JPH0671531A - Bend welding compound method and device thereof - Google Patents

Abstract

PURPOSE:To provide a welding method for checking the spring back of a work bent by a press brake and the device. CONSTITUTION:This is a press brake 3 which installs a punch 17 in an upper apron 11 and a die 23 in the lower apron 19 respectively, installing the apron on one side is set up in the apron on the other free of vertical motion, through which it performs its bending work on a work W in cooperation with the punch 17 and the die 23. In this bending brake, the work W so far bent is held between the punch 17 and the die 13, and it is provided with a welding device 5 which welds the work W in a state of keeping a spring back phenomenon checked intact, and this welding device 5 consists of each articulated robot 29 equipped with a welding head 31 each, while these robots 29 are provided in and around both ends of the press brake 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending welding composite method and apparatus for bending and welding a work.

[0002]

2. Description of the Related Art Conventionally, when a three-dimensional work such as a box-shaped work is machined from a plate work, the plate work is first cut into a desired shape by a cutting machine such as a punch press, and then processed. The work cut into the desired shape is bent into a desired bending line by a bending device such as a press brake.

The work bent into the desired bending shape is conveyed to a welding apparatus which is the next step, and the welding operation is performed on a predetermined welding portion of the work by the welding apparatus to complete a work having a final product shape. ing.

[0004]

By the way, in order to process a three-dimensional work such as a box-shaped work from the work of the above-mentioned conventional plate material, the work has to be conveyed from the bending device to the welding device. However, the workpiece must be repositioned at a predetermined position when it is processed by the welding device. This repositioning is not only time consuming, but in some cases requires special jigs and tools.

Further, after bending the work,
When the work is removed from the press brake, the elasticity remains in the material even if it is plastically worked, so that springback occurs and the bending angle is slightly widened. Therefore, there is a problem that an accurate product cannot be produced.

Various means are known to prevent the product inaccuracy due to the above springback. For example, there is a method to make the die angle of the punch and die small so that the desired angle will be obtained when removed from the press brake, but since this special angle differs for each product, there are many types of die. There is a problem that it is uneconomical and the type management becomes complicated.

There is also a method called coining, in which the tip of the punch is bent so as to bite into the work, and the springback is killed by the surface pressure of the punch and the die. There is a problem that a larger and more powerful press brake is required because it requires a pressurizing force that is 5 to 8 times as much as the bending due to.

The object of the present invention is to solve the above problems.
(EN) Provided are a fold welding combined method and a device thereof, in which a springback at the time of bending a work is pressed down, a work is not required to be conveyed between a press brake and a welding device, and a work is not repositioned in the welding device. Especially.

[0009]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, according to the present invention, a punch and a die cooperate to clamp and press a work to perform a bending process. Is a combined bending and welding method, in which welding is performed on a welded portion by a welding device while being held in a pressed state.

In addition, according to the present invention, a punch and a die are provided, and one apron of the lower apron is provided so as to be vertically movable, and the punch and the die cooperate to bend the work. A press brake for processing, wherein the punched work is clamped and pressed by the punch and the die, and a welding device is used for welding to the welded part of the work while holding the spring back. It is characterized by comprising.

The welding apparatus may be an articulated robot having a welding head, and the articulated robot may be provided at both ends of the press brake.

The welding apparatus may be a Cartesian coordinate type robot having a welding head, and the Cartesian coordinate type robot may be provided on a side frame of the press brake.

The welding device may be a Cartesian coordinate type robot having a welding head, and the Cartesian coordinate type robot may be provided on the upper apron of the press brake.

The welding apparatus comprises an articulated robot having a welding head, and the articulated robot is used in common with the articulated robot provided for work support in the vicinity of the front side of the press brake. It may be characterized in that it comprises a hand changer for exchanging the tip tool.

The welding apparatus may be an articulated robot having a welding head, and the articulated robot may be provided near the front side of the press brake.

