JP5381075B2 - Sequential molding method and sequential molding apparatus - Google Patents

Sequential molding method and sequential molding apparatus Download PDF

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JP5381075B2
JP5381075B2 JP2008320567A JP2008320567A JP5381075B2 JP 5381075 B2 JP5381075 B2 JP 5381075B2 JP 2008320567 A JP2008320567 A JP 2008320567A JP 2008320567 A JP2008320567 A JP 2008320567A JP 5381075 B2 JP5381075 B2 JP 5381075B2
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pressing portion
plate material
pressing
shape
tool
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JP2009166123A (en
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公 山田
智久 鈴木
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Aisin Corp
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Aisin Seiki Co Ltd
Aisin Corp
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Description

本発明は、金属や樹脂などからなる板材に押圧工具を押し当てながら移動させて所定の立体形状に板材を成形加工する逐次成形方法および逐次成形装置に関する。   The present invention relates to a sequential forming method and a sequential forming apparatus for forming a plate material into a predetermined three-dimensional shape by moving a pressing tool against a plate material made of metal, resin, or the like.

自動車の部品などを大量生産するための塑性加工方法として、金型を使用したプレス加工が広く用いられている。しかしながら、プレス装置及び金型による加工では設備が大型化するとともに金型製作費が高価であるため、消費者ニーズの多様化に対応した多品種少量生産に適する経済性に優れた新たな加工方法が求められている。また、プレス加工では製作できる部品の形状に制約があり、より複雑な形状の部品も製作できる高度な加工方法が必要になってきている。これらの要望に応えて、近年では逐次成形方法が実用化され、生産設備として普及しつつある。逐次成形方法では、特定形状の金型に代わり汎用の押圧工具を用い、金属や樹脂などの板材に押圧工具を押し当てながら移動させることにより、所定の立体形状を成形加工するようになっている。また、複雑な形状を成形加工するために、所望する形状の型工具と、板材を型工具に沿わせるための棒状工具と、が組み合わせて使用される場合もある。さらに、押圧工具の移動には数値制御が用いられており、複雑な形状に対応した移動制御が行われるとともに、異なる形状の部品にも同じ装置構成で対応できるようになっている。例えば、特許文献１には板材を板材の周囲を拘束せずに所望する形状の型工具（支持具）に固定し、ＮＣ加工機に取り付けられた押圧工具を決められた工具軌跡に沿って前記型工具に押し当てることで板材を所望する形状に加工する技術が示されている。この技術によれば、板材の周囲を拘束する場合と異なり板材の周囲を拘束していないため９０°曲げが可能となり、また板厚の減少を低減できる。   As a plastic working method for mass production of automobile parts, press working using a mold is widely used. However, since processing with a press machine and molds increases the size of the equipment and the cost of manufacturing the molds, new processing methods with excellent economic efficiency suitable for high-mix low-volume production in response to diversifying consumer needs Is required. In addition, the shape of parts that can be manufactured by press working is limited, and an advanced processing method capable of manufacturing parts with more complicated shapes is required. In response to these demands, a sequential molding method has been put into practical use in recent years and is becoming popular as a production facility. In the sequential molding method, a general-purpose pressing tool is used instead of a die having a specific shape, and a predetermined three-dimensional shape is molded by moving the pressing tool against a plate material such as metal or resin. . Further, in order to form a complicated shape, a mold tool having a desired shape and a bar-shaped tool for bringing a plate material along the mold tool may be used in combination. Furthermore, numerical control is used for the movement of the pressing tool, and movement control corresponding to a complicated shape is performed, and parts of different shapes can be handled with the same apparatus configuration. For example, in Patent Document 1, the plate material is fixed to a mold tool (support) having a desired shape without constraining the periphery of the plate material, and the pressing tool attached to the NC processing machine is set along the predetermined tool trajectory. A technique for processing a plate material into a desired shape by pressing against a mold tool is shown. According to this technique, unlike the case where the periphery of the plate material is constrained, the periphery of the plate material is not constrained, so that 90 ° bending can be performed, and reduction in the plate thickness can be reduced.

また、特許文献２には、逐次成形加工の際に加工部に発生する反り（突起）を防止するために、突起押え部材で押圧する工具が示されている。
特開２００１−３３４３１４号公報（第２頁） 特開２００４−２９１０６６号公報（要約） Patent Document 2 discloses a tool that is pressed by a protrusion pressing member in order to prevent warpage (protrusion) that occurs in a processed portion during sequential molding.
JP 2001-334314 A (2nd page) Japanese Patent Application Laid-Open No. 2004-2910666 (Summary)

特許文献１に示すように板材の周囲を拘束せずに逐次成形を行うと９０°曲げや板厚の低減が可能となるが、板材に押圧工具を押し当てることにより板材に反りが生じると、型工具の形状に加工することが難しくなる。   As shown in Patent Document 1, 90 ° bending and reduction in plate thickness are possible by performing sequential molding without constraining the periphery of the plate material, but when the plate material is warped by pressing a pressing tool against the plate material, It becomes difficult to process the shape of the mold tool.

また、特許文献２に示すように突起押え部材で押圧する工具を用いれば反りを抑えることは可能となるが、板材を加工する押圧部位と突起押え部材で押圧して板材の反りを抑える部位との距離が一定となっているので、加工する形状によっては板材の反りが生ずる部位を押圧することができず所望する形状に加工するのが難しい場合も有り得る。さらに、突起押え部材は板材の表面と平面で接触しながら進行するため板材の表面に傷を付けやすくなってしまう。   Further, as shown in Patent Document 2, it is possible to suppress warping by using a tool pressed by a protrusion pressing member, but a pressing portion that processes a plate material and a portion that suppresses warpage of the plate material by pressing with a protrusion pressing member. Therefore, depending on the shape to be processed, it may be difficult to press the portion where the warpage of the plate material occurs and it is difficult to process it into a desired shape. Furthermore, since the protrusion pressing member advances while contacting the surface of the plate material in a plane, the surface of the plate material is likely to be damaged.

