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JP4995511B2 - Bending machine - Google Patents

Bending machine Download PDF

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JP4995511B2
JP4995511B2 JP2006214980A JP2006214980A JP4995511B2 JP 4995511 B2 JP4995511 B2 JP 4995511B2 JP 2006214980 A JP2006214980 A JP 2006214980A JP 2006214980 A JP2006214980 A JP 2006214980A JP 4995511 B2 JP4995511 B2 JP 4995511B2
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workpiece
bending
chuck mechanism
articulated robot
chuck
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JP2008036675A (en
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照明 與語
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Opton Co Ltd
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Description

本発明は、長尺状の被加工物、例えばパイプや棒状材を所定の方向に曲げ加工する際に、被加工物を移動して曲げ加工する曲げ加工装置に関する。   The present invention relates to a bending apparatus that moves and bends a workpiece when bending a long workpiece, for example, a pipe or a rod-shaped material, in a predetermined direction.

従来より、特許文献1にあるように、被加工物をチャック機構により把持して、被加工物の軸方向と平行な軸の廻りで回動する関節を3組有する関節型ロボットの先端に曲げ機構を取り付け、各関節を回動して曲げ機構を所定の位置に移動すると共に、チャック機構を被加工物の軸方向に移動機構により移動して、複数箇所で曲げ加工するものが知られている。
特開2001−212624号公報
Conventionally, as disclosed in Patent Document 1, a workpiece is gripped by a chuck mechanism and bent to the tip of an articulated robot having three joints that rotate around an axis parallel to the axial direction of the workpiece. It is known that a mechanism is attached, each joint is rotated to move the bending mechanism to a predetermined position, and the chuck mechanism is moved in the axial direction of the workpiece by the moving mechanism to be bent at a plurality of positions. Yes.
JP 2001-212624 A

こうした従来のものでは、チャック機構を移動機構により移動して、被加工物を軸方向に移動する構成であるので、移動機構が被加工物を把持したチャック機構を移動できるスペースを必要とし、装置が大型化し、設置スペースが大きくなる。そこで、関節型ロボットにチャック機構を取り付け、曲げ機構を固定台に取り付けて曲げ加工することも考えられる。   In such a conventional device, the chuck mechanism is moved by the moving mechanism, and the workpiece is moved in the axial direction. Therefore, the moving mechanism needs a space for moving the chuck mechanism that grips the workpiece. Increases in size and installation space. Therefore, it is conceivable that a chuck mechanism is attached to the articulated robot and the bending mechanism is attached to a fixed base for bending.

しかし、関節型ロボットにチャック機構を取り付けると、チャック機構により把持した被加工物を軸方向の廻りに回転して曲げ方向を変更する際、関節型ロボットのアームと被加工物とが干渉して、被加工物を軸方向の廻りに回転できる範囲が限定されるという問題があった。   However, when a chuck mechanism is attached to an articulated robot, the articulated robot arm interferes with the workpiece when the workpiece gripped by the chuck mechanism is rotated in the axial direction to change the bending direction. There is a problem that the range in which the workpiece can be rotated around the axial direction is limited.

本発明の課題は、関節型ロボットにチャック機構を取り付けても、曲げ方向に制限を受けることのない曲げ加工装置を提供することにある。   An object of the present invention is to provide a bending apparatus that is not restricted in the bending direction even when a chuck mechanism is attached to an articulated robot.

