JPH0513733B2 - - Google Patents

Description

Detailed Description of the Invention [Industrial Application Field] The present invention provides a method for bending a long workpiece, such as a pipe or a rod, in a predetermined direction by moving the bending mechanism around the workpiece. The present invention relates to a bending device that moves to perform bending.

[Conventional technology] Conventionally, when bending a long workpiece at multiple locations, if the bending direction is different at each bending location, the workpiece is rotated according to the bending direction. Alternatively, a bending mechanism is used that swings around the workpiece depending on the bending direction. Which one to use?
It is selected according to the bending shape of the workpiece. An example of a device that swings the bending mechanism is to attach the bending mechanism to the tip of an articulated robot that has three sets of joints that rotate around an axis parallel to the axial direction of the workpiece, and rotate each joint. It has been proposed that the bending mechanism is moved to a predetermined position by
117816).

[Problems to be Solved by the Invention] However, when bending is performed using such an articulated robot having a rotating joint, for example, when moving the bending mechanism to a predetermined position depending on the bending direction of the workpiece, For example, there was a problem in that the arm of the articulated robot and the workpiece interfered, creating a region in which the bending mechanism could not be moved to a predetermined position according to the bending direction.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a bending device that moves a bending mechanism around a workpiece to perform bending in a predetermined direction, and is not subject to restrictions on the bending direction. It is in.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following configuration as a means for solving the problems. That is,
As illustrated in FIG. 1, the workpiece is held between a bending mold having a groove corresponding to the bending shape of the long workpiece and a clamping mold that can revolve around the bending mold, A bending device having a bending mechanism M1 that rotates the clamping die to perform bending, comprising a support base M3 that supports a chuck mechanism M2 capable of gripping the workpiece, the chuck mechanism M
A moving mechanism M4 is provided that moves toward the chuck mechanism M2 on a track provided parallel to the workpiece gripped by the workpiece. An articulated robot M5 having three or more sets of joints that rotates around the robot is mounted,
The bending mechanism M1 is provided at the tip of the articulated robot M5.
is attached, and when twisting the workpiece around its axis, controlling the bending mechanism M1 to clamp the workpiece, and then controlling the chuck mechanism M2 to release the workpiece, Next, the bending apparatus is characterized in that it includes twist control means M6 that controls the articulated robot M5 to rotate each joint and twist the workpiece by a predetermined angle.

[Operation] In the bending apparatus having the above configuration, the chuck mechanism M2 grips the workpiece, and the support base M3 supports the chuck mechanism M2 to fix the workpiece. Then, the moving mechanism M4 moves the articulated robot M5 toward the support base M3 on the orbit parallel to the workpiece, and each joint of the articulated robot M5 rotates to move the bending mechanism M1 around the workpiece. Move to bending mechanism M
1 bends the workpiece in a predetermined bending direction.
Furthermore, in order to bend other parts of the workpiece, the moving mechanism M4 moves the articulated robot M5 toward the chuck mechanism M2 on a track parallel to the workpiece. When twisting the workpiece around its axis, the twist control means M6 first controls the bending mechanism M1 so that the bending mechanism M1 clamps the workpiece, and controls the chuck mechanism M2 to twist the workpiece. to release. Next, the articulated robot M5 is controlled to rotate each joint and twist the workpiece by a predetermined angle. Thereafter, each joint of the articulated robot M5 rotates again to move the bending mechanism M1 around the workpiece, and the bending mechanism M1 bends the workpiece in a predetermined bending direction.

[Example] Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 2 is a front view of a bending device which is an embodiment of the present invention. A chuck mechanism 1 capable of gripping a long pipe P as a workpiece is provided approximately in the center of the bending device. As shown in FIG. 4, this chuck mechanism 1 has two swingable chuck pawls 2 and 4, and drives a cylinder 6 to connect the chuck pawls 2 and 4 via a well-known link mechanism 8. It swings, and both tips of chuck claws 2 and 4 come together,
It is designed to grip the outer periphery of the pipe P.

