WO2009141865A1 - Plate bending method and bending angle detection device - Google Patents

Plate bending method and bending angle detection device Download PDF

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Publication number
WO2009141865A1
WO2009141865A1 PCT/JP2008/059208 JP2008059208W WO2009141865A1 WO 2009141865 A1 WO2009141865 A1 WO 2009141865A1 JP 2008059208 W JP2008059208 W JP 2008059208W WO 2009141865 A1 WO2009141865 A1 WO 2009141865A1
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WO
WIPO (PCT)
Prior art keywords
plate
bending
angle
sensor ring
detection device
Prior art date
Application number
PCT/JP2008/059208
Other languages
French (fr)
Japanese (ja)
Inventor
末弘 水河
Original Assignee
Mizukawa Suehiro
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mizukawa Suehiro filed Critical Mizukawa Suehiro
Priority to JP2010512872A priority Critical patent/JPWO2009141865A1/en
Priority to US12/993,171 priority patent/US20110061431A1/en
Priority to EP08764368A priority patent/EP2298464A4/en
Priority to PCT/JP2008/059208 priority patent/WO2009141865A1/en
Publication of WO2009141865A1 publication Critical patent/WO2009141865A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/20—Bending sheet metal, not otherwise provided for

Definitions

  • the present invention relates to a plate bending method and a bending angle detection device, and more particularly to a plate bending method and a bending angle detection device that can reduce labor required for bending a plate.
  • Patent Document 1 discloses a plate bending apparatus. This device includes a fixed mold having a slit and a movable mold that is rotatably fitted to a fixed mold shaft.
  • Patent Document 2 discloses a method of bending a plate. In this method, a plate is fed out from the outlet, and when the feeding of the plate is stopped, the plate is pressed against the end portion on the outlet side and bent.
  • Patent Document 2 Even an amateur can bend and process a plate into a desired shape easily and quickly like an expert.
  • Patent Document 3 discloses a method for bending a plate. This method is a method of repeating the following two-step process.
  • the first step is a step of keeping the feed bearing in contact with the plate.
  • the second step the plate is intermittently fed through the slit provided in the fixed mold, and the plate is pressed against the exit corner of the slit by the pressing tool every time the feeding of the plate is stopped due to the suspension of the servo motor operation. This is a bending process.
  • Patent Document 4 discloses a plate processing apparatus.
  • This apparatus includes a bending shape input unit, a characteristic data input unit, and an arithmetic unit.
  • the bending shape input unit receives an input of a geometric bending shape of a long plate.
  • the characteristic data input unit accepts input of characteristic data relating to the bending of the plate.
  • the arithmetic unit calculates plate bending data based on the geometric bending shape received by the bending shape input unit and the characteristic data received by the characteristic data input unit.
  • the plate can be accurately processed by taking into consideration the characteristics relating to the bending of the plate.
  • Patent Documents 1 to 3 have a problem that it is difficult to bend the plate at an angle desired by the user. This is because when a force is applied to bend the plate and then the force is released, a springback occurs and the angle of the bent portion changes. “Springback” means a phenomenon in which, when a force is applied to a plate to such an extent that plastic deformation occurs and then the force is removed from the plate, the deformation caused by the elastic deformation is eliminated. It is difficult to predict how much the angle of the bent plate will change due to the springback.
  • the invention disclosed in Patent Document 4 can accurately process a long plate, there is a problem that it is difficult to acquire characteristic data necessary for that purpose.
  • the characteristic data is generated from the data of how much the plate is bent during the bending process and the measurement result of the angle of the portion bent by the bending process.
  • Generating characteristic data in this way requires the data to be processed after iterative bending and measurement of the sample produced thereby. This operation is time consuming and labor intensive. This operation increases the labor and time required for the entire bending operation.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a plate folding method and a bending angle detection device that can reduce the labor required for bending a plate. is there.
  • the plate bending method is a method of bending a plate with a bending machine.
  • the plate is mounted until it is detected that the angle of the bent portion of the plate reaches a predetermined angle when the plate is attached to the bending machine and the springback is completed.
  • the bending operation is repeated a plurality of times.
  • the plate bending method described above is preferably a method of further bending the plate until it is detected by a bending angle detection device connected to a bending machine.
  • the bending angle detection device described above measures the orientation of the plate before the bending machine bends the plate and the orientation of the plate after the bending machine bends the plate by contacting the plate. .
  • the bending angle detection device detects an angle.
  • the bending angle detection device is a device connected to a bending machine.
  • the angle is an angle of a bent portion of a plate bent by a bending machine.
  • the bending angle detection device includes a signal generation device, a connection unit, a drive device, and a rotation angle detection device.
  • the signal generation device generates a signal according to whether or not it is in contact with the plate.
  • the connection unit rotatably connects the signal generation device to the bending machine.
  • the drive device drives the signal generation device to rotate.
  • the rotation angle detection device detects the rotation angle of the signal generation device.
  • the connection part has a holder fixed to the bending machine and a bearing connected to the holder. The bearing positions the signal generator such that the rotation axis of the plate when the bending machine bends the plate and the rotation axis of the signal generator coincide with each other.
  • the signal generating device is rotatably connected to the bending machine by the connecting portion so that the rotation axis of the plate when the bending machine bends the plate and the rotation axis of the rotating member coincide.
  • the signal generation device is driven to rotate by the driving device.
  • the rotation angle of the signal generation device is detected by the rotation angle detection device.
  • the rotation angle of the signal generator matches the rotation angle of the plate bent by the bending machine. Since the signal generator generates a signal according to whether or not it is in contact with the plate, if the rotation angle of the signal generator when the signal is generated is detected by the rotation angle detector, the bending machine can Even without removing the plate, the rotation angle of the plate folded by the bending machine can be detected. If the rotation angle of the plate is measured in a state in which the spring back is completed, it is not necessary to consider the error due to the spring back. As a result, the labor required for bending the plate can be reduced.
  • the plate bending method and the bending angle detection device according to the present invention can reduce the labor required for bending a plate.
  • 1 is an external view of a servo motor according to an embodiment of the present invention. It is sectional drawing about a part of servomotor which concerns on embodiment of this invention. It is an external view of the spring joint which concerns on embodiment of this invention. It is a three-dimensional exploded view of a spring joint according to an embodiment of the present invention. It is sectional drawing of the spring joint which concerns on embodiment of this invention. It is a 1st figure which shows operation
  • FIG. 1 is an external view of a bending angle detection device 50 according to the present embodiment.
  • FIG. 2 is a three-dimensional exploded view of the bending angle detection device 50 according to the present embodiment.
  • FIG. 3 is an external view of the servo motor 60.
  • FIG. 4 is a cross-sectional view of a part of the servo motor 60.
  • FIG. 5 is an external view of the spring joint 104.
  • FIG. 6 is an exploded view of the spring joint 104.
  • FIG. 10 is an external view of the holder 62.
  • FIG. 11 is an external view and a cross-sectional view of the sensor ring L64.
  • FIG. 12 is a perspective view of the sensor ring L64.
  • FIG. 13 is an external view and a cross-sectional view of the sensor ring R66.
  • FIG. 14 is a perspective view of the sensor ring R66.
  • FIG. 15 is a view taken in the direction of arrow A in FIG.
  • FIG. 16 is a diagram showing a situation where the sensor ring L64 is removed from FIG.
  • FIG. 17 is a cross-sectional view of the bending angle detector 50 with the servo motor 60 removed.
  • FIG. 18 is a cross-sectional view of the bending angle detector 50 as viewed from a direction orthogonal to FIG.
  • FIG. 19 is a perspective view of a bending machine 80 to which the bending angle detection device 50 according to the present embodiment is attached.
  • FIG. 20 is a perspective view illustrating a state in which the bending angle detection device 50 is attached to the bending machine 80.
  • FIG. 21 is a control block diagram of the bending machine 80.
  • FIG. 22 is a conceptual diagram showing a situation in which the blade material plate 300 is passed through a slit (not shown) of the bending shaft 92 because it is bent by the claw of the rotary cylinder 90.
  • FIG. 23 is a conceptual diagram showing a situation in which the claw of the rotating cylinder 90 is brought into contact with the blade material plate 300 in order to start bending of the blade material plate 300.
  • FIG. 24 is a conceptual diagram showing a state in which the microswitch R162 is brought into contact with the blade material plate 300 as preparation for measuring the angle of the bent blade material plate 300.
  • FIG. 25 is a conceptual diagram showing a situation when the blade material plate 300 is bent by the claw of the rotary cylinder 90.
  • FIG. 26 is a conceptual diagram showing a state in which the microswitch R162 is brought into contact with the blade member plate 300 to measure the angle after the blade member plate 300 is bent.
  • FIG. 27 is a conceptual diagram illustrating a state in which the microswitch R162 is rotated in the reverse direction after the angle of the blade member plate 300 is measured.
  • FIG. 28 is a flowchart showing a control procedure for accurately bending the blade plate 300 without measuring the spring back in advance.
  • the bending angle detection device 50 is attached to a bending machine 80.
  • the bending angle detection device 50 is connected to the bending machine 80 and measures the angle of the plate bent by the bending machine 80.
  • the bending machine 80 will be described later.
  • the bending angle detection device 50 includes a servo motor 60, a holder 62, a sensor ring L64, a sensor ring R66, a spacer 68, and a bearing 70.
  • the servo motor 60 is controlled by a control unit 98 of a bending machine 80 described later.
  • the servo motor 60 drives the sensor ring L64 and the sensor ring R66.
  • a servo motor 60, a sensor ring L64, and a sensor ring R66 are attached to the holder 62.
  • the tip of the bending shaft 92 of the bending machine 80 is fitted into the holder 62.
  • the bending shaft 92 is fitted into the holder 62 after passing through the rotary cylinder 90 which is also a part of the bending machine 80.
  • the sensor ring L ⁇ b> 64 measures the angle of the bent portion of the blade material plate 300 from one side surface of the blade material plate 300.
  • the sensor ring R66 measures the angle of the bent portion of the blade material plate 300 from the side surface opposite to the sensor ring L64.
  • the spacer 68 is a member for keeping the bearing 70 in an appropriate position.
  • the bearing 70 is configured so that the rotation axis of the blade material plate 300 when the bending machine 80 bends the blade material plate 300 matches the rotation axis of the sensor ring L64 and the sensor ring R66. It is a member for positioning rotatably.
  • the spacer 68 and the bearing 70 are connected to the holder 62 by a bolt 72.
  • the servo motor 60 will be described with reference to FIGS.
  • the servo motor 60 includes a motor main body 100, a rotation angle sensor 102, a spring joint 104, a first gear 106, and a second gear 108.
  • the motor body 100 generates torque for rotating the first gear 106 and the second gear 108.
  • the sensor ring L64 and the sensor ring R66 are driven by this torque.
  • the rotation angle sensor 102 detects the rotation angle of the rotor of the motor main body 100.
  • the spring joint 104 is attached to the rotor of the motor main body 100 and the rotation shafts of the first gear 106 and the second gear 108, and transmits the torque generated by the motor main body 100 to the first gear 106 and the second gear 108.
  • the first gear 106 meshes with the gear 154 of the sensor ring L64, and transmits torque to the sensor ring L64.
  • the second gear 108 meshes with the gear 164 of the sensor ring R66 and transmits torque to the sensor ring R66.
  • the structure of the spring joint 104 will be described with reference to FIGS.
  • the spring joint 104 includes an upper rotating cylinder 110, a first spring 112, a middle rotating cylinder 114, a second spring 116, and a lower rotating cylinder 118.
  • the rotor of the motor main body 100 is fitted into the upper rotating cylinder 110.
  • the upper rotating cylinder 110 transmits the torque generated by the motor main body 100 to the middle rotating cylinder 114.
  • a protrusion 130 is provided at the lower end of the upper rotating cylinder 110.
  • the first spring 112 is fitted in the upper rotating cylinder 110 and the middle rotating cylinder 114, and when the upper rotating cylinder 110 cannot directly transmit torque to the middle rotating cylinder 114, the torque generated by the motor body 100 is transmitted to the middle rotating cylinder 114.
  • the middle rotary cylinder 114 is fitted into the upper rotary cylinder 110 and the lower rotary cylinder 118 while penetrating the first spring 112 and the second spring 116.
  • the middle rotating cylinder 114 transmits the torque transmitted from the upper rotating cylinder 110 or the first spring 112 to the second spring 116.
  • a protrusion 132 is provided at the central portion of the middle rotating cylinder 114.
  • the second spring 116 is fitted into the middle rotating cylinder 114 and the lower rotating cylinder 118, and when the middle rotating cylinder 114 cannot directly transmit torque to the lower rotating cylinder 118, the torque generated by the motor body 100 is transmitted to the lower rotating cylinder 118.
  • the rotating shafts of the first gear 106 and the second gear 108 are fitted into the lower rotating cylinder 118.
  • the lower rotating cylinder 118 transmits the torque generated by the motor main body 100 to the rotating shafts of the first gear 106 and the second gear 108.
  • a protrusion 134 is provided on the upper end of the lower rotating cylinder 118.
  • the operation of the spring joint 104 will be described with reference to FIGS. 8 and 9. It is assumed that torque in the clockwise direction when viewed from the motor main body 100 is transmitted to the spring joint 104.
  • the upper rotating cylinder 110 rotates in the same direction as the rotor of the motor body 100.
  • the protrusion 130 of the upper rotating cylinder 110 presses the protrusion 132 of the middle rotating cylinder 114.
  • the middle rotary cylinder 114 also rotates in the same direction as the rotation axis of the motor body 100.
  • the middle rotary cylinder 114 rotates, the torque generated by the motor main body 100 is transmitted to the lower rotary cylinder 118 via the second spring 116.
