WO2016140221A1 - Unité à mandrin et dispositif de traitement par cintrage - Google Patents

Unité à mandrin et dispositif de traitement par cintrage Download PDF

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Publication number
WO2016140221A1
WO2016140221A1 PCT/JP2016/056259 JP2016056259W WO2016140221A1 WO 2016140221 A1 WO2016140221 A1 WO 2016140221A1 JP 2016056259 W JP2016056259 W JP 2016056259W WO 2016140221 A1 WO2016140221 A1 WO 2016140221A1
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WO
WIPO (PCT)
Prior art keywords
bending
workpiece
gear
chuck unit
chuck
Prior art date
Application number
PCT/JP2016/056259
Other languages
English (en)
Japanese (ja)
Inventor
照明 與語
博之 大矢
Original Assignee
株式会社オプトン
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社オプトン filed Critical 株式会社オプトン
Publication of WO2016140221A1 publication Critical patent/WO2016140221A1/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present disclosure relates to a chuck unit that holds a long workpiece and a bending apparatus including the chuck unit.
  • a bending apparatus including a bending mechanism, a robot, and a chuck unit
  • the bending mechanism includes a bending die and a clamping die that engages with the bending die, and is disposed at a prescribed position.
  • the robot has an articulated arm.
  • the chuck unit is attached to the tip of an articulated arm and grips a workpiece.
  • a bending apparatus In a bending apparatus, it is required to make the shape of a workpiece after bending into a complicated shape. In order to process into a complicated shape, it is necessary to perform bending at a plurality of positions on one workpiece. When performing bending at a plurality of positions using a conventional bending apparatus, it is conceivable to perform bending while changing the position where bending is performed in order from one end of the workpiece.
  • the chuck unit includes an input gear, an output gear, a casing, and a chuck mechanism.
  • the input gear is connected to the tip of an articulated arm that carries the workpiece to the bending mechanism.
  • the bending mechanism referred to here has a bending die and a drawing die that engages with the bending die, and the workpiece is sandwiched between the bending die and the drawing die to bend the workpiece.
  • the output gear is connected to the output shaft after the gear ratio is adjusted so that the rotational speed is higher than the rotational speed of the input gear.
  • the casing is connected to a tip rotation shaft provided at the tip of the articulated arm, and houses the input gear and the output gear.
  • the chuck mechanism is connected to the output shaft so as to be rotatable with respect to the casing, and holds the workpiece.
  • Such a chuck unit is connected to the output shaft so as to be rotatable with respect to the casing.
  • the gear ratio of the output gear to which the output shaft is connected is adjusted so that the number of rotations is higher than the number of rotations of the tip rotation shaft.
  • the rotation angle of the workpiece gripped by the chuck unit can be made larger than the rotation angle of the tip rotation shaft. Therefore, according to the chuck unit, the occurrence of interference between the workpiece and the arm with joint can be reduced.
  • the bending degree of the workpiece can be improved in the bending process.
  • the gear ratio between the input gear and the output gear is adjusted so that the output shaft rotates at least 360 degrees while the tip rotation shaft rotates the maximum rotation angle of the tip rotation shaft. May be.
  • the rotation angle of the workpiece gripped by the chuck unit can be set to at least 360 degrees. Therefore, according to the chuck unit, it is possible to more reliably reduce the occurrence of interference between the workpiece and the articulated arm.
  • the input gear and the output gear are set such that the center-to-center distance from the center of the input gear to the center of the output gear is such that the workpiece gripped by the chuck unit does not interfere with the articulated arm.
  • the center-to-center distance from the center of the input gear to the center of the output gear is such that the workpiece gripped by the chuck unit does not interfere with the articulated arm.
  • it is.
  • one aspect of the present disclosure may be a bending apparatus that bends a long workpiece.
  • the bending apparatus includes a robot, a chuck unit, and a plurality of bending mechanisms.
  • the robot has an articulated arm.
  • the plurality of bending mechanisms include a bending die and a drawing die. The workpiece is sandwiched between the bending die and the drawing die, and the workpiece is bent. Further, each of the bending mechanisms is disposed in a space that can be reached by a workpiece gripped by a chuck unit connected to one end of an articulated arm.
  • the chuck unit is a chuck unit that is connected to one end of an articulated arm and grips a workpiece, and includes an input gear, an output gear, a casing, and a chuck mechanism as described above.