The welding device may be a multi-joint robot having a welding head, and the multi-joint robot may be mounted on a gantry provided above the press brake so as to be movable left and right.

[0017]

In the above structure, the upper part of the press brake,
The one apron in the lower apron is vertically separated from the other apron to vertically separate the punch and the die, and then the work is positioned and placed on the die. Then, when one apron is brought closer to the other apron vertically, the work is bent by the cooperation of the punch and the die.

The bent work is sandwiched and pressed by the punch and the die, and is provided in a part or in the vicinity of the press brake main body while holding the spring back in a pressed state, and has a welding head. By appropriately operating the welding device including the robot, the welding portion of the work is welded. The above-mentioned welding apparatus is a welding apparatus by thermal fusion that does not scatter spatter, and a welding apparatus such as plasma, TIG, or electric resistance spot welding is desirable.

As described above, since the punched work and the die are nipped and pressed in the bent work, and the welded portion is welded while the spring back is held down, the punch and the die work. The bending angle is not expanded by the spring back even if the work is taken out from the press brake with the top and bottom separated.

[0020]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

First, a bending-welding composite apparatus 1 according to a first embodiment of the present invention will be described with reference to FIG. This bending-welding compound device 1 is composed of a press brake 3 as a bending machine and a welding device 5.

Although the press brake 3 is publicly known, its outline will be briefly described mainly with reference to FIGS. 1 and 3 and also with reference to FIG. 7. First, a base frame 7 is installed on the floor, and side frames 9 having a substantially C shape (see FIG. 7) when viewed from the left and right sides of the base frame 7 are provided upright. An upper apron 11 is provided on the upper front surface of the side frame 9.

An intermediate plate 13 is provided below the upper apron 11 via a holding member, and the intermediate plate 13 is further provided.
A punch 17 as an upper die is attached to the lower part of the via a upper die holding member 15.

On the other hand, a lower apron 19 is provided on the base frame 7 so as to be vertically movable via a hydraulic cylinder (not shown). A die 2 serving as a lower die is provided above the lower apron 19 via a lower die holding member 21.
3 is provided. An upper cover 25 and a lower cover 27 are provided on the front surfaces of the upper apron 11 and the lower apron 19, respectively.

With the above construction, when the work W is positioned and placed on the die 23 provided on the lower apron 19, and the lower apron 19 is raised by the hydraulic cylinder, the punch 17 and the die 23 cooperate with each other. The work W is clamped and pressed, and thus the work W is bent.

Now, as shown in FIG. 1, welding devices 5 are provided on the left and right sides in the vicinity of the press brake 3. The welding device 5 includes an articulated robot 29 and a welding head 31 supported at the end of the articulated robot 29.
And a welding machine (not shown) including.

Since the articulated robot 29 is already known, its description is omitted. The above welding head 3
The welder including No. 1 is preferably a welder that does not scatter spatters, for example, by plasma, TIG, or thermal melting such as electric resistance spot welding.

In order to perform further automatic welding, the work W
It is general to install a CCD camera (not shown) to detect that the clearances of the works W in the welded parts are within a predetermined range and give a welding command to the welding head 31. Since this CCD camera is well known, its explanation is omitted.

Depending on the type of welding machine, a gap sensor (not shown) for detecting the gap between the tip of the welding head 31 and the welded portion of the work W and controlling it to an appropriate value may be provided. However, since this gap sensor is already known, the description thereof will be omitted.

With the above structure, the work W is bent by the cooperation of the punch 17 of the press brake 3 and the die 23. Then, the work W is nipped and pressed by the punch 17 and the die 23, and in the state where the spring back is pressed in, the welding device 5 welds the welded portion of, for example, a box-shaped three-dimensional work. In order to perform this welding, the multi-joint robot 29 is appropriately operated and signals from the CCD camera and the gap sensor are also added to the welding head 3
The welding work is performed by positioning the tip of No. 1 at the optimum position with respect to the welding portion of the work W.