  • the second spring 116 since the second spring 116 is deformed, the torque transmitted to the lower rotary cylinder 118 is not so large.
  • the lower rotary cylinder 118 does not rotate.
  • the structure of the holder 62 will be described with reference to FIG.
  • the holder 62 includes a hole 140, a hole 142, and a hole 144.
  • the rotation shafts of the first gear 106 and the second gear 108 pass through the hole 140.
  • the tip of the bending shaft 92 of the bending machine 80 is fitted into the hole 142.
  • Bolts for fixing the holder 62 to the bending machine 80 pass through the holes 144.
  • the sensor ring L64 and the sensor ring R66 are connected to the holder 62 in a rotatable state by a bearing 70.
  • the configuration of the sensor ring L64 will be described with reference to FIGS.
  • the sensor ring L64 includes a micro switch L152 and a gear 154 in the main body 150.
  • the main body 150 has a shape in which a side wall is cylindrical and a round hole is opened at the bottom.
  • a fan-shaped plate 156 is attached to the upper end of the side wall, that is, the bottom of the main body 150 in FIG. 11, and the microswitch L152 is fixed to the fan-shaped plate 156 and the upper end of the side wall.
  • the micro switch L152 includes a switch box in which a push button type switch is incorporated and a contact plate attached to the switch box via a hinge.
  • the contact plate comes into contact with the blade plate 300 that is bent by the bending machine 80, the contact plate presses a switch in the switch box.
  • the sensor ring L64 operates as a device that generates a signal according to whether or not it is in contact with the blade plate 300.
  • the gear 154 is provided at the edge of the hole of the portion that is the top plate of the main body 150 in FIG. However, the gear 154 is not provided all around the edge. A part where the gear 154 is not provided exists at a part of the edge. A groove 158 into which the flange of the bearing 70 is fitted is provided slightly below the gear 154.
  • the configuration of the sensor ring R66 will be described with reference to FIGS.
  • the sensor ring R66 includes a main body 160 provided with a micro switch R162 and a gear 164.
  • the main body 160 is cylindrical.
  • a protrusion 166 is provided at the lower end of the side wall of the main body 160, and a micro switch R162 is attached thereto.
  • the micro switch R162 has the same structure as the micro switch L152. For this reason, sensor ring R66 produces
  • the gear 164 is provided at the upper edge of the main body 160 in FIG. However, the gear 164 is not provided all around the edge. A part where the gear 164 is not provided exists at a part of the edge.
  • a groove 168 into which the flange of the bearing 70 is fitted is provided slightly below the gear 164.
  • the sensor ring L64 and other arrangements will be described with reference to FIGS.
  • the sensor ring L64 and the sensor ring R66 are connected to the holder 62.
  • the sensor ring L64 and the sensor ring R66 are not directly connected to the holder 62.
  • Directly connected to the holder is a spacer 68.
  • a bearing 70 is connected to the holder 62 via a spacer 68.
  • the sensor ring L64 and the sensor ring R66 are indirectly connected to the holder 62 by fitting the flange of the bearing 70 into the groove 158 of the sensor ring L64 and the groove 168 of the sensor ring R66.
  • the fixed position of sensor ring L64 is different from the fixed position of sensor ring R66. Since they are different, the rotation shaft 170 of the sensor ring L64 and the rotation shaft 172 of the sensor ring R66 are different.
  • the rotating shaft 170 and the rotating shaft 172 are positioned near the edge of the blade member plate 300 bent by the rotating cylinder 90. More specifically, the rotating shaft 170 is arranged so as to coincide with the rotating shaft when the blade plate 300 is bent in one direction by the rotating cylinder 90, and the blade plate 300 is bent in the other direction.
  • the rotation shaft 172 is arranged so as to coincide with the rotation shaft of the first rotation shaft.
  • the rotation angle of the sensor ring L64 or the sensor ring R66 matches the bending angle of the plate because the rotation shaft 170 and the rotation shaft 172 coincide with the rotation axis when the blade plate 300 is bent.
  • the rotation axis when the blade material plate 300 is bent is at a distance of one half of the thickness of the blade material plate 300 from the tip of the claw of the rotary cylinder 90, and the blade material plate. It is a point at a distance of one half of the thickness from the side surface of 300.
  • the bending machine 80 includes a top plate 94 and a gear case 96.
  • a bending shaft 92 is fitted in the hole of the top plate 94.
  • the gear case 96 accommodates a gear (not shown). This gear is a gear for transmitting torque to a feed bearing (not shown) for feeding the blade plate 300.
  • the top plate 94 and the gear case 96 are replaced with a different top plate 95 and gear case 97.
  • the top plate 95 is not provided with a hole for fitting the bending shaft 92, and the gear case 97 is provided with a screw hole into which a bolt penetrating the holder 62 is screwed. That is, the bending angle detection device 50 is connected to the bending machine 80 by screwing the holder 62 to the gear case 97.
  • the bending machine 80 further includes a touch panel 91 and a cylinder rotating motor 93.
  • the touch panel 91 is a device for displaying information and allowing the user to input information.
  • the cylinder rotating motor 93 drives the rotating cylinder 90.
  • the control unit 98 of the bending machine 80 will be described with reference to FIG.
  • the bending machine 80 includes a control unit 98 in addition to the touch panel 91 and the cylinder rotation motor 93.
  • the control unit 98 controls the bending process on the blade material plate 300.
  • the control unit 98 controls angle measurement by the bending angle detection device 50 in addition to bending the blade material plate 300.
  • the control unit 98 includes a cylinder rotation motor I / O (input / output) 180, a first external I / O 182, a second external I / O 184, a third external I / O 186, a touch panel I / O 188, and a flash.
  • a memory reading device 190, a ROM (Read Only Memory) 192, a RAM (Random Access Memory) 194, and a CPU (Central Processing Unit) 196 are provided.
  • the cylinder rotation motor I / O 180 outputs a control signal to the cylinder rotation motor 93.
  • the first external I / O 182 is connected to the servo motor 60, receives input of information indicating the rotation angle from the rotation angle sensor 102, and outputs a control signal to the motor body 100.
  • the second external I / O 184 receives a signal input from the micro switch L152.
  • the third external I / O 186 receives a signal input from the micro switch R162.
  • the touch panel I / O 188 outputs an image signal to the touch panel 91 and accepts input of information by the user via the touch panel 91.
  • the flash memory reader 190 reads a control program to be executed by the CPU 196 from the flash memory 350.
  • This control program is a program for controlling the bending angle detection device 50 as well as bending the blade material plate 300.
  • the ROM 192 reads a control program from the flash memory 350 and stores a program for executing the control program.
  • the RAM 194 temporarily stores the control program read from the flash memory 350.
  • the RAM 194 temporarily stores data for the CPU 196 to process information.
  • the CPU 196 sequentially executes the control program stored in the RAM 194 to control the bending process on the blade material plate 300 and the angle measurement by the bending angle detection device 50.
  • the fan-shaped plate 156 and the protruding portion 166 are arranged in contact with each other at a position opposite to the servo motor 60 with respect to the bending shaft 92.
  • the positions of the sensor ring L64 and the sensor ring R66 at this time are referred to as “reference positions”.
  • a feeding roller (not shown) of the bending machine 80 feeds the blade material plate 300 from between the slits of the bending shaft 92.
  • FIG. 22 illustrates this situation.
  • the controller 98 When the blade member plate 300 is sent out, the controller 98 outputs a control signal to the tube rotation motor 93 via the tube rotation motor I / O 180 to drive the tube rotation motor 93. As a result, the rotary cylinder 90 rotates and the tip of the claw reaches the bending start position. FIG. 23 illustrates this situation.
  • the servo motor 60 When the tip of the claw of the rotating cylinder 90 reaches the bending start position, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring L64 and the sensor ring R66 via the first gear 106 and the second gear 108. As a result, the sensor ring R66 rotates. Although the sensor ring L64 initially rotates, the rotation stops halfway. As shown in FIG. 11, the gear 154 is not provided around the entire edge of the main body 150. As a result, the first gear 106 does not mesh with the gear 154. The control unit 98 grasps the rotation angle of the second gear 108 based on the rotation angle data input by the rotation angle sensor 102.
  • the control unit 98 indirectly grasps the rotation angle of the micro switch R162.
  • the micro switch R162 inputs a signal to the third external I / O 186.
  • the CPU 196 detects the rotation angle of the micro switch R162 based on the rotation angle of the second gear 108 at the time when the signal is input to the micro switch R162.
  • FIG. 24 illustrates this situation.
  • the control unit 98 drives the tube rotation motor 93.
  • the rotary cylinder 90 rotates and the tip of the claw of the rotary cylinder 90 bends the blade plate 300.
  • FIG. 25 illustrates this situation.
  • the servo motor 60 When the blade plate 300 is bent, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring R66 via the second gear 108. Thereby, the micro switch R162 rotates again. When the blade plate 300 is contacted again, the microswitch R162 inputs a signal to the third external I / O 186 again. FIG. 26 illustrates this situation.
  • the CPU 196 detects the rotation angle of the micro switch R162 based on the rotation angle of the second gear 108 when the signal is input again by the micro switch R162. When the rotation angle of the micro switch R162 is detected, the CPU 196 calculates an angle difference between the rotation angle and the rotation angle of the micro switch R162 detected first.
  • the rotation axis of the micro switch R162 and the sensor ring R66 is located on the rotation axis when the blade plate 300 is bent.
  • the calculated angle difference becomes equal to the rotation angle of the bent portion of the blade plate 300.
  • This angle difference can be calculated by storing the number of teeth of the second gear 108 and the number of teeth of the gear 164 in the RAM 194 in advance. The number of teeth can be stored in the RAM 194 by reading from the flash memory 350 as part of the control program or as a data file independent of the control program.
  • the servo motor 60 When the angle difference is calculated, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring R66 via the second gear 108. Thereby, the micro switch R162 rotates again. However, the micro switch R162 returns to the reference position by its rotation. When returning to the reference position, the protrusion 166 pushes the fan-shaped plate 156. As a result, the gear 154 meshes with the first gear 106 again. FIG. 27 illustrates this situation.
  • step S250 the CPU 196 of the bending machine 80 drives a feed roller (not shown) to feed the blade plate 300 by a predetermined length.
  • step S252 the CPU 196 outputs a control signal for generating torque to the servo motor 60.
  • the servo motor 60 generates torque according to the control signal.
  • the sensor ring R66 rotates when the torque generated by the servomotor 60 is transmitted. In this case, one of the sensor rings L64 initially rotates, but does not mesh with the first gear 106 and eventually does not rotate.
  • step S254 the CPU 196 determines whether or not the sensor ring R66 has detected the blade plate 300 based on the signal input from the micro switch R162 to the third external I / O 186. When it is determined that blade plate 300 has been detected (YES in step S254), the process proceeds to step S256. If not (NO in step S254), the process proceeds to step S252.
  • step S256 the CPU 196 outputs a control signal for stopping the generation of torque to the servo motor 60. As a result, the rotation of the first gear 106 and the second gear 108 stops.
  • step S258 the CPU 196 calculates the rotation angle of the sensor ring R66 based on the rotation angle data input by the rotation angle sensor 102.
  • the CPU 196 stores the rotation angle in the RAM 194.
  • the rotation angle indicates the folding start point of the blade member plate 300.
  • step S260 the CPU 196 outputs a control signal for generating torque to the servo motor 60.
  • the rotor of the motor main body 100 rotates.
  • the rotation angle at this time is an angle that satisfies the following requirements.
  • the requirement is a requirement that the angle of the bent portion of the blade plate 300 is an angle designated by the user via the touch panel 91.
  • the sensor ring R66 tends to rotate according to the rotation of the rotor. However, since it is blocked by the blade material plate 300, the sensor ring R66 does not rotate. For this reason, the upper rotating cylinder 110 of the spring joint 104 rotates relative to the lower rotating cylinder 118.
  • step S262 the CPU 196 drives the cylinder rotation motor 93. Thereby, the rotary cylinder 90 rotates and the blade member plate 300 is bent in a direction away from the microswitch R162. At this time, since the first spring 112 and the second spring 116 of the spring joint 104 return from the elastically deformed state to the non-elastically deformed state, the microswitch R162 follows the blade plate 300.
  • step S264 the CPU 196 determines whether the micro switch R162 no longer detects the blade plate 300 based on the signal input by the micro switch R162. When it is determined that blade material plate 300 is no longer detected (YES in step S264), the process proceeds to step S266. If not (NO in step S264), the process proceeds to step S262.
  • step S266 the CPU 196 drives the cylinder rotation motor 93 again. Thereby, the rotary cylinder 90 further rotates and the blade material plate 300 is further bent. That is, the blade member plate 300 is pushed further.
  • the rotation angle of the rotary cylinder 90 is an angle at which the plastic deformation of the blade plate 300 proceeds slightly.
  • the CPU 196 rotates the tube rotation motor 93 in the reverse direction. Due to the reverse rotation of the tube rotating motor 93, the rotation angle of the rotating tube 90 returns to the angle at which the micro switch R162 no longer detects the blade plate 300 as a result of rotating the rotating tube 90 in step S262.
  • the direction of the blade member plate 300 slightly returns due to the springback, but since the plastic deformation is progressing, the direction does not return to the direction before the additional pressing. As a result, the angle of the blade member plate 300 when the claw of the rotating cylinder 90 is separated approaches the angle specified by the user.
  • step S268 the CPU 196 determines whether or not the micro switch R162 no longer detects the blade plate 300 based on the signal input by the micro switch R162. When it is determined that blade material plate 300 is no longer detected (YES in step S268), the process proceeds to step S270. If not (NO in step S288), the process proceeds to step S266.