  • the rotation angle of the workpiece gripped by the chuck unit can be made larger than the rotation angle of the tip rotation shaft. Therefore, according to the bending apparatus, the occurrence of interference between the workpiece and the arm with joint can be reduced.
  • the bending degree of the workpiece can be improved in the bending process.
  • a bending apparatus 1 shown in FIGS. 1 and 2 is an apparatus that bends a long workpiece 3 into a specified shape.
  • the workpiece 3 in the present embodiment includes, for example, a pipe (pipe) and a bar.
  • the bending apparatus 1 includes a robot 10, a chuck unit 50, a first bending mechanism 70, a second bending mechanism 80, and a control unit 90.
  • the robot 10 is an industrial robot that is fixed to a machine base 8 having a predetermined installation surface, and has an articulated arm 12.
  • the arm 12 with a joint includes a base part 14, a body part 16, an upper arm part 18, a forearm part 20, a hand attachment part 26, a first joint part 30, a second joint part 32, and a third joint part. 34, a fourth joint portion 36, a fifth joint portion 38, a sixth joint portion 40, and a robot control unit 42.
  • the articulated arm 12 is an arm having a six-axis movable part in an orthogonal coordinate system (x, y, z coordinate system).
  • the base portion 14 is a pedestal that is attached to the machine base 8.
  • the body part 16 is attached to the base part 14 via the first joint part 30.
  • the first joint portion 30 is a mechanism configured to rotate the body portion 16 around the axis of the base portion 14 (z axis). That is, the body portion 16 is configured to be rotatable with respect to the base portion 14.
  • the upper arm 18 has an arm shape. One end of the upper arm portion 18 is attached to the body portion 16 via the second joint portion 32.
  • the second joint portion 32 is a mechanism configured to rotate the upper arm portion 18 by a predetermined angle along an axis orthogonal to the rotation axis of the first joint portion 30. That is, the upper arm portion 18 is configured to be capable of bending with respect to the body portion 16.
  • the forearm 20 is generally arm-shaped and includes a first forearm 22 and a second forearm 24.
  • the first forearm portion 22 is connected to the end portion of the upper arm portion 18 opposite to the end portion where the second joint portion 32 is provided via the third joint portion 34.
  • the third joint portion 34 is a mechanism configured to rotate the first forearm portion 22 by a predetermined angle along an axis parallel to the rotation axis of the second joint portion 32. That is, the first forearm portion 22 is configured to be capable of bending with respect to the upper arm portion 18.
  • the second forearm portion 24 is attached to the end portion of the first forearm portion 22 opposite to the end portion where the third joint portion 34 is provided via the fourth joint portion 36.
  • the fourth joint portion 36 is a mechanism configured to rotate the second forearm portion 24 by a predetermined angle along an axis orthogonal to the rotation axis of the third joint portion 34. That is, the second forearm portion 24 is configured to be capable of turning with respect to the first forearm portion 22.
  • the chuck unit 50 is attached to the hand attachment portion 26.
  • the hand attachment portion 26 is attached to the end portion of the second forearm portion 24 opposite to the end portion on which the fourth joint portion 36 is provided via the fifth joint portion 38.
  • the fifth joint portion 38 is a mechanism configured to rotate the hand attachment portion 26 by a predetermined angle along an axis orthogonal to the rotation axis of the fourth joint portion 36.
  • a sixth joint portion 40 is formed at an end portion (hereinafter referred to as a hand tip portion) 28 opposite to the end portion where the fifth joint portion 38 of the hand attachment portion 26 is provided.
  • the sixth joint portion 40 is a mechanism configured such that the sixth joint portion 40 itself rotates by a predetermined angle along an axis orthogonal to the rotation axis of the fifth joint portion 38.
  • the hand attachment portion 26 is configured so as to be able to bend with respect to the second forearm portion 24 and is configured so that the hand tip portion 28 is capable of turning.
  • each of the 1st joint part 30, the 2nd joint part 32, the 3rd joint part 34, the 4th joint part 36, the 5th joint part 38, and the 6th joint part 40 in this embodiment is a motor and a rotary encoder. And at least. A motor rotates each joint part 30,32,34,36,38,40. The rotary encoder detects the rotation angle of the motor.
  • the robot 10 of this embodiment is a so-called 6-axis vertical articulated robot.
  • the base portion 14 turns with respect to the machine base 8 (body portion 16), and the upper arm portion 18 bends with respect to the base portion 14.
  • the first forearm portion 22 bends with respect to the upper arm portion 18, and the second forearm portion 24 turns with respect to the first forearm portion 22.
