CN102596442A - Pipe bending device with assist function and bending method - Google Patents
Pipe bending device with assist function and bending method Download PDFInfo
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- CN102596442A CN102596442A CN2009801623187A CN200980162318A CN102596442A CN 102596442 A CN102596442 A CN 102596442A CN 2009801623187 A CN2009801623187 A CN 2009801623187A CN 200980162318 A CN200980162318 A CN 200980162318A CN 102596442 A CN102596442 A CN 102596442A
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- 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
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/12—Bending rods, profiles, or tubes with programme control
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- 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
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
- B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
- B21D7/025—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member and pulling or pushing the ends of the work
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- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Disclosed are a pipe bending device and bending method, which are capable of executing the bending method of any of a pressing force applying system, a tensile resistance force applying system, and a no-load tracking system. Specifically disclosed is a pipe bending device (1) which is configured by a bending die (2) for winding a pipe (9) around the outer peripheral surface thereof to perform bending, a chuck (7) configured in such a manner as to grip a rear end section (9d) of the pipe, a feed positioning device (8) configured in such a manner as to allow movement in the axial direction of the rear end side section of the pipe (9) that holds the chuck (7) and is gripped by the chuck (7), a feed servo motor, a bending servo motor for supplying rotational driving force to the bending die (2), a ball screw (5); configured in such a manner as to be able to move the feed positioning device (8) and the chuck (7) in a predetermined direction by converting the output torque of the feed servo motor into the thrust of a slider (5b), and a control device for controlling the output torque of the feed servo motor.
Description
Technical field
The present invention relates to the circumgyration stretch bender and the processing method of metal tube; Relate in particular to and added the rear end side part of can one facing the metal tube of being controlled and push to axis direction; Or the one side traction, one side is rotated the canal curvature processing unit (plant) and the processing method of the miscellaneous function of stretch bending processing.
Background technology
As one of bender of metal tube, the canal curvature processing unit (plant) 51 of that kind shown in Figure 6 (circumgyration stretch bender) is extensively utilized.This canal curvature processing unit (plant) 51 possesses rotatable bending die 52, will manage 9 front part 9a clamping and be fixed on and bending die 52 between anchor clamps 53, will manage the chuck 57 of the rearward end 9d of pressing mold 54 that the part (9b of bending machining portion) of being implemented bending machining in 9 pushes to bending die 52, tubular handle 9; With through bending die 52 and anchor clamps 53 are rotated to prescribed direction (clockwise direction among Fig. 6); The front part 9a of the pipe 9 that the one side traction is seized on both sides by the arms; One side is reeled along the outer peripheral face of bending die 52, and the mode of managing 9 enforcement bending machining is configured.
In addition; In the canal curvature processing unit (plant) 51 in the past of that kind shown in Figure 6; The Outboard Sections that exists in the 9b of bending machining portion of pipe 9 produces the fracture that causes because of the tube wall attenuate; Or produce the situation of gauffer at the inside part of the 9b of bending machining portion, in addition, there is the such problem of the inclined to one side graduation of the 9b of bending machining portion.
Therefore; Countermeasure as the problem that is used to avoid such; Exist and possess when making bending die 52 rotations; With pipe 9 rear end side part 9c forwards the canal curvature processing unit (plant) of (direction of bending die 52) pushing force additional member 55 of pushing (giving member, pipe booster) (spy open 2008-302377, spy open 2006-326637, spy open that 2006-315077, spy open 2003-290839, the spy opens 2003-290838 etc.) to the load of the directive effect of bending die 52, possess in contrast; With pipe 9 the rear end side part 9c canal curvature processing unit (plant) (spy opens 2009-106965, the spy opens flat 11-267765 etc.) of the tractive resistance additional member 56 of (direction opposite) traction (give load, and to the member of the direction feeding of bending die 52) rearward to the directive effect opposite with bending die 52 with bending die 52.
Technical literature formerly
Patent documentation
Patent documentation 1: TOHKEMY 2009-106965
Patent documentation 2: TOHKEMY 2009-045631
Patent documentation 3: TOHKEMY 2009-012068
Patent documentation 4: TOHKEMY 2009-012067
Patent documentation 5: TOHKEMY 2009-012022
Patent documentation 6: TOHKEMY 2008-302380
Patent documentation 7: TOHKEMY 2008-302377
Patent documentation 8: TOHKEMY 2008-229643
Patent documentation 9: TOHKEMY 2008-126268
Patent documentation 10: TOHKEMY 2007-319916
Patent documentation 11: TOHKEMY 2007-090422
Patent documentation 12: TOHKEMY 2006-326637
Patent documentation 13: TOHKEMY 2006-315077
Patent documentation 14: TOHKEMY 2006-289488
Patent documentation 15: TOHKEMY 2006-116586
Patent documentation 16: TOHKEMY 2006-088178
Patent documentation 17: TOHKEMY 2006-043765
Patent documentation 18: TOHKEMY 2005-161342
Patent documentation 19: TOHKEMY 2005-161332
Patent documentation 20: TOHKEMY 2005-161331
Patent documentation 21: TOHKEMY 2005-161325
Patent documentation 22: TOHKEMY 2005-161324
Patent documentation 23: TOHKEMY 2003-290839
Patent documentation 24: TOHKEMY 2003-290838
Patent documentation 25: TOHKEMY 2001-047141
Patent documentation 26: japanese kokai publication hei 11-267765
Patent documentation 27: japanese kokai publication hei 09-239450
Patent documentation 28: real the opening of Japan put down 07-009518
Patent documentation 29: real the opening of Japan put down 07-009517
In the canal curvature processing unit (plant) 51 in the past; Except that (can implement the bend processing method of pushing force append mode) canal curvature processing unit (plant) that possesses pushing force additional member 55 of having above-mentioned that kind, possess (can implement the bend processing method of tractive resistance append mode) canal curvature processing unit (plant) of tractive resistance additional member 56; Also known can enforcement neither pushes; Do not pull the rear end side part 9c of pipe 9 yet; But through making bending die 2 rotations; Make chuck 7 merely servo-actuated be rotated the canal curvature processing unit (plant) of stretch bending method for processing (zero load bend processing method) in to the trailed rear end side part of the direction of bending die 52 9c with flowing mode.
