capable of linearly raising or lowering the base plate 41 while supporting the middle portion of the base plate 41 may be used.

As shown in FIG. 2, the control unit 50 controls the load support unit 40 according to the position of the forming unit 30 when the load applying unit 31 of the forming unit 30 progressively forms the metal plate 1. ) applies a control signal to the load supporting part 40 based on the positional information of the molding part 30 so that the contact between the load supporting part 40 and the metal plate 1 can be continued by moving up and down, and the load supporting part 40 ) can be raised or lowered.

More specifically, the control unit 50, during the gradual forming of the metal sheet 1, the base plate 41 moves by the distance that the load applying unit 31 moves up or down in the thickness direction of the metal sheet 1 The driving unit 43 may be feedback-controlled based on positional information of the load applying unit 31 input from the molding unit 30 so as to ascend or descend.

For example, as shown in FIG. 3 , during the gradual forming of the metal plate 1, the control unit 50 controls the driving unit 43 in the thickness direction of the load applying unit 31 of the forming unit 30. By raising the base plate 41 on which the elastic plate 42 is installed according to the position of the , the elastic plate 42 can elastically press and support the molded portion of the metal plate 1 .

At this time, during the initial setting of the gradual forming, the end of the load applying unit 31 so that the contact between the metal plate 1 and the elastic plate 42 can be continuously made even though the thickness of the metal plate 1 is reduced by the gradual forming. The separation distance between the support surface of the elastic plate 42 may be preferably set to a shorter distance than the thickness of the metal plate 1 . The separation distance may be achieved by the control unit 50 applying a control signal to the driving unit 43 based on thickness information of the raw material of the metal plate 1 input to the control unit 50 .

In addition, the separation distance is the minimum thickness (of the metal sheet 1) in consideration of the maximum value of thickness reduction that may occur at the forming portion of the metal sheet 1 when the metal sheet 1 is progressively formed. It may be more desirable to set the distance shorter than the minimum thickness before fracture occurs).

Subsequently, as shown in FIG. 4 , when the load applying unit 31 of the forming unit 30 descends by the first descending distance D1 to form the metal sheet 1 more deeply, the control unit 50 The base plate 41 on which the elastic plate 42 is installed is formed by receiving information about the first descending distance D1 of the load applying unit 31 from the temporary molding unit 30 and controlling the driving unit 43 by feedback. It can be descended by a second descending distance D2 equal to the first descending distance D1.

Although the control of the lowering driving of the base plate 41 has been described step by step, in practice, it can be performed in real time with the movement of the load applying unit 31 in the thickness direction. Accordingly, the base plate 41 can be driven up or down at the same moving distance as the moving distance of the load applying unit 31 in the thickness direction.

Therefore, according to the gradual forming apparatuses 100, 200, and 300 according to various embodiments of the present invention, the load support portion 40 including the flat elastic plate 42 formed of an elastic material is formed of a metal plate 1 In synchronization with the movement of the forming unit 30 for locally progressively forming, the metal sheet 1 is installed to be driven up or down in the thickness direction of the metal sheet 1, so that during the progressive forming of the metal sheet 1, the load support unit 40 It may be configured to elastically press the forming portion of the metal plate 1 using the elastic plate 42 while driving upward or downward according to the movement of the temporary forming unit 30 .

Accordingly, even when the thickness of the formed portion of the metal plate 1 decreases according to the gradual forming of the forming part 30, the contact between the elastic plate 42 of the load supporting portion 40 and the formed portion of the metal plate 1 It is made continuously, and the load supporting part 40 can be guided to support while continuously applying a constant pressing force to the metal plate 1 by the elastic pressing force of the elastic plate 42 while the gradual molding is performed.

Therefore, it is possible to consistently add contact between the load supporter 40 supporting the molded part and the metal plate 1 without a configuration for complicated feedback control for position control of the load-applying part and the load-bearing part of the molded part as in the prior art. Through the device configuration with the existing mold, it can have the effect of reducing the molding defect rate and increasing productivity compared to the conventional mold-free gradual molding.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

1: metal plate
10: a pair of first gripping parts
11: a pair of first upper blocks
12: a pair of first lower blocks
20: a pair of second gripping parts
21: a pair of second upper blocks
30: molding part
31: load application unit
40: load support
41: base plate
42: elastic plate
43: driving unit
43a: a pair of elevating threaded rods
43b: a pair of elevating guide rods
50: control unit
M: drive motor
C1: first drive cylinder
C2: second drive cylinder
C3: 3rd drive cylinder
100, 200, 300: progressive molding device

