KR20230021857A - Incremental forming apparatus - Google Patents

Abstract

The present invention relates to an incremental forming apparatus, which can incrementally and locally form a metal plate in the thickness direction to form the metal plate at a predetermined shape without a mold. In particular, the present invention may comprise: a pair of first gripping units which grip both ends of the metal plate in the longitudinal direction thereof; a pair of second gripping units which are formed in a direction perpendicular to the pair of first gripping units to grip both ends of the metal plate in the width direction thereof; a shaping unit which, in order to incrementally form the metal plate at a predetermined shape by incrementally pressurizing at least one portion of the metal plate, is installed to be movable in at least one direction of the longitudinal direction and the width direction of the metal plate; and a tensile force generating unit which, in order to apply tensile force to the metal plate when the shaping unit incrementally forms the metal plate, moves at least one gripping unit of the pair of first gripping units and the pair of second gripping units in directions retreating from each other. Therefore, the bending degree of the surface may be compensated.

Description

Incremental forming apparatus {Incremental forming apparatus}

The present invention relates to a gradual forming apparatus, and more particularly, to a gradual forming apparatus capable of forming a metal sheet into a predetermined shape without a mold by gradually locally forming a metal sheet in a thickness direction.

In general, for forming a metal plate, a matching die forming method in which a metal plate is inserted between a pair of male and female molds and then pressed with a mold to form is most widely used. However, in the matching die molding method, it is difficult to manufacture and modify the mold, and the mold must be changed frequently to suit the product, and the precision gradually deteriorates due to wear of the mold during repeated use, and in the case of a large mold, in particular, it takes a lot of time to manufacture the mold. And there was a problem with cost consumption. Accordingly, economical and flexible manufacturing technologies that can replace the metal processing industry using conventional molds are continuously being developed.

For example, a scalable system capable of responding quickly to forming products of various shapes can be mentioned, and a typical forming technology based on such a scalable system includes incremental forming technology.

The progressive forming device is generally composed of a vertical structure of a load-applying part (forming tool) located at the top and a load-bearing part (variable support tool) located at the bottom opposite to the load-applying part based on a gantry structure. The load-applying part and the load-bearing part for the progressive forming of a three-dimensional shape tracing the progressive forming path for the three-dimensional free form based on position control through CNC (Computerized numerical control) and forming the metal plate locally, The final product of the desired shape can be molded.

This gradual forming device can expand the material forming limit in the conventional press process based on the local gradual forming of the metal sheet, and applies the lower load support unit capable of supporting the forming load by tracking the position of the upper load applying unit. It is possible to achieve mold-free multi-species molding process.

However, in such a conventional gradual forming apparatus, the load application part of the molding part traces the forming path to form a three-dimensional freeform shape, and local molding proceeds gradually in the thickness direction of the metal sheet material, so that bending in the out-of-plane direction of the metal sheet material occurs. As this occurs, there is a problem that negatively affects the accuracy of the outermost shape of the molded product.

The present invention is intended to solve various problems including the above problems, and is a progressive forming apparatus capable of compensating for the amount of out-of-plane bending of the outermost portion of a molded product by applying a variable biaxial tensile force in an in-plane direction inside a metal sheet during progressive forming. is intended to provide However, these tasks are illustrative, and the scope of the present invention is not limited thereby.

According to one embodiment of the present invention, a gradual molding apparatus is provided. The gradual forming apparatus includes a pair of first gripping parts gripping both ends of a metal plate in a longitudinal direction; a pair of second gripping parts formed in a direction perpendicular to the pair of first gripping parts to grip both ends of the metal plate in a width direction; A molding unit installed to be movable in at least one of the longitudinal direction and the width direction of the metal plate so as to gradually press at least a portion of the metal plate to gradually form the metal plate into a predetermined shape. ; and a direction in which at least one gripping part of the pair of first gripping parts and the pair of second gripping parts moves away from each other so as to apply a tensile force to the metal sheet material when the molding unit gradually forms the metal sheet material. It may include; a tension generating unit that moves to.

According to an embodiment of the present invention, the pair of first gripping units may include: 1-1 gripping units gripping one end of the metal plate in the longitudinal direction; and a 1-2 gripping part formed to face the 1-1st gripping part with respect to the metal plate and gripping the other end of the metal plate in the longitudinal direction, wherein the pair of second gripping parts are included. The part may include a 2-1 gripping part gripping one end of the metal plate in the width direction; and a 2-2 gripping part formed to face the 2-1 gripping part based on the metal plate and gripping the other end of the metal plate in the width direction.