At present; The canal curvature processing unit (plant) of supplying with on the market is only by specific " special machine " for any one mode in above-mentioned, does not have the canal curvature processing unit (plant) that can implement pushing force append mode, tractive resistance append mode and zero load bend processing method arbitrarily with flowing mode.Can think that this is owing to following reason causes.
The pushing force additional member 55 that adopts in the canal curvature processing unit (plant) is in the past utilized oil sector; Flow (speed of the plunger of release) through the oil that in oil hydraulic cylinder, flows into of control (specifically; The mode that becomes translational speed * coefficient e (e>1) of pipe 9 rear end side part 9c through the speed with plunger is controlled), realize the bending machining of pushing force append mode.On the other hand; Under the situation of the bending machining of carrying out the tractive resistance append mode, though manage value that the translational speed of 9 rear end side part 9c multiply by coefficient e than 1 little (e＜1); Even carry out such control, can not add tractive resistance by oil sector.In addition, even the tractive resistance additional member 56 that adopts in the canal curvature processing unit (plant) in the past can be added tractive resistance, can not control its size.Because such situation, can think that any one the canal curvature processing unit (plant) that has pushing force additional member 55 and tractive resistance additional member 56 concurrently does not reach practicability yet.
In addition, the problem that in the canal curvature processing unit (plant) that can implement zero load bend processing method with flowing mode, has following that kind.Be rotated at canal curvature processing unit (plant) 51 under the situation of stretch bending processing by that kind shown in Figure 6; Because if bending die 52 is rotated gradually; Then manage 9 rear end side part 9c and rearward end 9d and move to the direction of bending die 52 gradually along with the progress of the rotation of bending die 52, so, with regard to the chuck 57 (and the device that supports it) of controlling rearward end 9d; Be necessary also and the mobile phase identical ground feeding forwards of rearward end 9d that servo-actuated is in rearward end 9d.
At this moment, in order 9 not apply load,, be necessary correctly to grasp the amount of movement (or stop position) of the rearward end 9d that in first order buckling processing, produces (perhaps, chuck 57 or support its device) with the mobile phase of the rearward end 9d ground feeding chuck 57 that coincide to pipe.
But, because about the elongation of the pipe that the amount of movement quilt of the rearward end 9d that produces in the first order buckling processing etc. produces in first order buckling processing, so, only can not obtain correct value through calculating.Therefore; In canal curvature processing unit (plant) 51 in the past; Grasp in desire under the situation of amount of movement (or stop position) of rearward end 9d (perhaps, chuck 57 or support its device), do not controlling under the state of rearward end 9d by chuck 57; (for example try bending with respect to pipe 9 with defined terms; The examination angle of bend: 90 °, number of bends: once), measure the amount of movement (trying crooked amount of movement) of the rearward end 9d of this moment; Calculate percentage elongation (every crooked 1 ° elongation) from its measured value of trying crooked amount of movement, and then the value of the percentage elongation of calculating from this quilt is calculated the stop position of amount of movement (actual amount of movement) and rearward end 9d on the actual angle of bend etc.
But, as if before the bending machining of reality, must carry out a series of preparation work (mensuration of examination bending, the crooked amount of movement of examination, the calculating of actual amount of movement) of above-mentioned that kind, then existence is very miscellaneous, spends such problem in man-hour.
The present invention is the invention of making for the problem that solves above-mentioned that kind; Possess as the pushing force additional member to provide a kind of; Also bring into play the key element of function as the tractive resistance additional member; In a bender, can carry out the bend processing method of pushing force append mode, tractive resistance append mode and zero load any one mode with flowing mode, in addition; Under the situation of implementing zero load bend processing method with flowing mode, can omit that examination is crooked, the canal curvature processing unit (plant) and the processing method of the preparation works such as calculating of the mensuration of the crooked amount of movement of examination, actual amount of movement be purpose.
Summary of the invention
Relevant canal curvature processing unit (plant) of the present invention is characterised in that; Have: the pipe that will become processing object is wound on outer peripheral face; The chuck that carries out the bending die of bending machining, is configured with the mode of the rearward end of tubular handle, keep chuck; The feeding positioner that can be configured movably, feed servo motor to the axis direction of the rear end side of the pipe of controlling part by chuck, to bending die supply with rotary driving force crooked servo motor, be connected with the feeding positioner; Can converting the thrust to the axis direction of axle of slide block into through output torque with the feed servo motor, the ball-screw that the mode that feeding positioner and chuck are moved to prescribed direction constitutes, the control device that the output torque of feed servo motor is controlled.
Relevant zero load canal curvature processing method with flowing mode of the present invention is characterised in that; Be at chuck under the situation of state freely; To be used to make feeding positioner and chuck to move necessary minimal moment of torsion to the direction of bending die from the feed servo motor exports to ball-screw, carries out bending machining.In addition, in the method, preferably after the rotation of bending die stops; Utilize the torque limited function, the output torque of feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of feed servo motor; Send the feeding that constitutes by the pulse of counting together with it from control device and retreat instruction, eliminate and accumulate pulse.
The canal curvature processing method of relevant pushing force append mode of the present invention is characterised in that; Be at chuck under the situation of state freely; Move in the direction that is used to make feeding positioner and chuck to bending die and to add on the necessary minimal moment of torsion that desire is to the additional suitable moment of torsion of pushing force of pipe with in bending machining the time; Through from the feed servo motor to the ball-screw output torque, carry out bending machining.In addition, in the method, preferably after the rotation of bending die stops; Utilize the torque limited function, the output torque of feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of above-mentioned feed servo motor; Send the feeding that constitutes by the pulse of counting together with it from control device and retreat instruction, eliminate and accumulate pulse.In addition, preferably limit, decay at 0 o'clock, its needed time is divided into two more than the stage at least, output torque is reduced interimly gradually at output torque to the feed servo motor.