そこで、本発明は上記問題点に鑑みてなされたものであり、板材の反りを抑えて所望する形状に容易に加工することができること、また板材の表面に傷を付けにくい逐次成形方法およびその装置を提供することを目的とする。   Accordingly, the present invention has been made in view of the above-described problems, and can be easily processed into a desired shape while suppressing warpage of the plate material, and a sequential forming method and apparatus that hardly damage the surface of the plate material. The purpose is to provide.

上記課題を解決するため、本発明の第１の課題解決手段は、押圧工具を用いて板材を型工具に押圧することで前記板材を前記型工具の形状に合わせて形成する逐次成形方法であって、第１押圧部と第２押圧部を備えた前記押圧工具により前記板材が押圧されるとき、前記第１押圧部が前記板材を押圧しながら、前記第２押圧部が前記板材を押圧して成形を行い、前記第１押圧部と前記第２押圧部が前記板材を押圧するとき、前記第１押圧部と前記第２押圧部との距離は前記板材の形状に基づいて可変する。 In order to solve the above problems, the first problem solving means of the present invention is a sequential forming method in which the plate material is formed in accordance with the shape of the mold tool by pressing the plate material against the mold tool using a pressing tool. When the plate material is pressed by the pressing tool including the first pressing portion and the second pressing portion, the second pressing portion presses the plate material while the first pressing portion presses the plate material. molding have rows Te, when the second pressing portion and the first pressing portion presses the plate, the distance between the second pressing portion and the first pressing portion is varied based on the shape of the plate.

また、第２の課題解決手段は、前記第２押圧部が前記第１押圧部に対し直線的に移動する。 In the second problem solving means, the second pressing portion moves linearly with respect to the first pressing portion.

また、第３の課題解決手段は、前記第２押圧部に前記板材の形状を検知する形状検知手段が配設されている。 In the third problem solving means, a shape detecting means for detecting the shape of the plate member is disposed in the second pressing portion.

また、第４の課題解決手段は、前記板材の形状を検知して前記第２押圧部を駆動させる。 Moreover, a 4th problem-solving means detects the shape of the said board | plate material, and drives the said 2nd press part.

また、第５の課題解決手段は、前記第２押圧部はローラを備え、該ローラにて前記板材を押圧する。 In the fifth problem solving means, the second pressing portion includes a roller, and presses the plate member with the roller.

また、第６の課題解決手段は、前記第１押圧部は回転可能に前記押圧工具に設けられる。 Moreover, the 6th problem-solving means is provided in the said press tool so that the said 1st press part can rotate.

また、第７の課題解決手段は、前記第２押圧部は駆動手段により前記板材を押圧する方向に移動可能である。 In the seventh problem solving means, the second pressing portion is movable in a direction in which the plate member is pressed by the driving means.

第１の課題解決手段では、第１押圧部と第２押圧部により板材を押圧するため、あたかも面で板材を押圧（面受け）するような効果が得られ、板材の局部的な変形を抑止することができる。特に高い強度を持つハイテン材を用いた板材の成形においては、板材のスプリングバックを抑え、板材の波打ちを防止できる。また、板材の支持（拘束）位置を従来より長くすることができるため、板材を成形する際の段取りが容易になる。
また、第１押圧部と第２押圧部を備えた押圧工具が板材を押圧するとき、前記第１押圧部と前記第２押圧部との距離は板材の形状に基づいて可変し、第１押圧部が前記板材を押圧しながら、第２押圧部が板材を押圧して成形を行うため、板材を型工具の形状に合わせ易くなり、所望する形状に容易に加工することができる。 In the first problem solving means, since the plate material is pressed by the first pressing portion and the second pressing portion, an effect is obtained as if the plate material is pressed (faced) by the surface, and local deformation of the plate material is suppressed. can do. In the molding of a plate material using a high strength material having a particularly high strength, it is possible to suppress the spring back of the plate material and prevent the plate material from wavy. In addition, since the support (restraint) position of the plate material can be made longer than before, the setup when forming the plate material becomes easy.
When the pressing tool including the first pressing portion and the second pressing portion presses the plate material, the distance between the first pressing portion and the second pressing portion varies based on the shape of the plate material. Since the second pressing portion presses the plate material while the portion presses the plate material, the plate material is easily matched with the shape of the mold tool, and can be easily processed into a desired shape.

また、第２の課題解決手段では、第２押圧部の前記第１押圧部に対する移動が直線的であれば、簡単な構造で第１押圧部に対し第２押圧部の位置を可変させることができる。 Further, in the second problem solving means, if the movement of the second pressing portion relative to the first pressing portion is linear, the position of the second pressing portion can be varied with respect to the first pressing portion with a simple structure. it can.

また、第３の課題解決手段では、第２押圧部に板材の形状を検知する形状検知手段を配設することで、簡単な構造で正確に、第２押圧部が前記板材を押圧する位置の前記板材の形状を検知することができる。 In the third problem solving means, the shape detecting means for detecting the shape of the plate material is arranged in the second pressing portion, so that the position of the second pressing portion pressing the plate material can be accurately determined with a simple structure. The shape of the plate material can be detected.

また、第４の課題解決手段では、前記板材の形状を検知して第２押圧部を移動させると、前記板材を型工具の形状に合わせ易くなり、より容易に所望する形状に成形することができる。 Further, in the fourth problem solving means, when the shape of the plate material is detected and the second pressing portion is moved, the plate material can be easily matched with the shape of the mold tool, and can be easily formed into a desired shape. it can.

また、第５の課題解決手段では、第２押圧部にローラを備えると、板材の表面はローラが転がりながら押圧するので、板材の表面に傷を付けることが少なくなる。 Further, in the fifth problem solving means, when the second pressing portion is provided with a roller, the surface of the plate material is pressed while the roller rolls, so that the surface of the plate material is hardly damaged.