According to one embodiment of the present invention, the tensile force generating unit, the 1-1 gripping unit, the 1-2 gripping unit, the 2-1 gripping unit and the 2-2 gripping unit in a direction away from each other An elastic member installed on one side of the 1-1 gripping part, the 1-2nd gripping part, the 2-1st gripping part, and the 2-2nd gripping part so that elastic force can be applied. .

According to an embodiment of the present invention, the tensile force generator may slide the 1-1 gripping part and the 1-2 gripping part in a direction away from each other or in a direction approaching each other, so that the 1-1 gripping part and a first driving unit for applying a driving force to the 1-2 gripping units; and applying a driving force to the 2-1 gripping part and the 2-2nd gripping part so that the 2-1 gripping part and the 2-2nd gripping part can slide in a direction away from each other or in a direction approaching each other. A second driving unit; may be included.

According to an embodiment of the present invention, it is possible to control the sliding movement amount between the 1-1 gripping part and the 1-2 gripping part and the sliding movement amount between the 2-1 gripping part and the 2-2nd gripping part. A control unit for applying a control signal to the first driving unit and the second driving unit may be further included.

According to one embodiment of the present invention, the forming unit is formed in a rod shape, and is movable in at least one direction of the longitudinal direction and the width direction of the metal plate material, in a direction facing one surface of the metal plate material. a load-applying unit that is installed on and presses at least a portion of one surface of the metal plate in the thickness direction of the metal plate; And formed in a rod shape, interlocked with the movement of the load applying unit, so as to be movable in at least one of the longitudinal direction and the width direction of the metal plate, in a direction facing the other surface of the metal plate. It may include a; installed to be opposite to the adding part, and supporting the other surface of the metal plate at a portion where the load applying part presses one surface of the metal plate in the thickness direction.

According to one embodiment of the present invention, the control unit, when the metal sheet material is progressively formed, based on the amount of pressure applied by the load applying unit to press the metal sheet material, the 1-1 gripping part and the 1-2nd wave The amount of sliding movement between the branches and the amount of sliding movement between the 2-1 gripping part and the 2-2 gripping part are variably controlled in real time to adjust the tensile force applied to the metal plate according to the pressing amount of the load applying unit. The first driving unit and the second driving unit may be feedback controlled.

According to an embodiment of the present invention, a distance sensor installed near the load support unit and spaced apart from the metal plate by a predetermined distance to measure the amount of deflection of the portion of the metal plate pressed by the load applying unit; further comprising can do.

According to an embodiment of the present invention, the control unit receives the deflection amount of the pressed portion of the metal plate from the distance sensor, and the 1-1 gripping part and the 1-2 wave based on the deflection amount. According to the amount of deflection applied from the distance sensor, the amount of sliding movement between the branches and the amount of sliding movement between the 2-1 and 2-2 gripping parts can be variably controlled in real time to adjust the tensile force applied to the metal plate. The first driving unit and the second driving unit may be feedback controlled.

According to one embodiment of the present invention made as described above, during the gradual forming of a metal sheet material, a stress state of tensile-bending is induced in the forming part and the outermost bent part of the metal sheet material through the biaxial variable stretching process fusion. It is possible to induce a reduction in the amount of elastic recovery according to the decrease in the stress deviation in the thickness direction of .

Accordingly, it is possible to implement a gradual forming apparatus capable of reducing the defect rate of molded products and improving productivity by suppressing the decrease in shape and dimension accuracy due to springback (elastic restoration) after the gradual forming of the metal sheet. Of course, the scope of the present invention is not limited by these effects.

1 is a plan view schematically showing an upper surface of a progressive imaging device according to an embodiment of the present invention.
Figure 2 is a front view schematically showing the front of the progressive molding apparatus of Figure 1;
3 is a plan view schematically showing an upper surface of a gradual molding apparatus according to another embodiment of the present invention.
Figure 4 is a front view schematically showing the front of the progressive molding apparatus of Figure 3;
5 is a front view schematically illustrating a front view of a process in which the progressive forming apparatus of FIG. 3 progressively forms a metal sheet.
6 is an enlarged view schematically illustrating a portion in which a metal sheet is progressively formed by a gradual forming apparatus according to another embodiment of the present invention.

Hereinafter, several preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art, and the following examples may be modified in many different forms, and the scope of the present invention is as follows It is not limited to the examples. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the spirit of the invention to those skilled in the art. In addition, the thickness or size of each layer in the drawings is exaggerated for convenience and clarity of explanation.