The canal curvature processing method of relevant tractive resistance append mode of the present invention is characterised in that; The feeding of chuck is stopped the rear that the target location is set in the feeding starting position; Control device is just changeing when instruction sending bending to crooked servo motor; Send feeding with respect to the feed servo motor and retreat instruction, carry out bending machining.In addition, in the method, preferably after the rotation of bending die stops; Utilize the torque limited function, the output torque of feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of feed servo motor; Send the feeding advancement commands that constitutes with the pulse of counting by with it from control device, eliminate and accumulate pulse.In addition, preferably limit, decay at 0 o'clock, its needed time is divided into two more than the stage at least, output torque is reduced interimly gradually at output torque to the feed servo motor.
The invention effect
Relevant canal curvature processing unit (plant) of the present invention possesses can be as the pushing force additional member; Can also be as the ball-screw of tractive resistance additional member performance function, can carry out the bend processing method of pushing force append mode, tractive resistance append mode and zero load any one mode with flowing mode through a bender.In addition, under the situation of implementing zero load bend processing method with flowing mode, can omit that examination is crooked, the mensuration of the crooked amount of movement of examination, the preparation works such as calculating of actual amount of movement.
In addition; According to relevant canal curvature processing method of the present invention; Can be when carrying out bending machining; Suitably control to the additional pushing force of pipe or the size of tractive resistance, the problem of the fracture that causes because of the tube wall attenuate that can avoid rightly that Outboard Sections in the bending machining portion of pipe is easy to generate, produce gauffer, the such problem of the inclined to one side graduation of bending machining portion at the inside part of bending machining portion.Have again, alleviate the impact that produces when discharging moment of torsion,, can improve the bending machining precision except that avoiding to carry out precise positioning to the problems such as damage of constituent part.
Description of drawings
Fig. 1 is the main composition figure partly of the canal curvature processing unit (plant) 1 of relevant first embodiment of expression.
Fig. 2 has been to use the key diagram of processing method of the canal curvature processing unit (plant) 1 of relevant first embodiment.
Fig. 3 is the key diagram of the zero load bend processing method with flowing mode of relevant second embodiment.
The key diagram of Fig. 4 has been to use canal curvature processing unit (plant) 51 in the past zero load bend processing method with flowing mode.
Fig. 5 is the key diagram about the bend processing method of the tractive resistance append mode of the 4th embodiment.
Fig. 6 is the figure that representes the main composition part of canal curvature processing unit (plant) 51 in the past.
The specific embodiment
Below, according to accompanying drawing, the embodiment of " canal curvature processing unit (plant) " of the present invention and " canal curvature processing method " is described.Fig. 1 is the main composition figure partly of the canal curvature processing unit (plant) 1 of relevant first embodiment of the present invention of expression.Among this figure, the 2nd, bending die, the 3rd, anchor clamps, the 4th, pressing mold, the 5th, ball-screw, the 7th, chuck, the 8th, feeding positioner.
Bending die 2 has at outer peripheral face and is formed with the groove of the corresponding shape in footpath with the pipe 9 that becomes processing object; And the straight shape part 2b that the round shape part 2a that extends circularly, linearity ground extend is configured around the mode that the central axis of round shape part 2a rotates with driving force that can be through the not shown crooked servo motor that goes out.
Pressing mold 4 will manage the part (9b of bending machining portion) of having been implemented bending machining in 9 from managing the direction propelling movement of 9 side direction bending die 2 with one side; One side is accompanied by the rotation of bending die 2, is configured to the mobile mode of axis direction (direction of arrow D among Fig. 1) of the rear end side part 9c (undressed part) of pipe 9 matchingly with the motion of the pipe that is pulled and slides 9.
Ball-screw 5 is formed with the key that is fastened in this helicla flute by the axle 5a that has helicla flute (not shown go out) at outer peripheral face with at inner peripheral surface; And be retained as non-rotary slide block 5b and constitute; To apply rotary driving force through the feed servo motor (rotary driving force source) that never illustrates; And a 5a is rotated; The mode that slide block 5b and its rotation amount are correspondingly moved to the axis direction of axle 5a, promptly, be configured with the mode of the thrust that can the output torque of feed servo motor be converted into slide block 5b (to the thrust of the axis direction of axle 5a).In addition, axle 5a with its axis consistent with the axis direction of managing 9 rear end side part 9c towards supported.
The canal curvature processing unit (plant) 1 of Fig. 1 is the canal curvature processing unit (plant) of the structure of relevant above-mentioned that kind; In the time of can being implemented in bending die 2 rotations; One side will be managed 9 rear end side part 9c by feeding positioner 8 (and chuck 7) and pushed to the direction of bending die 2; One side is rotated stretch bending method for processing (bend processing method of pushing force append mode), one side by feeding positioner 8 (and chuck 7); With pipe 9 rear end side part 9c to the directions traction opposite with bending die 2; One side is rotated stretch bending method for processing (bend processing method of tractive resistance append mode) and neither pushing; Do not pull pipe 9 rear end side part 9c, but through making bending die 2 rotations yet, make chuck 7 and feeding positioner 8 merely servo-actuated in being rotated stretch bending method for processing (zero load bend processing method) with flowing mode to the direction of bending die 2 trailed rear end side part 9c.
In addition, can also be implemented in during implementing first order buckling processing (since the bending machining of a pipe during finish), make the processing method of the size variation of additional pushing force or tractive resistance.In addition; A plurality of parts to a pipe are implemented repeatedly under the situation of bending machining; The processing method that can also use different modes to each processing part (for example; Certain part is implemented the bend processing method of pushing force append mode, other part is implemented bend processing method or the zero load bend processing method with flowing mode of tractive resistance append mode etc.).