また、第６の課題解決手段では、第１押圧部は回転可能に押圧工具に設けられるため、第１押圧部と第２押圧部を一緒に回転して成形と回転方向を同期化することで、第２押圧部と成形部位の干渉を防ぐことができる。 In the sixth problem solving means, since the first pressing portion is rotatably provided on the pressing tool, the first pressing portion and the second pressing portion are rotated together to synchronize the molding and the rotation direction. The interference between the second pressing portion and the molding part can be prevented.

また、第７の課題解決手段では、第２押圧部を駆動手段により板材を押圧する方向（軸方向）に移動可能とすることで、板材の複雑な形状の成形に対応することができる。 Further, in the seventh problem solving means, the second pressing portion can be moved in the direction (axial direction) in which the plate material is pressed by the driving means, so that it is possible to cope with molding of a complicated shape of the plate material.

本発明を実施するための最良の形態を以下に説明する。図１は、本発明の実施形態の逐次成形装置の模式図である。本実施形態の逐次成形装置１は、型工具２、押圧工具３、多関節ロボット４、図略の制御部、で構成され、押圧工具３は多関節ロボット４のアーム部４１の先端に取り付けられている。   The best mode for carrying out the present invention will be described below. FIG. 1 is a schematic view of a sequential molding apparatus according to an embodiment of the present invention. The sequential forming apparatus 1 of the present embodiment includes a mold tool 2, a pressing tool 3, an articulated robot 4, and a control unit (not shown). The pressing tool 3 is attached to the tip of an arm portion 41 of the articulated robot 4. ing.

逐次成形装置１は、板材Ｍを型工具２の表面形状に沿わせて成形する装置であり、型工具２の表面形状を取り替えることにより様々な形状の部品を成形できるようになっている。また、多関節ロボット４を使用することで押圧工具３に複雑な動きをさせることができ、これによりいろいろな形状を容易に形成することができる。なお、本実施形態では多関節ロボット４を使用しているが、形状によっては押圧工具３の動きを数値制御できる機械であればＮＣ加工機等の使用も可能である。ここで、板材Ｍには塑性変形する金属や樹脂などを用いることができ、特に制約はない。   The sequential forming apparatus 1 is an apparatus for forming the plate material M along the surface shape of the mold tool 2, and can form parts having various shapes by changing the surface shape of the mold tool 2. Further, by using the articulated robot 4, the pressing tool 3 can be made to move in a complicated manner, whereby various shapes can be easily formed. Although the articulated robot 4 is used in the present embodiment, an NC machine or the like can be used as long as the machine can numerically control the movement of the pressing tool 3 depending on the shape. Here, the plate material M can be made of a plastically deformed metal or resin, and is not particularly limited.

型工具２は、製作する部品に合わせて前もって製作した所望する形状の型を用いることができ、板材Ｍを例えばボルト等の締結部材により、型工具上に拘束するようになっている。   As the mold tool 2, a mold having a desired shape manufactured in advance according to a part to be manufactured can be used, and the plate material M is constrained on the mold tool by a fastening member such as a bolt.

本実施形態では型工具の中央部で板材Ｍを締結部材により拘束しているが、型工具の中央部以外または型工具２に板材Ｍを拘束せずに板材Ｍの外周部を拘束することも有り得る。   In the present embodiment, the plate material M is restrained by the fastening member at the center portion of the mold tool, but the outer peripheral portion of the plate material M may be restrained other than the center portion of the mold tool or without restraining the plate material M to the mold tool 2. It is possible.

図２は図１に示す本実施形態の押圧工具３の正面図であり、図３は本実施形態の押圧工具３の下視図、図４は本実施形態の押圧工具３を図２の右側面から見た右側面図を示す。図２〜図４に示すように押圧工具３は第１取付け面３１１と反対の先端が半球棒状をした第１押圧部３２と、ローラ３３１を有し第１押圧部３２に対し直線的に移動する第２押圧部３３と、第２押圧部３３を移動させる駆動用送りねじ３５と、駆動用モータ（図示せず）と、を備えている。なお、第１押圧部３２の形状は本実施形態の棒状に限定するものではなく、型工具２の形状に合わせて製作された特定の形状にすることも有り得る。   2 is a front view of the pressing tool 3 of this embodiment shown in FIG. 1, FIG. 3 is a bottom view of the pressing tool 3 of this embodiment, and FIG. 4 shows the pressing tool 3 of this embodiment on the right side of FIG. The right view seen from the surface is shown. As shown in FIGS. 2 to 4, the pressing tool 3 includes a first pressing portion 32 having a hemispherical bar-shaped tip opposite to the first mounting surface 311 and a roller 331 and moves linearly with respect to the first pressing portion 32. A second pressing portion 33, a driving feed screw 35 for moving the second pressing portion 33, and a driving motor (not shown). In addition, the shape of the 1st press part 32 is not limited to the rod shape of this embodiment, It can also be made into the specific shape manufactured according to the shape of the type | mold tool 2. FIG.