かかる課題を達成すべく、本発明は課題を解決するため次の手段を取った。即ち、
曲げ型と、該曲げ型の周りを公転可能な締め型とにより長尺状の被加工物を挟持し、前記締め型を公転させ前記被加工物を曲げ加工する曲げ機構を有する曲げ加工装置において、
前記曲げ機構を取り付けた固定台を備えると共に、
前記被加工物を把持するチャック機構が取り付けられ、前記チャック機構を移動する関節型ロボットを備え、更に、前記チャック機構は、回転可能に支持された回転部材と、該回転部材に揺動可能に支持された爪部材とを備えると共に、前記チャック機構は、前記被加工物が長手方向に挿入される筒部材を前記回転部材に摺動可能に支持し、前記筒部材を移動して前記爪部材を揺動させ前記被加工物の外周を把持し、かつ、前記チャック機構は、前記回転部材を、該回転部材に設けた突起部を、回転方向に設けた一対のストッパに突き当てることにより予め設定された角度で回転させて、前記チャック機構に把持された前記被加工物を長手方向の廻りに設定された角度でひねることが可能に構成され、
前記関節型ロボットの前記チャック機構により前記被加工物を把持した状態で、前記曲げ機構により曲げ加工を行い、
該曲げ加工の終了後、前記曲げ機構及び前記チャック機構における前記被加工物の把持状態を開放して、前記被加工物を回転させて再度把持し、前記被加工物を長手方向に送るという動作を繰り返すことにより前記被加工物の曲げ加工を行うことを特徴とする曲げ加工装置がそれである。
In order to achieve this problem, the present invention has taken the following measures in order to solve the problem. That is,
In a bending apparatus having a bending mechanism that sandwiches a long workpiece by a bending die and a clamping die capable of revolving around the bending die, and revolves the clamping die to bend the workpiece. ,
A fixing base to which the bending mechanism is attached;
A chuck mechanism that holds the workpiece is attached, and includes an articulated robot that moves the chuck mechanism. Further, the chuck mechanism is rotatably supported by a rotating member, and can swing on the rotating member. The chuck mechanism is configured to slidably support the cylindrical member into which the workpiece is inserted in the longitudinal direction on the rotating member, and move the cylindrical member to move the claw member. the swung gripping the outer periphery of the workpiece, and the chuck mechanism, the rotary member, the projection portion provided in the rotating member, by which the abutting a pair of stoppers provided on the rotating direction rotated at a predetermined angle, said twist Rukoto the chuck mechanism is gripped by the said workpiece at a set angle to the longitudinal direction around the can to be configured,
In a state where the workpiece is gripped by the chuck mechanism of the articulated robot, bending is performed by the bending mechanism,
After the bending is finished, the gripping mechanism and the chuck mechanism are released from the gripping state of the workpiece, the workpiece is rotated and gripped again, and the workpiece is sent in the longitudinal direction. The bending apparatus is characterized in that the workpiece is bent by repeating the above .

前記関節型ロボットは、互いに平行な軸の廻りで回動する平行関節と、前記平行な軸と直交する軸の廻りに回動する直交関節とをそれぞれ複数有する構成でもよい。
The articulated robot may have a plurality of parallel joints that rotate around mutually parallel axes and a plurality of orthogonal joints that rotate around an axis orthogonal to the parallel axes .

本発明の曲げ加工装置は、関節型ロボットにチャック機構を取り付けても、曲げ方向に制限を受けることがないという効果を奏する。   The bending apparatus of the present invention has an effect that the bending direction is not restricted even if a chuck mechanism is attached to the articulated robot.

以下本発明を実施するための最良の形態を図面に基づいて詳細に説明する。
図1、図2に示すように、1は機台であり、機台1上には関節型ロボット2が載置されている。関節型ロボット2は、図3に示すように、互いに平行な軸の廻りで回動する3組の第1〜第3平行関節6,8,10と、この平行な各軸と直交する軸の廻りで回動する2組の第1、第2直交関節12,14とを備えている。
The best mode for carrying out the present invention will be described below in detail with reference to the drawings.
As shown in FIGS. 1 and 2, reference numeral 1 denotes a machine base, and an articulated robot 2 is placed on the machine base 1. As shown in FIG. 3, the articulated robot 2 includes three sets of first to third parallel joints 6, 8, and 10 that rotate around parallel axes, and axes that are orthogonal to the parallel axes. Two sets of first and second orthogonal joints 12 and 14 that rotate around are provided.

関節型ロボット2は、機台1に取り付けられた固定部16を備え、固定部16と第1旋回台18とは、第1直交関節12により接続されている。第1直交関節12は、鉛直な軸CV1の廻りで第1旋回台18を所定角度で回動駆動する周知の機構を有するものである。   The articulated robot 2 includes a fixed portion 16 attached to the machine base 1, and the fixed portion 16 and the first swivel base 18 are connected by a first orthogonal joint 12. The first orthogonal joint 12 has a known mechanism that drives the first swivel base 18 to rotate at a predetermined angle around a vertical axis CV1.

