JPH0839156A - Bender - Google Patents

Abstract

PURPOSE:To widen the working range of a work by discriminating whether a work indentation rate is above the min. indentation rate or not. CONSTITUTION:Memories 77, 79 which store the min. indentation rate Z and the max. indentation rate X are connected to a CPU 71. Data on product programs including bending shapes, flange heights, bottom sizes, etc., are inputted by an input means 73. Whether the work indentation rate is above the min. indentation rate or not is discriminated in a first discriminating means 81 by taking in the min. indentation rate stored after the min. indentation rate to prevent the interference of the work and an upper retaining metal mold is calculated by the work opening size and work size after ending of the bending stage by the data from the input means and the min. indentation rate stored in the min. indentation rate memory 77. As a result, movement of the manipulator by setting the work indentation rate at an optimum rate according to the work sizes is made possible.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending apparatus, and more particularly to a bending apparatus after pressing a work with a lower pressing die and an upper pressing die and performing bending work on the work with the bending die. The present invention relates to a bending device that prevents a work from interfering with an upper presser die.

[0002]

2. Description of the Related Art Conventionally, there has been known an ironing and bending apparatus for bending a work by a bending die while holding the work with a lower pressing die and an upper pressing die. In the case of this bending apparatus, a manipulator which is provided with a work clamp and is movable back and forth is provided on the front side of the bending apparatus.

For example, as shown in FIG.
The work W is clamped by the work clamp 103 of the manipulator 101, and the manipulator 101 is moved to the left side in FIG.
The work W is pressed by the upper pressing die 107 and the work W is bent by a bending die (not shown).

As shown in FIG. 6B, after the work W is bent, the upper presser die 107 is slightly lifted and separated from the work W. Next, as shown in FIG. 6 (C), after the manipulator 101 pushes in the work W as shown by the arrow, as shown in FIG. 6 (D), the upper presser die 107 rises. At the same time, the manipulator 101 pulls out the work W and moves to the next step, or the bending step has been completed. That is, in FIG. 6C, the work pushing amount (escape amount) X
Was constant.

[0005]

By the way, if the work pushing amount (escape amount) X in the above-described bending apparatus is long, there is no concern that the work W interferes with the upper pressing die, but it is safe. When the work size becomes smaller, the manipulator 101 abuts on the main body frame (mechanical end), the work pushing amount X cannot secure the target distance, and the bending apparatus stops at that time. This narrows the working range of the work W.

That is, as shown in FIG. 7, when the manipulator 101 hits the body frame,
There was a problem that the bending machine was stopped and the processing range was narrow.

SUMMARY OF THE INVENTION An object of the present invention is to provide a bending apparatus which considers the size of a work, the size of a work opening, and the like, and expands the working range of the work by increasing the pushing amount of the work as much as possible. It is in.

[0008]

In order to achieve the above object, a bending apparatus of the present invention comprises a lower presser die provided on a main body frame and a lower presser die pivotally supported on the main body frame. Clamp beam equipped with an upper presser die to press the work piece with the presser die and bending work on the work piece with the work piece being held by the lower presser die and the upper presser die In a bending device composed of a flexible bending die and a manipulator which is provided on the front side of the main body frame and which is provided with a work clamp and is movable back and forth,
Product program input means for inputting the product program data such as bending shape, flange height, bottom dimension, etc., and the data from this product program input means, the workpiece opening size after the bending process is completed The minimum push-in amount / memory in which the minimum push-in amount that prevents interference with the presser die is calculated and stored,
The work pushing amount when the manipulator is moved to the main body frame and the minimum pushing amount and the minimum pushing amount stored in the memory are taken in to determine whether the work pushing amount is more than the minimum pushing amount. And a first discriminating means for carrying out.

In the bending apparatus, the maximum pushing amount for preventing the interference between the work and the upper presser die is calculated by the work opening size and the work size after the bending process is completed based on the data from the product program input means. Whether or not the work push-in amount is greater than the maximum push-in amount by taking in the maximum push-in amount / memory that is stored and stored, and the work push-in amount and the maximum push-in amount / maximum push-in amount stored in the memory. It is desirable to include a second determining means for determining.