押圧工具３の基部３１は、第１押圧部３２を取り付ける第１取付け面３１１と第２押圧部３３を直線的に移動させるための一対のレール３４を取り付ける第２取付け面３１２と多関節ロボット４のアーム部４１に取り付けられる第３取付け面３１３を有していて、第１取付け面３１１と第２取付け面３１２はそれぞれ第３取付け面３１３に対し同じ方向で第３取付け面３１３と対向し、かつ平行に配設されている。また、第３取付け面３１３と第２取付け面３１２の距離Ｄ２は第３取付け面３１３と第１取付け面３１１の距離Ｄ１より小さく設けられている。第２取付け面３１２には図３に示すように第１取付け面３１１と反対に位置する端部に駆動用モータを取り付けるための凹部３１ｃが設けられている。さらに、第２取付け面３１２には一対のレール３４が所定の距離を開けて基部３１の長手方向（図３中の左右方向）に沿って対向して設けられている。レール３４は図４に示すように断面が台形状で上底が基部３１の第２取付け面３１２に接してボルト等の締結部材により固定されている。   The base 31 of the pressing tool 3 includes a first mounting surface 311 for mounting the first pressing portion 32, a second mounting surface 312 for mounting a pair of rails 34 for linearly moving the second pressing portion 33, and the articulated robot 4. The first mounting surface 311 and the second mounting surface 312 are opposed to the third mounting surface 313 in the same direction with respect to the third mounting surface 313, respectively. And they are arranged in parallel. The distance D2 between the third mounting surface 313 and the second mounting surface 312 is smaller than the distance D1 between the third mounting surface 313 and the first mounting surface 311. As shown in FIG. 3, the second mounting surface 312 is provided with a recess 31 c for mounting a driving motor at an end portion opposite to the first mounting surface 311. Further, a pair of rails 34 are provided on the second mounting surface 312 so as to face each other along the longitudinal direction of the base 31 (left and right direction in FIG. 3) with a predetermined distance. As shown in FIG. 4, the rail 34 has a trapezoidal cross section, and an upper bottom is in contact with the second mounting surface 312 of the base 31 and is fixed by a fastening member such as a bolt.

第２押圧部３３の移動板３３４はレール３４の断面と略同じ大きさの台形状の貫通穴が台形の上底が移動板３３４の上面と一致し、一対のレール３４と嵌合する位置に２箇所設けられている。レール３４と移動板３３４が略同じ台形形状で、台形の上底を上にして嵌合させることで移動板３３４は、レール３４から脱落せずに直線的に滑動することができる。また、移動板３３４には移動板３３４を駆動させる送りねじ３５が取り付けられている。駆動モータ(図示せず)が送りねじ３５を回転させ、この送りねじ３５の回転により移動板３３４は駆動させられてレールに沿って直線的に移動する。これにより、第１押圧部３２に対する第２押圧部３３の位置は自在に変化させることができので、どのような形状に対しても第２押圧部３３が第１押圧部３２から最適の距離で板材Ｍを押圧して板材Ｍの反りを抑制することができ、容易に型工具２の形状にすることが可能となる。   The moving plate 334 of the second pressing portion 33 has a trapezoidal through-hole having substantially the same size as the cross section of the rail 34, and the upper base of the trapezoid coincides with the upper surface of the moving plate 334 so that the pair of rails 34 are fitted. Two places are provided. The rail 34 and the moving plate 334 have substantially the same trapezoidal shape, and the moving plate 334 can be linearly slid without falling off the rail 34 by fitting with the upper base of the trapezoid facing up. A feed screw 35 for driving the moving plate 334 is attached to the moving plate 334. A drive motor (not shown) rotates the feed screw 35, and the moving plate 334 is driven by the rotation of the feed screw 35 and moves linearly along the rail. Thereby, since the position of the 2nd press part 33 with respect to the 1st press part 32 can be changed freely, the 2nd press part 33 is the optimal distance from the 1st press part 32 with respect to what shape. The board | plate material M can be pressed and the curvature of the board | plate material M can be suppressed, and it becomes possible to make it the shape of the type | mold tool 2 easily.

また、移動板３３４の下面には一対の固定板３３２が所定の間隔を開けて固定され、一対の固定板３３２の間にローラ３３１が軸ピン３３３により回転自在に固定されている。ローラ３３１の外周面３３１ａは移動板３３４と反対に位置する固定板３３２の端部３３２ａより外に位置し、このローラ３３１の外周面３３１ａが板材Ｍを押圧しながら板材Ｍの表面を移動する。このように、ローラ３３１は板材Ｍの表面を回転しながら移動するため板材Ｍの表面に傷が付くのを抑制することができる。   A pair of fixed plates 332 are fixed to the lower surface of the moving plate 334 at a predetermined interval, and a roller 331 is rotatably fixed between the pair of fixed plates 332 by a shaft pin 333. The outer peripheral surface 331 a of the roller 331 is positioned outside the end 332 a of the fixed plate 332 positioned opposite to the moving plate 334, and the outer peripheral surface 331 a of the roller 331 moves on the surface of the plate material M while pressing the plate material M. Thus, since the roller 331 moves while rotating on the surface of the plate material M, the surface of the plate material M can be prevented from being damaged.

さらに、移動板３３４の下面には固定板３３２に当接して設けられている形状検知部３３５が配設され、形状検知部３３５には形状検知部３３５の下面３３５ａと同一平面状に形状検知手段３３５ａが配設されている。形状検知部３３５の下面３３５ａはローラ３３１の外周面３３１ａより移動板３３４側にあり、ローラ３３１の外周面３３１ａが板材Ｍを押圧するのを妨げないようになっている。   Furthermore, a shape detection unit 335 provided in contact with the fixed plate 332 is disposed on the lower surface of the moving plate 334, and the shape detection unit 335 has a shape detection unit that is flush with the lower surface 335a of the shape detection unit 335. 335a is provided. The lower surface 335 a of the shape detection unit 335 is located closer to the moving plate 334 than the outer peripheral surface 331 a of the roller 331, and does not prevent the outer peripheral surface 331 a of the roller 331 from pressing the plate material M.

次に本実施形態の逐次成形装置を使った成形方法について説明する。   Next, the shaping | molding method using the sequential shaping | molding apparatus of this embodiment is demonstrated.