Hereinafter, embodiments of the present invention will be described with reference to drawings schematically showing ideal embodiments of the present invention. In the drawings, variations of the depicted shape may be expected, depending on, for example, manufacturing techniques and/or tolerances. Therefore, embodiments of the inventive concept should not be construed as being limited to the specific shape of the region shown in this specification, but should include, for example, a change in shape caused by manufacturing.

1 is a plan view schematically showing an upper surface of a progressive molding apparatus 100 according to an embodiment of the present invention, and FIG. 2 is a front view schematically showing a front surface of the progressive molding apparatus 100 of FIG. 1 .

First, as shown in FIGS. 1 and 2 , the gradual molding apparatus 100 according to an embodiment of the present invention largely includes a pair of first gripping parts 10 and a pair of second gripping parts. (20), a forming part (30) and a tensile force generating part (40).

As shown in FIGS. 1 and 2 , the pair of first gripping parts 10 may grip both ends of the metal plate 1 in the longitudinal direction. In addition, the pair of second gripping parts 20 are formed in a direction perpendicular to the pair of first gripping parts 10 to grip both ends of the metal plate 1 in the width direction.

More specifically, the pair of first gripping parts 10 include a 1-1 gripping part 11 for gripping one end of the metal plate 1 in the longitudinal direction and the length of the metal plate 1 as a reference. It includes a 1-2 gripping part 12 formed to face the 1-1st gripping part 11 in the left and right direction and gripping the other end of the metal plate 1 in the longitudinal direction, 2 The gripping part 20 includes a 2-1st gripping part 21 gripping one end of the metal plate 1 in the width direction and a 2-1st gripping part in the width direction with respect to the metal plate 1 It may include a 2-2 gripping part 22 formed to be opposite to (21) in front and back and gripping the other end of the metal plate 1 in the width direction.

The pair of first gripping parts 10 and the pair of second gripping parts 20, as a kind of clamp, have appropriate strength and durability capable of gripping and supporting the metal plate 1. It can be a block structure. For example, the pair of first gripping parts 10 and the pair of second gripping parts 20 may be a block structure made of one or more materials selected from among steel, stainless steel, aluminum, magnesium, and zinc. . However, the pair of first gripping parts 10 and the pair of second gripping parts 20 are not necessarily limited to those in FIGS. 1 and 2, and can grip and support the metal plate 1 in a wide variety of ways. Members of the material may be applied.

As shown in FIGS. 1 and 2 , the forming unit 30 gradually presses at least a portion of the metal plate 1 to gradually form the metal plate 1 into a predetermined shape, the metal plate ( 1) may be installed to be movable in at least one of the longitudinal direction, the width direction, and the thickness direction.

More specifically, the forming unit 30 is formed in a rod shape, and is movable in at least one of the longitudinal direction, the width direction, and the thickness direction of the metal plate 1, so that the metal plate 1 It is installed in a direction facing the upper surface of the metal plate 1, and is formed in the form of a load applying portion 31 and a rod for pressing at least a portion of the upper surface of the metal plate 1 in the thickness direction of the metal plate 1, the load applying portion ( 31), a load is applied in a direction facing the lower surface of the metal plate 1 so as to be movable in at least one of the longitudinal direction, the width direction, and the thickness direction of the metal plate 1 A load support part 32 installed opposite to the part 31 and supporting the lower surface of the metal plate 1 at a portion where the load applying part 31 presses the upper surface of the metal plate 1 in the thickness direction. can do.

The load applying unit 31 and the load supporting unit 32 are formed of a forming tool and a variable support tool in the form of a stylus pen, and are formed to face each other in the longitudinal direction and the width of the metal plate 1. Each mounted on a multi-joint gantry-structured robot arm (not shown) so that the metal plate 1 can be gradually formed into a three-dimensional predetermined shape by being moved in three dimensions in the direction and thickness direction. It can be.

For example, the load applying unit 31 mounted on the robot arm (not shown) traces the progressive forming path for the three-dimensional free shape based on the position control through the CNC, and gradually forms the metal plate 1 locally. , The metal plate 1 can be molded into a predetermined desired shape. At this time, the load support unit 32 mounted on another robot arm (not shown) tracks the position of the load application unit 31 and moves in conjunction with the movement of the load application unit 31, thereby moving the load application unit 31 During the gradual forming of the temporary metal plate 1 , the forming weight applied to the metal plate 1 by the load applying unit 31 may be supported at the forming portion of the metal plate 1 .