Here, the zero load bend processing method with flowing mode in the above-mentioned processing method of the canal curvature processing unit (plant) 1 that has used Fig. 1 is described as second embodiment of the present invention.Implement at the canal curvature processing unit (plant) that uses Fig. 11 at first, to make anchor clamps 3 and chuck 7 become open state under the situation of zero load bend processing method with flowing mode, bending die 2 and pressing mold 4 are set in the starting position respectively.Specifically, with such shown in bending die 2 image patterns 1, set towards, pressing mold 4 be set at consistent of straight shape part 2b for and manage 9 position by rearward end 9d side with the axis direction of pipe 9.
Then, will manage 9 and send between bending die 2 and anchor clamps 3 and the pressing mold 4, be fed into rearward end 9d get in the chuck 7 in portion.Rearward end 9d collision chuck 7 in after the portion, tighten chuck 7, make it to control securely rearward end 9d.
Then, make chuck 7 move to feeding starting position S (position of the 9b of bending machining portion of the pipe 9 of the state of controlling by chuck 7 and the suitable position butt of bending die 2).Chuck 7 is carried out to moving by the action of control device, servo amplifier (not shown go out), feed servo motor and ball-screw 5 of feeding starting position S.
Specifically; Be used to make chuck 7 to move to the move (with move pulse) of feeding starting position S from control device to servo amplifier output, in the error counter accumulative total move pulse of servo amplifier from current location proportional number of distance of S to the feeding starting position from current location.Servo amplifier is correspondingly supplied with driving electric to the feed servo motor with the move pulse that accumulates in error counter.The feed servo motor is received driving electric and rotation, ball-screw 5 actions, and chuck 7 moves.
At this moment, from the encoder output that is attached to the feed servo motor feedback pulse with the proportional number of rotating speed of feed servo motor, and to the error counter input of servo amplifier.What the feedback pulse that is imported into error counter deducted error counter accumulates pulse (move pulse).If the pulse of accumulating of error counter becomes " 0 ", then stop to supply with to the electric power of feed servo motor from servo amplifier, feed servo motor and ball-screw 5 stop.Its result is that S stops chuck 7 in the feeding starting position.
In addition; In this embodiment, the amount of movement that the anglec of rotation (from the umber of pulse of encoder output) and the feed servo motor of the information of the current location of chuck 7 (distance from mechanical origin B to current location of chuck 7) through the feed servo motor from mechanical origin B to current location whenever turns around is grasped.
, after the mobile completion of feeding starting position S, anchor clamps 3 are tightened at chuck 7, with pipe 9 front part 9a clamping and be fixed on and bending die 2 between.After pipe 9 is fixed, before making bending die 2 rotations, be adjusted into the moment of torsion of the size of regulation through the torque limited function from the output of feed servo motor.Here the moment of torsion of output is to be under the situation of the state freely of tubular handle 9 not at chuck 7, is used for making feeding positioner 8 and chuck 7 move necessary minimal output (t1) to the direction of bending die 2 through making ball-screw 5 actions.In addition, even because at this moment output torque, bending die 2 does not rotate yet, and the rearward end 9d of pipe 9 is unshift, so slide block 5b, feeding positioner 8 and chuck 7 do not move.
The control device basis is from the value of servo amplifier to the electric current of feed servo motor output; Grasp the output of the moment of torsion of feed servo motor; If confirm that by control device the output valve of the moment of torsion of feed servo motor reaches " t1 " (or in scope of its allowable error); Then sending bending from control device to the servo amplifier of crooked servo motor is just changeing instruction (the crooked command pulse of the proportional number of angle of the position during with from the starting position to the bending, the accomplishing of bending die 2), and sends feeding advancement commands (stopping the feeding advancement commands pulse of the proportional number of distance of target location K to feeding with the S from the feeding starting position of chuck 7) to the servo amplifier of feed servo motor.
In this embodiment; The feeding of chuck 7 stop target location K information (chuck 7 from mechanical origin B begin apart from k; Referring to Fig. 3) in control device, use feeding starting position S (from mechanical origin B begin apart from s), bending radius r, set angle of bend q and coefficient c, calculate by following formula.In addition, coefficient c used herein is ">1 ".
(numerical expression 1)
k＝s-（2πr（q/360））c
Just changeing instruction and feeding advancement commands if send bending from control device; Then supply with driving electric from the servo amplifier of crooked servo motor; Crooked servo motor rotation is supplied with driving electric from the servo amplifier of feed servo motor, the rotation of feed servo motor.So, as shown in Figure 2, bending die 2 is to set direction rotation.If the rotation of bending die 2 progress, then be bent the pipe 9 that mould 2 and anchor clamps 3 seize on both sides by the arms and be pulled to the direction of rotation of bending die 2, the 9b of bending machining portion is reeled along the outer peripheral face of the round shape part 2a of bending die 2, to managing 9 enforcement bending machining.
At this moment; The rear end side part 9c of pipe 9 and rearward end 9d are along with the progress of the rotation of bending die 2 moves to the direction of bending die 2 gradually; Control the chuck 7 of rearward end 9d and keep its feeding positioner 8 also to move to the direction of bending die 2 gradually with rearward end 9d; But; Owing to be used for moving necessary minimal output torque t1 to feeding positioner 8 and chuck 7, so feeding positioner 8 and chuck 7 are not applying servo-actuated under the state of load to managing 9 basically to the direction of bending die 2 through ball-screw 5.
After the anglec of rotation of bending die 2 reached set angle (setting angle of bend q), the rotation of bending die 2 stopped, and bending machining finishes.More particularly; If make the crooked servo motor rotation of bending die 2 actions; Then from the encoder output that is attached to crooked servo motor feedback pulse with the proportional number of rotating speed of crooked servo motor, and to the error counter input of the servo amplifier of crooked servo motor.What the feedback pulse that is imported into error counter deducted error counter accumulates pulse (crooked command pulse).If the pulse of accumulating of error counter becomes " 0 ", then stop from the electric power supply of servo amplifier to crooked servo motor, crooked servo motor stops.