  • step S270 the CPU 196 drives the servo motor 60 so that the micro switch R162 returns to the reference position.
  • step S272 the control unit 98 updates the information in order to perform the next bending process.
  • the bending machine 80 accurately bends the blade material plate 300 based on the orientation of the blade material plate 300 detected as a result of the angle measurement by the bending angle detection device 50. Do not measure springback. This eliminates the need for the user of the bending machine 80 to manually measure the springback. In the first place, it is not necessary to know in detail how much the rotating cylinder 90 is rotated to accurately fold the blade plate 300. Accordingly, the labor required for bending the blade material plate 300 can be reduced.
  • the spring joint 104 is not limited to the configuration described above.
  • a plate spring, a rubber tube, or the like that transmits torque supplied from the motor main body 100 of the servo motor 60 to the signal generation device and elastically deforms by the torque may be used.
  • another cushioning material may be used.
  • the buffer material may be any material that transmits torque supplied from the motor main body 100 to the sensor ring L64 or the sensor ring R66 and is elastically deformed by the torque supplied from the motor main body 100.
  • the spring joint 104 may not be provided.
  • the rotation angles thereof may be directly measured.
  • a method of engaging a spur gear with the gear 154 of the sensor ring L64 or the gear 164 of the sensor ring R66 and connecting an angle sensor to the shaft can be considered.
  • another driving device may drive the sensor ring L64 and the sensor ring R66.
  • the mechanism for driving is not particularly limited.
  • the bending angle detection device 50 may include a signal generation device that generates a signal according to whether or not the blade plate 300 is in contact with a mechanism different from those. good.
  • a signal generation device the rotation angle of the microswitch is determined based on the positional relationship between the position in contact with the blade material plate 300 and the rotation axis of the blade material plate 300 being bent. There is a device for calculating.
  • the bending angle detection device 50 may include a control unit.
  • the configuration of the control unit may be the same as that of the control unit 98.
  • the bending angle detection device 50 can measure the angle of the bent portion of the blade plate 300 without depending on the control unit 98 of the bending machine 80.
  • the control unit of the bending angle detection device 50 may cooperate with the control unit 98 of the bending machine 80.
  • control unit 98 the program recording medium for the control unit 98 to read the control program is not limited to the flash memory 350.
  • a USB memory may be used.
  • control program may be received via the Internet.

Abstract

A bending angle detection device reduces labor required to bend a plate. The bending angle detection device (50) has a sensor ring L (64), a holder (62), a bearing (70), a motor body of a servomotor (60), and a rotation angle sensor (102). The sensor ring L (64) generates a signal depending on whether it is in contact with a blade material plate or not. The holder (62) and the bearing (70) rotatably connect the sensor ring L (64) to a bending machine. The motor body of the servomotor (60) is driven so as to rotate the sensor ring L (64). The rotation angle sensor (102) detects the rotation angle of the sensor ring L (64). The holder (62) and the bearing (70) connect the sensor ring L (64) to the bending machine so that the rotation axis of the blade material plate and the rotation axis of the sensor ring L (64) are aligned with each other when the bending machine bends the blade material plate.

Description

板折り曲げ方法および折り曲げ角検出装置Plate bending method and bending angle detection device
　本発明は、板折り曲げ方法および折り曲げ角検出装置に関し、特に、板の折り曲げ作業に要する労力を軽減させることができる板折り曲げ方法および折り曲げ角検出装置に関する。 The present invention relates to a plate bending method and a bending angle detection device, and more particularly to a plate bending method and a bending angle detection device that can reduce labor required for bending a plate.
　特許文献１は、板の曲げ加工装置を開示する。この装置は、スリットを備えた固定型と固定型の軸体に回転自在に嵌め込まれた可動型とを備えている。 Patent Document 1 discloses a plate bending apparatus. This device includes a fixed mold having a slit and a movable mold that is rotatably fitted to a fixed mold shaft.
　特許文献１に開示された発明によると、曲げ加工中に可動型の相対向する一対の押付型部の平行度が損なわれず、回転伝達機構の歯車群や可動型を分解せずに軸体だけを容易に交換できる。 According to the invention disclosed in Patent Document 1, the parallelism of the pair of opposed pressing mold parts of the movable mold is not impaired during the bending process, and only the shaft body without disassembling the gear group and the movable mold of the rotation transmission mechanism. Can be easily replaced.
　特許文献２は、板の曲げ加工方法を開示する。この方法は、出口から板を送り出し、板の送りが停止されているときに、出口側端部に板を押し付けてその板を折り曲げる方法である。 Patent Document 2 discloses a method of bending a plate. In this method, a plate is fed out from the outlet, and when the feeding of the plate is stopped, the plate is pressed against the end portion on the outlet side and bent.
　特許文献２に開示された発明によると、素人でも熟練者と同様に容易かつ迅速に板を所望の形状に曲げ加工することができる。 According to the invention disclosed in Patent Document 2, even an amateur can bend and process a plate into a desired shape easily and quickly like an expert.
　特許文献３は、板の曲げ加工方法を開示する。この方法は、次に述べる２段階の工程を繰り返す方法である。第１の工程は、送りベアリングを板に接触させておく工程である。第２の工程は、固定型に具備されたスリットを通して板を間欠的に送り出しつつ、サーボモータの運転休止によって板の送りが停止されるごとに、押し具により板をスリットの出口コーナ部に押し付けて曲げ加工する工程である。 Patent Document 3 discloses a method for bending a plate. This method is a method of repeating the following two-step process. The first step is a step of keeping the feed bearing in contact with the plate. In the second step, the plate is intermittently fed through the slit provided in the fixed mold, and the plate is pressed against the exit corner of the slit by the pressing tool every time the feeding of the plate is stopped due to the suspension of the servo motor operation. This is a bending process.
　特許文献３に開示された発明によると、刃材などの板の複数箇所を次々と自動的に曲げ加工していくときに、その複数の曲げ加工箇所を正確に定めることができる。 According to the invention disclosed in Patent Document 3, when a plurality of portions of a plate such as a blade material are automatically bent one after another, the plurality of bending portions can be accurately determined.
　特許文献４は、板の加工装置を開示する。この装置は、曲げ加工形状入力ユニットと、特性データ入力ユニットと、演算ユニットとを具備する。曲げ加工形状入力ユニットは、長尺の板の幾何学的な曲げ加工形状の入力を受け付ける。特性データ入力ユニットは、板の曲げ加工に関する特性データの入力を受け付ける。演算ユニットは、曲げ加工形状入力ユニットが受け付けた幾何学的な曲げ加工形状と特性データ入力ユニットが受け付けた特性データとに基づいて板の曲げ加工データを算出する。 Patent Document 4 discloses a plate processing apparatus. This apparatus includes a bending shape input unit, a characteristic data input unit, and an arithmetic unit. The bending shape input unit receives an input of a geometric bending shape of a long plate. The characteristic data input unit accepts input of characteristic data relating to the bending of the plate. The arithmetic unit calculates plate bending data based on the geometric bending shape received by the bending shape input unit and the characteristic data received by the characteristic data input unit.
　特許文献４に開示された発明によると、板の曲げ加工に関する特性を考慮することによりその板の加工を正確に行いうる。
国際公開第９５／００２６６号パンフレット 特開２００１‐３５３５２８号公報 特開平８‐２１５７６１号公報 特開平６‐３０４６８５号公報 According to the invention disclosed in Patent Document 4, the plate can be accurately processed by taking into consideration the characteristics relating to the bending of the plate.
International Publication No. 95/00266 Pamphlet JP 2001-353528 A JP-A-8-215761 Japanese Patent Laid-Open No. 6-304685
　しかし、特許文献１～３に開示された発明では、ユーザが希望する角度に板を曲げることが難しいという問題点がある。板を折り曲げるため力を加えた後その力を解除すると、スプリングバックが生じて折り曲げられた部分の角度が変動するためである。「スプリングバック」とは、塑性変形が生じる程度に板に力を加えた後、その板から力を除去すると、板の変形のうち弾性変形によるものが解消される現象を意味する。折り曲げられた板の角度がスプリングバックによってどの程度変動するかということは、予測が難しい。 However, the inventions disclosed in Patent Documents 1 to 3 have a problem that it is difficult to bend the plate at an angle desired by the user. This is because when a force is applied to bend the plate and then the force is released, a springback occurs and the angle of the bent portion changes. “Springback” means a phenomenon in which, when a force is applied to a plate to such an extent that plastic deformation occurs and then the force is removed from the plate, the deformation caused by the elastic deformation is eliminated. It is difficult to predict how much the angle of the bent plate will change due to the springback.
　特許文献４に開示された発明では、長尺の板の加工を正確に行いうるものの、そのために必要な特性データの取得が困難という問題点がある。通常、曲げ加工の際に板をどの程度折り曲げたかというデータと曲げ加工により折り曲げられた部分の角度の測定結果とから、特性データは生成される。このようにして特性データを生成すると、曲げ加工とそれによって製作されたサンプルの測定とを繰返した後にデータを処理する必要が生じる。この作業は多くの時間と労力とを要するものである。この作業が折り曲げ作業全体の労力と所要時間とを増大させている。 Although the invention disclosed in Patent Document 4 can accurately process a long plate, there is a problem that it is difficult to acquire characteristic data necessary for that purpose. Usually, the characteristic data is generated from the data of how much the plate is bent during the bending process and the measurement result of the angle of the portion bent by the bending process. Generating characteristic data in this way requires the data to be processed after iterative bending and measurement of the sample produced thereby. This operation is time consuming and labor intensive. This operation increases the labor and time required for the entire bending operation.
　本発明は上述の問題点を解決するためになされたものであって、その目的は、板の折り曲げ作業に要する労力を軽減させることができる、板折り曲げ方法および折り曲げ角検出装置を提供することにある。 The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a plate folding method and a bending angle detection device that can reduce the labor required for bending a plate. is there.
　上記目的を達成するために、本発明のある局面に従うと、板折り曲げ方法は、曲げ加工機によって板を折り曲げる方法である。板折り曲げ方法は、板における折り曲げられた部分の角度が予め定められた角度に達したことが、曲げ加工機に板が取り付けられ、かつ、スプリングバックが完了した状態で検出されるまで、板を折り曲げる作業を複数回繰り返す方法である。 In order to achieve the above object, according to one aspect of the present invention, the plate bending method is a method of bending a plate with a bending machine. In the plate bending method, the plate is mounted until it is detected that the angle of the bent portion of the plate reaches a predetermined angle when the plate is attached to the bending machine and the springback is completed. In this method, the bending operation is repeated a plurality of times.
　板における折り曲げられた部分の角度が予め定められた角度に達したことが、曲げ加工機に板が取り付けられ、かつ、スプリングバックが完了した状態で検出されるまで、板を折り曲げる作業が複数回繰り返される。これにより、その板を取り外して折り曲げられた部分の角度を測定する必要がなくなる。スプリングバックを考慮する必要もなくなる。その結果、板の折り曲げ作業に要する労力を軽減させることができる。 Bending the plate multiple times until the angle of the bent portion of the plate has reached a predetermined angle is detected with the plate attached to the bending machine and the springback completed. Repeated. This eliminates the need to measure the angle of the bent portion after removing the plate. There is no need to consider springback. As a result, the labor required for bending the plate can be reduced.
　また、上述した板折り曲げ方法は、曲げ加工機に接続される折り曲げ角検出装置により検出されるまで、板をさらに折り曲げる方法であることが望ましい。 The plate bending method described above is preferably a method of further bending the plate until it is detected by a bending angle detection device connected to a bending machine.
　また、上述した折り曲げ角検出装置は、板に接触することによって、曲げ加工機が板を折り曲げる前の板の向きと曲げ加工機が板を折り曲げた後の板の向きとを測定することが望ましい。 Moreover, it is desirable that the bending angle detection device described above measures the orientation of the plate before the bending machine bends the plate and the orientation of the plate after the bending machine bends the plate by contacting the plate. .
　本発明の他の局面に従うと、折り曲げ角検出装置は、角度を検出する。折り曲げ角検出装置は、曲げ加工機に接続される装置である。角度は、曲げ加工機によって折り曲げられた板における折り曲げられた部分の角度である。折り曲げ角検出装置は、信号生成装置と、接続部と、駆動装置と、回転角検出装置とを備える。信号生成装置は、板と接触しているか否かに応じた信号を生成する。接続部は、曲げ加工機に信号生成装置を回転自在に接続する。駆動装置は、信号生成装置を回転するように駆動する。回転角検出装置は、信号生成装置の回転角を検出する。接続部は、曲げ加工機に固定されるホルダーと、ホルダーに接続されるベアリングとを有する。ベアリングは、信号生成装置を、曲げ加工機が板を折り曲げる際の板の回転軸と信号生成装置の回転軸とが一致するよう、回転自在に位置決めする。 According to another aspect of the present invention, the bending angle detection device detects an angle. The bending angle detection device is a device connected to a bending machine. The angle is an angle of a bent portion of a plate bent by a bending machine. The bending angle detection device includes a signal generation device, a connection unit, a drive device, and a rotation angle detection device. The signal generation device generates a signal according to whether or not it is in contact with the plate. The connection unit rotatably connects the signal generation device to the bending machine. The drive device drives the signal generation device to rotate. The rotation angle detection device detects the rotation angle of the signal generation device. The connection part has a holder fixed to the bending machine and a bearing connected to the holder. The bearing positions the signal generator such that the rotation axis of the plate when the bending machine bends the plate and the rotation axis of the signal generator coincide with each other.