The chuck mechanism 1 is attached to the tip of a sliding table 18, and this sliding table 18 is connected to a swinging member 20.
The tip of the rod 22a of the vertical cylinder 22 provided on the swinging member 20 is fixed to the sliding base 18. The swinging member 20 is swingably supported on the base 24 by a pin 26, and a rod 28a of a swinging cylinder 28 is locked to one end of the swinging member 20. The chuck mechanism 1 is moved up and down by the vertical cylinder 22 (in the direction of arrow A in FIG. 2), and the swinging cylinder 28 moves the chuck mechanism 1 to the pin 26.
(in the direction of arrow B in Fig. 2). These sliding bases 18 and swinging members 2
0, a vertical cylinder 22, a swing cylinder 28, and the like constitute a support base 29. In addition, support stand 2
9 is not limited to a structure that can be swung up and down as in this embodiment, but may also be a fixed type that simply fixes the chuck mechanism 1 at the center.

Furthermore, tracks 34 and 36 are provided by two rails 30 and 32 laid parallel to the pipe P held by the chuck mechanism 1 and on both sides of the held pipe P, respectively. This rail 3
On rails 0 and 32, movable platforms 38 and 40 are mounted movably on rails 30 and 32, respectively.
The movable platforms 38 and 40 are moved to the tracks 34 and 40, respectively.
The track 3 is rotated by a drive mechanism 42, 44 provided at the end of the track 3
4, 36. These two moving tables 38, 40, both tracks 34,
36, two sets of drive mechanisms 42, 44, etc. constitute two sets of moving mechanisms 48, 49.

Both the movable tables 38 and 40 have a first
A second articulated robot 50, 52 is mounted, and both the first and second articulated robots 50, 5
2 has the same configuration, and both moving tables 38, 40
The chuck mechanism 1 is provided symmetrically on the top with the chuck mechanism 1 at the center. Both first and second articulated robots 5
0 and 52, one of the first articulated robots 50 will be explained in detail. The first example of this example
The articulated robot 50 connects a fixed part 54 fixed on the moving table 38, a first arm 56, a second arm 58, a tip arm 60, and the fixed part 54 and each arm 56, 58, 60. Three sets of joints 6 that rotate around an axis parallel to the axial direction of the pipe P
2, 64, and 66. Note that it is possible to implement the method even if there are three or more sets of joints.

Both the first and second articulated robots 50,
First and second bending mechanisms 70 and 72 are attached to the distal arms 60 and 68 of 52, respectively. Since the first and second bending mechanisms 70 and 72 have the same configuration, the first bending mechanism 70 attached to the first articulated robot 50 will be described in detail. As shown in FIGS. 5 and 6, the first bending mechanism 70 includes a bending die 74 whose axis is coaxial with the axis of the distal end arm 60. In the embodiment, two grooves 76 and 78 corresponding to two types of bending radii are formed around the axial direction. In this embodiment, two grooves 76,
Although 78 is provided, it may be one groove.

Also, the bending die 74 is driven by the cylinder 79.
The pipe P is moved together with the bending mold 74.
A clamping mold 80 is provided to clamp the pipe P, and this clamping mold 80 is inserted into the bending mold 74 while clamping the pipe P.
The clamping die 80 is rotated by a predetermined angle to perform so-called compression bending. A pressure die 82 is provided alongside this clamping die 80 to receive a reaction force during bending. In this way, the first articulated robot 5
Since the first bending mechanism 70 is attached to the bending die 74, even if each joint 62, 64, 66 is rotated, the bending die 74
The axial direction of the pipe P is always perpendicular to the axial direction of the pipe P.

Next, the electrical system of this embodiment will be explained with reference to the block diagram shown in FIG. This device is driven and controlled by a host computer 100, a first control device 102, and a second control device 104 to process the pipe P. In this embodiment, the host computer 1
00 determines whether each of the first and second articulated robots 50 and 52 will interfere with the pipe P based on the bending data of the pipe P input by the operator.

For example, in the case of the first multi-jointed robot 50, depending on the bending direction of the pipe P, the second arm 58 etc. and the pipe P may There may be interference. As shown by the solid line in FIG. 11, the second arm 5
When the bending direction is such that the arm 8 covers the pipe P, the second arm 58 interferes with the pipe P,
The first bending mechanism 7
0 cannot be moved around pipe P. Also,
As shown by the two-dot chain line, when the second arm 58 bends in such a way as to push up the pipe P from below, the second arm 58 interferes with the pipe P, and the second arm 58 bends in a further direction. 1 bending mechanism 70
cannot be moved around pipe P.