第1旋回台18には、第1アーム20の一端が第1平行関節6を介して接続されている。第1平行関節6は水平な軸CH1の廻りで第1アーム20を所定角度で回動駆動する周知の機構を有するものである。第1平行関節6の水平な軸CH1と第1直交関節12の鉛直な軸CV1とは直交している。   One end of the first arm 20 is connected to the first swivel base 18 via the first parallel joint 6. The first parallel joint 6 has a known mechanism for rotating the first arm 20 at a predetermined angle around a horizontal axis CH1. The horizontal axis CH1 of the first parallel joint 6 and the vertical axis CV1 of the first orthogonal joint 12 are orthogonal to each other.

第1アーム20の他端と第2アーム22の一端とが第2平行関節8を介して接続されている。第2平行関節8は第1平行関節6の水平な軸CH1と平行な軸CH2の廻りで第2アーム22を所定角度で回動駆動する周知の機構を有するものである。   The other end of the first arm 20 and one end of the second arm 22 are connected via the second parallel joint 8. The second parallel joint 8 has a known mechanism for rotating the second arm 22 at a predetermined angle around an axis CH2 parallel to the horizontal axis CH1 of the first parallel joint 6.

第2アーム22の他端には、第2旋回台24が第2直交関節14を介して接続されている。第2直交関節14は、第1、第2平行関節6,8の水平な軸CH1,CH2と直交する軸CV2の廻りで第2旋回台24を所定角度で回動駆動する周知の機構を有するものである。   A second swivel base 24 is connected to the other end of the second arm 22 via a second orthogonal joint 14. The second orthogonal joint 14 has a known mechanism for rotating the second swivel base 24 at a predetermined angle around an axis CV2 orthogonal to the horizontal axes CH1 and CH2 of the first and second parallel joints 6 and 8. Is.

第2旋回台24には、先端アーム26の一端が第3平行関節10を介して接続されている。第3平行関節10は、先端アーム26を第1、第2平行関節6,8の水平な軸CH1,CH2と平行な軸CH3の廻りに回動するものである。また、本実施形態では、第2アーム22には、その長手方向の軸の廻りに回転する回転関節32が設けられている。   One end of a tip arm 26 is connected to the second swivel base 24 via the third parallel joint 10. The third parallel joint 10 rotates the tip arm 26 around an axis CH3 parallel to the horizontal axes CH1 and CH2 of the first and second parallel joints 6 and 8. In the present embodiment, the second arm 22 is provided with a rotary joint 32 that rotates about its longitudinal axis.

曲げ機構40は、機台1と一体に形成された固定台58に取り付けられており、図4に示すように、パイプ等の長尺状の被加工物4の曲げ半径に応じて形成された曲げ型42を備え、曲げ型42の外周には被加工物4の直径に応じた溝44が形成されている。曲げ型42は曲げアーム46と共に固定台58に回転可能に支承されており、曲げアーム46は第1シリンダ47により回転駆動されるように取り付けられている。曲げ型42は、図4では1つの溝44を有するものを示しているが、曲げ型42は、被加工物4の曲げ半径に応じた複数の溝44が積層されたものでもよい。   The bending mechanism 40 is attached to a fixed base 58 formed integrally with the machine base 1 and is formed according to the bending radius of a long workpiece 4 such as a pipe as shown in FIG. A bending die 42 is provided, and a groove 44 corresponding to the diameter of the workpiece 4 is formed on the outer periphery of the bending die 42. The bending die 42 is rotatably supported on a fixed base 58 together with the bending arm 46, and the bending arm 46 is attached so as to be rotationally driven by a first cylinder 47. Although the bending die 42 has one groove 44 in FIG. 4, the bending die 42 may be formed by laminating a plurality of grooves 44 corresponding to the bending radius of the workpiece 4.