[0010]

With the bending apparatus as described above, the workpiece clamped by the work clamp is moved to the folding apparatus side by the manipulator and is carried in and positioned. The workpiece, which has been carried in and positioned, is pressed by the lower presser die and the upper presser die, and the bending work is performed by the bending die.

The manipulator is moved to the bending apparatus, and the work pushing amount is successively taken into the first discriminating means. Since the first discriminating means stores the minimum pushing amount and the minimum pushing amount temporarily stored in the memory, the first discriminating means compares and discriminates the actual work pushing amount and the minimum pushing amount. If the actual work pushing amount is smaller than the minimum pushing amount, the bending apparatus is stopped.

If the actual pushing amount of the work is larger than the minimum pushing amount, the actual pushing amount of the work is taken into the second discriminating means. Maximum pushing amount for the second discriminating means
Since the maximum pushing amount once stored in the memory is fetched, the second determining means compares and determines the actual work pushing amount and the maximum pushing amount. If the actual work-pushing amount is smaller than the maximum work-pushing amount, only the actual work-pushing amount is secured and the work is pushed in. If the actual work pushing amount is larger than the maximum pushing amount, the work is pushed while ensuring the maximum pushing amount. Therefore, the working range of the work can be expanded.

[0013]

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

Since the ironing and bending apparatus as a bending apparatus is already known, a detailed description thereof will be omitted and only a schematic description will be given.

Referring to FIG. 5, the ironing / folding apparatus 1 comprises an ironing / folding machine 3 and a manipulator 5 for supplying the workpiece W to the ironing / folding machine 3. The ironing and bending machine 3 includes a main body frame 7, and a front portion of the main body frame 7 (right portion in FIG. 5).
A lower presser die 9 is fixed to the upper part of.

At the upper part of the rear part (left part in FIG. 5) of the main body frame 7, the lower end of the rear part of the clamp beam 11 is pivotally supported by a pin 13 by a swing drive device (not shown). An upper pressing die 15 is attached to the lower end of the front portion of the clamp beam 13.

With the above construction, the clamp beam 11 is swung about the pin 13 as a fulcrum, and the work W is pressed by the cooperation of the lower presser die 9 and the upper presser die 15.

The body frame 7 and the clamp beam 11
A bending beam 17 which can be rocked by a rocking drive device (not shown) is provided in a space between and, and bending dies 19A and 19B are provided at the tip of the bending beam 17.

With the above structure, the bending beam 17 is applied to the work W pressed by the lower presser die 9 and the upper presser die 15.
If the bending beam 17 is swung upward, the bending die 19A performs the forward bending process, and if the bending beam 17 is swung downward, the bending die 19B performs the reverse bending process.

The manipulator 5 is provided with a fixed main body frame 21, and a movable frame 23 is provided which is movable in the Y-axis direction (left and right direction in FIG. 5) which is the front-back direction with respect to the main body frame 21. There is. That is, a plurality of guide rails 25 extending in the Y-axis direction are provided on the floor.
Is installed, and this guide rail 25 has L
The moving frame 23 is provided via an M guide 27.

A bracket 29 is fixed on the floor on the right side in FIG.
A Y-axis drive motor 31 is attached to. The Y-axis drive motor 31 has an encoder 33 as position detecting means.
Is provided. Further, a ball screw 35 extending in the Y-axis direction is provided, the left end of the ball screw 35 is rotatably supported by the main body frame 21, and the right end of the ball screw 35 is the output of the Y-axis drive motor 31. It is connected to the shaft. Moreover, the nut member 37 is screwed into the ball screw 35, and the nut member 3
7 is integrated with the moving frame 23.

With the above structure, when the Y-axis drive motor 31 is driven, the ball screw 35 is rotated, so that the moving frame 23 is moved by the guide frame 2 via the nut member 37.
It will be guided in 5 and moved in the Y-axis direction. The moving distance when the moving frame 23 is moved is determined by the encoder 3
Detected in 3.