In this way, in the first multi-joint robot 50 having three sets of joints 62, 64, 66, each joint 6
Depending on the distance between 2, 64, and 66, interference with the pipe P occurs in the fan-shaped area indicated by diagonal lines in FIG.
The pipe P cannot be bent in a direction corresponding to that area. Further, the same applies to the second multi-jointed robot 52.

This area is stored in advance in the host computer 100, and it is determined whether the bending direction of the pipe P falls within this area. Incidentally, the pipe P is bent sequentially from both outer sides toward the chuck mechanism 1, and in the first bending of the outermost pipe, the bending direction may be set in any convenient direction. The subsequent bending process may be performed in a predetermined direction with respect to the bending direction of the first bending process according to the input bending data. Therefore, in this embodiment, the above-mentioned interference occurs during bending operations after the first bending operation.

If it is determined that this interference will occur, a program is created in accordance with the flowchart described later to twist the pipe P and avoid the interference through interaction between the host computer 100 and the operator. Then, respective programs created according to the operations of both the first and second articulated robots 50 and 52 are transmitted to the first control device 102 and the second control device 104, respectively.

The first control device 102 includes a well-known CPU 106,
A bending mechanism input/output circuit 112, a chuck mechanism input/output circuit 114, and a support base input/output circuit 11, which are configured with a ROM 108 and a RAM 110 as the core of a logic operation circuit, and perform input/output with an external servo motor, etc.
6. A moving mechanism input/output circuit 118, a first articulated robot input/output circuit 120, etc. are interconnected via a common bus 122.

The CPU 106 includes each position sensor 124 to 133.
The signals from the bending mechanism input/output circuit 112, the chuck mechanism input/output circuit 114, and the support base input/output circuit 11
6. Input via the moving mechanism input/output circuit 118 and the first articulated robot input/output circuit 120.

On the other hand, these data and signals and ROM10
8. CPU10 based on data in RAM110
6 is connected to each servo valve 134 via a bending mechanism input/output circuit 112, a chuck mechanism input/output circuit 114, a support base input/output circuit 116, a moving mechanism input/output circuit 118, and a first articulated robot input/output circuit 120.
~139, and outputs drive signals to drive the servo motors 140~143 to control each mechanism. In this way, in this embodiment, the first control device 102
However, the structure is such that the chuck mechanism 1 and the support stand 29 are controlled.

On the other hand, the second control device 104 controls the first control device 1
It has almost the same configuration as 02, and uses the well-known CPU15.
0, ROM 152, and RAM 154 as the core of the logic operation circuit, a bending mechanism input/output circuit 156 that performs input/output with an external servo motor, etc., a moving mechanism input/output circuit 158, and a second articulated robot input/output circuit 160. etc. are connected to each other via a common bus 162.

The CPU 150 has each position sensor 164 to 170.
The signals from the robot are inputted via the bending mechanism input/output circuit 156, the moving mechanism input/output circuit 158, and the second articulated robot input/output circuit 160.

On the other hand, these data and signals and ROM15
2. CPU 15 based on data in RAM 154
0, each servo valve 172 to 174,
It outputs drive signals to drive the servo motors 175 to 178 to control each mechanism.

Next, the process performed in the first control device 102 described above is explained according to the flowchart shown in FIG. 8, and the process carried out in the second control device 104 is explained according to the flowchart shown in FIG. , a case where the pipe P is bent will be explained. First, the first multi-joint robot 50 side by the first control device 102 will be explained, and the first
A subscript a is attached to the step number of the process in the control device 102, and a subscript b is attached to the step number of the process in the second control device 104.
Further, steps that perform the same operation are assigned the same step number, one of which will be explained in detail, and a detailed explanation of the other operation will be omitted.

A pipe P placed in a predetermined place in advance is moved to the first articulated robot 50 and the second articulated robot 5.
2 to move the bending die 7 of the bending mechanism 70 synchronously.
4 and a clamping die 80. After clamping the pipe P, the first multi-joint robot 50 and the second multi-joint robot 52 are moved to transport the pipe P so that approximately the center of the pipe P is at the position of the chuck mechanism 1. Then, the cylinder 6 is driven, the chuck claws 2 and 4 grip approximately the center of the pipe P, and the pipe P is loaded (steps 200a and 200b).