曲げ型42に対向して、曲げアーム46上に締め型48が移動可能に支承されており、締め型48は第2シリンダ49により駆動されて、被加工物4を曲げ型42と締め型48とにより挟持できるように構成されている。また、曲げ型42に接近してワイパ型50を配置してもよい。   A clamping die 48 is movably supported on the bending arm 46 so as to face the bending die 42, and the clamping die 48 is driven by a second cylinder 49, so that the workpiece 4 is brought into contact with the bending die 42 and the clamping die 48. It is comprised so that it can be pinched by. Further, the wiper mold 50 may be disposed close to the bending mold 42.

締め型48と並んで圧力型52が摺動台53上に移動可能に支持されている。圧力型52は第3シリンダ54により駆動されて、被加工物4に当てられ、曲げ加工時の反力を受けることができるように構成されている。摺動台53は被加工物4の軸方向に摺動可能に支持されており、シリンダ56により駆動されるように構成されている。曲げ機構40と対向して機台1には芯金機構60が配置されている。芯金機構60は、芯金61をシリンダ63により被加工物4としてのパイプ内に挿入するものである。   Along with the clamping mold 48, the pressure mold 52 is supported on the slide base 53 so as to be movable. The pressure die 52 is driven by a third cylinder 54 so as to be applied to the workpiece 4 and to receive a reaction force during bending. The slide table 53 is supported so as to be slidable in the axial direction of the workpiece 4, and is configured to be driven by a cylinder 56. A mandrel mechanism 60 is disposed on the machine base 1 so as to face the bending mechanism 40. The cored bar mechanism 60 is configured to insert a cored bar 61 into a pipe as the workpiece 4 by a cylinder 63.

一方、関節型ロボット2の先端アーム26の先端には、ひねり機構62を備えたチャック機構64が取り付けられている。チャック機構64は、図5〜7に示すように、チャック本体66に一対の軸受68,70を介して回転可能に支持された回転部材72を備えている。回転部材72の回転中心は前述した水平な軸CH1,CH2,CH3に平行に設けられている。   On the other hand, a chuck mechanism 64 having a twist mechanism 62 is attached to the tip of the tip arm 26 of the articulated robot 2. As shown in FIGS. 5 to 7, the chuck mechanism 64 includes a rotating member 72 that is rotatably supported by the chuck body 66 via a pair of bearings 68 and 70. The rotation center of the rotation member 72 is provided in parallel to the horizontal axes CH1, CH2, and CH3 described above.

回転部材72の先端には、一対の爪部材74,76が支点ピン78,80の廻りに揺動可能に支持されている。回転部材72にはその軸方向に摺動孔82が形成されており、摺動孔82には筒部材84が摺動可能に挿入されている。筒部材84は中空状のもので、被加工物4を貫通して挿入できるように形成されている。   A pair of claw members 74 and 76 are supported at the tip of the rotating member 72 so as to be swingable around the fulcrum pins 78 and 80. A sliding hole 82 is formed in the rotating member 72 in the axial direction, and a cylindrical member 84 is slidably inserted into the sliding hole 82. The cylindrical member 84 is hollow and is formed so that it can be inserted through the workpiece 4.

回転部材72の後端には、接続部材86を介して歯車88が取り付けられており、歯車88には、チャック本体66に固定された油圧モータ90に取り付けられたピニオン歯車92が噛合されている。   A gear 88 is attached to the rear end of the rotating member 72 via a connecting member 86, and a pinion gear 92 attached to a hydraulic motor 90 fixed to the chuck body 66 is engaged with the gear 88. .

歯車88は、図7に示すように、180度の扇形形状に形成されており、チャック本体66と一体に設けられた突部66aに、歯車88に取り付けられた一対のストッパ部材89a,89bが突き当たり、歯車88を120度の予め設定された角度で回転できるように構成されている。また、チャック本体66、回転部材72、筒部材84には、長手方向に沿って切欠93が形成されて、切欠93から芯金61を通すことができるように構成されている。
As shown in FIG. 7, the gear 88 is formed in a sector shape of 180 degrees, and a pair of stopper members 89 a and 89 b attached to the gear 88 is formed on a protrusion 66 a provided integrally with the chuck body 66. At the end, the gear 88 can be rotated by a preset angle of 120 degrees. In addition, the chuck body 66, the rotating member 72, and the cylindrical member 84 are formed with a notch 93 along the longitudinal direction so that the cored bar 61 can be passed through the notch 93.