多関節ロボット４のアーム部４１の先端に取り付けた押圧工具３の第１押圧部３２が型工具２の形状に沿って押圧して成形加工する軌跡を多関節ロボット４にプログラムする。プログラム入力後、ボルト等により板材Ｍを型工具２に拘束した後前記プログラムを実行させることで多関節ロボット４が板材Ｍを前記プログラムによる軌跡に従って押圧して成形加工する。この成形加工に際し、押圧工具３の第２押圧部３３に設けた形状検知手段３３５ａが板材Ｍの形状を検知し、この検知結果に基づいて第２押圧部３３を送りねじ３５により駆動させて第1押圧部３２に対する第２押圧部３３の距離を変えて板材Ｍを押圧することで板材Ｍの反りを抑制する。形状検知手段３３５ａは、例えば光や超音波等を使った近接センサが使用でき本実施形態では光による近接センサを一列に５個並べて使用している。この５個の近接センサのＯＮまたはＯＦＦの信号に基づいて板材Ｍの形状を判別して第２押圧部３３を駆動させる。   The first joint 32 of the pressing tool 3 attached to the tip of the arm part 41 of the articulated robot 4 presses along the shape of the mold tool 2 to program the locus of molding into the articulated robot 4. After inputting the program, the plate material M is constrained to the mold tool 2 with bolts or the like, and the program is executed, whereby the articulated robot 4 presses the plate material M in accordance with the locus of the program to perform the forming process. At the time of this forming process, the shape detecting means 335a provided in the second pressing portion 33 of the pressing tool 3 detects the shape of the plate material M, and the second pressing portion 33 is driven by the feed screw 35 based on the detection result. The warp of the plate material M is suppressed by pressing the plate material M by changing the distance of the second press portion 33 with respect to the first press portion 32. As the shape detection means 335a, for example, a proximity sensor using light or ultrasonic waves can be used. In this embodiment, five proximity sensors using light are arranged in a line. Based on the ON / OFF signals of the five proximity sensors, the shape of the plate M is discriminated and the second pressing portion 33 is driven.

なお、本実施形態では板材Ｍの形状を形状検知手段３３５ａにより検知しながら押圧工具２を移動させて成形を行っているが、型工具２の形状によっては成形前に最良の位置に押圧工具２を移動させた後は、押圧工具２の位置を移動させずに成形を行うことも有り得る。   In this embodiment, the pressing tool 2 is moved while forming the plate M while detecting the shape of the plate M by the shape detecting means 335a. However, depending on the shape of the mold tool 2, the pressing tool 2 is placed at the best position before forming. After moving, the molding may be performed without moving the position of the pressing tool 2.

以下に板材Ｍの形状の判別と第２押圧部３３の駆動について説明する。   Hereinafter, determination of the shape of the plate member M and driving of the second pressing portion 33 will be described.

図５に示すように第１押圧部３２に近い方からＮｏ．１からＮ０．５の近接センサ３３５ａが配設され、それぞれのＯＮ、ＯＦＦ信号の状況によって以下に示すように第２押圧部３３を駆動させる。   As shown in FIG. Proximity sensors 335a of 1 to N0.5 are arranged, and the second pressing portion 33 is driven as shown below according to the state of each ON and OFF signal.

（Ａ）Ｎｏ．１からＮ０．５がすべてＯＦＦの場合
第２押圧部３３が板材Ｍの端部より外側に位置し板材Ｍを押圧することができないので、
ローラ３３１を板材Ｍの端部に合わせるために第２押圧部３３を第１押圧部３２側へ駆動させる。 (A) No. When 1 to N0.5 are all OFF, since the second pressing portion 33 is located outside the end portion of the plate material M and cannot press the plate material M,
In order to align the roller 331 with the end of the plate member M, the second pressing portion 33 is driven to the first pressing portion 32 side.

（Ｂ）Ｎｏ．１、またはＮｏ．１およびＮｏ．２がＯＮの場合
板材Ｍは近接センサ３３５ａのＮｏ．１の位置からＮｏ．５の位置に向かって次第に離れていて形状変化が大きい。または、第２押圧部３３のローラ３３１の一部が板材Ｍの端部より外側に位置している。このため、第２押圧部３３を第１押圧部３２側へ駆動させる。このように駆動することで、板材Ｍの形状変化が大きいときは第２押圧部３３の板材Ｍを押圧する位置が第１押圧部３２の板材Ｍを押圧する位置に近くなり、形状変化に細かく追従させることができ、また第２押圧部３３のローラ３３１の一部が板材Ｍの端部より外側に位置しているときはローラ３３１を板材Ｍの端部に合わせることができる。 (B) No. 1 or no. 1 and no. When the plate 2 is ON, the plate material M is the No. of the proximity sensor 335a. No. 1 It is gradually away from the position 5 and the shape change is large. Alternatively, a part of the roller 331 of the second pressing portion 33 is located outside the end portion of the plate material M. For this reason, the 2nd press part 33 is driven to the 1st press part 32 side. By driving in this way, when the shape change of the plate material M is large, the position of the second pressing portion 33 that presses the plate material M is close to the position of pressing the plate material M of the first pressing portion 32, and the shape change is fine. Further, when a part of the roller 331 of the second pressing portion 33 is positioned outside the end portion of the plate material M, the roller 331 can be aligned with the end portion of the plate material M.

（Ｃ）Ｎｏ．１からＮｏ．３までがＯＮの場合
板材Ｍの形状変化が（Ｂ）に比べて小さい。または、第２押圧部３３のローラ３３１の中央が板材Ｍの端部に位置している。このため、第２押圧部３３は駆動させない。 (C) No. 1 to No. When 3 is ON, the shape change of the plate material M is small compared to (B). Alternatively, the center of the roller 331 of the second pressing portion 33 is located at the end of the plate material M. For this reason, the 2nd press part 33 is not driven.

（Ｄ）Ｎｏ．３からＮｏ．５までがＯＮの場合
板材Ｍの形状変化が（Ｃ）の場合と同様に板材Ｍの形状変化が（Ｂ）に比べて小さいので第２押圧部３３は駆動させない。 (D) No. 3 to No. When 5 is ON, since the shape change of the plate material M is smaller than that of (B) as in the case of (C), the second pressing portion 33 is not driven.