Next, the processing data stored in advance in the RAM 110 is read (202) a. Then, based on the read processing data, the moving mechanism 48 is controlled,
The first articulated robot 50 is sent to the first bending position on the outermost side of the pipe P (step
204a). After sending it to the bending position, each joint 6
2, 64, and 66 are rotated to move the bending mechanism 1 around the pipe P to a position where it will bend in a predetermined direction according to the bending data (step 206a).

For example, when bending is performed with a small bending radius corresponding to the groove 78 of the bending die 74, the groove 78 is moved so as to come into contact with the pipe P. At this time, the 10th
As shown in Figures A and B, the bending direction of the pipe P and the direction of the groove 78 of the bending die 74 are made to match depending on the bending direction of the pipe P. In this embodiment, since the axial direction of the bending die 74 and the axial direction of the pipe P are always orthogonal, the longitudinal direction of the tip arm 60 is perpendicular to the bending direction, and the groove 78 is brought into contact with the pipe P. One joint 66
The position of is determined.

Further, the position of another joint 64 is on a circular arc with the joint 62 as the center and the distance between the joint 62 and the joint 64 as the radius, and with the joint 66 as the center,
It lies on an arc whose radius is the distance between joints 64 and 66. Therefore, if the joint 64 is located at the intersection of these two circular arcs, the position of the bending die 74 is determined. At this time, there may be two intersection points, but in that case, select an intersection where the second arm 58 does not interfere with the pipe P, and the tip of the pipe P after bending does not interfere with the arm 58. do.

In this way, by determining the positions of the joints 62, 64, and 66, the angle between the fixed part 54 and the first arm 56, the angle between the first arm 56 and the second arm 58, and the angle between the second arm 58 and the tip arm are determined. 60 is determined. The first arm 56, second arm 58, and tip arm 60 are rotated to a predetermined angle by each joint 62, 64, and 66 in accordance with each angle thus determined. Thereby, the groove 78 of the bending die 74 is moved so as to come into contact with the pipe P.
In addition, when bending the pipe P with a large bending radius, as shown in FIG. 10C, in the same manner,
The other groove 76 is moved so as to come into contact with the pipe P. In this way, this embodiment has two grooves, the groove 76 for a large bending radius and the groove 78 for a small bending radius, but if there are more types of bending radii, Accordingly, three or more grooves having these bending radii may be stacked and provided in a similar manner.

Next, based on the read data, it is determined whether or not to wait in the same state (step
208a). When it is determined that it is not possible to wait, the bending mechanism 70 is driven to bend the pipe P (step 210a). In the bending process, the clamping die 80 is moved, the pipe P is held between the bending die 74 and the clamping die 80, the pressure die 82 is brought into contact with the pipe P, and then the clamping die 80 is moved around the bending die 74. Rotate at a predetermined angle (in the direction of arrow C in Figure 5),
Bending the pipe P.

After the pipe P is bent at a predetermined angle by rotating the clamping die 80 at a predetermined angle, it is determined whether or not it is a twisting motion (step 212a). Whether or not this twisting motion is determined based on preset data,
If it is determined that it is not a twisting motion, the tightening mold 8
0 and the pressure mold 82 to release the clamping of the pipe P, and at the same time, the clamping mold 80 is rotated in the opposite direction by a predetermined angle and returned to its original position (224a). Next, it is determined whether the entire bending stroke has been completed (226a). If not, proceed to step 202a described above.
The following process is repeated to sequentially bend the pipe P from the outside toward the chuck mechanism 1.

Meanwhile, the second control device 104 executes the process shown in FIG.
However, similar to the first articulated robot 50 described above,
Steps 202b to 210b, 224b, and 226b are executed to sequentially bend the pipe P toward the chuck mechanism 1 from the opposite outside. When no interference occurs, in this embodiment, the first multi-joint robot 50 and the second multi-joint robot 52 perform separate operations based on processing data, and are not particularly synchronized. do not have.