回転部材72に形成された一対のスリット94,96には、筒部材84に取り付けられたキー部材98,100が摺動可能に装着されており、回転部材72と筒部材84とは軸方向に相対的に摺動可能であるが、被加工物4の長手方向の廻りには一体的に回転するように構成されている。   Key members 98 and 100 attached to the cylinder member 84 are slidably attached to the pair of slits 94 and 96 formed in the rotation member 72. The rotation member 72 and the cylinder member 84 are axially arranged. Although relatively slidable, the workpiece 4 is configured to rotate integrally around the longitudinal direction.

図6に示すように、筒部材84の後端には、その外周に、円周方向に沿って複数のカムフォロアー102が取り付けられており、カムフォロアー102は移動部材104に形成された溝106に挿入されている。   As shown in FIG. 6, a plurality of cam followers 102 are attached to the outer periphery of the cylindrical member 84 along the circumferential direction at the rear end of the cylindrical member 84, and the cam followers 102 are grooves 106 formed in the moving member 104. Has been inserted.

移動部材104は押圧板108に取り付けられており、押圧板108はチャック本体66に摺動可能に装着されたガイド軸110により、筒部材84の摺動方向に移動可能に支持されている。また、押圧板108にはチャック本体66に取り付けられたシリンダ112のロッドが接続されている。   The moving member 104 is attached to the pressing plate 108, and the pressing plate 108 is supported by a guide shaft 110 slidably mounted on the chuck body 66 so as to be movable in the sliding direction of the cylindrical member 84. In addition, a rod of a cylinder 112 attached to the chuck body 66 is connected to the pressing plate 108.

筒部材84の先端のスリット84a,84b内には、ピン114,116が取り付けられており、ピン114,116は爪部材74,76に係合され、筒部材84の前進・後退により爪部材74,76が揺動し、爪部材74,76により被加工物4の外周を把持・開放できるように構成されている。   Pins 114 and 116 are attached in slits 84 a and 84 b at the tip of the cylindrical member 84, and the pins 114 and 116 are engaged with the claw members 74 and 76, and the claw member 74 is moved forward and backward by the cylindrical member 84. , 76 is swung so that the outer periphery of the workpiece 4 can be gripped / released by the claw members 74, 76.

図6では、中心線より上側で、筒部材84が後退されて爪部材74が揺動し、爪部材74により被加工物4の外周を把持した状態を示し、中心線より下側で、筒部材84が前進されて爪部材76が揺動し、爪部材76が被加工物4を開放した状態を示す。   FIG. 6 shows a state in which the cylinder member 84 is retracted and the claw member 74 swings above the center line and the outer periphery of the workpiece 4 is gripped by the claw member 74, and the cylinder is below the center line. The member 84 is moved forward, the claw member 76 is swung, and the claw member 76 opens the workpiece 4.

次に、前述した本実施形態の曲げ加工装置の作動について説明する。
まず、関節型ロボット2の第1〜第3平行関節6,8,10及び第1、第2直交関節12,14を駆動して、チャック機構64を被加工物4の端に移動し、チャック機構64を制御して、被加工物4をチャック機構64により把持する。チャック機構64により、被加工物4を把持する際には、被加工物4と筒部材84とが同軸上になるように移動してから、チャック機構64を被加工物4の長手方向に移動して、筒部材84内に被加工物4を挿入する。
Next, the operation of the bending apparatus of this embodiment described above will be described.
First, the first to third parallel joints 6, 8, 10 and the first and second orthogonal joints 12, 14 of the articulated robot 2 are driven to move the chuck mechanism 64 to the end of the workpiece 4, and the chuck The workpiece 64 is gripped by the chuck mechanism 64 by controlling the mechanism 64. When the workpiece 4 is gripped by the chuck mechanism 64, the workpiece 4 and the cylindrical member 84 move so as to be coaxial, and then the chuck mechanism 64 is moved in the longitudinal direction of the workpiece 4. Then, the workpiece 4 is inserted into the cylindrical member 84.