Although a plurality of spot weldings are optimal for welding, continuous welding may be used as long as the product has no distortion. After the welding is completed, the multi-joint robot 29 is appropriately operated to retract the welding head 31 from the work W, and the lower apron 19 is further lowered to take out the work W as a product. At this time, since the bending angle of the work W is held down by welding, the work W is not expanded by spring back.

As can be understood from the above description of the first embodiment, the spring back of the work can be pressed down. Therefore, the disadvantage of performing the welding work in the next process can be avoided. Further, since the welding devices 5 are provided on both the left and right sides in the vicinity of the press brake 3, there is an advantage that the welding device 5 can be attached relatively easily, and an advantage that there are many types of press brakes 3 that can be attached. There is. Further, since the arm of the articulated robot 29 moves largely in the left-right direction, it is possible to machine a work having a small size to a work having a large size.

However, although there is a problem in that the bending of the frame due to the pressurization of the press brake 3 must be corrected in the articulated robot 29, this problem is called teaching, and it is first welded by an expert and this If the operation is stored in the articulated robot 29, it can be easily canceled.

Next, the second to sixth embodiments will be described. In these embodiments, the robot type of the welding apparatus 5 is different from that of the first embodiment, and the press brake 3 is used.
Since the basic method of welding the welded portion of the work while holding the spring back by pressing the work with the punch 17 and the die 23 is the same, only the attachment part and the arrangement in the above are different. The description is omitted in the following embodiments.

The second embodiment will be described with reference to FIG. The welding device 5 is composed of a Cartesian coordinate type robot 33 having a welding head 31, and the Cartesian coordinate type robot 33 is provided on one side frame 9 of the press brake 3.
(The left side frame in FIG. 2). Note that the Cartesian coordinate robot 33 is already known and will not be described.

The above construction has an advantage that the installation area of the bending-welding compound device 1 is small. Further, there is an advantage that the operation of the Cartesian coordinate type robot 33 is simple and the operation time is short. Further, if the Cartesian robot 33 is designed exclusively for the press brake 3, the cost may be reduced.

The third embodiment will be described with reference to FIG. The welding device 5 includes a Cartesian coordinate type robot 33 having a welding head 31, and the Cartesian coordinate type robot 33 is mounted on the back surface of the upper apron 11 of the press brake 3.

The above construction has an advantage that the installation area of the bending-welding compound device 1 does not increase as compared with the installation area of the press brake 3 alone. Also the welding head 31
Since the stroke of the mold in the left and right direction is large, it is possible to weld a work with a considerably small size. That is, there is an advantage that the size range of the work to be handled is large.

Furthermore, the operation of the Cartesian robot 33 is simple and the operation time is short, and there is a possibility that it will be cheaper if it is designed exclusively for the press brake 3. Since the Cartesian coordinate type robot 33 is mounted on the upper apron 11 which is distorted by the bending work, the Cartesian coordinate type robot 33 is installed.
On the other hand, there is an advantage that no distortion correction operation is required.

The fourth embodiment is shown in FIGS. 4, 5 and 6.
Will be described with reference to. The multi-joint robot 35 of the welding device 5 is shared with the common multi-joint robot 35 provided for work support near the front side of the press brake 3.

Therefore, in order to replace the tip tool of the shared articulated robot 35, the welding heads 31 as welding tip tools connected to the welding unit 37 via the connection pipe 39 are provided on the left and right sides of the front side of the press brake 3. A hand changer 41 for holding is provided.

In this embodiment, since the support head 45 as a tip tool for supporting the work is relatively large, it is designed to be placed directly on the floor when not in use, but when the floor is not clean, the support head 45 is placed. A hand changer for 45 may be provided.

Further, a well-known arm swing type work support 43 is provided in front of the lower apron 19 to support the work after bending.