  • the hand attachment portion 26 is bent with respect to the second forearm portion 24, and the hand tip portion 28 of the hand attachment portion 26 is rotated.
  • the hand tip 28 is moved with high accuracy to a predetermined position in the three-dimensional space.
  • movement which sends the to-be-processed object 3 is realizable with high precision.
  • the first joint part 30, the fourth joint part 36, and the sixth joint part 40 in this embodiment are examples of rotating joints that perform a turning motion.
  • the second joint portion 32, the third joint portion 34, and the fifth joint portion 38 are examples of bending joints that perform bending operations.
  • the robot control unit 42 has a microcomputer including a ROM, a RAM, and a CPU.
  • the robot control unit 42 controls the joints 30, 32, 34, 36, 38, 40 and the like provided in the robot 10.
  • ⁇ Chuck unit> As shown in FIGS. 3 and 4, the chuck unit 50 is a unit that grips the workpiece 3 and is attached to the hand tip portion 28 of the hand attachment portion 26.
  • the chuck unit 50 includes a gear box 52, a bracket 60, and a chuck mechanism 62.
  • the gear box 52 is a gear box configured such that the output rotational speed is greater than the input rotational speed, and includes an input gear 54, an output gear 56, and a casing 58.
  • the input gear 54 is a gear connected to the hand mounting portion 24.
  • the output gear 56 is a gear connected to the output shaft 55.
  • the input gear 54 and the output gear 56 have a gear ratio such that the rotational speed of the output gear 56 is greater than the rotational speed of the rotational shaft (hereinafter referred to as “tip rotational shaft”) 53 of the sixth joint portion 40. It has been adjusted. Specifically, the gear ratio is adjusted so that the output shaft 55 rotates at least 360 degrees while the tip end rotating shaft 53 rotates to the maximum rotation angle of the tip end rotating shaft 53.
  • the center-to-center distance from the center of the input gear 54 to the center of the output gear 56 is set so that the workpiece 3 held by the chuck unit 50 does not interfere with the articulated arm 12. Has been.
  • the casing 58 is connected to the distal end rotating shaft 53 and houses the input gear 54 and the output gear 56.
  • the chuck mechanism 62 includes a first claw portion 64 and a second claw portion 66, and grips the workpiece 3 by sliding at least one of the first claw portion 64 and the second claw portion 66. It is the mechanism comprised so that it might do.
  • the power for sliding at least one of the first claw portion 64 and the second claw portion 66 may be air pressure, hydraulic pressure, or electric power.
  • the control of sliding of at least one of the first claw part 64 and the second claw part 66 may be executed by the robot control unit 42 or the control unit 90.
  • the bracket 60 is a member that connects the gear box 52 and the chuck mechanism 62.
  • One end of the bracket 60 is connected to the output shaft 55 via a bearing 68 so as to be rotatable with respect to the casing 58.
  • a chuck mechanism 62 is fixed to an end of the bracket 60 opposite to the end connected to the output shaft 55.
  • the chuck mechanism 62 is rotatable with respect to the casing 58 and holds the workpiece 3.
  • the chuck unit 50 conveys the workpiece 3 gripped by the chuck mechanism 62 as the articulated arm 12 moves.
  • the chuck unit 50 uses the center of the gripped workpiece 3 as the center of rotation, and the tip rotation shaft 53 rotates at the rotation angle of the tip rotation shaft 53. Rotate according to. Since the rotation angle of the distal end rotating shaft 53 is “360 degrees” at the maximum, the chuck unit 50 can reduce the interference of the workpiece 3 with the articulated arm 12 and the twisting operation of the workpiece 3. The degree of freedom can be improved.
  • the bending mechanisms 70 and 80 will be described with reference to FIG.
  • the first bending mechanism 70 and the second bending mechanism 80 are provided separately from the robot 10 and the chuck unit 50, respectively.
  • the first bending mechanism 70 and the second bending mechanism 80 have the same configuration except that the installation locations are different. For this reason, the structure of the 1st bending mechanism 70 is demonstrated here, the 2nd bending mechanism 80 is attached
  • the first bending mechanism 70 includes a bending die 72, a fastening die 74, and a power generation mechanism 76.
  • the bending die 72 is a die formed according to the bending radius of the workpiece 3.
  • the bending die 72 is fixed to a bending mechanism machine base 78.
  • the clamping die 74 is a die that engages with the bending die 72.