Claims (9)

a pair of first gripping parts gripping both ends of the metal plate in the longitudinal direction;
a pair of second gripping parts formed in a direction perpendicular to the pair of first gripping parts and gripping both ends of the metal plate in a width direction;
The metal sheet may be moved in at least one of the longitudinal direction, the width direction, and the thickness direction so as to progressively press at least a portion of one surface of the metal sheet to gradually form the metal sheet into a predetermined shape. A molding unit that is installed to do;
A load support unit including a support surface in the shape of a flat plate, installed to be able to move up and down in the thickness direction of the metal sheet material, and supporting the other surface of the metal sheet material when the molding unit progressively forms the metal sheet material; and
When the molding unit progressively forms the metal plate, the load support unit moves up and down according to the position of the forming unit so that the load support unit and the metal sheet material can be continuously contacted, based on positional information of the forming unit. A control unit for raising or lowering the load support unit by applying a control signal to
The load support part,
a base plate formed in a plate shape and installed at a lower side of the metal plate to be able to move up and down in the thickness direction of the metal plate;
an elastic plate formed on an upper surface of the base plate in a plate shape and made of an elastic material to elastically support the metal plate; and
Including; driving unit for raising or lowering the base plate,
the driving unit,
It is formed in a rod shape and is rotatably installed on the lower side of the pair of first lower block bodies or the pair of second lower block bodies, and a screw thread is formed on the outer circumferential surface to be screwed with both ends of the base plate to rotate. A pair of elevating screw rods for raising or lowering the base plate by movement; and
a drive motor for applying a driving force so that the pair of elevating and descending threaded rods rotate;
Including, gradual molding apparatus. According to claim 1,
The pair of first gripping parts,
a pair of first upper block bodies for pressing one surface of both ends of the metal plate member in the longitudinal direction; and
A pair of first lower block bodies that are vertically opposite to the pair of first upper block bodies based on the metal sheet material and support the other surfaces of both ends of the metal sheet material in the longitudinal direction,
The pair of second gripping parts,
a pair of second upper block bodies that press one surface of both ends of the metal plate material in the width direction; and
a pair of second lower block bodies that are vertically opposed to the pair of second upper block bodies based on the metal plate member and support the other surfaces of both ends of the metal plate member in the width direction;
Including, gradual molding apparatus. delete delete a pair of first gripping parts gripping both ends of the metal plate in the longitudinal direction;
a pair of second gripping parts formed in a direction perpendicular to the pair of first gripping parts to grip both ends of the metal plate in a width direction;
The metal sheet may be moved in at least one of the longitudinal direction, the width direction, and the thickness direction so as to gradually press at least a portion of one surface of the metal sheet to gradually form the metal sheet into a predetermined shape. A molding unit that is installed to do;
A load support unit including a support surface in the shape of a flat plate, installed to be able to move up and down in the thickness direction of the metal sheet material, and supporting the other surface of the metal sheet material when the molding unit progressively forms the metal sheet material; and
When the forming unit progressively forms the metal plate, the load supporting unit moves up and down according to the position of the forming unit so that the load supporting unit and the metal sheet can be continuously in contact with each other based on positional information of the forming unit. A control unit for raising or lowering the load support unit by applying a control signal to
The load support part,
a base plate formed in a plate shape and installed below the metal plate to be able to move up and down in the thickness direction of the metal plate;
an elastic plate formed on an upper surface of the base plate in a plate shape and made of an elastic material to elastically support the metal plate; and
Including; driving unit for raising or lowering the base plate,
the driving unit,
a first driving cylinder that is connected to one end of the base plate and raises or lowers one end of the base plate; and
a second driving cylinder that is connected to the other end of the base plate and raises or lowers the other end of the base plate;
Including, gradual molding apparatus. a pair of first gripping parts gripping both ends of the metal plate in the longitudinal direction;
a pair of second gripping parts formed in a direction perpendicular to the pair of first gripping parts to grip both ends of the metal plate in a width direction;
The metal sheet may be moved in at least one of the longitudinal direction, the width direction, and the thickness direction so as to gradually press at least a portion of one surface of the metal sheet to gradually form the metal sheet into a predetermined shape. A molding unit that is installed to do;
A load support unit including a support surface in the shape of a flat plate, installed to be able to move up and down in the thickness direction of the metal sheet material, and supporting the other surface of the metal sheet material when the molding unit progressively forms the metal sheet material; and
When the molding unit progressively forms the metal plate, the load support unit moves up and down according to the position of the forming unit so that the load support unit and the metal sheet material can be continuously contacted, based on positional information of the forming unit. A control unit for raising or lowering the load support unit by applying a control signal to
The load support part,
a base plate formed in a plate shape and installed at a lower side of the metal plate to be able to move up and down in the thickness direction of the metal plate;
an elastic plate formed on an upper surface of the base plate in a plate shape and made of an elastic material to elastically support the metal plate; and
Including; driving unit for raising or lowering the base plate,
the driving unit,
It is formed in a rod shape and is installed on the lower side of the pair of first lower block bodies or the pair of second lower block bodies, and is formed to pass through both ends of the base plate, so that the base plate can move upward or downward. A pair of ascending and descending guide rods to guide the direction; and
a third driving cylinder that is connected to a middle portion of the base plate and raises or lowers the base plate;
Including, gradual molding apparatus. The method of any one of claims 1, 5 and 6,
The molding part,
A load applying unit formed in a rod shape and installed in a direction facing one surface of the metal plate member to press at least a portion of the one surface of the metal plate member in the thickness direction of the metal plate member;
Including, gradual molding apparatus. According to claim 7,
The control unit,
Gradual molding, which feedback-controls the drive unit based on the input positional information of the load-applying unit so that the base plate can be raised or lowered by a distance that the load-applying unit moves up or down in the thickness direction of the metal plate. Device. According to claim 7,
The control unit,
In the initial setting of the gradual molding, the driving unit is based on the input thickness information of the metal plate so that the separation distance between the end of the load applying unit and the support surface of the elastic plate can be maintained at a distance shorter than the thickness of the metal plate. For applying a control signal to, a gradual molding device.

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