In order to explain the operation of the fourth embodiment having the above-described structure, first, in FIG. 4A, the shared articulated robot 35 equipped with the support head 45 picks up the work W and then positions it on the die 23. To do. Then, by raising the lower apron 19, the work W is pressed by the punch 17 and the die 23 and bent as shown in FIG. 4B.

After that, the arm support type work support 4
3 is operated to support the work W, the shared articulated robot 35 is operated to remove the support head 45 from the work W, and then the support head 45 is placed on the floor as shown in FIG. Exchange will take place. That is, the welding head 31 is attached to the tip of the shared articulated robot 35 in the hand changer 41.

As shown in FIG. 5 (b), the work W is clamped by the punch 17 and the die 23 and the springback is held down, and the shared articulated robot 35 is appropriately operated. Welding is performed on the welded portion of the work W by the welding head 31 and the welding unit 37. The details of this welding operation are shown in FIG.

After that, the shared articulated robot 35 is appropriately operated again, and conversely to the above, the welding head 3 of the tip tool.
1 is placed on the changer 41 and replaced by the support head 45 on the floor. Then, after supporting the work W by the support head 45 again as shown in FIG. 4B, the swingable work support 43 is released. When the die 23 is lowered, the work W as a product is carried out from the press brake 3 by the shared articulated robot 35 and accumulated in the product storage space.

The advantages of the bending-welding composite apparatus 1 in the fourth embodiment are that it is suitable for a small press brake 3 and can be manufactured at low cost, there are few restrictions on interlock, and the operation of the shared articulated robot 35 is performed. Within the range, there are no restrictions on the installation location of peripheral devices.

However, there is a problem that the correction of the bending of the frame due to the pressurization of the press brake 3 must be applied to the shared articulated robot 35, but this problem can be easily solved by teaching.

The fifth embodiment will be described with reference to FIG. The welding device 5 includes an articulated robot 29 having a welding head 31, and the articulated robot 29 is installed near the front side of the press brake 3.

The advantage of the above construction is that it is suitable for a small press brake 3 and can be made relatively inexpensive.
There are few restrictions on interlock, further, within the operating range of the articulated robot 29, there are no restrictions on the installation location of peripheral devices, and the tact time is shorter than that of the bending-welding compound device 1 of the fourth embodiment. can give.

However, although there is a problem that the bending of the frame due to the pressurization of the press brake 3 must be corrected in the articulated robot 29, it can be easily solved by teaching.

The sixth embodiment will be described with reference to FIG. The welding device 5 includes an articulated robot 29 having a welding head 31, and the articulated robot 29 is mounted on a gantry 47 provided above the press brake 3 so as to be movable left and right.

In the above configuration, the articulated robot 29
Since it only requires one unit, it has the advantage of being inexpensive. However, although the bending of the frame due to the pressurization of the press brake 3 must be corrected in the articulated robot 29, this can be easily solved by teaching.

As described above, according to these embodiments, in the press brake 3, the punch 17 and the die 23 cooperate with each other to bend the work W, and then the bent work W is punched 17 by the punch 17. The work is welded to the welded part of the work W by the welding device 5 while being held and pressed by the die 23 and holding the spring back.

Therefore, this work W is pressed by the press brake 3
Even if it is removed from, the bending angle is not expanded by the spring back. Therefore, a product having an accurate shape can be obtained, which is effective in improving product accuracy.

Further, there is no need for a particularly large and powerful press brake 3 such as coining for preventing the spring back of the work W, and there are many types with different die angles in order to perform overbending. Since it is not necessary to prepare the punch 17 and the die 23, the economical effect can be expected.

Further, since it is not necessary to convey the work W from the press brake 3 to the welding device installed at another place, and it is not necessary to reposition the work W on the welding device, the work efficiency is improved. is there.