  • the clamping die 74 is configured to be movable on the bending mechanism base 78 according to the driving force from the power generation mechanism 76.
  • the power generation mechanism 76 generates a driving force that drives the clamping die 74. This driving force is supplied to both the bending mechanism 70 and the bending mechanism 80.
  • the power generation mechanism 76 may include, for example, a hydraulic pump or a pneumatic pump.
  • the power generation mechanism 76 is driven according to a control signal from the robot control unit 42.
  • the first bending mechanism 70 and the second bending mechanism 80 bend the workpiece 3 by sandwiching the workpiece 3 between the bending die 72 and the clamping die 74.
  • the 1st bending mechanism 70 and the 2nd bending mechanism 80 are each arrange
  • the arrangement positions of the first bending mechanism 70 and the second bending mechanism 80 may be appropriately determined based on the bending shape of the workpiece 3.
  • Control unit> As shown in FIGS. 1 and 5, the control unit 90 includes an input device 92, a computer 93 connected to the input device 92, and an input control unit 94.
  • the input device 92 is a device that receives input of information.
  • the computer 93 is a computer that processes information received by the input device 92.
  • the input control unit 94 has a microcomputer including a ROM, a RAM, and a CPU.
  • the input control unit 94 executes data generation processing to be executed by the control unit 90 among the bending processing of bending the workpiece 3 into a desired shape.
  • the data generation process referred to here is a process of generating operation data of the robot 10 that realizes a desired bending shape input via the input device 92 for the workpiece 3.
  • the bending process includes a process executed by the robot control unit 42 in addition to the data generation process. By executing this processing by the robot control unit 42, the chuck unit 50, the robot 10, and the bending mechanisms 70 and 80 are driven to process the workpiece 3 into a desired shape.
  • the bending process is started when a start command is input via a start button connected to the robot control unit 42.
  • the input control unit 94 receives the workpiece 3 input via the computer 93 connected to the input device 92 as shown in FIG.
  • the bending shape is acquired (S110).
  • the bending shape acquired in S110 is the bending shape of the workpiece 3 desired by the user of the bending apparatus 1, that is, the desired bending shape.
  • the input control unit 94 converts the bending shape acquired in S110 from XYZ data represented in the orthogonal coordinate system to PRB data on the computer 93 connected to the input device 92 (S130).
  • the PRB data referred to here is data for performing a bending process on the workpiece 3 so as to have a desired shape.
  • the PRB data is operation data representing a “feed” operation, a “twist” operation of the workpiece 3 by the robot 10, and a “bending” operation that is an operation of the clamping mold 74 of the bending mechanisms 70 and 80.
  • the input control unit 94 converts the PRB data generated in S130 into an operation program for the robot 10 (S140). Further, in the data generation process, the input control unit 94 outputs the operation program generated in S140 to the robot control unit 42 (S150).
  • the robot control unit 42 determines whether an operation program has been received (S210). If the operation program is not received as a result of the determination in S210 (S210: NO), the process waits until the operation program is received.
  • the robot control unit 42 drives the articulated arm 12 according to the operation program (S220). Further, the robot control unit 42 determines whether or not the workpiece 3 held by the chuck mechanism 62 has reached the position specified by the operation program (S230).
  • the robot control unit 42 performs the machining process in S220.
  • the robot controller 42 uses the bending die 72 and the clamping die 74 to The clamping die 74 is driven so as to sandwich the workpiece 3 (S240).
  • the robot control unit 42 outputs a control signal to the power generation mechanism 76.
  • the power generation mechanism 76 that has received this control signal causes either one of the first bending mechanism 70 and the second bending mechanism 80 to move the clamping die 74 according to the bending shape according to the bending angle defined by the operation program. Drive.
  • the robot control unit 42 determines whether or not all the bending processes for one workpiece 3 shown in the operation program have been completed (S250). If the result of determination in S250 is that all bending has not been completed (S250: NO), the robot control unit 42 returns the processing to S220.
  • the articulated arm 12 of the robot 10 is a six-axis vertical articulated robot having both a bending joint and a rotating joint. Therefore, according to the bending apparatus 1, the freedom degree of operation
  • the degree of freedom of movement (conveyance) of the chuck mechanism 62 that grips the workpiece 3 can be improved as compared with the movement of the chuck on the rail in the conventional technique.
  • the variation of the position which performs bending in the one to-be-processed object 3, and the angle of the radial direction which implements bending can be increased.
  • a plurality of bending mechanisms 70 and 80 are arranged.