If crooked servo motor stops, the rotation of bending die 2 stops, and then manages 9 rear end side part 9c, rearward end 9d, chuck 7, feeding positioner 8, ball-screw 5 and also stops.But; At this constantly; Chuck 7 does not move to feeding and stops target location K (referring to Fig. 3); In the error counter of the servo amplifier of feed servo motor, accumulate with chuck 7 stop the feeding advancement commands pulse of target location K to feeding from current location (the first stop position F is referring to Fig. 3 (2)) apart from the proportional number of f (α).Therefore because these accumulate pulse (α), still from servo amplifier to feed servo motor supply capability, from feed servo motor output torque t1.Therefore, in this embodiment, after stopping, utilizing the torque limited function at crooked servo motor, the output torque of restriction feed servo motor, the mode that decays to " 0 " constitutes.
Because if the output torque of feed servo motor becomes " 0 "; Then ball-screw 5 acts on the thrust disappearance of chuck 7 and feeding positioner 8; Deflection in generations such as pipe 9, chuck 7, feeding positioners 8 is released; So chuck 7 slightly rearward (direction opposite with bending die 2) moves (final stop position G, referring to Fig. 3 (3)).Therefore, in the servo amplifier of feed servo motor, be accumulated to the feeding advancement commands pulse of its amount of movement (from the first stop position F to final stop position G apart from g) proportional number (β) and accumulate pulse (α).
Therefore; In this embodiment; After output torque making the feed servo motor becomes " 0 "; From timer counting be over shelve the stipulated time after; What read in servo amplifier accumulates pulse (alpha+beta), sends by the feeding that constitutes with the pulse of number with it from control device and retreats instruction (retreating command pulse with the feeding of the proportional number of distance (f+g) (alpha+beta) that stops target location K from final stop position G to feeding of chuck 7), and import the servo amplifier of feed servo motor.
To retreat command pulse opposite in the direction of feed of chuck 7 owing to accumulate in the pulse of feeding advancement commands and the feeding that is transfused to of the error counter of servo amplifier, so the feeding advancement commands pulse that accumulates in error counter deducts feeding and retreats command pulse.And because their umber of pulse is consistent, so the feeding advancement commands pulse of accumulating is all deducted (offseting), accumulating pulse becomes " 0 ".Its result does, stops to supply with to the electric power of feed servo motor from servo amplifier, and the feed servo motor becomes halted state.And, after the feed servo motor stops, removing torque limited; Anchor clamps 3 and chuck 7 are open; To manage 9 and pull down, or only that anchor clamps 3 are open, and make pipe 9 move (location of carrying out downward primary feed starting position) in order to carry out next time bending machining from canal curvature processing unit (plant) 1.
Zero load bend processing method with flowing mode in this embodiment is carried out with the order of above-mentioned that kind, can omit necessary a series of preparation work in the zero load bend processing method with flowing mode that has used canal curvature processing unit (plant) 51 (referring to Fig. 6) in the past (examination prior to the bending machining of reality is carried out is crooked, the mensuration of the crooked amount of movement of examination, the calculating of actual amount of movement etc.).
This point is specified; In the zero load bend processing method that uses canal curvature processing unit (plant) 51 in the past with flowing mode; As the rearward end 9d that is used for respect to the pipe 9 that moves to the direction of bending die 52 along with the progress of the rotation of bending die 52 and gradually; Make the method for chuck 57, carry out the Position Control of chuck 57 with zero load servo-actuated.Therefore, be necessary correctly to grasp the amount of movement y (the stop position J of the rearward end 9d when bending die 52 stops is referring to Fig. 4) of the rearward end 9d of the pipe 9 that is bent mould 52 tractions and moves in advance.
The amount of movement y of the rearward end 9d of the pipe 9 that is bent mould 52 tractions and moves then is " 2 π r (q/360) " (r: bending radius, q: set angle of bend) if merely consider.But, when carrying out bending machining, because pipe 9 produces " elongation " because of being bent mould 52 tractions, so the amount of movement y of rearward end 9d is the value from " 2 π r (q/360) " deduction elongation w.(in addition, the value that is used for working control be the rearward end 9d of bending die 52 when stopping stop position J (from mechanical origin B begin apart from j), this value is from " j=s-y " (s: the distance from mechanical origin B to feeding starting position S of chuck 7) obtain.）。
But, since the value of the elongation w that when bending machining, produces because of manage 9 material, directly, the adjustment of wall thickness cun method, bending radius, metal pattern etc. changes, so, only can not correctly obtain elongation w (also having amount of movement y) through calculating.Therefore; As stated; Using in the past canal curvature processing unit (plant) 51 to carry out under the situation of zero load bend processing method with flowing mode; In order to grasp amount of movement y and even the stop position J (apart from j) of pipe 9 rearward end 9d, need try bending, the mensuration of the crooked amount of movement of examination, a series of preparation works such as calculating of actual amount of movement prior to the bending machining of reality.
In this embodiment; And the position of non-control card dish 7; But through to controlling for making chuck 7 and feeding positioner 8 move the moment of torsion that imposes on ball-screw 5; More specifically saying so and making output torque is " t1 " (minimal output of necessity that chuck 7 and the feeding positioner 8 that is used to make the state freely of tubular handle 9 not moves to the direction of bending die 2); Realize the servo-actuated of chuck 7 with respect to rearward end 9d; Therefore, there is no need correctly to grasp the elongation w of pipe 9, amount of movement y and the stop position J (apart from j) of rearward end 9d, can omit examination bending, the mensuration of the crooked amount of movement of examination, a series of preparation works such as calculating of actual amount of movement.