A lower work clamp 39 is provided on the upper rear portion of the moving frame 23, and connecting frames 41, 43 are provided upright on the front portion of the moving frame 23. A connecting frame 49 integrated with a clamp beam 47 is pivotally supported by a pin 45 on the connecting frame 41 so as to be swingable. An upper work clamp 51 corresponding to the lower work clamp 39 is provided at the lower rear portion of the clamp beam 47.

A lower part of a link arm 55 is pivotally supported by a pin 53 on the connecting frame 43. In addition, a connecting frame 5 is provided at a lower portion of the front portion of the clamp beam 47.
7, the upper part of a link arm 61 is pivotally supported by a pin 59 on the connecting frame 57.

An upper portion of the link arm 55 and a lower portion of the link arm 61 are pivotally supported by a pin 63. A fluid cylinder 65 is fixed on the body frame 21, and a piston rod 67 mounted on the fluid cylinder 65 is connected to the pin 63.

With the above construction, when the fluid cylinder 65 is operated, the piston rod 67 expands and contracts, so that the link arms 55 and 61 are moved in the Y-axis direction via the pin 63 and clamped with the pin 45 as a fulcrum. The beam 47 swings and the upper work clamp 51 swings. As a result, the work W is clamped or unclamped by the lower work clamp 39 and the upper work clamp 51.

Therefore, the work W is carried into the ironing and bending machine 3 by moving the moving frame 23 to the ironing and bending machine 3 side while the work W is clamped by the lower work clamp 39 and the upper work clamp 51. Positioned. In this state, lower presser die 9 and upper presser die 15
The work W is pressed by and the work W is subjected to forward bending and reverse bending by the bending dies 19A and 19B.

As shown in FIG. 1, the control device 69 for controlling the manipulator 5 is provided with a CPU 71, and the CPU 71 stores data of a product program such as a bending shape, a flange height and a bottom dimension. Product program input means 7 consisting of, for example, a keyboard
3 is connected, and output means 75, such as a CRT, for displaying various data is also connected.

In the CPU 71, a minimum pushing amount / memory 77 and a maximum pushing amount (Z) and a maximum pushing amount (X) for preventing a preset work W from interfering with the work clamp 15 are stored. The pushing amount / memory 79 is connected. Further, the CPU 71 causes the first and second discriminating means 8 for comparing and discriminating the actual work pushing amount (Y), the minimum pushing amount (Z), and the maximum pushing amount (X), respectively.
1, 83 are connected.

The work pushing amount (Y) is determined by the opening size and the work size of the work W. Note that, for example, when there is a size of the work W as shown in FIG. 2, the A distance is the opening size of the work W.

Workpiece W is held by lower presser die 9 and upper presser die 15
The state when the normal bending process is finished by the bending die 19A by pressing with is as shown in FIG. This figure 3
Shows the relationship between the actual work pressing amount (Y), the minimum pressing amount (Z), and the maximum pressing amount (X).

The operation of determining the work pushing amount after the bending process is completed by the above configuration will be described based on the flowchart shown in FIG. 4. First, the movable frame 23 is ironed and folded from the time when the bending process is completed. It is moved to the bending machine 5 side, and its moving distance, that is, the actual work pushing amount (Y) is detected by the encoder 33 and is C
It is taken into PU71.

The work pushing amount (Y) actually detected in step S1 is taken into the first discriminating means 81. Since the first discriminating unit 81 stores the minimum pushing amount (Z) stored in the memory 77, the first discriminating unit 81 uses the actual work pushing amount (Y) and the minimum pushing amount (Z). Z) is compared and determined. If the actual work pushing amount (Y) is not larger than the minimum pushing amount (Z) (Y <Z), a machine stop command is issued in step S2 and the ironing and folding machine 3 is stopped.

When the actual work pushing amount (Y) is larger than the minimum pushing amount (Z) (Y ≧ Z), the process proceeds to step S3, and the actual work pushing amount (Y) is taken into the second discriminating means 83. Be done. Since the maximum pushing amount (X) stored in the maximum pushing amount / memory 79 has already been taken into the second discriminating means 83, the second discriminating means 83
Then, the actual work pushing amount (Y) and the maximum pushing amount (X) are compared and determined.