  • the bending dies 72 and the fastening dies 74 included in the plurality of bending mechanisms 70 and 80 are used as the bending dies 72 and the fastening dies 74 having different bending radii, or the bending directions of the first bending mechanism 70 and the second bending mechanism 80 are different. Or the like, the variation of the bending shape with respect to one workpiece 3 can be increased.
  • the freedom degree of the bending process with respect to the to-be-processed object 3 can be improved compared with the prior art. Furthermore, according to the bending apparatus 1, the robot 10, the chuck mechanism 62, and the bending mechanisms 70 and 80 can be driven in conjunction with each other. Thereby, according to the bending apparatus 1, the bending process with respect to the to-be-processed object 3 is realizable with high precision.
  • this indication is not limited to the above-mentioned embodiment, and can be carried out in various modes in the range which does not deviate from the gist of this indication.
  • the number of axes of the robot 10 is “6 axes”, but the number of axes of the robot in the present disclosure is not limited to “6 axes”.
  • the number of axes of the robot 10 may be “7 axes” or more, or “4 axes” or “5 axes”. That is, the robot of the present disclosure may be any robot as long as it has a plurality of axes.
  • the number of bending mechanisms is two. However, in the present disclosure, the number of bending mechanisms is not limited to two, and may be three or more.
  • the gear box 52 in the above embodiment includes the input gear 54 and the output gear 56, the number of gears included in the gear box 52 is not limited to this, and the input gear 54 and the output gear 56 are included.
  • an intermediate gear may be included.
  • the gear box 52 may be configured in any manner as long as the output rotational speed is higher than the input rotational speed.
  • the power generation mechanism 76 of the above embodiment is driven according to the control signal from the robot control unit 42, in the present disclosure, it is driven according to the control signal from the input control unit 94 of the control unit 90. Also good.
  • the input control part 94 acquired the bending shape of the workpiece 3 via the computer 93 connected to the input device 92, in this indication, the workpiece 3
  • the acquisition source of the bent shape is not limited to the computer 93 connected to the input device 92, and may be, for example, the input device 92 itself.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une unité à mandrin qui permet de retenir une pièce à travailler allongée et qui est pourvue d'une boîte de vitesses comprenant un engrenage d'entrée, un engrenage de sortie et un logement, et d'un mécanisme à mandrin. L'engrenage d'entrée est relié à l'extrémité avant d'un bras articulé et l'engrenage de sortie est relié à un arbre de sortie. Le rapport d'engrenage de l'engrenage de sortie est ajusté de façon telle que la vitesse de rotation de l'engrenage de sortie augmente à une valeur supérieure à la vitesse de rotation de l'engrenage d'entrée. Le logement est relié à une partie rotative d'extrémité avant et loge l'engrenage d'entrée et l'engrenage de sortie. En outre, le mécanisme à mandrin est relié à l'arbre de sortie de manière à permettre une rotation libre par rapport au logement et retient la pièce à travailler.
PCT/JP2016/056259 2015-03-02 2016-03-01 Unité à mandrin et dispositif de traitement par cintrage WO2016140221A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-040512 2015-03-02
JP2015040512A JP2016159332A (ja) 2015-03-02 2015-03-02 チャックユニット、及び曲げ加工装置

Publications (1)

Publication Number Publication Date
WO2016140221A1 true WO2016140221A1 (fr) 2016-09-09

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PCT/JP2016/056259 WO2016140221A1 (fr) 2015-03-02 2016-03-01 Unité à mandrin et dispositif de traitement par cintrage

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JP (1) JP2016159332A (fr)
TW (1) TW201641238A (fr)
WO (1) WO2016140221A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0565440U (ja) * 1992-02-03 1993-08-31 安川商事株式会社 ワイヤベンディング装置
JP2006116604A (ja) * 2004-09-27 2006-05-11 Opton Co Ltd 曲げ加工装置
JP2008036675A (ja) * 2006-08-07 2008-02-21 Opton Co Ltd 曲げ加工装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0565440U (ja) * 1992-02-03 1993-08-31 安川商事株式会社 ワイヤベンディング装置
JP2006116604A (ja) * 2004-09-27 2006-05-11 Opton Co Ltd 曲げ加工装置
JP2008036675A (ja) * 2006-08-07 2008-02-21 Opton Co Ltd 曲げ加工装置

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JP2016159332A (ja) 2016-09-05
TW201641238A (zh) 2016-12-01

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