But, when sending the feeding advancement commands, be necessary to specify position arbitrarily with respect to feed servo motor from driving forces to chuck 7 that supply with, with it as the feeding of chuck 7 stop target location K (from mechanical origin B begin apart from k) and provide.At this moment; Stopping target location K in hypothesis is set at and by the position of feeding starting position S (for example compares with the stop position J of reality; The position of K ' shown in Figure 4) under the situation; Among the interval U of the stop position J from this position to reality, can not make chuck 7 and the 8 zero load ground servo-actuateds of feeding positioner with respect to the rearward end 9d of pipe 9.Therefore, stopping target location K must be set at the stop position J of reality and compare the position by bending die 2.
In this embodiment; For will stop target location K (from mechanical origin B begin apart from k) be set in the stop position J of reality and compare position by bending die 2, and through above-mentioned numerical expression 1 calculate stop target location K (from mechanical origin B begin apart from k).
But, in this case, at the stop position J of reality with stop to produce corresponding " staggering " between the K of target location.Promptly, bending die 2 reaches set angle (setting angle of bend q) in the anglec of rotation; In the moment that the rotation of bending die 2 has stopped, chuck 7 also stops, and from this stop position (first stop position F; Referring to Fig. 3 (2)) accumulate in servo amplifier to the feeding advancement commands pulse that stops target location K apart from the proportional number of f (α); Have, after this, the output torque of feed servo motor becomes " 0 " again; When the deflection that pipe 9, chuck 7, feeding positioner 8 etc. upward produce has been opened; Because chuck 7 retreats slightly, accumulate in servo amplifier with the feeding advancement commands pulse of its amount of movement (from the first stop position F to final stop position G apart from g, referring to Fig. 3 (3)) proportional number (β).
Therefore; In this embodiment; As stated, send feeding from control device and retreat instruction (retreating command pulse), eliminate these and accumulate pulse with the feeding of the proportional number of distance (f+g) (alpha+beta) that stops target location K from final stop position G to feeding of chuck 7.
In addition; In this embodiment; Because the mechanical origin B of chuck 7 is set at the place ahead (direction of bending die 2) that feeding stops target location K; Obtain through above-mentioned numerical expression 1 so the feeding of chuck 7 stops the information (apart from k) of target location K, but be set at the mechanical origin B of chuck 7 under the situation at rear (direction opposite with bending die 2) of feeding starting position S, the feeding of chuck 7 stops the information (apart from k) of target location K and obtains through following formula.
(numerical expression 2)
k＝s+（2πr（q/360））c
Then, the bend processing method with the pushing force append mode in the above-mentioned processing method of the canal curvature processing unit (plant) 1 that has used Fig. 1 describes as the 3rd embodiment of the present invention.The bend processing method of the pushing force append mode of this embodiment except that 2 of following explanation, according to implement with the identical order of the bend processing method of flowing mode as the zero load of second embodiment explanation.
Though in second embodiment (zero load bend processing method) with flowing mode; At chuck 7 after the mobile completion of feeding starting position S; Make from the feed servo motor and be " t1 " (be at chuck 7 under the situation of the state freely of tubular handle 9 not, be used for making feeding positioner 8 and chuck 7 move necessary minimal output torque) to the direction of bending die 2 through making ball-screw 5 actions to the moment of torsion of ball-screw 5 output; But; In this embodiment, when carrying out bending machining, will add that to pipe 9 additional suitable " t2 " of pushing force the moment of torsion of " t1 " exports with desire.In view of the above, can be with respect to pipe 9, the additional pushing force of one side based on moment of torsion t2, one side is carried out bending machining.
In addition, after crooked servo motor stops,, when decaying to " 0 ", in this embodiment, carry out the method that moment of torsion output stage property ground is reduced at the output torque that utilizes torque limited function restriction feed servo motor.This point is described particularly; If will change to " 0 " from " t1+t2 " from the moment of torsion of feed servo motor output suddenly, the impact (bump) that then when ball-screw 5 that moment of torsion acted on and feeding positioner 8 transmission power are released, produces exists owing to this impact itself; Make ball-screw 5, feeding positioner 8 or their constituent part directly incur loss; Or the vibration because of impacting, it is lax that construction bolt is produced, and makes feeding positioner 8 grades produce problems such as fault.
Therefore, in this embodiment, setting will be exported from " t1+t2 " and decayed to " 0 " needed time; For example, should cut apart the needed time 10, promptly; Being divided into for 10 stages, so that output is 90% in the phase I, is that 80% such mode decays gradually in second stage; In the tenth stage is 0%, promptly, make and be output as " 0 ".In such method, reduce through the output stage property ground that makes moment of torsion, the bump in the time of can alleviating power and be released is avoided the problem of above-mentioned that kind rightly.
At last, the bend processing method with the tractive resistance append mode in the above-mentioned processing method of the canal curvature processing unit (plant) 1 that has used Fig. 1 describes as the 4th embodiment of the present invention.The bend processing method of the tractive resistance append mode of this embodiment is implemented according to the order identical with the bend processing method of the pushing force append mode of explaining as the 3rd embodiment except that the point of following explanation.
Though in the 3rd embodiment (bend processing method of pushing force append mode); The feeding of chuck 7 stops the place ahead (direction of bending die 2) that target location K is set at feeding starting position S; Its positional information (from mechanical origin B begin apart from k) obtain through above-mentioned numerical expression 1, still, in this embodiment; Shown in Fig. 5 (1); The feeding of chuck 7 stops the rear (direction opposite with bending die 2) that target location K is set at feeding starting position S, its positional information (from mechanical origin B begin apart from k) use feeding starting position S (from mechanical origin B begin apart from s), constant v, calculate through following formula.
(numerical expression 3)
k＝s+v
In this embodiment; Because the feeding of chuck 7 stops the position that target location K was set at and managed the progress direction in the opposite direction of 9 rearward end 9d; So; Sending bending when just changeing instruction to the servo amplifier of crooked servo motor,, send feeding and retreat instruction (retreating command pulse to the feeding that feeding stops target location K) apart from the proportional number of v with the S from the feeding starting position of chuck 7 with respect to the servo amplifier of feed servo motor from control device.