　接続部により、信号生成装置は、曲げ加工機が板を折り曲げる際の板の回転軸と回転部材の回転軸とが一致するよう、曲げ加工機に回転自在に接続されている。また、信号生成装置は、駆動装置によって回転するように駆動される。さらに、信号生成装置の回転角は、回転角検出装置によって検出される。これにより、信号生成装置の回転角は曲げ加工機によって折り曲げられた板の回転角に一致することになる。信号生成装置が、板と接触しているか否かに応じた信号を生成するので、その信号が生成されたときの信号生成装置の回転角を回転角検出装置によって検出すれば、曲げ加工機から板を取り外さなくても、曲げ加工機によって折り曲げられた板の回転角を検出することが可能になる。スプリングバックが完了した状態で板の回転角を測定すれば、スプリングバックによる誤差を考慮する必要もなくなる。その結果、板の折り曲げ作業に要する労力を軽減させることができる。 The signal generating device is rotatably connected to the bending machine by the connecting portion so that the rotation axis of the plate when the bending machine bends the plate and the rotation axis of the rotating member coincide. In addition, the signal generation device is driven to rotate by the driving device. Further, the rotation angle of the signal generation device is detected by the rotation angle detection device. As a result, the rotation angle of the signal generator matches the rotation angle of the plate bent by the bending machine. Since the signal generator generates a signal according to whether or not it is in contact with the plate, if the rotation angle of the signal generator when the signal is generated is detected by the rotation angle detector, the bending machine can Even without removing the plate, the rotation angle of the plate folded by the bending machine can be detected. If the rotation angle of the plate is measured in a state in which the spring back is completed, it is not necessary to consider the error due to the spring back. As a result, the labor required for bending the plate can be reduced.
　本発明に係る板折り曲げ方法および折り曲げ角検出装置は、板の折り曲げ作業に要する労力を軽減させることができる。 The plate bending method and the bending angle detection device according to the present invention can reduce the labor required for bending a plate.
本発明の実施形態に係る折り曲げ角検出装置の外観図である。It is an external view of the bending angle detection apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る折り曲げ角検出装置の立体分解図である。It is a three-dimensional exploded view of a bending angle detection device according to an embodiment of the present invention. 本発明の実施形態に係るサーボモータの外観図である。1 is an external view of a servo motor according to an embodiment of the present invention. 本発明の実施形態に係るサーボモータの一部についての断面図である。It is sectional drawing about a part of servomotor which concerns on embodiment of this invention. 本発明の実施形態に係るスプリングジョイントの外観図である。It is an external view of the spring joint which concerns on embodiment of this invention. 本発明の実施形態に係るスプリングジョイントの立体分解図である。It is a three-dimensional exploded view of a spring joint according to an embodiment of the present invention. 本発明の実施形態に係るスプリングジョイントの断面図である。It is sectional drawing of the spring joint which concerns on embodiment of this invention. 本発明の実施形態に係るスプリングジョイントのトルクがかかったときの動作を示す第１の図である。It is a 1st figure which shows operation | movement when the torque of the spring joint which concerns on embodiment of this invention is applied. 本発明の実施形態に係るスプリングジョイントのトルクがかかったときの動作を示す第２の図である。It is a 2nd figure which shows operation | movement when the torque of the spring joint which concerns on embodiment of this invention is applied. 本発明の実施形態に係るホルダーの外観図である。It is an external view of the holder which concerns on embodiment of this invention. 本発明の実施形態に係るセンサーリングＬの外観図および断面図である。It is the external view and sectional drawing of the sensor ring L which concern on embodiment of this invention. 本発明の実施形態に係るセンサーリングＬの斜視図である。It is a perspective view of sensor ring L concerning the embodiment of the present invention. 本発明の実施形態に係るセンサーリングＲの外観図および断面図である。It is the external view and sectional drawing of the sensor ring R which concern on embodiment of this invention. 本発明の実施形態に係るセンサーリングＲの斜視図である。It is a perspective view of sensor ring R concerning an embodiment of the present invention. 本発明の実施形態に係る折り曲げ角検出装置の矢視図である。It is an arrow view of the bending angle detection apparatus which concerns on embodiment of this invention. 本発明の実施形態に係る折り曲げ角検出装置のセンサーリングＬを取り除いた状況での矢視図である。It is an arrow view in the situation where the sensor ring L of the bending angle detection apparatus according to the embodiment of the present invention is removed. 本発明の実施形態に係る折り曲げ角検出装置のサーボモータを取り除いた状態での第１の断面図である。It is the 1st sectional view in the state where the servo motor of the bending angle detection device concerning the embodiment of the present invention was removed. 本発明の実施形態に係る折り曲げ角検出装置のサーボモータを取り除いた状態での第２の断面図である。It is a 2nd sectional view in the state where a servo motor of a bending angle detection device concerning an embodiment of the present invention was removed. 曲げ加工機の斜視図である。It is a perspective view of a bending machine. 本発明の実施形態に係る折り曲げ角検出装置を曲げ加工機に取り付けた状況を示す斜視図である。It is a perspective view which shows the condition which attached the bending angle detection apparatus which concerns on embodiment of this invention to the bending machine. 曲げ加工機の制御ブロック図である。It is a control block diagram of a bending machine. 曲げ軸のスリットに刃材板を通過させた状況を示す概念図である。It is a conceptual diagram which shows the condition which passed the blade material board through the slit of the bending axis. 回転筒の爪を刃材板に接触させた状況を示す概念図である。It is a conceptual diagram which shows the condition which made the nail | claw of a rotating cylinder contact the blade material board. 本発明の実施形態に係るマイクロスイッチＲを準備のために刃材板に接触させた状況を示す概念図である。It is a conceptual diagram which shows the condition which made the microswitch R which concerns on embodiment of this invention contact the blade material board for preparation. 回転筒の爪によって刃材板が折曲げられた時点の状況を示す概念図である。It is a conceptual diagram which shows the condition at the time of a blade material board being bent by the nail | claw of a rotation cylinder. 本発明の実施形態に係るマイクロスイッチＲを角度を測定するために刃材板に接触させた状況を示す概念図である。It is a conceptual diagram which shows the condition which made the micro switch R which concerns on embodiment of this invention contact the blade material board in order to measure an angle. 本発明の実施形態に係るマイクロスイッチＲを逆回転させた状況を示す概念図である。It is a conceptual diagram which shows the condition which reversely rotated the microswitch R which concerns on embodiment of this invention. 本発明の実施形態に係る刃材板の折曲げ処理の制御手順を示すフローチャートである。It is a flowchart which shows the control procedure of the bending process of the blade material board which concerns on embodiment of this invention.
符号の説明Explanation of symbols
５０　　折り曲げ角検出装置
６０　　サーボモータ
６２　　ホルダー
６４　　センサーリングＬ
６６　　センサーリングＲ
６８　　スペーサ
７０　　ベアリング
７２　　ボルト
８０　　加工機
９０　　回転筒
９１　　タッチパネル
９２　　曲げ軸
９３　　筒回転モータ
９４，９５　　　 天板
９６，９７　　　 ギヤケース
９８　　制御部
１００　モータ本体
１０２　回転角センサ
１０４　スプリングジョイント
１０６　第１ギヤ
１０８　第２ギヤ
１１０　上部回転筒
１１２　第１スプリング
１１４　中部回転筒
１１６　第２スプリング
１１８　下部回転筒
１３０，１３２，１３４　 突起
１４０，１４２，１４４　 穴
１５０，１６０　 本体
１５２　マイクロスイッチＬ
１５４，１６４　 ギヤ
１５６　扇形の板
１５８，１６８　 溝
１６２　マイクロスイッチＲ
１６６　突出部
１７０，１７２　 回転軸
１８０　筒回転モータＩ／Ｏ
１８２　第１外部Ｉ／Ｏ
１８４　第２外部Ｉ／Ｏ
１８６　第３外部Ｉ／Ｏ
１８８　タッチパネルＩ／Ｏ
１９０　フラッシュメモリ読み取り装置
３００　刃材板
３５０　フラッシュメモリ 50 Bending angle detector 60 Servo motor 62 Holder 64 Sensor ring L
66 Sensor ring R
68 Spacer 70 Bearing 72 Bolt 80 Processing machine 90 Rotating cylinder 91 Touch panel 92 Bending shaft 93 Cylinder rotating motor 94, 95 Top plate 96, 97 Gear case 98 Control unit 100 Motor body 102 Rotation angle sensor 104 Spring joint 106 First gear 108 Second Gear 110 Upper rotating cylinder 112 First spring 114 Middle rotating cylinder 116 Second spring 118 Lower rotating cylinders 130, 132, 134 Protrusions 140, 142, 144 Holes 150, 160 Main body 152 Micro switch L
154, 164 Gear 156 Fan-shaped plate 158, 168 Groove 162 Micro switch R
166 Projection 170, 172 Rotating shaft 180 Cylinder rotation motor I / O
182 First external I / O
184 Second external I / O
186 Third external I / O
188 Touch panel I / O
190 Flash memory reader 300 Blade material plate 350 Flash memory
　以下、図面を参照しつつ、本発明の実施形態について説明する。本発明の上記の概要ならびに本発明の好ましい実施例の以下の詳細な説明は、添付図面と共に読めばより良く理解される。本発明を図示するため、図面には現在好ましい実施例が示されている。以下の説明では、同一の部品には同一の符号を付してある。それらの名称および機能も同一である。したがって、それらについての詳細な説明は繰返さない。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. The foregoing summary of the invention, as well as the following detailed description of preferred embodiments of the invention, will be better understood when read in conjunction with the appended drawings. For the purpose of illustrating the invention, there are shown in the drawings embodiments which are presently preferred. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.
　図１は、本実施形態に係る折り曲げ角検出装置５０の外観図である。図２は、本実施形態に係る折り曲げ角検出装置５０の立体分解図である。図３は、サーボモータ６０の外観図である。図４は、サーボモータ６０の一部についての断面図である。図５は、スプリングジョイント１０４の外観図である。図６は、スプリングジョイント１０４の立体分解図である。図７は、スプリングジョイント１０４の断面図である。図８および図９は、トルクがかかったときのスプリングジョイント１０４の動作を示す図である。図１０は、ホルダー６２の外観図である。図１１は、センサーリングＬ６４の外観図および断面図である。図１２は、センサーリングＬ６４の斜視図である。図１３は、センサーリングＲ６６の外観図および断面図である。図１４は、センサーリングＲ６６の斜視図である。図１５は、図１のＡ矢視図である。図１６は、図１５においてセンサーリングＬ６４を取り除いた状況を示す図である。図１７は、サーボモータ６０を取り除いた状態での折り曲げ角検出装置５０の断面図である。図１８は、図１７とは直交する方向から見た折り曲げ角検出装置５０の断面図である。図１９は、本実施形態に係る折り曲げ角検出装置５０が取り付けられる曲げ加工機８０の斜視図である。図２０は、折り曲げ角検出装置５０を曲げ加工機８０に取り付けた状況を示す斜視図である。図２１は、曲げ加工機８０の制御ブロック図である。図２２は、回転筒９０の爪によって折曲げるため、曲げ軸９２の図示しないスリットに刃材板３００を通過させた状況を示す概念図である。図２３は、刃材板３００の折曲げを開始するため回転筒９０の爪を刃材板３００に接触させた状況を示す概念図である。図２４は、曲げられた刃材板３００の角度を測定するための準備としてマイクロスイッチＲ１６２を刃材板３００に接触させた状況を示す概念図である。図２５は、回転筒９０の爪によって刃材板３００が折曲げられた時点の状況を示す概念図である。図２６は、刃材板３００が折曲げられた後、その角度を測定するためマイクロスイッチＲ１６２を接触させた状況を示す概念図である。図２７は、刃材板３００の角度が測定された後、マイクロスイッチＲ１６２を逆回転させた状況を示す概念図である。図２８は、あらかじめスプリングバックを測定することなく刃材板３００を的確に折曲げるための制御手順を示すフローチャートである。 FIG. 1 is an external view of a bending angle detection device 50 according to the present embodiment. FIG. 2 is a three-dimensional exploded view of the bending angle detection device 50 according to the present embodiment. FIG. 3 is an external view of the servo motor 60. FIG. 4 is a cross-sectional view of a part of the servo motor 60. FIG. 5 is an external view of the spring joint 104. FIG. 6 is an exploded view of the spring joint 104. FIG. 7 is a cross-sectional view of the spring joint 104. 8 and 9 are diagrams showing the operation of the spring joint 104 when torque is applied. FIG. 10 is an external view of the holder 62. FIG. 11 is an external view and a cross-sectional view of the sensor ring L64. FIG. 12 is a perspective view of the sensor ring L64. FIG. 13 is an external view and a cross-sectional view of the sensor ring R66. FIG. 14 is a perspective view of the sensor ring R66. FIG. 15 is a view taken in the direction of arrow A in FIG. FIG. 16 is a diagram showing a situation where the sensor ring L64 is removed from FIG. FIG. 17 is a cross-sectional view of the bending angle detector 50 with the servo motor 60 removed. FIG. 18 is a cross-sectional view of the bending angle detector 50 as viewed from a direction orthogonal to FIG. FIG. 19 is a perspective view of a bending machine 80 to which the bending angle detection device 50 according to the present embodiment is attached. FIG. 20 is a perspective view illustrating a state in which the bending angle detection device 50 is attached to the bending machine 80. FIG. 21 is a control block diagram of the bending machine 80. FIG. 22 is a conceptual diagram showing a situation in which the blade material plate 300 is passed through a slit (not shown) of the bending shaft 92 because it is bent by the claw of the rotary cylinder 90. FIG. 23 is a conceptual diagram showing a situation in which the claw of the rotating cylinder 90 is brought into contact with the blade material plate 300 in order to start bending of the blade material plate 300. FIG. 24 is a conceptual diagram showing a state in which the microswitch R162 is brought into contact with the blade material plate 300 as preparation for measuring the angle of the bent blade material plate 300. FIG. FIG. 25 is a conceptual diagram showing a situation when the blade material plate 300 is bent by the claw of the rotary cylinder 90. FIG. 26 is a conceptual diagram showing a state in which the microswitch R162 is brought into contact with the blade member plate 300 to measure the angle after the blade member plate 300 is bent. FIG. 27 is a conceptual diagram illustrating a state in which the microswitch R162 is rotated in the reverse direction after the angle of the blade member plate 300 is measured. FIG. 28 is a flowchart showing a control procedure for accurately bending the blade plate 300 without measuring the spring back in advance.