For example, when the second bending mechanism 72 is moved to a position corresponding to the area shown in FIG. interferes. If this condition occurs during bending, the host computer 100 checks in advance and, through dialogue with the operator, allows the second articulated robot 52 to perform the bending at a position where it will not interfere with the pipe P. Processing data and a program for twisting the pipe P at a predetermined angle are created in advance, and the RAM 110,
It is stored in 154 etc.

If interference occurs in the second articulated robot 52, the first control device 102 determines to perform a twisting motion in the process of step 212a. When it is determined that there is a twisting motion,
It is determined whether or not there is a standby synchronization signal (step 214a).

On the other hand, at this time, the second articulated robot 52 controlled by the second control device 104 executes the processes of steps 202b to 206b. At this time, the host computer 100 creates machining data that has been corrected in advance by the amount of the twist angle in which the pipe P is twisted at a predetermined angle in a position that does not interfere with the pipe P.
The processing data is transmitted to the control device 104, and the second multi-joint robot 52 is driven according to the processing data, and the second bending mechanism 72 is moved to a position corresponding to the bending direction after twisting the pipe P.

After moving the second bending mechanism 72, it is determined whether it is on standby (step 208b), and the second articulated robot 52 is moved.
If interference occurs, it is determined that the device is on standby, and the second control device 104 outputs a standby synchronization signal to the first control device 102 (step 250b). Then, the bending die of the bending mechanism 72 remains in contact with the pipe P without starting the bending process until the chuck mechanism 1 tightening completion synchronization signal is input to the second control device 104 (step 252b). .

In the first articulated robot 50, when the standby synchronization signal is input, the chuck mechanism 1 is temporarily loosened (step 216a). That is, if the operation of the first articulated robot 50 is completed earlier than the operation of the second articulated robot 52, the standby synchronization signal is input to the first articulated robot 50. Wait in that state until Alternatively, if the second multi-joint robot 52 moves faster, the second
The articulated robot 52 is on standby.

Further, the chuck mechanism 1 is loosened by driving the cylinder 6 to release the grip of the pipe P by the chuck claws 2 and 4. Even if the chuck mechanism 1 is loosened, the pipe P is held by the first bending mechanism 70 of the first articulated robot 50 due to the process in step 210a, and the pipe P will not come off from the chuck mechanism 1.

Next, each joint 6 of the first multi-joint robot 50
2, 64, and 66, and twist the pipe P by a predetermined angle so that the second articulated robot 52 does not interfere with the pipe P around its axis (step 218a). ). When the twisting of the pipe P is completed, the cylinder 6 is driven, the chuck claws 2 and 4 grip the pipe P, and the chuck mechanism 1 is tightened (step 220a). When the tightening of the pipe P by the chuck mechanism 1 is completed, a synchronizing signal for the completion of tightening of the chuck mechanism 1 is transmitted to the second control device 10.
4 (step 222a). When the second control device 104 determines that the tightening completion synchronization signal has been input, the second multi-jointed robot 52 bends the pipe P by repeatedly executing the processes from step 210b.

Then, in the same manner as described above, the clamping mold 80 and the pressure mold 82 are moved to release the pipe P from being clamped, and the clamping mold 80 is rotated at a predetermined angle in the opposite direction to return to its original position (224a). . Next, it is determined whether the entire bending process has been completed (226a), and if the bending process has not been completed, the process from step 202a described above is repeated to connect the pipe P to the chuck mechanism 1 from the outside. Bending process is performed sequentially.

As mentioned above, in this embodiment, when the second articulated robot 52 interferes with the pipe P, the first
The pipe P is twisted by the articulated robot 50. Next, a case where the first articulated robot 50 interferes with the pipe P will be described.

As described above, for example, when the first bending mechanism 70 is moved in the bending direction corresponding to the area shown in FIG. 11 to perform the bending process, the first multi-jointed robot 50 and the pipe P interfere . If the bending process occurs in this state, it is checked in advance by the host computer 100, and through dialogue with the operator, the first multi-jointed robot 50 is set so that the bending process can be performed at a position where it will not interfere with the pipe P. Processing data and a program for twisting the pipe P by a predetermined angle are created in advance and stored in the RAM 110, 154, etc.