Instruction is just being changeed in bending and instruction is retreated in feeding as if sending from control device; Then supply with driving electric from the servo amplifier of crooked servo motor; Crooked servo motor rotation is supplied with driving electric from the servo amplifier of feed servo motor, from feed servo motor output torque.So, as shown in Figure 2, bending die 2 is to set direction rotation.If the rotation of bending die 2 progress, then be bent the pipe 9 that mould 2 and anchor clamps 3 seize on both sides by the arms and be pulled to the direction of rotation of bending die 2, the 9b of bending machining portion is reeled along the outer peripheral face of the round shape part 2a of bending die 2, to managing 9 enforcement bending machining.
At this moment; The rear end side part 9c and the rearward end 9d of pipe 9 move to the direction of bending die 2 along with the progress of the rotation of bending die 2 gradually; Controlling the chuck 7 of rearward end 9d and keeping its feeding positioner 8 also to move to the direction of bending die 2 gradually with rearward end 9d, by feed servo motor and ball-screw 5 to the additional resistance of feeding positioner 8 and chuck 7 to the directions traction opposite with bending die 2.
After the anglec of rotation of bending die 2 arrived set angle (setting angle of bend q), the rotation of bending die 2 stopped, and bending machining finishes.If the rotation (crooked servo motor) of bending die 2 stops, then managing 9 rear end side part 9c, rearward end 9d, chuck 7, feeding positioner 8, ball-screw 5 and also stop.At this moment, shown in Fig. 5 (2), chuck 7 is in to compare further with feeding starting position S and stops the position that target location K leaves from feeding.And, accumulate the feeding advancement commands pulse that stops target location K from current location (the first stop position F) to feeding with chuck 7 at the error counter of the servo amplifier of feed servo motor apart from the proportional number of f (α).Therefore because these accumulate pulse (α), still from servo amplifier to feed servo motor supply capability, from feed servo motor output torque.Therefore, in this embodiment, also be after crooked servo motor stops, utilizing the torque limited function, the output torque of restriction feed servo motor, and decay to " 0 ".
Because if the output torque of feed servo motor becomes " 0 "; The thrust that then acts on the ball-screw 5 of chuck 7 and feeding positioner 8 disappears; The deflection that produces at pipe 9, chuck 7, feeding positioner 8 etc. is by opening; So chuck 7 slightly forwards (direction of bending die 2) moves (final stop position G is referring to Fig. 5 (3)).Therefore, in the servo amplifier of feed servo motor, be accumulated to the feeding advancement commands pulse of its amount of movement (from the first stop position F to final stop position G apart from g) proportional number (β) and accumulate pulse (α).
Therefore; In this embodiment; After the output torque that makes the feed servo motor is for " 0 "; Be over from timer counting shelve the stipulated time after; What read in servo amplifier accumulates pulse (alpha+beta), send by the feeding advancement commands that constitutes with the pulse of number with it (with the feeding advancement commands pulse of the proportional number of distance (f+g) (alpha+beta) that stops target location K from final stop position G to feeding of chuck 7) from control device, and to the servo amplifier input of feed servo motor.
Because it is opposite in the direction of feed of chuck 7 with the feeding advancement commands pulse that is transfused to that command pulse is retreated in the feeding that accumulates in the error counter of servo amplifier, so the feeding that accumulates in error counter is retreated command pulse and deducted the pulse of feeding advancement commands.And because their umber of pulse is consistent, so the feeding of accumulating is retreated command pulse and all deducted (offseting), accumulating pulse becomes " 0 ".Its result does, supplies with to the electric power of feed servo motor from servo amplifier to stop, and the feed servo motor becomes halted state.And, after the feed servo motor stops, removing torque limited; Anchor clamps 3 and chuck 7 are open; To manage 9 and pull down from canal curvature processing unit (plant) 1, perhaps only that anchor clamps 3 are open, make pipe 9 move (carrying out location) to next time feeding starting position for bending machining next time.
In addition; Same with the 3rd embodiment in this embodiment, also be to carry out after crooked servo motor stops, utilizing the torque limited function; When limiting the output torque of feed servo motor and decaying to " 0 ", make moment of torsion output stage property ground reduce such method.In view of the above, the bump in the time of can alleviating power and be released is avoided the damage of constituent part rightly, is the problems such as generation of the fault of cause with the lax of construction bolt.
In addition; Though in this embodiment, because the mechanical origin B of chuck 7 is set at the place ahead (direction of bending die 2) that feeding stops target location K, so; The feeding of chuck 7 stops the information (apart from k) of target location K and obtains through above-mentioned numerical expression 3; But, being set at the mechanical origin B of chuck 7 under the situation at rear (direction opposite) of feeding starting position S with bending die 2, the feeding of chuck 7 stops the information (apart from k) of target location K and can obtain through following formula.
(numerical expression 4)
k＝s-v
Symbol description
1: the canal curvature processing unit (plant); 2: bending die; 2a: circle shape part; 2b: straight shape part; 3: anchor clamps; 4: pressing mold; 5: ball-screw; 5a: axle; 5b: slide block; 7: chuck; 8: the feeding positioner; 9: pipe; 9a: front part; 9b: bending machining portion; 9c: rear end side part; 9d: rearward end; 51: the canal curvature processing unit (plant); 52: bending die; 53: anchor clamps; 54: pressing mold; 55: the pushing force additional member; 56: the tractive resistance additional member; 57: chuck; B: mechanical origin; F: first stop position; G: final stop position; J: stop position; K: stop the target location; S: feeding starting position; Q: set angle of bend; R: bending radius; W: elongation; Y: amount of movement.