　本実施形態に係る折り曲げ角検出装置５０は、曲げ加工機８０に取り付けられる。折り曲げ角検出装置５０は、曲げ加工機８０に接続され、曲げ加工機８０によって曲げられた板の角度を測定する。曲げ加工機８０については後述する。 The bending angle detection device 50 according to this embodiment is attached to a bending machine 80. The bending angle detection device 50 is connected to the bending machine 80 and measures the angle of the plate bent by the bending machine 80. The bending machine 80 will be described later.
　本実施形態に係る折り曲げ角検出装置５０は、サーボモータ６０と、ホルダー６２と、センサーリングＬ６４と、センサーリングＲ６６と、スペーサ６８と、ベアリング７０とを備える。 The bending angle detection device 50 according to the present embodiment includes a servo motor 60, a holder 62, a sensor ring L64, a sensor ring R66, a spacer 68, and a bearing 70.
　サーボモータ６０は、後述する曲げ加工機８０の制御部９８により制御される。サーボモータ６０は、センサーリングＬ６４およびセンサーリングＲ６６を駆動する。ホルダー６２には、サーボモータ６０とセンサーリングＬ６４とセンサーリングＲ６６とが取り付けられる。また、ホルダー６２には、曲げ加工機８０の曲げ軸９２の先端が嵌め込まれる。曲げ軸９２は、同じく曲げ加工機８０の部品である回転筒９０を貫通した上で、ホルダー６２に嵌め込まれる。センサーリングＬ６４は、刃材板３００の一方の側面から、刃材板３００の折り曲げられた部分の角度を測定する。センサーリングＲ６６は、センサーリングＬ６４とは反対側の側面から刃材板３００の折り曲げられた部分の角度を測定する。スペーサ６８は、ベアリング７０を適切な位置に保つための部材である。ベアリング７０は、センサーリングＬ６４およびセンサーリングＲ６６を、曲げ加工機８０が刃材板３００を折り曲げる際の刃材板３００の回転軸とセンサーリングＬ６４およびセンサーリングＲ６６の回転軸とが一致するよう、回転自在に位置決めするための部材である。なお、スペーサ６８およびベアリング７０は、ボルト７２によってホルダー６２に接続される。 The servo motor 60 is controlled by a control unit 98 of a bending machine 80 described later. The servo motor 60 drives the sensor ring L64 and the sensor ring R66. A servo motor 60, a sensor ring L64, and a sensor ring R66 are attached to the holder 62. The tip of the bending shaft 92 of the bending machine 80 is fitted into the holder 62. The bending shaft 92 is fitted into the holder 62 after passing through the rotary cylinder 90 which is also a part of the bending machine 80. The sensor ring L <b> 64 measures the angle of the bent portion of the blade material plate 300 from one side surface of the blade material plate 300. The sensor ring R66 measures the angle of the bent portion of the blade material plate 300 from the side surface opposite to the sensor ring L64. The spacer 68 is a member for keeping the bearing 70 in an appropriate position. The bearing 70 is configured so that the rotation axis of the blade material plate 300 when the bending machine 80 bends the blade material plate 300 matches the rotation axis of the sensor ring L64 and the sensor ring R66. It is a member for positioning rotatably. The spacer 68 and the bearing 70 are connected to the holder 62 by a bolt 72.
　図３および図４を参照して、サーボモータ６０について説明する。サーボモータ６０は、モータ本体１００と、回転角センサ１０２と、スプリングジョイント１０４と、第１ギヤ１０６と、第２ギヤ１０８とを備える。モータ本体１００は、第１ギヤ１０６および第２ギヤ１０８が回転するためのトルクを生成する。このトルクによって、センサーリングＬ６４およびセンサーリングＲ６６は駆動される。回転角センサ１０２は、モータ本体１００の回転子の回転角を検出する。スプリングジョイント１０４は、モータ本体１００の回転子と第１ギヤ１０６および第２ギヤ１０８の回転軸とに取り付けられ、モータ本体１００が生成したトルクを第１ギヤ１０６および第２ギヤ１０８に伝達する。第１ギヤ１０６は、センサーリングＬ６４のギヤ１５４とかみ合い、センサーリングＬ６４にトルクを伝達する。第２ギヤ１０８は、センサーリングＲ６６のギヤ１６４とかみ合い、センサーリングＲ６６にトルクを伝達する。 The servo motor 60 will be described with reference to FIGS. The servo motor 60 includes a motor main body 100, a rotation angle sensor 102, a spring joint 104, a first gear 106, and a second gear 108. The motor body 100 generates torque for rotating the first gear 106 and the second gear 108. The sensor ring L64 and the sensor ring R66 are driven by this torque. The rotation angle sensor 102 detects the rotation angle of the rotor of the motor main body 100. The spring joint 104 is attached to the rotor of the motor main body 100 and the rotation shafts of the first gear 106 and the second gear 108, and transmits the torque generated by the motor main body 100 to the first gear 106 and the second gear 108. The first gear 106 meshes with the gear 154 of the sensor ring L64, and transmits torque to the sensor ring L64. The second gear 108 meshes with the gear 164 of the sensor ring R66 and transmits torque to the sensor ring R66.
　図５～図７を参照して、スプリングジョイント１０４の構造について説明する。スプリングジョイント１０４は、上部回転筒１１０と、第１スプリング１１２と、中部回転筒１１４と、第２スプリング１１６と、下部回転筒１１８と備える。 The structure of the spring joint 104 will be described with reference to FIGS. The spring joint 104 includes an upper rotating cylinder 110, a first spring 112, a middle rotating cylinder 114, a second spring 116, and a lower rotating cylinder 118.
　上部回転筒１１０には、モータ本体１００の回転子が嵌め込まれる。上部回転筒１１０はモータ本体１００が生成したトルクを中部回転筒１１４に伝達する。上部回転筒１１０の下端には、突起１３０が設けられている。第１スプリング１１２は、上部回転筒１１０と中部回転筒１１４とにはめこまれ、上部回転筒１１０が中部回転筒１１４に直接トルクを伝達できないとき、モータ本体１００が生成したトルクを中部回転筒１１４に伝達する。中部回転筒１１４は、第１スプリング１１２および第２スプリング１１６を貫通しつつ上部回転筒１１０および下部回転筒１１８に嵌め込まれる。中部回転筒１１４は、上部回転筒１１０あるいは第１スプリング１１２が伝達したトルクを第２スプリング１１６に伝達する。中部回転筒１１４の中央部分には、突起１３２が設けられている。第２スプリング１１６は、中部回転筒１１４と下部回転筒１１８とにはめこまれ、中部回転筒１１４が下部回転筒１１８に直接トルクを伝達できないとき、モータ本体１００が生成したトルクを下部回転筒１１８に伝達する。下部回転筒１１８には第１ギヤ１０６および第２ギヤ１０８の回転軸が嵌め込まれる。下部回転筒１１８は、第１ギヤ１０６および第２ギヤ１０８の回転軸にモータ本体１００が生成したトルクを伝達する。下部回転筒１１８の上端には、突起１３４が設けられている。 The rotor of the motor main body 100 is fitted into the upper rotating cylinder 110. The upper rotating cylinder 110 transmits the torque generated by the motor main body 100 to the middle rotating cylinder 114. A protrusion 130 is provided at the lower end of the upper rotating cylinder 110. The first spring 112 is fitted in the upper rotating cylinder 110 and the middle rotating cylinder 114, and when the upper rotating cylinder 110 cannot directly transmit torque to the middle rotating cylinder 114, the torque generated by the motor body 100 is transmitted to the middle rotating cylinder 114. To communicate. The middle rotary cylinder 114 is fitted into the upper rotary cylinder 110 and the lower rotary cylinder 118 while penetrating the first spring 112 and the second spring 116. The middle rotating cylinder 114 transmits the torque transmitted from the upper rotating cylinder 110 or the first spring 112 to the second spring 116. A protrusion 132 is provided at the central portion of the middle rotating cylinder 114. The second spring 116 is fitted into the middle rotating cylinder 114 and the lower rotating cylinder 118, and when the middle rotating cylinder 114 cannot directly transmit torque to the lower rotating cylinder 118, the torque generated by the motor body 100 is transmitted to the lower rotating cylinder 118. To communicate. The rotating shafts of the first gear 106 and the second gear 108 are fitted into the lower rotating cylinder 118. The lower rotating cylinder 118 transmits the torque generated by the motor main body 100 to the rotating shafts of the first gear 106 and the second gear 108. A protrusion 134 is provided on the upper end of the lower rotating cylinder 118.
　ここで、図８および図９を参照しつつ、スプリングジョイント１０４の動作を説明する。モータ本体１００から見て時計回りの方向のトルクがスプリングジョイント１０４に伝達されたとする。このとき、上部回転筒１１０はモータ本体１００の回転子と同じ方向に回転する。上部回転筒１１０が回転すると、上部回転筒１１０の突起１３０が中部回転筒１１４の突起１３２を押す。突起１３２が押されることで、中部回転筒１１４もモータ本体１００の回転軸と同じ方向に回転する。中部回転筒１１４が回転すると、モータ本体１００が生成したトルクは第２スプリング１１６を介して下部回転筒１１８に伝達される。ただし、その際、第２スプリング１１６が変形するので、下部回転筒１１８に伝達されるトルクはそれほど大きくない。何らかの事情で下部回転筒１１８に抵抗がかかっているとき、下部回転筒１１８は回転しない。 Here, the operation of the spring joint 104 will be described with reference to FIGS. 8 and 9. It is assumed that torque in the clockwise direction when viewed from the motor main body 100 is transmitted to the spring joint 104. At this time, the upper rotating cylinder 110 rotates in the same direction as the rotor of the motor body 100. When the upper rotating cylinder 110 rotates, the protrusion 130 of the upper rotating cylinder 110 presses the protrusion 132 of the middle rotating cylinder 114. By pressing the protrusion 132, the middle rotary cylinder 114 also rotates in the same direction as the rotation axis of the motor body 100. When the middle rotary cylinder 114 rotates, the torque generated by the motor main body 100 is transmitted to the lower rotary cylinder 118 via the second spring 116. However, at this time, since the second spring 116 is deformed, the torque transmitted to the lower rotary cylinder 118 is not so large. When resistance is applied to the lower rotary cylinder 118 for some reason, the lower rotary cylinder 118 does not rotate.
　一方、モータ本体１００から見て反時計回り方向のトルクがスプリングジョイント１０４に伝達されたとする。このとき、上部回転筒１１０はモータ本体１００の回転軸と同じ方向に回転する。しかし、上部回転筒１１０の突起１３０は中部回転筒１１４の突起１３２を押さない。モータ本体１００が生成したトルクは第１スプリング１１２によって中部回転筒１１４に伝達される。ただし、その際、第１スプリング１１２が変形するので、中部回転筒１１４に伝達されるトルクはそれほど大きくない。何らかの事情で下部回転筒１１８に抵抗がかかっているとき、突起１３２および突起１３４を介して中部回転筒１１４にも抵抗がかかるので、中部回転筒１１４は回転しない。 On the other hand, it is assumed that torque in the counterclockwise direction as viewed from the motor main body 100 is transmitted to the spring joint 104. At this time, the upper rotary cylinder 110 rotates in the same direction as the rotation axis of the motor body 100. However, the protrusion 130 of the upper rotating cylinder 110 does not push the protrusion 132 of the middle rotating cylinder 114. Torque generated by the motor body 100 is transmitted to the middle rotating cylinder 114 by the first spring 112. However, since the 1st spring 112 deform | transforms in that case, the torque transmitted to the center rotation cylinder 114 is not so large. When resistance is applied to the lower rotary cylinder 118 for some reason, resistance is also applied to the middle rotary cylinder 114 via the projections 132 and 134, so the middle rotary cylinder 114 does not rotate.
　図１０を参照しつつ、ホルダー６２の構造について説明する。ホルダー６２には、穴１４０と、穴１４２と、穴１４４とを備える。穴１４０には第１ギヤ１０６および第２ギヤ１０８の回転軸が貫通する。穴１４２には曲げ加工機８０の曲げ軸９２の先端が嵌め込まれる。ホルダー６２を曲げ加工機８０に固定するためのボルトが穴１４４を貫通する。また、センサーリングＬ６４およびセンサーリングＲ６６が、ベアリング７０によって回転自在な状態でホルダー６２に接続される。 The structure of the holder 62 will be described with reference to FIG. The holder 62 includes a hole 140, a hole 142, and a hole 144. The rotation shafts of the first gear 106 and the second gear 108 pass through the hole 140. The tip of the bending shaft 92 of the bending machine 80 is fitted into the hole 142. Bolts for fixing the holder 62 to the bending machine 80 pass through the holes 144. Further, the sensor ring L64 and the sensor ring R66 are connected to the holder 62 in a rotatable state by a bearing 70.