If interference occurs in the first articulated robot 50, the second control device 104
In the process of 212b, it is determined that a twisting motion is to be performed. Then, the chuck mechanism 1 loosening start synchronization signal is output to the first control device 102 (step
300b), then it is determined whether the loosening completion synchronization signal is input to the second control device 104 (step 300b).
302b), it waits in that state until the loosening completion synchronization signal is input.

On the other hand, in the first articulated robot 50 controlled by the first control device 102, steps 202a to 202a are performed.
Execute the process in 206a. At this time, machining data that has been corrected in advance by the amount of the twist angle in which the pipe P is twisted at a predetermined angle to a position that does not interfere with each other is created by the host computer 100 and transmitted to the first control device 102, and the machining data is Accordingly, the first articulated robot 50 is driven, and the first bending mechanism 70 is moved to a position corresponding to the bending direction after the pipe P is twisted.

After moving the first bending mechanism 70, it is determined whether it is on standby (step 208a), and the first articulated robot 50 is moved.
If interference occurs in
02 is input (step
230a). If the loosening start synchronization signal has been input through the processing in step 300b, the step 300b
Similar to the process at step 216a, the chuck mechanism 1 is loosened to release the pipe P (step 232a). Next, a loosening completion synchronization signal is output to the second control device 104 (step 234a), it is determined whether or not a twisting completion synchronization signal is input from the second control device 104, and the system waits in that state until it is input. (step
236a).

On the other hand, in the second articulated robot 52 controlled by the second control device 104, the step
When the loosening completion synchronization signal resulting from the process of step 234a is input to the second control device 104, it is determined that the loosening completion synchronization signal is present (step 302b). Next, similarly to step 218a, the first articulated robot 5
The second articulated robot 52 is driven to twist the pipe P held by the second bending mechanism 72 at a predetermined angle so that the pipe P does not interfere with the pipe P (step 218b). When the twist of a predetermined angle is completed, a twist completion synchronization signal is output from the second control device 102 to the first control device 104 (step 304b). Then, it is determined whether or not the chuck mechanism 1 tightening completion synchronizing signal is input to the second control device 104 (step 306b), and the process waits in that state until the tightening completion synchronizing signal is input.

Further, in the first control device 102, the step
When it is determined that the twist completion synchronization signal has been input by the process of step 304b (step 236a), the step
Similar to 220a, the chuck mechanism 1 connects the pipe P.
(step 238a). Next, after outputting a chuck mechanism 1 tightening completion synchronizing signal to the second control device 104 (step 240a), the processes from step 210a onwards are executed, and the pipe P is bent by the first bending mechanism 70.

On the other hand, in the second control device 104, the step
Through the process of step 306b, it is determined that there is a tightening completion synchronization signal from the process of step 240a, and the clamping die and pressure die (not shown) of the bending mechanism 72 of the second articulated robot 52 are moved to clamp the pipe P. At the same time, the clamping die is rotated in the opposite direction by a predetermined angle and returned to its original position (224b). Next, it is determined whether or not the entire bending process has been completed (226b), and if the bending process has not been completed, the process from step 202b described above is repeated to connect the pipe P to the chuck mechanism 1 from the outside. Bending process is performed sequentially.

In this way, by repeatedly performing the above-mentioned process,
The first multi-joint robot 50 and the second multi-joint robot 52 sequentially bend the pipe P gripped by the chuck mechanism 1 from both outsides thereof toward the chuck mechanism 1. When all the bending work is completed, the chuck mechanism 1 is loosened to release the pipe P (step 227a), and the first articulated robot 50 is returned to the predetermined original position (step 227a).
228a), this control process is temporarily ended. Also, the second
In the articulated robot 52, the chuck mechanism 1
In synchronization with the loosening, the bent pipe P is held by the bending mechanism 7, each joint is driven, and unloading is performed to move the pipe P to a predetermined location (step 308b). Thereafter, the second multi-jointed robot 52 is returned to the predetermined original position (step 228b), and the control process is temporarily terminated.