The present invention is not limited to the above-mentioned embodiments, but can be implemented in other modes by making appropriate changes. For example, welding device 5
In the embodiment, the explanation was made by using the automatic operation by the robot, but it is possible to cope with the manual welding work, and the same effect can be expected.

[0060]

As will be understood from the above description of the embodiments, according to the present invention, the punch and the die cooperate with each other in the press brake to bend the work, and then the work is bent. The work is held and pressed by the punch and the die, and the welding is performed by the welding device while the spring back is being held. Therefore, even if this work is removed from the press brake, the bending angle is not expanded by the spring back. Therefore, a product having an accurate shape can be obtained, which is effective in improving product accuracy.

Further, in order to prevent the springback of the work, a particularly large and powerful press brake is not required, and various kinds of punches and dies having different die angles are not required, so that an economical effect is obtained. is there.

Further, since it is not necessary to convey the work and the press brake to the welding apparatus, and it is not necessary to reposition the work in the welding apparatus, the working efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a partial cross-sectional front view of a bending-welding compound device according to a first embodiment of the present invention.

FIG. 2 is a partially sectional front view of a bending-welding compound apparatus according to a second embodiment of the present invention.

FIG. 3 is a left side view showing a partial cross-section of a bending-welding compound device according to a third embodiment of the present invention.

FIG. 4 is a part of a perspective view and an operation explanatory view of a bending-welding compound device according to a fourth embodiment of the present invention.

FIG. 5 is a part of a perspective view and an operation explanatory view of the bending-welding compound apparatus according to the fourth embodiment of the present invention.

FIG. 6 is a perspective view showing the vicinity of the welding head in FIG.

FIG. 7 is a perspective view of a bending-welding compound device according to a fifth embodiment of the present invention.

FIG. 8 is a left side view showing a partial cross section of a bending-welding compound device according to a sixth embodiment of the present invention.

[Explanation of symbols]

 1 Bending and welding complex device 3 Press brake 5 Welding device 9 Side frame 11 Upper apron 17 Punch 23 Die 29 Articulated robot 31 Welding head 33 Cartesian coordinate robot 35 Shared articulated robot 41 Hand changer 43 Support head 47 Gantry W work

Claims (8)

[Claims] 1. A work is clamped and bent by cooperation of a punch and a die, the work is clamped and pressed, and the work is clamped and welded to a welded portion by a welding device while holding a spring back. A bending-welding compounding method, characterized in that 2. A press which is provided with a punch and a die, and one apron of the lower apron is vertically movable with respect to the other apron, and the work is bent by the cooperation of the punch and the die. It is a brake, and is equipped with a welding device for performing welding on the welded portion of the work while the bent work is sandwiched and pressed by the punch and the die, and the spring back is held in a pressed state. A bending-welding compound device characterized in that 3. The bending-welding compound device according to claim 2, wherein the welding device comprises a multi-joint robot having a welding head, and the multi-joint robot is provided on both ends of the press brake. . 4. The bending welding according to claim 2, wherein the welding device comprises a Cartesian coordinate type robot having a welding head, and the Cartesian coordinate type robot is provided on a side frame of the press brake. Combined device. 5. The bending apparatus according to claim 2, wherein the welding apparatus comprises a Cartesian coordinate type robot having a welding head, and the Cartesian coordinate type robot is provided on the upper apron of the press brake. Welding compound equipment. 6. The bending-welding compound apparatus according to claim 2, wherein the welding device is an articulated robot having a welding head, and the articulated robot is provided in the vicinity of the front side of the press brake. . 7. The welding device comprises an articulated robot having a welding head, and the articulated robot is used in common for use as an articulated robot provided for work support in the vicinity of the front side of the press brake. The bending-welding compound device according to claim 2, further comprising a hand changer for replacing a tip tool of the joint robot. 8. The welding device comprises an articulated robot having a welding head, and the articulated robot is provided on a gantry provided above the press brake so as to be movable left and right. The bending-welding compound device described.