　図１１および図１２を参照してセンサーリングＬ６４の構成について説明する。センサーリングＬ６４は、本体１５０にマイクロスイッチＬ１５２およびギヤ１５４を備えたものである。本体１５０は、側壁が円筒状で底に丸い穴が開いているものをひっくり返したような形状をしている。側壁の上端すなわち図１１において本体１５０の底となっている部分には扇形の板１５６が取り付けられており、マイクロスイッチＬ１５２はその扇形の板１５６と側壁の上端とに固定されている。マイクロスイッチＬ１５２は、押しボタン型のスイッチが内蔵されたスイッチボックスとそのスイッチボックスにヒンジを介して取り付けられた接触板とを備える。曲げ加工機８０にて折曲げられる刃材板３００に接触板が接触すると、接触板はスイッチボックスの中のスイッチを押す。これにより、センサーリングＬ６４は、刃材板３００と接触しているか否かに応じた信号を生成する装置として動作することになる。また、ギヤ１５４は、図１１において本体１５０の天板となっている部分の穴の縁に設けられている。ただし、ギヤ１５４はその縁の全周に設けられているのではない。その縁の一部には、ギヤ１５４が設けられていない部分が存在する。ギヤ１５４の少し下にはベアリング７０の鍔が嵌め込まれる溝１５８が設けられている。 The configuration of the sensor ring L64 will be described with reference to FIGS. The sensor ring L64 includes a micro switch L152 and a gear 154 in the main body 150. The main body 150 has a shape in which a side wall is cylindrical and a round hole is opened at the bottom. A fan-shaped plate 156 is attached to the upper end of the side wall, that is, the bottom of the main body 150 in FIG. 11, and the microswitch L152 is fixed to the fan-shaped plate 156 and the upper end of the side wall. The micro switch L152 includes a switch box in which a push button type switch is incorporated and a contact plate attached to the switch box via a hinge. When the contact plate comes into contact with the blade plate 300 that is bent by the bending machine 80, the contact plate presses a switch in the switch box. As a result, the sensor ring L64 operates as a device that generates a signal according to whether or not it is in contact with the blade plate 300. Further, the gear 154 is provided at the edge of the hole of the portion that is the top plate of the main body 150 in FIG. However, the gear 154 is not provided all around the edge. A part where the gear 154 is not provided exists at a part of the edge. A groove 158 into which the flange of the bearing 70 is fitted is provided slightly below the gear 154.
　図１３および図１４を参照してセンサーリングＲ６６の構成について説明する。センサーリングＲ６６は、本体１６０にマイクロスイッチＲ１６２およびギヤ１６４を備えたものである。本体１６０は円筒状である。本体１６０の側壁の下端には突出部１６６が設けられており、そこにマイクロスイッチＲ１６２が取り付けられている。マイクロスイッチＲ１６２はマイクロスイッチＬ１５２と同様の構造となっている。このため、センサーリングＲ６６は、センサーリングＬ６４と同様、刃材板３００と接触しているか否かに応じた信号を生成する。ギヤ１６４は、図１３において本体１６０の上端の縁に設けられている。ただし、ギヤ１６４はその縁の全周に設けられているのではない。その縁の一部には、ギヤ１６４が設けられていない部分が存在する。ギヤ１６４の少し下にはベアリング７０の鍔が嵌め込まれる溝１６８が設けられている。 The configuration of the sensor ring R66 will be described with reference to FIGS. The sensor ring R66 includes a main body 160 provided with a micro switch R162 and a gear 164. The main body 160 is cylindrical. A protrusion 166 is provided at the lower end of the side wall of the main body 160, and a micro switch R162 is attached thereto. The micro switch R162 has the same structure as the micro switch L152. For this reason, sensor ring R66 produces | generates the signal according to whether it is in contact with the blade material board 300 similarly to sensor ring L64. The gear 164 is provided at the upper edge of the main body 160 in FIG. However, the gear 164 is not provided all around the edge. A part where the gear 164 is not provided exists at a part of the edge. A groove 168 into which the flange of the bearing 70 is fitted is provided slightly below the gear 164.
　図１５～図１８を参照して、センサーリングＬ６４その他の配置を説明する。上述したように、センサーリングＬ６４およびセンサーリングＲ６６が、ホルダー６２に接続される。センサーリングＬ６４およびセンサーリングＲ６６は、ホルダー６２に直接接続されるのではない。ホルダーに直接接続されているのはスペーサ６８である。スペーサ６８を介してベアリング７０がホルダー６２に接続されている。センサーリングＬ６４の溝１５８およびセンサーリングＲ６６の溝１６８にベアリング７０の鍔が嵌め込まれることによってセンサーリングＬ６４およびセンサーリングＲ６６はホルダー６２に間接的に接続されている。 The sensor ring L64 and other arrangements will be described with reference to FIGS. As described above, the sensor ring L64 and the sensor ring R66 are connected to the holder 62. The sensor ring L64 and the sensor ring R66 are not directly connected to the holder 62. Directly connected to the holder is a spacer 68. A bearing 70 is connected to the holder 62 via a spacer 68. The sensor ring L64 and the sensor ring R66 are indirectly connected to the holder 62 by fitting the flange of the bearing 70 into the groove 158 of the sensor ring L64 and the groove 168 of the sensor ring R66.
　このとき、センサーリングＬ６４のギヤ１５４は第１ギヤ１０６にかみ合い、センサーリングＲ６６のギヤ１６４は第２ギヤ１０８にかみ合う。これにより、サーボモータ６０のモータ本体１００が生成したトルクはセンサーリングＬ６４およびセンサーリングＲ６６に伝達される。 At this time, the gear 154 of the sensor ring L64 is engaged with the first gear 106, and the gear 164 of the sensor ring R66 is engaged with the second gear 108. Thereby, the torque generated by the motor main body 100 of the servo motor 60 is transmitted to the sensor ring L64 and the sensor ring R66.
　センサーリングＬ６４の固定位置とセンサーリングＲ６６の固定位置とは異なる。それらが異なるので、センサーリングＬ６４の回転軸１７０とセンサーリングＲ６６の回転軸１７２とは異なる。回転軸１７０と回転軸１７２とは、回転筒９０によって折曲げられた刃材板３００のエッジ付近に位置する。より具体的に述べると、回転筒９０によって刃材板３００が一方に折曲げられる時の回転軸と一致するよう、回転軸１７０は配置されており、刃材板３００が他方に折曲げられる時の回転軸と一致するよう、回転軸１７２は配置されている。回転軸１７０および回転軸１７２と刃材板３００が折曲げられる時の回転軸とが一致していることで、センサーリングＬ６４あるいはセンサーリングＲ６６の回転角が板の折曲げ角度に一致することとなる。ちなみに、多くの場合、刃材板３００が折曲げられる時の回転軸は、回転筒９０の爪の先端から刃材板３００の厚さの２分の１の距離にあり、かつ、刃材板３００の側面からその厚さの２分の１の距離にある点である。 ¡The fixed position of sensor ring L64 is different from the fixed position of sensor ring R66. Since they are different, the rotation shaft 170 of the sensor ring L64 and the rotation shaft 172 of the sensor ring R66 are different. The rotating shaft 170 and the rotating shaft 172 are positioned near the edge of the blade member plate 300 bent by the rotating cylinder 90. More specifically, the rotating shaft 170 is arranged so as to coincide with the rotating shaft when the blade plate 300 is bent in one direction by the rotating cylinder 90, and the blade plate 300 is bent in the other direction. The rotation shaft 172 is arranged so as to coincide with the rotation shaft of the first rotation shaft. The rotation angle of the sensor ring L64 or the sensor ring R66 matches the bending angle of the plate because the rotation shaft 170 and the rotation shaft 172 coincide with the rotation axis when the blade plate 300 is bent. Become. Incidentally, in many cases, the rotation axis when the blade material plate 300 is bent is at a distance of one half of the thickness of the blade material plate 300 from the tip of the claw of the rotary cylinder 90, and the blade material plate. It is a point at a distance of one half of the thickness from the side surface of 300.
　図１９～図２０を参照して、折り曲げ角検出装置５０の取り付け形態について説明する。曲げ加工機８０は、天板９４とギヤケース９６とを備える。天板９４の穴に曲げ軸９２が嵌め込まれている。ギヤケース９６は、図示しないギヤを収容する。このギヤは、刃材板３００を送り出すための図示しない送り出しベアリングにトルクを伝達するためのギヤである。折り曲げ角検出装置５０を取り付けるため、天板９４とギヤケース９６とは別の天板９５とギヤケース９７とに取り替えられる。天板９５には曲げ軸９２をはめ込むための穴が設けられておらず、ギヤケース９７には、ホルダー６２を貫通したボルトがねじこまれるねじ穴が設けられている。すなわち、折り曲げ角検出装置５０は、ホルダー６２がギヤケース９７にねじ止めされることで、曲げ加工機８０に接続されることとなる。 Referring to FIG. 19 to FIG. 20, the mounting form of the bending angle detection device 50 will be described. The bending machine 80 includes a top plate 94 and a gear case 96. A bending shaft 92 is fitted in the hole of the top plate 94. The gear case 96 accommodates a gear (not shown). This gear is a gear for transmitting torque to a feed bearing (not shown) for feeding the blade plate 300. In order to attach the bending angle detection device 50, the top plate 94 and the gear case 96 are replaced with a different top plate 95 and gear case 97. The top plate 95 is not provided with a hole for fitting the bending shaft 92, and the gear case 97 is provided with a screw hole into which a bolt penetrating the holder 62 is screwed. That is, the bending angle detection device 50 is connected to the bending machine 80 by screwing the holder 62 to the gear case 97.
　なお、曲げ加工機８０は、タッチパネル９１と筒回転モータ９３とをさらに備える。タッチパネル９１は、情報を表示し、かつ、ユーザが情報を入力するための装置である。筒回転モータ９３は、回転筒９０を駆動する。 The bending machine 80 further includes a touch panel 91 and a cylinder rotating motor 93. The touch panel 91 is a device for displaying information and allowing the user to input information. The cylinder rotating motor 93 drives the rotating cylinder 90.
　図２１を参照して、曲げ加工機８０の制御部９８について説明する。曲げ加工機８０はタッチパネル９１や筒回転モータ９３に加え、制御部９８を備える。折り曲げ角検出装置５０が接続されていないとき、制御部９８は、刃材板３００に対する曲げ加工を制御する。折り曲げ角検出装置５０が接続されているとき、制御部９８は、刃材板３００に対する曲げ加工に加え、折り曲げ角検出装置５０による角度測定を制御する。制御部９８は、筒回転モータＩ／Ｏ（input/output）１８０と、第１外部Ｉ／Ｏ１８２と、第２外部Ｉ／Ｏ１８４と、第３外部Ｉ／Ｏ１８６と、タッチパネルＩ／Ｏ１８８と、フラッシュメモリ読み取り装置１９０と、ＲＯＭ（Read Only Memory）１９２と、ＲＡＭ（Random Access Memory）１９４と、ＣＰＵ（Central Processing Unit）１９６とを備える。 The control unit 98 of the bending machine 80 will be described with reference to FIG. The bending machine 80 includes a control unit 98 in addition to the touch panel 91 and the cylinder rotation motor 93. When the bending angle detection device 50 is not connected, the control unit 98 controls the bending process on the blade material plate 300. When the bending angle detection device 50 is connected, the control unit 98 controls angle measurement by the bending angle detection device 50 in addition to bending the blade material plate 300. The control unit 98 includes a cylinder rotation motor I / O (input / output) 180, a first external I / O 182, a second external I / O 184, a third external I / O 186, a touch panel I / O 188, and a flash. A memory reading device 190, a ROM (Read Only Memory) 192, a RAM (Random Access Memory) 194, and a CPU (Central Processing Unit) 196 are provided.
　筒回転モータＩ／Ｏ１８０は、筒回転モータ９３に制御信号を出力する。第１外部Ｉ／Ｏ１８２は、サーボモータ６０に接続され、回転角センサ１０２から回転角を示す情報の入力を受け付け、モータ本体１００に対して制御信号を出力する。第２外部Ｉ／Ｏ１８４は、マイクロスイッチＬ１５２による信号入力を受け付ける。第３外部Ｉ／Ｏ１８６は、マイクロスイッチＲ１６２による信号入力を受け付ける。タッチパネルＩ／Ｏ１８８は、タッチパネル９１に画像信号を出力し、かつ、タッチパネル９１を介したユーザによる情報の入力を受け付ける。フラッシュメモリ読み取り装置１９０は、フラッシュメモリ３５０からＣＰＵ１９６が実行するための制御プログラムを読み取る。この制御プログラムは、刃材板３００に対する曲げ加工だけでなく、折り曲げ角検出装置５０に対する制御を行うためのプログラムである。ＲＯＭ１９２は、フラッシュメモリ３５０から制御プログラムを読み取り、これを実行するためのプログラムを記憶する。ＲＡＭ１９４は、フラッシュメモリ３５０から読み取られた制御プログラムを一時的に記憶する。また、ＲＡＭ１９４は、ＣＰＵ１９６が情報を処理するためのデータを一時的に記憶する。ＣＰＵ１９６は、ＲＡＭ１９４に記憶された制御プログラムを順次実行することにより、刃材板３００に対する曲げ加工や折り曲げ角検出装置５０による角度測定を制御する。 The cylinder rotation motor I / O 180 outputs a control signal to the cylinder rotation motor 93. The first external I / O 182 is connected to the servo motor 60, receives input of information indicating the rotation angle from the rotation angle sensor 102, and outputs a control signal to the motor body 100. The second external I / O 184 receives a signal input from the micro switch L152. The third external I / O 186 receives a signal input from the micro switch R162. The touch panel I / O 188 outputs an image signal to the touch panel 91 and accepts input of information by the user via the touch panel 91. The flash memory reader 190 reads a control program to be executed by the CPU 196 from the flash memory 350. This control program is a program for controlling the bending angle detection device 50 as well as bending the blade material plate 300. The ROM 192 reads a control program from the flash memory 350 and stores a program for executing the control program. The RAM 194 temporarily stores the control program read from the flash memory 350. The RAM 194 temporarily stores data for the CPU 196 to process information. The CPU 196 sequentially executes the control program stored in the RAM 194 to control the bending process on the blade material plate 300 and the angle measurement by the bending angle detection device 50.