As described above, in the bending device of this embodiment, the chuck mechanism 1 grips the pipe P, and both moving mechanisms 48 and 49 move the first articulated robot 50 and the second articulated robot 52 to predetermined positions. do. Then, the first multi-joint robot 50 and the second multi-joint robot 52 are driven, and the first bending mechanism 7
0. Move the second bending mechanism 72 around the pipe P. Next, the first bending mechanism 70 and the second bending mechanism 72
The pipe P is bent by the following steps, and this operation is repeated to sequentially bend the pipe P from the outside.

In addition, when the second articulated robot 52 and the pipe P interfere, the grip of the pipe P by the chuck mechanism 1 is released, the pipe P is held by the first bending mechanism 70, and the first articulated robot 50, each joint 62, 64, 64 is rotated to twist the pipe P by a predetermined angle. In addition, if the first articulated robot 50 and the pipe P interfere, the chuck mechanism 1
The second bending mechanism 7 releases the grip on the pipe P by the second bending mechanism 7.
2 grips the pipe P, rotates each joint of the second multi-joint robot 52, and twists the pipe P by a predetermined angle.

Therefore, the bending apparatus of this embodiment moves the first bending mechanism 70 and the second bending mechanism 72 around the pipe P to bend it in a predetermined direction. In addition, if the first multi-joint robot 50, the second multi-joint robot 52 and the pipe P interfere with each other, the pipe P
Since it is twisted, it can be bent in any direction.

In the above-mentioned embodiment, there are two robots, the first multi-joint robot 50 and the second multi-joint robot 52, but the present invention can also be implemented with just one robot. In the case where there is only the first articulated robot 50, if the first articulated robot 50 and the pipe P interfere, the pipe P may be twisted by the first articulated robot 50.

Furthermore, in this embodiment, the host computer 10
0, a first control device 102, and a second control device 104, but these may be configured by one large-sized control device.

The present invention is not limited to these embodiments in any way, and may be implemented in various forms without departing from the gist of the present invention.

[Effects of the Invention] As detailed above, the bending device of the present invention has the following effects:
The bending mechanism is moved around the workpiece to bend it in a predetermined direction, and if there is interference between the articulated robot and the workpiece, the bending mechanism holds the workpiece and bends each joint. Since it rotates and twists the workpiece, it has the effect of being able to bend the workpiece in any direction.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a bending device as an embodiment of the present invention, FIG. 2 is a front view of the bending device of this embodiment, and FIG. 3 is a top view of the bending device of this embodiment. Figure 4 is a side view of the bending device of this embodiment, Figure 5 is a top view of the bending mechanism of this embodiment, and Figure 6 is a side view of the bending device of this embodiment.
7 is a block diagram showing an example of the control circuit of this embodiment. FIG. 8 is a first multi-joint robot control process performed by the control device of this embodiment. FIG. 9 is a flowchart showing an example of the second articulated robot control process performed by the control device of this embodiment. FIG. 10 is an explanation of the operation of the articulated robot of this embodiment. 11 are explanatory diagrams illustrating the area of interference between the articulated robot and the workpiece. P...pipe, 1...chuck mechanism, 29...
Support stand, 34, 36... Track, 48, 49... Movement mechanism, 50... First articulated robot, 52...
...Second articulated robot, 62, 64, 66...
joint, 70... first bending mechanism, 72... second bending mechanism, 74... bending die, 80... tightening die, 82...
...Pressure type.

Claims (1)

[Scope of Claims] 1. The workpiece is held between a bending mold having a groove corresponding to the bending shape of the long workpiece, and a clamping mold that can revolve around the bending mold, A bending device having a bending mechanism that performs bending by rotating a clamping die, comprising a support base that supports a chuck mechanism capable of gripping the workpiece, the chuck mechanism extending parallel to the workpiece gripped by the chuck mechanism. A moving mechanism that moves toward the chuck mechanism on a provided track is provided, and the moving mechanism includes an articulated robot having three or more sets of joints that rotate around an axis parallel to the axial direction of the workpiece. the bending mechanism is attached to the tip of the articulated robot, and when twisting the workpiece around its axis, the bending mechanism is controlled to clamp the workpiece, and then the chuck mechanism A bending device comprising twist control means for controlling the robot to release the workpiece, and then controlling the articulated robot to rotate each joint and twist the workpiece by a predetermined angle. .