（Ｅ）Ｎｏ．１からＮｏ．４までがＯＮ、またはすべてがＯＮの場合
第２押圧部３３に対し板材Ｍは略同一の距離にあることから第２押圧部３３と板材Ｍは略平行状態にある。このため、より効率的に成形加工するために第１押圧部３２に対し反対方向に駆動させて、第１押圧部３２に対し第２押圧部３３の距離を遠くする。 (E) No. 1 to No. When 4 is ON or all are ON, since the plate material M is at substantially the same distance with respect to the second pressing portion 33, the second pressing portion 33 and the plate material M are in a substantially parallel state. For this reason, in order to perform the molding process more efficiently, the first pressing portion 32 is driven in the opposite direction, and the distance of the second pressing portion 33 is increased with respect to the first pressing portion 32.

（Ｆ）Ｎｏ．５、またはＮｏ．４およびＮｏ．５がＯＮの場合
板材Ｍは近接センサ３３５ａのＮｏ．１の位置からＮｏ．５の位置に向かって次第に近づいていて（Ｂ）と同様形状変化が大きい。このため、第２押圧部３３を第１押圧部３２側へ駆動させる。これにより形状変化に細かく追従させることができる。 (F) No. 5, or No. 4 and no. When the plate 5 is ON, the plate material M is the No. of the proximity sensor 335a. No. 1 The shape changes gradually toward the position 5 and the shape change is large as in (B). For this reason, the 2nd press part 33 is driven to the 1st press part 32 side. Thereby, it is possible to finely follow the shape change.

以上述べたように形状検知手段３３５ａにより板材Ｍの形状を検知し、この検知結果に基づき第２押圧部３３を駆動させて第１押圧部３２に対する第２押圧部３３の位置を変化させることで第１押圧部３２と第２押圧部３３の板材Ｍを押圧する距離を形状に合わせて最適にすることができ、容易に型工具２の形状を形成することができる。また、前記（Ａ）から（Ｆ）までの場合のうち第２押圧部３３を駆動させない（Ｃ）および（Ｄ）以外は、一端ローラ３３１の外周面３３１ａを板材Ｍから離した後に第２押圧部３３の駆動を行う。これにより板材Ｍへの傷付きを防ぐことができる。   As described above, the shape detecting means 335a detects the shape of the plate material M, and based on the detection result, the second pressing portion 33 is driven to change the position of the second pressing portion 33 relative to the first pressing portion 32. The distance for pressing the plate material M between the first pressing portion 32 and the second pressing portion 33 can be optimized according to the shape, and the shape of the mold tool 2 can be easily formed. Further, in the cases from (A) to (F), the second pressing portion 33 is not driven, except for (C) and (D), after the outer peripheral surface 331a of the one-end roller 331 is separated from the plate material M, the second pressing portion is pressed. The unit 33 is driven. Thereby, the board | plate material M can be prevented from being damaged.

なお、本実施形態では形状検知手段３３５ａに近接センサを５個使用しているが、形状によっては３個の場合もありうる。また、形状検知手段３３５ａは形状を検知できるものであれば近接センサに限定するものではなく、ＣＣＤカメラやレーザーセンサの使用も可能である。   In this embodiment, five proximity sensors are used for the shape detection means 335a, but there may be three depending on the shape. The shape detecting means 335a is not limited to the proximity sensor as long as it can detect the shape, and a CCD camera or a laser sensor can also be used.

以上説明したように、本実施形態の逐次成形装置による成形方法では、押圧工具３の第１押圧部３２で板材Ｍを型工具２に押圧して成形加工しながら、第１押圧部３２の押圧による板材Ｍの反りを押圧工具３の第２押圧部３３にて押圧することで抑制し、効率よく成形加工することができる。この際、第１押圧部３２の押圧による板材Ｍの反りは形状によって第１押圧部３２からの距離が変化するので、第１押圧部３２に対する第２押圧部３３の距離を可変させることで各種形状に対応ができ、所望する形状に容易に成形加工することができる。   As described above, in the molding method using the sequential molding apparatus according to the present embodiment, the first pressing portion 32 is pressed while the plate material M is pressed against the mold tool 2 by the first pressing portion 32 of the pressing tool 3. Is suppressed by pressing the second pressing portion 33 of the pressing tool 3, and can be efficiently processed. At this time, since the distance from the first pressing portion 32 varies depending on the shape of the warp of the plate material M due to the pressing of the first pressing portion 32, various types of warping of the plate member M by varying the distance of the second pressing portion 33 with respect to the first pressing portion 32 can be performed. It can cope with the shape and can be easily molded into a desired shape.

また、第２押圧部３３は一対のレール３４と送りねじ３５の簡単な構造で直線的に移動して、第１押圧部に対し第２押圧部の距離を可変することができる。   Moreover, the 2nd press part 33 can move linearly with the simple structure of a pair of rail 34 and the feed screw 35, and can change the distance of a 2nd press part with respect to a 1st press part.

また、第２押圧部３３には形状を検知する形状検知手段３３５ａが配設されているので、
簡単な構造で正確に板材Ｍの形状を検知し、第１押圧部３２に対する第２押圧部３３の距離を可変することで各種形状に対応ができ、容易に所望する形状に成形加工することができる。 Moreover, since the shape detection means 335a which detects a shape is arrange | positioned in the 2nd press part 33,
By detecting the shape of the plate material M accurately with a simple structure and changing the distance of the second pressing portion 33 with respect to the first pressing portion 32, it is possible to cope with various shapes, and it can be easily formed into a desired shape. it can.

また、第２押圧部３３はローラ３３１で板材Ｍを押圧するので板材Ｍの表面に傷を付けにくい。   In addition, since the second pressing portion 33 presses the plate material M with the roller 331, the surface of the plate material M is hardly damaged.