　図２２～図２７を参照して、本実施形態に係る折り曲げ角検出装置５０における刃材板３００の角度を測定するための手順を説明する。 A procedure for measuring the angle of the blade material plate 300 in the bending angle detection device 50 according to the present embodiment will be described with reference to FIGS.
　曲げ軸９２に対してサーボモータ６０の反対側となる位置に、扇状の板１５６と突出部１６６とが互いに接触した状態で配置されているとする。本実施形態においては、この時のセンサーリングＬ６４およびセンサーリングＲ６６の位置を「基準位置」と称する。この状態で、曲げ加工機８０の図示しない送り出しローラは曲げ軸９２のスリットの間から刃材板３００を送り出す。図２２は、この状況を示す。 Suppose that the fan-shaped plate 156 and the protruding portion 166 are arranged in contact with each other at a position opposite to the servo motor 60 with respect to the bending shaft 92. In the present embodiment, the positions of the sensor ring L64 and the sensor ring R66 at this time are referred to as “reference positions”. In this state, a feeding roller (not shown) of the bending machine 80 feeds the blade material plate 300 from between the slits of the bending shaft 92. FIG. 22 illustrates this situation.
　刃材板３００が送り出されると、制御部９８は、筒回転モータＩ／Ｏ１８０を介して筒回転モータ９３に制御信号を出力することで、筒回転モータ９３を駆動させる。これにより、回転筒９０が回転し、その爪の先端は曲げ開始位置に達する。図２３は、この状況を示す。 When the blade member plate 300 is sent out, the controller 98 outputs a control signal to the tube rotation motor 93 via the tube rotation motor I / O 180 to drive the tube rotation motor 93. As a result, the rotary cylinder 90 rotates and the tip of the claw reaches the bending start position. FIG. 23 illustrates this situation.
　回転筒９０の爪の先端が曲げ開始位置に達すると、サーボモータ６０は、制御部９８の制御に従い、トルクを生成する。第１ギヤ１０６および第２ギヤ１０８を介してそのトルクはセンサーリングＬ６４およびセンサーリングＲ６６に伝達される。これにより、センサーリングＲ６６は回転する。センサーリングＬ６４は当初回転するが、途中で回転が止まる。図１１に示したように、ギヤ１５４は本体１５０の縁全周に設けられているのではない。その結果、第１ギヤ１０６がギヤ１５４にかみ合わなくなるためである。制御部９８は、回転角センサ１０２が入力した回転角データに基づき、第２ギヤ１０８の回転角を把握している。その結果、制御部９８は、マイクロスイッチＲ１６２の回転角も間接的に把握していることになる。刃材板３００に接触すると、マイクロスイッチＲ１６２は信号を第３外部Ｉ／Ｏ１８６に入力する。ＣＰＵ１９６は、マイクロスイッチＲ１６２が信号を入力した時点の第２ギヤ１０８の回転角に基づきマイクロスイッチＲ１６２の回転角を検出する。図２４は、この状況を示す。 When the tip of the claw of the rotating cylinder 90 reaches the bending start position, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring L64 and the sensor ring R66 via the first gear 106 and the second gear 108. As a result, the sensor ring R66 rotates. Although the sensor ring L64 initially rotates, the rotation stops halfway. As shown in FIG. 11, the gear 154 is not provided around the entire edge of the main body 150. As a result, the first gear 106 does not mesh with the gear 154. The control unit 98 grasps the rotation angle of the second gear 108 based on the rotation angle data input by the rotation angle sensor 102. As a result, the control unit 98 indirectly grasps the rotation angle of the micro switch R162. When contacting the blade plate 300, the micro switch R162 inputs a signal to the third external I / O 186. The CPU 196 detects the rotation angle of the micro switch R162 based on the rotation angle of the second gear 108 at the time when the signal is input to the micro switch R162. FIG. 24 illustrates this situation.
　マイクロスイッチＲ１６２の回転角が検出されると、制御部９８は、筒回転モータ９３を駆動させる。これにより、回転筒９０が回転し、回転筒９０の爪の先端は刃材板３００を折り曲げる。図２５は、この状況を示す。 When the rotation angle of the micro switch R162 is detected, the control unit 98 drives the tube rotation motor 93. As a result, the rotary cylinder 90 rotates and the tip of the claw of the rotary cylinder 90 bends the blade plate 300. FIG. 25 illustrates this situation.
　刃材板３００が折り曲げられると、サーボモータ６０は、制御部９８の制御に従い、トルクを生成する。第２ギヤ１０８を介してそのトルクはセンサーリングＲ６６に伝達される。これにより、マイクロスイッチＲ１６２は再度回転する。刃材板３００に再度接触すると、マイクロスイッチＲ１６２は第３外部Ｉ／Ｏ１８６に信号を再度入力する。図２６は、この状況を示す。ＣＰＵ１９６は、マイクロスイッチＲ１６２が信号を再度入力した時点の第２ギヤ１０８の回転角に基づきマイクロスイッチＲ１６２の回転角を検出する。マイクロスイッチＲ１６２の回転角が検出されると、ＣＰＵ１９６は、その回転角と最初に検出されたマイクロスイッチＲ１６２の回転角との間の角度差を算出する。上述したように、刃材板３００を折り曲げる際の回転軸上にマイクロスイッチＲ１６２ひいてはセンサーリングＲ６６の回転軸がある。これにより、算出された角度差は、刃材板３００の折り曲げられた部分の回転角に等しくなる。この角度差は、第２ギヤ１０８の歯の数やギヤ１６４の歯の数をＲＡＭ１９４にあらかじめ記憶させておくことで算出できる。それらの歯の数は、制御プログラムの一部として、あるいは制御プログラムから独立したデータファイルとして、フラッシュメモリ３５０から読み取ることにより、ＲＡＭ１９４に記憶させることができる。 When the blade plate 300 is bent, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring R66 via the second gear 108. Thereby, the micro switch R162 rotates again. When the blade plate 300 is contacted again, the microswitch R162 inputs a signal to the third external I / O 186 again. FIG. 26 illustrates this situation. The CPU 196 detects the rotation angle of the micro switch R162 based on the rotation angle of the second gear 108 when the signal is input again by the micro switch R162. When the rotation angle of the micro switch R162 is detected, the CPU 196 calculates an angle difference between the rotation angle and the rotation angle of the micro switch R162 detected first. As described above, the rotation axis of the micro switch R162 and the sensor ring R66 is located on the rotation axis when the blade plate 300 is bent. Thereby, the calculated angle difference becomes equal to the rotation angle of the bent portion of the blade plate 300. This angle difference can be calculated by storing the number of teeth of the second gear 108 and the number of teeth of the gear 164 in the RAM 194 in advance. The number of teeth can be stored in the RAM 194 by reading from the flash memory 350 as part of the control program or as a data file independent of the control program.
　角度差が算出されると、サーボモータ６０は、制御部９８の制御に従い、トルクを生成する。第２ギヤ１０８を介してそのトルクはセンサーリングＲ６６に伝達される。これにより、マイクロスイッチＲ１６２は再度回転する。ただし、マイクロスイッチＲ１６２は、その回転により基準位置に戻る。基準位置に戻ると、突出部１６６が扇状の板１５６を押す。これにより、ギヤ１５４は第１ギヤ１０６に再度かみあうこととなる。図２７は、この状況を示す。 When the angle difference is calculated, the servo motor 60 generates torque according to the control of the control unit 98. The torque is transmitted to the sensor ring R66 via the second gear 108. Thereby, the micro switch R162 rotates again. However, the micro switch R162 returns to the reference position by its rotation. When returning to the reference position, the protrusion 166 pushes the fan-shaped plate 156. As a result, the gear 154 meshes with the first gear 106 again. FIG. 27 illustrates this situation.
　図２８を参照して、スプリングバックを予め測定することなく刃材板３００を的確に折り曲げるための制御手順を説明する。なお、刃材板３００を右へ曲げるときの制御手順自体は特に説明しないが、マイクロスイッチＬ１５２によって刃材板３００の向きが測定されることを除けば、それは刃材板３００を左へ曲げたときの制御手順と同様である。 Referring to FIG. 28, a control procedure for accurately bending the blade plate 300 without measuring the spring back in advance will be described. Although the control procedure itself when bending the blade plate 300 to the right is not specifically described, except that the orientation of the blade plate 300 is measured by the micro switch L152, it is bent to the left. It is the same as the control procedure at the time.
　ステップＳ２５０にて、曲げ加工機８０のＣＰＵ１９６は、図示しない送り出しローラを駆動させ、刃材板３００を所定の長さ分送り出させる。 In step S250, the CPU 196 of the bending machine 80 drives a feed roller (not shown) to feed the blade plate 300 by a predetermined length.
　ステップＳ２５２にて、ＣＰＵ１９６は、サーボモータ６０に対し、トルクを生成させるための制御信号を出力する。サーボモータ６０は、その制御信号に応じてトルクを生成する。センサーリングＲ６６は、サーボモータ６０が生成したトルクが伝達されると回転する。この場合、センサーリングＬ６４一方は、当初回転するものの、第１ギヤ１０６にかみ合わなくなり、最終的には回転しなくなる。 In step S252, the CPU 196 outputs a control signal for generating torque to the servo motor 60. The servo motor 60 generates torque according to the control signal. The sensor ring R66 rotates when the torque generated by the servomotor 60 is transmitted. In this case, one of the sensor rings L64 initially rotates, but does not mesh with the first gear 106 and eventually does not rotate.
　ステップＳ２５４にて、ＣＰＵ１９６は、マイクロスイッチＲ１６２が第３外部Ｉ／Ｏ１８６に入力した信号に基づき、センサーリングＲ６６が刃材板３００を検出したか否かを判断する。刃材板３００を検出したと判断したとき（ステップＳ２５４にてＹＥＳ）、処理はステップＳ２５６へと移される。もしそうでないと（ステップＳ２５４にてＮＯ）、処理はステップＳ２５２と移される。 In step S254, the CPU 196 determines whether or not the sensor ring R66 has detected the blade plate 300 based on the signal input from the micro switch R162 to the third external I / O 186. When it is determined that blade plate 300 has been detected (YES in step S254), the process proceeds to step S256. If not (NO in step S254), the process proceeds to step S252.
　ステップＳ２５６にて、ＣＰＵ１９６は、サーボモータ６０に対し、トルクの生成を停止させるための制御信号を出力する。これにより、第１ギヤ１０６および第２ギヤ１０８の回転は停止する。 In step S256, the CPU 196 outputs a control signal for stopping the generation of torque to the servo motor 60. As a result, the rotation of the first gear 106 and the second gear 108 stops.
　ステップＳ２５８にて、ＣＰＵ１９６は、回転角センサ１０２が入力した回転角データに基づき、センサーリングＲ６６の回転角を算出する。センサーリングＲ６６の回転角が算出されると、ＣＰＵ１９６は、ＲＡＭ１９４にその回転角を記憶させる。その回転角が刃材板３００の折り開始点を示す。 In step S258, the CPU 196 calculates the rotation angle of the sensor ring R66 based on the rotation angle data input by the rotation angle sensor 102. When the rotation angle of the sensor ring R66 is calculated, the CPU 196 stores the rotation angle in the RAM 194. The rotation angle indicates the folding start point of the blade member plate 300.
　ステップＳ２６０にて、ＣＰＵ１９６は、ＣＰＵ１９６は、サーボモータ６０に対し、トルクを生成させるための制御信号を出力する。この制御信号が入力されると、モータ本体１００の回転子は回転する。本実施形態においては、このときの回転角は、次の要件を満たす角度である。その要件とは、刃材板３００における折り曲げられた部分の角度がタッチパネル９１を介してユーザにより指定された角度になるという要件である。センサーリングＲ６６は、回転子の回転に応じて回転しようとする。しかしながら、刃材板３００に遮られるため、センサーリングＲ６６は回転しない。このため、スプリングジョイント１０４の上部回転筒１１０が下部回転筒１１８に対して相対的に回転することとなる。 In step S260, the CPU 196 outputs a control signal for generating torque to the servo motor 60. When this control signal is input, the rotor of the motor main body 100 rotates. In the present embodiment, the rotation angle at this time is an angle that satisfies the following requirements. The requirement is a requirement that the angle of the bent portion of the blade plate 300 is an angle designated by the user via the touch panel 91. The sensor ring R66 tends to rotate according to the rotation of the rotor. However, since it is blocked by the blade material plate 300, the sensor ring R66 does not rotate. For this reason, the upper rotating cylinder 110 of the spring joint 104 rotates relative to the lower rotating cylinder 118.
　ステップＳ２６２にて、ＣＰＵ１９６は、筒回転モータ９３を駆動させる。これにより、回転筒９０が回転し、刃材板３００はマイクロスイッチＲ１６２から離れる方向へ折曲げられる。このとき、スプリングジョイント１０４の第１スプリング１１２および第２スプリング１１６が弾性変形した状態から弾性変形していない状態へ戻るので、マイクロスイッチＲ１６２は刃材板３００に追随する。 In step S262, the CPU 196 drives the cylinder rotation motor 93. Thereby, the rotary cylinder 90 rotates and the blade member plate 300 is bent in a direction away from the microswitch R162. At this time, since the first spring 112 and the second spring 116 of the spring joint 104 return from the elastically deformed state to the non-elastically deformed state, the microswitch R162 follows the blade plate 300.