そして、シリンダ112を駆動して、押圧板108、移動部材104を移動して、カムフォロアー106を介して筒部材84を移動する。これにより、爪部材74,76が揺動して、爪部材74,76により被加工物4の外周が把持される。   Then, the cylinder 112 is driven, the pressing plate 108 and the moving member 104 are moved, and the cylindrical member 84 is moved via the cam follower 106. Thereby, the claw members 74 and 76 swing, and the outer periphery of the workpiece 4 is gripped by the claw members 74 and 76.

そして、関節型ロボット2の第1〜第3平行関節6,8,10及び第1、第2直交関節12,14を駆動して、被加工物4を曲げ機構40に移動する。その際、図4に示すように、被加工物4の曲げ加工位置が曲げ型42の溝44に挿入されるように移動する。   Then, the first to third parallel joints 6, 8, 10 and the first and second orthogonal joints 12, 14 of the articulated robot 2 are driven to move the workpiece 4 to the bending mechanism 40. At that time, as shown in FIG. 4, the workpiece 4 moves so that the bending position of the workpiece 4 is inserted into the groove 44 of the bending die 42.

移動後、締め型48、圧力型52を駆動して、被加工物4に突き当て、曲げ型42を中心にして曲げアーム46を回転させて、締め型48を曲げ型42の廻りに公転させると共に、シリンダ56を駆動して摺動台53により圧力型52を被加工物4の軸方向に移動して、曲げ加工を行なう。また、曲げ加工時、芯金機構60により、被加工物4内に芯金61を挿入して曲げ加工するようにしてもよい。   After the movement, the clamping die 48 and the pressure die 52 are driven to abut against the workpiece 4, the bending arm 46 is rotated around the bending die 42, and the clamping die 48 is revolved around the bending die 42. At the same time, the cylinder 56 is driven, and the pressure die 52 is moved in the axial direction of the workpiece 4 by the slide base 53 to perform bending. Further, at the time of bending, the cored bar 61 may be inserted into the workpiece 4 and bent by the cored bar mechanism 60.

曲げ加工終了後、曲げアーム46、締め型48、圧力型52を元の位置に戻し、次の曲げ加工を行なう場合には、関節型ロボット2を制御して、チャック機構64を移動し、被加工物4を次の曲げ加工位置に移動し、曲げ機構40により被加工物4を曲げ加工する。   After the bending process is completed, the bending arm 46, the clamping mold 48, and the pressure mold 52 are returned to their original positions, and when performing the next bending process, the articulated robot 2 is controlled to move the chuck mechanism 64, The workpiece 4 is moved to the next bending position, and the workpiece 4 is bent by the bending mechanism 40.

また、曲げ方向が異なる場合には、図8(a)(b)(c)に示すように、関節型ロボット2の第1〜第3平行関節6,8,10を制御して、被加工物4を把持したチャック機構64を、被加工物4の長手方向の廻りに回転させる。これにより、被加工物4がその長手方向の廻りにひねられて、曲げ方向を変えることができるが、関節型ロボット2の第1〜第3平行関節6,8,10を制御して、被加工物4をひねる場合、第2アーム22と被加工物4とが干渉して、被加工物4を360度ひねることができない。   If the bending directions are different, the first to third parallel joints 6, 8, and 10 of the articulated robot 2 are controlled as shown in FIGS. 8 (a), 8 (b), and 8 (c). The chuck mechanism 64 that grips the object 4 is rotated around the longitudinal direction of the workpiece 4. As a result, the workpiece 4 is twisted around its longitudinal direction and the bending direction can be changed, but the first to third parallel joints 6, 8, 10 of the articulated robot 2 are controlled to When the workpiece 4 is twisted, the second arm 22 and the workpiece 4 interfere with each other, and the workpiece 4 cannot be twisted 360 degrees.

その際には、油圧モータ90を駆動して、ピニオン歯車92、歯車88、回転部材72、キー98,100、筒部材84、爪部材74,76を被加工物4の長手方向の廻りに回転する。これにより、チャック機構64と共に被加工物4がその長手方向のまわりにひねられる。   At that time, the hydraulic motor 90 is driven to rotate the pinion gear 92, the gear 88, the rotating member 72, the keys 98 and 100, the cylinder member 84, and the claw members 74 and 76 about the longitudinal direction of the workpiece 4. To do. Thereby, the workpiece 4 is twisted around the longitudinal direction together with the chuck mechanism 64.