（他の実施例）
図６は本発明に関する他の実施例の逐次成形装置１０の断面を示す説明図である。図１の逐次成形装置１との違いは、板材Ｍは外周部を拘束されること、多間接ロボット４を備えていないこと、また第１押圧部と第２押圧部との距離が可変しない（固定距離）ことである。逐次成形装置１と共通する機能、部位については共通の符番を付し、主に構成の違い及びその効果について説明する。 (Other examples)
FIG. 6 is an explanatory view showing a cross section of the sequential forming apparatus 10 of another embodiment relating to the present invention. The difference from the sequential molding apparatus 1 in FIG. 1 is that the plate M is constrained on the outer peripheral portion, does not include the multi-indirect robot 4, and the distance between the first pressing portion and the second pressing portion is not variable ( Fixed distance). Functions and parts common to the sequential molding apparatus 1 are denoted by common reference numerals, and differences in configuration and effects thereof will be mainly described.

逐次成形装置１０は、ダイスセット１１と、ダイスセット１１に固定されたダイス１２（型工具）と、板材Ｍの外周部を拘束する板押えプレート１３と、押圧工具１４と、押圧工具１４に回転可能に設けられた第１押圧部１５と、第１押圧部１５と一定の間隔（固定距離）に設けられた第２押圧部１６と、第２押圧部１６の端部に設けられ板材Ｍを押圧するローラ１７と、から構成される。   The sequential forming apparatus 10 rotates to a die set 11, a die 12 (mold tool) fixed to the die set 11, a plate pressing plate 13 that restrains the outer periphery of the plate material M, a pressing tool 14, and the pressing tool 14. The first pressing portion 15 that is provided, the second pressing portion 16 that is provided at a fixed interval (fixed distance) from the first pressing portion 15, and the plate material M that is provided at the end of the second pressing portion 16. And a roller 17 to be pressed.

図７は、図６の板材Ｍの成形の詳細図で、板材Ｍは第１押圧部１５と第２押圧部１６のローラ１７とで押圧され、あたかも面で押圧（面受け）されるかのように板材Ｍの局部的な変形を抑止する。また、板材Ｍの支持（拘束）位置を長くとることができるため、板材を成形する際の段取りが容易である。   FIG. 7 is a detailed view of the molding of the plate material M in FIG. 6. The plate material M is pressed by the first pressing portion 15 and the roller 17 of the second pressing portion 16, and as if pressed by the surface (surface bearing). Thus, local deformation of the plate material M is suppressed. Moreover, since the support (restraint) position of the board | plate material M can be taken long, the setup at the time of shape | molding a board | plate material is easy.

図８は、従来の第２押圧部を備えていない逐次成形装置２０の断面を示す説明図である。第１押圧部１５と板材Ｍを支持する板押えプレート１３との間の距離は長くなる。   FIG. 8 is an explanatory view showing a cross section of a sequential molding apparatus 20 that does not include a conventional second pressing portion. The distance between the 1st press part 15 and the board pressing plate 13 which supports the board | plate material M becomes long.

図９は、図８の板材Ｍの成形の詳細図で、板材Ｍは第１押圧部１５において局部的に変形する。板材Ｍにハイテン材などの硬い材料を使用する場合、板材Ｍの押圧部は元の位置のままでいようとして、材料のスプリングバックを招来し、板材Ｍが波打ってしまう。   FIG. 9 is a detailed view of the molding of the plate material M of FIG. 8, and the plate material M is locally deformed at the first pressing portion 15. When a hard material such as a high tension material is used for the plate material M, the pressing portion of the plate material M tries to remain in its original position, causing a springback of the material, and the plate material M is wavy.

図１０は、図８の板押えプレート１３を第１押圧部１５の根元まで延在して板材Ｍの外周部を拘束した従来の逐次成形装置２０の断面を示す説明図である。この場合、第１押圧部１５と板材Ｍの拘束部との距離が短くなり、板材Ｍの局部的な変形を抑止しスプリングバックを抑えることができるが、板押えプレート１３の段取りに多くの工数が必要になる。   FIG. 10 is an explanatory view showing a cross section of a conventional sequential forming apparatus 20 in which the plate pressing plate 13 of FIG. 8 is extended to the base of the first pressing portion 15 and the outer peripheral portion of the plate material M is constrained. In this case, the distance between the first pressing portion 15 and the restraining portion of the plate material M is shortened, and local deformation of the plate material M can be suppressed and spring back can be suppressed. However, many man-hours are required for setting up the plate presser plate 13. Is required.

図１１は、図６の押圧工具１４の第１押圧部１５と第２押圧部１６の板材Ｍの成形の軌跡を示す説明図である。押圧工具１４に回転可能に設けられた第１押圧部１５は第２押圧部１６と一緒に回転し、成形と回転方向が同期化している。第１押圧部１５と第２押圧部１６が一緒に回転することで、第２押圧部１６と成形部位との干渉を防ぐことができる。   FIG. 11 is an explanatory diagram showing a trajectory of forming the plate material M of the first pressing portion 15 and the second pressing portion 16 of the pressing tool 14 of FIG. The 1st press part 15 provided in the press tool 14 rotatably was rotated with the 2nd press part 16, and the shaping | molding and the rotation direction are synchronized. Since the 1st press part 15 and the 2nd press part 16 rotate together, the interference with the 2nd press part 16 and a shaping | molding site | part can be prevented.

図１２は、第２押圧部１６の変形例で、押圧工具１４の第２押圧部１６は駆動装置１８により板材Ｍを押圧する方向（軸方向）に移動可能である。駆動装置１８はソレノイド又はモータ等を備え、成形時に押圧する方向に５ｍｍ程度移動可能である。第２押圧部１６を移動可能にすることで、板材Ｍの複雑な形状の成形に対応することができる。   FIG. 12 is a modification of the second pressing portion 16, and the second pressing portion 16 of the pressing tool 14 is movable in a direction (axial direction) in which the plate member M is pressed by the driving device 18. The drive device 18 includes a solenoid or a motor, and can move about 5 mm in the pressing direction during molding. By making the 2nd press part 16 movable, it can respond to shaping | molding of the complicated shape of the board | plate material M. FIG.