　ステップＳ２６４にて、ＣＰＵ１９６は、マイクロスイッチＲ１６２が入力した信号に基づき、マイクロスイッチＲ１６２が刃材板３００を検出しなくなったか否かを判断する。刃材板３００を検出しなくなったと判断したとき（ステップＳ２６４にてＹＥＳ）、処理はステップＳ２６６へと移される。もしそうでないと（ステップＳ２６４にてＮＯ）、処理はステップＳ２６２と移される。 In step S264, the CPU 196 determines whether the micro switch R162 no longer detects the blade plate 300 based on the signal input by the micro switch R162. When it is determined that blade material plate 300 is no longer detected (YES in step S264), the process proceeds to step S266. If not (NO in step S264), the process proceeds to step S262.
　ステップＳ２６６にて、ＣＰＵ１９６は、筒回転モータ９３を再度駆動させる。これにより、回転筒９０がさらに回転し、刃材板３００はさらに折曲げられる。すなわち、刃材板３００は増し押しされる。回転筒９０の回転角は、刃材板３００の塑性変形が若干進行する程度の角度である。その後、ＣＰＵ１９６は、筒回転モータ９３を逆回転させる。筒回転モータ９３の逆回転により、回転筒９０の回転角は、ステップＳ２６２にて回転筒９０を回転させた結果マイクロスイッチＲ１６２が刃材板３００を検出しなくなった時点の角度に戻る。このとき、刃材板３００の向きはスプリングバックにより若干戻るが、塑性変形が進行しているため、増し押し前の向きには戻らない。その結果、回転筒９０の爪が離れたときの刃材板３００の角度はユーザが指定した角度に近付く。 In step S266, the CPU 196 drives the cylinder rotation motor 93 again. Thereby, the rotary cylinder 90 further rotates and the blade material plate 300 is further bent. That is, the blade member plate 300 is pushed further. The rotation angle of the rotary cylinder 90 is an angle at which the plastic deformation of the blade plate 300 proceeds slightly. Thereafter, the CPU 196 rotates the tube rotation motor 93 in the reverse direction. Due to the reverse rotation of the tube rotating motor 93, the rotation angle of the rotating tube 90 returns to the angle at which the micro switch R162 no longer detects the blade plate 300 as a result of rotating the rotating tube 90 in step S262. At this time, the direction of the blade member plate 300 slightly returns due to the springback, but since the plastic deformation is progressing, the direction does not return to the direction before the additional pressing. As a result, the angle of the blade member plate 300 when the claw of the rotating cylinder 90 is separated approaches the angle specified by the user.
　ステップＳ２６８にて、ＣＰＵ１９６は、マイクロスイッチＲ１６２が入力した信号に基づき、マイクロスイッチＲ１６２が刃材板３００を検出しなくなったか否かを判断する。刃材板３００を検出しなくなったと判断したとき（ステップＳ２６８にてＹＥＳ）、処理はステップＳ２７０へと移される。もしそうでないと（ステップＳ２８８にてＮＯ）、処理はステップＳ２６６と移される。 In step S268, the CPU 196 determines whether or not the micro switch R162 no longer detects the blade plate 300 based on the signal input by the micro switch R162. When it is determined that blade material plate 300 is no longer detected (YES in step S268), the process proceeds to step S270. If not (NO in step S288), the process proceeds to step S266.
　ステップＳ２７０にて、ＣＰＵ１９６は、マイクロスイッチＲ１６２が基準位置に戻るよう、サーボモータ６０を駆動させる。 In step S270, the CPU 196 drives the servo motor 60 so that the micro switch R162 returns to the reference position.
　ステップＳ２７２にて、制御部９８は、次の曲げ加工を実施するため、情報の更新を行う。 In step S272, the control unit 98 updates the information in order to perform the next bending process.
　以上のようにして、本実施形態に係る曲げ加工機８０は、折り曲げ角検出装置５０が角度測定の結果として検出した刃材板３００の向きに基づき、刃材板３００を的確に折曲げる。スプリングバックの測定は行わない。これにより、曲げ加工機８０のユーザがいちいち手作業でスプリングバックを測定する必要はなくなる。そもそも、回転筒９０をどの程度回転させれば刃材板３００が的確に折り曲げられるかを詳細に把握する必要がなくなる。その分、刃材板３００の折り曲げ作業に要する労力を軽減させることができる As described above, the bending machine 80 according to the present embodiment accurately bends the blade material plate 300 based on the orientation of the blade material plate 300 detected as a result of the angle measurement by the bending angle detection device 50. Do not measure springback. This eliminates the need for the user of the bending machine 80 to manually measure the springback. In the first place, it is not necessary to know in detail how much the rotating cylinder 90 is rotated to accurately fold the blade plate 300. Accordingly, the labor required for bending the blade material plate 300 can be reduced.
　今回開示された実施形態はすべての点で例示である。本発明の範囲は上述した実施形態に基づいて制限されるものではなく、本発明の趣旨を逸脱しない範囲で種々の設計変更をしてもよいのはもちろんである。 The embodiment disclosed this time is illustrative in all respects. The scope of the present invention is not limited based on the above-described embodiment, and various design changes may be made without departing from the spirit of the present invention.
　たとえば、スプリングジョイント１０４は、上述したような構成に限られない。上述したスプリングジョイント１０４に代え、サーボモータ６０のモータ本体１００が供給するトルクを信号生成装置に伝達し、かつ、そのトルクにより弾性変形する、板バネやゴム製の筒などを用いても良い。スプリングジョイント１０４に代え、他の緩衝材を用いても良い。緩衝材を用いる場合、その緩衝材は、モータ本体１００が供給するトルクをセンサーリングＬ６４あるいはセンサーリングＲ６６に伝達するとともに、モータ本体１００が供給するトルクにより弾性変形するものであれば良い。スプリングジョイント１０４はなくともよい。 For example, the spring joint 104 is not limited to the configuration described above. Instead of the spring joint 104 described above, a plate spring, a rubber tube, or the like that transmits torque supplied from the motor main body 100 of the servo motor 60 to the signal generation device and elastically deforms by the torque may be used. Instead of the spring joint 104, another cushioning material may be used. In the case of using the buffer material, the buffer material may be any material that transmits torque supplied from the motor main body 100 to the sensor ring L64 or the sensor ring R66 and is elastically deformed by the torque supplied from the motor main body 100. The spring joint 104 may not be provided.
　また、回転角センサ１０２によってセンサーリングＬ６４やセンサーリングＲ６６の回転角を間接的に測定するのではなく、それらの回転角を直接測定しても良い。それらの回転角を直接測定するための具体策としては、センサーリングＬ６４のギヤ１５４やセンサーリングＲ６６のギヤ１６４に平歯車を噛み合わせ、その軸に角度センサを接続する方法などが考えられる。 Further, instead of indirectly measuring the rotation angles of the sensor ring L64 and the sensor ring R66 by the rotation angle sensor 102, the rotation angles thereof may be directly measured. As a specific measure for directly measuring these rotation angles, a method of engaging a spur gear with the gear 154 of the sensor ring L64 or the gear 164 of the sensor ring R66 and connecting an angle sensor to the shaft can be considered.
　また、サーボモータ６０に代え、その他の駆動装置がセンサーリングＬ６４およびセンサーリングＲ６６を駆動しても良い。駆動のための機構もまた特に制限されない。 Further, instead of the servo motor 60, another driving device may drive the sensor ring L64 and the sensor ring R66. The mechanism for driving is not particularly limited.
　また、センサーリングＬ６４やセンサーリングＲ６６に代え、刃材板３００と接触しているか否かに応じた信号をそれらとは異なるしくみで生成する信号生成装置が折り曲げ角検出装置５０に備えられても良い。そのような信号生成装置の例としては、マイクロスイッチを直線状で走行させ、刃材板３００に接触した位置と折り曲げられている刃材板３００の回転軸との位置関係に基づいてその回転角を算出する装置がある。 Further, instead of the sensor ring L64 and the sensor ring R66, the bending angle detection device 50 may include a signal generation device that generates a signal according to whether or not the blade plate 300 is in contact with a mechanism different from those. good. As an example of such a signal generation device, the rotation angle of the microswitch is determined based on the positional relationship between the position in contact with the blade material plate 300 and the rotation axis of the blade material plate 300 being bent. There is a device for calculating.
　また、折り曲げ角検出装置５０は、制御部を備えていても良い。この場合、その制御部の構成は制御部９８と同様であってもよい。これにより、折り曲げ角検出装置５０は、曲げ加工機８０の制御部９８に依存せずに刃材板３００の折り曲げられた部分の角度を測定できる。また、スプリングバックを測定する場合、折り曲げ角検出装置５０の制御部は、曲げ加工機８０の制御部９８の連携してもよい。 Further, the bending angle detection device 50 may include a control unit. In this case, the configuration of the control unit may be the same as that of the control unit 98. Thereby, the bending angle detection device 50 can measure the angle of the bent portion of the blade plate 300 without depending on the control unit 98 of the bending machine 80. When measuring the springback, the control unit of the bending angle detection device 50 may cooperate with the control unit 98 of the bending machine 80.
　また、制御部９８が制御プログラムを読み取るためのプログラム記録媒体は、フラッシュメモリ３５０に限定されない。たとえば、ＵＳＢメモリであっても良い。さらに、インターネットを介して制御プログラムを受信してもよい。 Further, the program recording medium for the control unit 98 to read the control program is not limited to the flash memory 350. For example, a USB memory may be used. Further, the control program may be received via the Internet.

Claims (4)

  1. 　曲げ加工機（８０）によって板を折り曲げる板折り曲げ方法であって、
    　前記板における折り曲げられた部分の角度が予め定められた角度に達したことが、前記曲げ加工機に前記板が取り付けられ、かつ、スプリングバックが完了した状態で検出されるまで、前記板を折り曲げる作業を複数回繰り返す、板折り曲げ方法。     A plate bending method of bending a plate by a bending machine (80),
    The plate is bent until it is detected that the angle of the bent portion of the plate reaches a predetermined angle when the plate is attached to the bending machine and the springback is completed. A plate bending method that repeats the work multiple times.
  2. 　前記板折り曲げ方法は、前記板における折り曲げられた部分の角度が予め定められた角度に達したことが、前記曲げ加工機に接続される折り曲げ角検出装置（５０）により検出されるまで（Ｓ２８４）、前記板をさらに折り曲げる（Ｓ２８６）方法である、請求項１に記載の板折り曲げ方法。 In the plate bending method, until the bending angle detecting device (50) connected to the bending machine detects that the angle of the bent portion of the plate has reached a predetermined angle (S284). 2. The plate bending method according to claim 1, wherein the plate is further bent (S286).
  3. 　前記折り曲げ角検出装置は、前記板に接触することによって、前記曲げ加工機が前記板を折り曲げる前の前記板の向きと前記曲げ加工機が前記板を折り曲げた後の前記板の向きとを測定する、請求項２に記載の板折り曲げ方法。 The bending angle detection device measures the orientation of the plate before the bending machine bends the plate and the orientation of the plate after the bending machine bends the plate by contacting the plate. The plate bending method according to claim 2.
  4. 　角度を検出する折り曲げ角検出装置（５０）であって、
    　前記折り曲げ角検出装置は、曲げ加工機（８０）に接続され、
    　前記角度は、前記曲げ加工機によって折り曲げられた板における折り曲げられた部分の角度であり、
    　前記板と接触しているか否かに応じた信号を生成する信号生成装置（６４，６６）と、
    　前記曲げ加工機に前記信号生成装置を回転自在に接続する接続部（６２，７０）と、
    　前記信号生成装置を回転するように駆動する駆動装置（１００）と、
    　前記信号生成装置の回転角を検出する回転角検出装置（１０２）とを備え、
    　前記接続部は、
    　前記曲げ加工機に固定されるホルダー（６２）と、
    　前記ホルダーに接続されるベアリング（７０）とを有し、
    　前記ベアリングは、前記信号生成装置を、前記曲げ加工機が前記板を折り曲げる際の前記板の回転軸と前記信号生成装置の回転軸とが一致するよう、回転自在に位置決めする、折り曲げ角検出装置。     A bending angle detection device (50) for detecting an angle,
    The bending angle detection device is connected to a bending machine (80),
    The angle is an angle of a bent portion in a plate bent by the bending machine,
    A signal generator (64, 66) for generating a signal according to whether or not it is in contact with the plate;
    Connecting portions (62, 70) for rotatably connecting the signal generating device to the bending machine;
    A driving device (100) for driving the signal generating device to rotate;
    A rotation angle detection device (102) for detecting a rotation angle of the signal generation device,
    The connecting portion is
    A holder (62) fixed to the bending machine;
    Bearing (70) connected to the holder,
    The bend angle detection device, wherein the bearing positions the signal generation device so that the rotation axis of the plate when the bending machine bends the plate coincides with the rotation axis of the signal generation device. .
PCT/JP2008/059208 2008-05-20 2008-05-20 Plate bending method and bending angle detection device WO2009141865A1 (en)

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JP2010512872A JPWO2009141865A1 (en) 2008-05-20 2008-05-20 Plate bending method, bending angle detecting device, and computer-readable program recording medium recording control program
US12/993,171 US20110061431A1 (en) 2008-05-20 2008-05-20 Plate bending method and bending angle detection device
EP08764368A EP2298464A4 (en) 2008-05-20 2008-05-20 Plate bending method and bending angle detection device
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KR20190045336A (en) * 2016-10-11 2019-05-02 에스엠에스 그룹 게엠베하 Molding press with bending blade
KR102213572B1 (en) 2016-10-11 2021-02-08 에스엠에스 그룹 게엠베하 Forming press with bending blades

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