本実施形態では、ストッパ部材89a,89bが突部66aに突き当たる角度で、被加工物4をひねることができる。よって、ストッパ部材89a,89bが突部66aに突き当たるまで、チャック機構64を回転し、必要な曲げ方向となるように、関節型ロボット2の第1〜第3平行関節6,8,10を制御して、被加工物4を更にひねる。 In the present embodiment , the workpiece 4 can be twisted at an angle at which the stopper members 89a and 89b abut against the protrusion 66a. Therefore, the first to third parallel joints 6, 8, and 10 of the articulated robot 2 are controlled so that the chuck mechanism 64 is rotated until the stopper members 89a and 89b come into contact with the protrusion 66a so that the required bending direction is obtained. Then, the workpiece 4 is further twisted.

曲げ加工終了後、チャック機構64を制御して、被加工物4の把持を解放する。チャック機構64に被加工物4を把持させて、関節型ロボット2が被加工物4を曲げ機構40に移動し、被加工物4を曲げ加工するので、小型で、設置スペースを小さくできる。また、チャック機構64により、被加工物4を長手方向の廻りに回転させるので、第2アーム22と被加工物4との干渉を回避して、被加工物4を360度の方向で曲げ方向を変えることができる。   After the bending process, the chuck mechanism 64 is controlled to release the workpiece 4 from being gripped. Since the workpiece 4 is gripped by the chuck mechanism 64 and the articulated robot 2 moves the workpiece 4 to the bending mechanism 40 and bends the workpiece 4, the size can be reduced and the installation space can be reduced. Further, since the workpiece 4 is rotated about the longitudinal direction by the chuck mechanism 64, the interference between the second arm 22 and the workpiece 4 is avoided, and the workpiece 4 is bent in the direction of 360 degrees. Can be changed.

以上本発明はこの様な実施形態に何等限定されるものではなく、本発明の要旨を逸脱しない範囲において種々なる態様で実施し得る。   The present invention is not limited to such embodiments as described above, and can be implemented in various modes without departing from the gist of the present invention.

本発明の一実施形態としての曲げ加工装置の正面図である。It is a front view of the bending apparatus as one embodiment of the present invention. 本実施形態の曲げ加工装置の側面図である。It is a side view of the bending apparatus of this embodiment. 本実施形態の関節型ロボットの拡大斜視図である。It is an expansion perspective view of the joint type robot of this embodiment. 本実施形態の曲げ機構の拡大概略構成図である。It is an expansion schematic block diagram of the bending mechanism of this embodiment. 本実施形態のチャック機構の一部を断面で示す拡大正面図である。It is an enlarged front view which shows a part of chuck mechanism of this embodiment in a cross section. 図5のAA断面図である。It is AA sectional drawing of FIG. 本実施形態のチャック機構の拡大側面図である。It is an enlarged side view of the chuck mechanism of this embodiment. 本実施形態の関節型ロボットによるひねりの説明図である。It is explanatory drawing of the twist by the joint type robot of this embodiment.

符号の説明Explanation of symbols

1…機台 2…関節型ロボット
4…被加工物 6,8,10…平行関節
12,14…直交関節 20…第1アーム
22…第2アーム 26…先端アーム
40…曲げ機構 42…曲げ型
46…曲げアーム 48…締め型
50…ワイパ型 52…圧力型
58…固定台 60…芯金機構
61…芯金 62…ひねり機構
64…チャック機構 66…チャック本体
72…回転部材 74,76…爪部材
84…筒部材
DESCRIPTION OF SYMBOLS 1 ... Machine stand 2 ... Articulated robot 4 ... Work piece 6, 8, 10 ... Parallel joint 12, 14 ... Orthogonal joint 20 ... 1st arm 22 ... 2nd arm 26 ... Tip arm 40 ... Bending mechanism 42 ... Bending type 46 ... Bending arm 48 ... Fastening die 50 ... Wiper type 52 ... Pressure die 58 ... Fixed base 60 ... Core metal mechanism 61 ... Core metal 62 ... Twist mechanism 64 ... Chuck mechanism 66 ... Chuck body 72 ... Rotating members 74, 76 ... Claw Member 84 ... Cylinder member