Claims (9)
1. canal curvature processing unit (plant), it is characterized in that having: the pipe that will become processing object is wound on outer peripheral face, carry out bending machining bending die,
The chuck that is configured with the mode of the rearward end of controlling aforementioned tube,
Keep above-mentioned chuck, the feeding positioner that can be configured movably to the rear end side axis direction partly of the pipe of controlling by above-mentioned chuck,
The feed servo motor,
To above-mentioned bending die supply with rotary driving force crooked servo motor,
Be connected with above-mentioned feeding positioner; Can converting the thrust to the axis direction of axle of slide block into through output torque with above-mentioned feed servo motor, the ball-screw that the mode that above-mentioned feeding positioner and above-mentioned chuck are moved to prescribed direction constitutes,
The control device that the output torque of above-mentioned feed servo motor is controlled.
2. zero load canal curvature processing method with flowing mode, the canal curvature processing method that is to use the described canal curvature processing unit (plant) of claim 1 to carry out is characterized in that,
Be at above-mentioned chuck under the situation of state freely; To be used to make above-mentioned feeding positioner and chuck to move necessary minimal moment of torsion to the direction of above-mentioned bending die from above-mentioned feed servo motor exports to above-mentioned ball-screw, carries out bending machining.
3. zero load canal curvature processing method with flowing mode as claimed in claim 2 is characterized in that, after the rotation of above-mentioned bending die stops; Utilize the torque limited function, the output torque of above-mentioned feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of above-mentioned feed servo motor; Send the feeding that constitutes by the pulse of counting together with it from control device and retreat instruction, eliminate and accumulate pulse.
4. the canal curvature processing method of a pushing force append mode, the canal curvature processing method that is to use the described canal curvature processing unit (plant) of claim 1 to carry out is characterized in that,
Be at above-mentioned chuck under the situation of state freely; Move in the direction that is used to make above-mentioned feeding positioner and chuck to above-mentioned bending die and to add on the necessary minimal moment of torsion that desire is to the additional suitable moment of torsion of pushing force of pipe with in bending machining the time; Through from above-mentioned feed servo motor to above-mentioned ball-screw output torque, carry out bending machining.
5. the canal curvature processing method of pushing force append mode as claimed in claim 4 is characterized in that, after the rotation of above-mentioned bending die stops; Utilize the torque limited function, the output torque of above-mentioned feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of above-mentioned feed servo motor; Send the feeding that constitutes by the pulse of counting together with it from control device and retreat instruction, eliminate and accumulate pulse.
6. the canal curvature processing method of pushing force append mode as claimed in claim 5; It is characterized in that, limit, decay at 0 o'clock at output torque to above-mentioned feed servo motor; Its needed time is divided into two more than the stage at least, output torque is reduced interimly gradually.
7. the canal curvature processing method of a tractive resistance append mode, the canal curvature processing method that is to use the described canal curvature processing unit (plant) of claim 1 to carry out is characterized in that,
The feeding of above-mentioned chuck is stopped the rear that the target location is set in the feeding starting position,
Above-mentioned control device is just changeing when instruction sending bending to above-mentioned crooked servo motor, sends feeding with respect to above-mentioned feed servo motor and retreats instruction, carries out bending machining.
8. the canal curvature processing method of tractive resistance append mode as claimed in claim 7 is characterized in that, after the rotation of above-mentioned bending die stops; Utilize the torque limited function, the output torque of above-mentioned feed servo motor is limited, decay to 0; After this, after placing the stipulated time, read in the pulse of accumulating of above-mentioned feed servo motor; Send the feeding advancement commands that constitutes with the pulse of counting by with it from control device, eliminate and accumulate pulse.
9. the canal curvature processing method of tractive resistance append mode as claimed in claim 8; It is characterized in that, limit, decay at 0 o'clock at output torque to above-mentioned feed servo motor; Its needed time is divided into two more than the stage at least, output torque is reduced interimly gradually.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2009/005864 WO2011055408A1 (en) | 2009-11-05 | 2009-11-05 | Pipe bending device with assist function and bending method |
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| Publication Number | Publication Date |
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| CN102596442A true CN102596442A (en) | 2012-07-18 |
| CN102596442B CN102596442B (en) | 2014-12-31 |
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| CN200980162318.7A Active CN102596442B (en) | 2009-11-05 | 2009-11-05 | Pipe bending device with assist function and bending method |
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| Country | Link |
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| JP (1) | JP5044045B2 (en) |
| CN (1) | CN102596442B (en) |
| WO (1) | WO2011055408A1 (en) |
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| CN103624121A (en) * | 2013-12-11 | 2014-03-12 | 中机生产力促进中心 | Elbow pipe device for controlling thickness reduction and elbow pipe manufacturing method |
| CN107570562A (en) * | 2017-09-26 | 2018-01-12 | 张家港市立业机械有限公司 | Full-automatic tube bending machine based on servo-drive |
| CN110202032A (en) * | 2019-06-17 | 2019-09-06 | 衢州后瑞机械设备有限公司 | The manufacturing method of titanium alloy seamless pipe |
| CN110666011A (en) * | 2019-10-25 | 2020-01-10 | 珠海格力智能装备有限公司 | Bending device and U-shaped pipe processing equipment |
| CN111922231A (en) * | 2020-06-19 | 2020-11-13 | 安徽美博智能科技有限公司 | Pipe bending device for air conditioner production |
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| CN103028640B (en) * | 2012-12-18 | 2014-12-17 | 宁波钜智自动化装备有限公司 | Method for carrying out real-time detection on pipe bending machine |
| JP6502913B2 (en) | 2016-11-11 | 2019-04-17 | カルソニックカンセイ株式会社 | Fin built-in tube |
| JP6819541B2 (en) * | 2017-10-25 | 2021-01-27 | トヨタ自動車株式会社 | Winding device and its control method |
| KR102515646B1 (en) * | 2022-09-27 | 2023-03-29 | 엠에스티 유한회사 | Bending adapter for manual tube bending device and manual tube bending device including the bending adapter |
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Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2011055408A1 (en) | 2013-03-21 |
| WO2011055408A1 (en) | 2011-05-12 |
| JP5044045B2 (en) | 2012-10-10 |
| CN102596442B (en) | 2014-12-31 |
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