If the maximum pushing amount (X) is larger than the actual work pushing amount (Y) (X> Y), step S
In step 4, the actual work pushing amount (Y) is secured, the upper presser die 15 is raised, and the work W is pulled out by the manipulator 5, so that the work W does not interfere with the upper presser die 15.

If the maximum pushing amount (X) is not larger than the actual work pushing amount (Y) (X <Y),
In step S5, only the maximum pushing amount (X) is secured, the work clamp W is raised, and the work W is pulled out by the manipulator 5, so that the work W does not interfere with the work clamp 15.

As described above, by controlling the work pushing amount (Y), even if the work size is small, the conditions under which the ironing and folding machine 3 is stopped are reduced.
The processing range of can be expanded. Moreover, since the work pushing amount (escape distance) is set as long as possible, the interference between the work W and the upper pressing die 15 can be reduced. Therefore, the movement amount of the manipulator 3 can be controlled by optimizing the work pushing amount according to the work size.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes.

[0039]

As can be understood from the above description of the embodiments, according to the present invention, when the minimum pushing amount and the maximum pushing amount are set from the work size and the work opening size, the actual work pushing amount is calculated. The minimum pushing amount and the maximum pushing amount are secured as much as possible, so there are less conditions for the bending machine to stop even if the work size is small, so the working range of the work can be expanded. it can. Moreover, since the work is pushed in as long as possible, the interference between the work and the upper presser die can be reduced. Therefore, the manipulator can be moved by optimizing the work pushing amount according to the work size.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of a control device that controls a manipulator in a bending device.

FIG. 2 is an explanatory diagram illustrating a work opening size.

FIG. 3 is an explanatory diagram showing a relationship between an actual work pushing amount, a minimum pushing amount, and a maximum pushing amount.

FIG. 4 is a flowchart for explaining the operation of the work pushing amount according to the present invention.

FIG. 5 is a side view of the bending apparatus according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram for explaining a work pushing operation in the conventional bending apparatus.

FIG. 7 is an explanatory diagram showing a relationship between a distance to be secured and a distance that can be actually secured in the conventional work pushing amount.

[Explanation of symbols]

 1 Ironing and bending machine (folding machine) 3 Ironing and bending machine 5 Manipulator 9 Lower presser die 15 Upper presser die 19A, 19B Bending die 23 Moving frame 31 Y-axis drive motor 33 Encoder (position detection means) 39 Lower Work Clamp 51 Upper Work Clamp 69 Control Device 73 Product Program Input Means 77 Minimum Pushing Amount / Memory 79 Maximum Pushing Amount / Memory 81 First Discriminating Means 83 Second Discriminating Means

Claims (2)

[Claims] 1. A clamp provided with a lower presser die provided on a main body frame and an upper presser die which is pivotally supported by the main body frame and presses a work during bending by the lower presser die. A beam, a swingable bending die that bends the work while holding the work with the lower press die and the upper press die, and a work clamp provided on the front side of the main body frame. In a bending apparatus composed of a manipulator which can be moved back and forth, a product program input means for inputting data of a product program such as a bending shape, a flange height and a bottom dimension, and a bending operation by the data from the product program input means. The minimum push-in amount calculated and stored based on the work opening size and work size after the process is completed to prevent the work from interfering with the work clamp. The amount of memory / memory, the amount of work pushed when the manipulator is moved to the body frame, and the minimum amount of push-in / the minimum amount of push-in stored in the memory A bending device, comprising: a first determining means for determining whether or not there is a presence. 2. The maximum pushing amount for preventing the interference between the work and the upper presser die is calculated and stored according to the work opening size and the work size after the bending process is completed based on the data from the product program input means. A maximum pushing amount / memory, a workpiece pushing amount, a maximum pushing amount / a maximum pushing amount stored in the memory, and determining whether the work pushing amount is greater than or equal to the maximum pushing amount; The bending apparatus according to claim 1, further comprising: a determining unit.