Claims (2)

曲げ型と、該曲げ型の周りを公転可能な締め型とにより長尺状の被加工物を挟持し、前記締め型を公転させ前記被加工物を曲げ加工する曲げ機構を有する曲げ加工装置において、
前記曲げ機構を取り付けた固定台を備えると共に、
前記被加工物を把持するチャック機構が取り付けられ、前記チャック機構を移動する関節型ロボットを備え、更に、前記チャック機構は、回転可能に支持された回転部材と、該回転部材に揺動可能に支持された爪部材とを備えると共に、前記チャック機構は、前記被加工物が長手方向に挿入される筒部材を前記回転部材に摺動可能に支持し、前記筒部材を移動して前記爪部材を揺動させ前記被加工物の外周を把持し、かつ、前記チャック機構は、前記回転部材を、該回転部材に設けた突起部を、回転方向に設けた一対のストッパに突き当てることにより予め設定された角度で回転させて、前記チャック機構に把持された前記被加工物を長手方向の廻りに設定された角度でひねることが可能に構成され、
前記関節型ロボットの前記チャック機構により前記被加工物を把持した状態で、前記曲げ機構により曲げ加工を行い、
該曲げ加工の終了後、前記曲げ機構及び前記チャック機構における前記被加工物の把持状態を開放して、前記被加工物を回転させて再度把持し、前記被加工物を長手方向に送るという動作を繰り返すことにより前記被加工物の曲げ加工を行うことを特徴とする曲げ加工装置。
In a bending apparatus having a bending mechanism that sandwiches a long workpiece by a bending die and a clamping die capable of revolving around the bending die, and revolves the clamping die to bend the workpiece. ,
A fixing base to which the bending mechanism is attached;
A chuck mechanism that holds the workpiece is attached, and includes an articulated robot that moves the chuck mechanism. Further, the chuck mechanism is rotatably supported by a rotating member, and can swing on the rotating member. The chuck mechanism is configured to slidably support the cylindrical member into which the workpiece is inserted in the longitudinal direction on the rotating member, and move the cylindrical member to move the claw member. the swung gripping the outer periphery of the workpiece, and the chuck mechanism, the rotary member, the projection portion provided in the rotating member, by which the abutting a pair of stoppers provided on the rotating direction rotated at a predetermined angle, said twist Rukoto the chuck mechanism is gripped by the said workpiece at a set angle to the longitudinal direction around the can to be configured,
In a state where the workpiece is gripped by the chuck mechanism of the articulated robot, bending is performed by the bending mechanism,
After the bending is finished, the gripping mechanism and the chuck mechanism are released from the gripping state of the workpiece, the workpiece is rotated and gripped again, and the workpiece is sent in the longitudinal direction. A bending apparatus for bending the workpiece by repeating the above .
前記関節型ロボットは、互いに平行な軸の廻りで回動する平行関節と、前記平行な軸と直交する軸の廻りに回動する直交関節とをそれぞれ複数有することを特徴とする請求項1に記載の曲げ加工装置。   The articulated robot includes a plurality of parallel joints that rotate around axes parallel to each other and orthogonal joints that rotate around an axis orthogonal to the parallel axes. The bending apparatus as described.
JP2006214980A 2006-08-07 2006-08-07 Bending machine Expired - Fee Related JP4995511B2 (en)

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JP2016159332A (en) * 2015-03-02 2016-09-05 株式会社オプトン Chuck unit, and bending device
JP6654351B2 (en) 2015-03-02 2020-02-26 株式会社オプトン Bending equipment
CN105583270B (en) * 2016-03-14 2017-12-05 江苏武进不锈股份有限公司 Seamless steel pipe bending machine

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CN104707918A (en) * 2015-02-16 2015-06-17 奥美森智能装备股份有限公司 Clamping mechanism of bending machine

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