本発明の実施形態の逐次成形装置の模式図である。It is a schematic diagram of the sequential shaping | molding apparatus of embodiment of this invention. 図１に示す押圧工具の正面図である。It is a front view of the pressing tool shown in FIG. 図１に示す押圧工具の下視図である。It is a bottom view of the pressing tool shown in FIG. 図１に示す押圧工具の図２の右側面図である。It is a right view of FIG. 2 of the press tool shown in FIG. 図３に示す第２押圧工具の要所部分拡大図である。It is a principal part enlarged view of the 2nd press tool shown in FIG. 本発明に関する他の実施例の逐次成形装置の断面を示す説明図である。It is explanatory drawing which shows the cross section of the sequential shaping | molding apparatus of the other Example regarding this invention. 図６の板材の成形の詳細図である。FIG. 7 is a detailed view of molding of the plate material of FIG. 6. 従来の第２押圧部を備えない逐次成形装置の断面を示す説明図である。It is explanatory drawing which shows the cross section of the sequential shaping | molding apparatus which is not provided with the conventional 2nd press part. 図８の板材の成形の詳細図である。FIG. 9 is a detailed view of forming the plate material of FIG. 8. 図８の板押えプレートを第１押圧部の根元まで延在して板材の外周部を拘束した従来の逐次成形装置の断面を示す説明図である。It is explanatory drawing which shows the cross section of the conventional sequential shaping | molding apparatus which extended the board press plate of FIG. 8 to the base of the 1st press part, and restrained the outer peripheral part of the board | plate material. 図６の押圧工具の第１押圧部と第２押圧部の板材の成形の軌跡を示す説明図である。It is explanatory drawing which shows the locus | trajectory of shaping | molding of the board | plate material of the 1st press part of the pressing tool of FIG. 6, and a 2nd press part. 第２押圧部の変形例である。It is a modification of a 2nd press part.

符号の説明Explanation of symbols

１ 逐次成形装置
２ 型工具
３ 押圧工具
１０ 逐次成形装置
１２ ダイス（型工具）
１４ 押圧工具
１５ 第１押圧部
１６ 第２押圧部
１７ ローラ
１８ 駆動装置（駆動手段）
３２ 第１押圧部
３３ 第２押圧部
３３１ ローラ
３３５ 形状検知部
３３５a 近接センサ（形状検知手段）
３４ レール
３５ 送りねじ
Ｍ 板材 DESCRIPTION OF SYMBOLS 1 Sequential forming apparatus 2 Mold tool 3 Press tool 10 Sequential molding apparatus 12 Dice (mold tool)
14 pressing tool 15 first pressing portion 16 second pressing portion 17 roller 18 driving device (driving means)
32 1st press part 33 2nd press part 331 Roller 335 Shape detection part 335a Proximity sensor (shape detection means)
34 Rail 35 Feed screw M Plate material

Claims (7)

押圧工具を用いて板材を型工具に押圧することで前記板材を前記型工具の形状に合わせて形成する逐次成形方法であって、
第１押圧部と第２押圧部を備えた前記押圧工具により前記板材が押圧されるとき、前記第１押圧部が前記板材を押圧しながら、前記第２押圧部が前記板材を押圧して成形を行い、
前記第１押圧部と前記第２押圧部が前記板材を押圧するとき、前記第１押圧部と前記第２押圧部との距離は前記板材の形状に基づいて可変する
ことを特徴とする逐次成形方法。 It is a sequential forming method of forming the plate material according to the shape of the mold tool by pressing the plate material against the mold tool using a pressing tool,
When the plate material is pressed by the pressing tool including the first pressing portion and the second pressing portion, the second pressing portion presses the plate material while the first pressing portion presses the plate material, and is molded. the stomach line,
When the first pressing portion and the second pressing portion press the plate material, the distance between the first pressing portion and the second pressing portion varies based on the shape of the plate material. Method. 前記第２押圧部が前記第１押圧部に対し直線的に移動する
ことを特徴とする請求項１に記載の逐次成形方法。 The sequential molding method according to claim 1, wherein the second pressing portion moves linearly with respect to the first pressing portion . 前記第２押圧部に前記板材の形状を検知する形状検知手段が配設されている
ことを特徴とする請求項２に記載の逐次成形方法。 The sequential forming method according to claim 2, wherein a shape detecting unit that detects the shape of the plate member is disposed in the second pressing portion . 前記板材の形状を検知して前記第２押圧部を駆動させる
ことを特徴とする請求項３に記載の逐次成形方法。 The sequential forming method according to claim 3, wherein the second pressing portion is driven by detecting the shape of the plate material . 前記第２押圧部はローラを備え、該ローラにて前記板材を押圧する
ことを特徴とする請求項１乃至４のいずれか一項に記載の逐次成形方法。 The second pressing portion is provided with a roller, incremental forming method according to any one of claims 1 to 4, characterized in that for pressing the plate member by the roller. 前記第１押圧部は回転可能に前記押圧工具に設けられる
ことを特徴をする請求項１乃至５のいずれか一項に記載の逐次成形方法。 Incremental forming method according to any one of claims 1 to 5 wherein the first pressing portion to the feature that is provided in the pressing tool rotatably. 前記第２押圧部は駆動手段により前記板材を押圧する方向に移動可能である
ことを特徴をする請求項１乃至６のいずれか一項に記載の逐次成形方法。 The sequential forming method according to any one of claims 1 to 6 , wherein the second pressing portion is movable in a direction in which the plate member is pressed by a driving unit .
JP2008320567A 2007-12-20 2008-12-17 Sequential molding method and sequential molding apparatus Expired - Fee Related JP5381075B2 (en)

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