In addition, ball bearings are formed at the end of the load applying unit 31 and the end of the load supporting unit 32, in a state where the load applying unit 31 and the load supporting unit 32 press and support the metal plate 1 It can be induced to move easily.

In addition, in this embodiment, the load applying unit 31 is installed above the metal sheet 1 to press at least a part of the upper surface of the metal sheet 1, and the load support unit 32 is installed on the metal sheet 1 An example of supporting the lower surface of the portion that is installed below and pressed by the load applying portion 31 of the metal plate 1 is cited as an example, but is not necessarily limited to FIGS. 1 and 2, and the load applying portion 31 is metal. It is installed below the plate material 1, and the load support part 32 may be installed above the metal plate material 1.

As shown in FIGS. 1 and 2, the tensile force generating unit 40, when the forming unit 30 gradually forms the metal sheet material 1, to apply a tensile force to the metal sheet material 1, a pair of At least one of the first gripping part 10 and the pair of second gripping parts 20 may be moved in a direction away from each other.

For example, the tensile force generating unit 40 is applied to the 1-1st gripping unit 11, the 1-2nd gripping unit 12, the 2-1st gripping unit 21 and the 2-2nd gripping unit 22. The 1-1st gripping part 11, the 1-2nd gripping part 12, the 2-1st gripping part 21 and the 2-2nd gripping part 22 so that elastic force can be applied in the direction away from each other It may include an elastic member (S) installed on one side of.

More specifically, the elastic member (S) is one side of the 1-1st gripping part 11, one side of the 1-2nd gripping part 12, one side of the 2-1st gripping part 21 and the second- The 1-1st gripping part 11 and the 1-2nd gripping part 12 and the metal plate ( S) may be a coil spring that pulls the 2-1 gripping part 21 and the 2-2 gripping part 22 that grip both ends in the width direction in directions away from each other.

When the forming unit 30 gradually forms the metal sheet 1 in the thickness direction of the metal sheet 1 by the tensile force generating unit 40 using the elastic member S, the metal sheet 1 Tensile force may be applied in two axes, the longitudinal direction and the width direction of the metal plate 1 perpendicular to the progressive molding direction.

Therefore, according to the gradual forming apparatus 100 according to an embodiment of the present invention, during the gradual forming of the metal plate 1, the forming part and the outermost bent portion of the metal plate 1 are fused through a biaxial variable stretching process. By inducing a tensile-bending stress state, it is possible to effectively induce a decrease in the amount of elastic recovery according to a decrease in the stress deviation of the metal plate 1 in the thickness direction.

Accordingly, after the gradual forming of the metal plate 1, it is possible to have an effect of reducing the defect rate of a final molded product and improving productivity by suppressing a decrease in shape and dimension accuracy due to springback (elastic restoration).

Figure 3 is a plan view schematically showing the upper surface of the gradual molding apparatus 200 according to another embodiment of the present invention, Figure 4 is a front view schematically showing the front of the gradual molding apparatus 200 of Figure 3, Figure 5 is FIG. 3 is a front view schematically showing the front of a process of progressively forming the metal plate 1 by the gradual forming apparatus 200 . And, FIG. 6 is an enlarged view schematically showing a portion in which the progressive forming apparatus 300 according to another embodiment of the present invention progressively forms the metal plate 1 .

As shown in FIGS. 3 and 4 , the tensile force generating unit 40 of the gradual forming apparatus 200 according to another embodiment of the present invention includes a 1-1 holding unit 11 and a 1-2 holding unit. A first driving unit 41 for applying a driving force to the 1-1 holding unit 11 and the 1-2 holding unit 12 so that the 12 can slide in a direction moving away from each other or in a direction approaching each other; and The 2-1 gripping part 21 and the 2-2nd gripping part 21 and the 2-2nd gripping part ( 22) may include a second driving unit 42 for applying a driving force.

Here, the first drive unit 41 and the second drive unit 42 are the 1-1 gripping unit 11, the 1-2 gripping unit 12, the 2-1 gripping unit 21 and the 2- The 1-1 gripping part 11, the 1-2 gripping part 12 and the 2-1 All types of driving devices capable of linearly sliding and moving the gripping part 21 and the 2-2 gripping part 22 can be applied.

In addition, the gradual molding apparatus 200 determines the amount of sliding movement between the 1-1st gripping part 11 and the 1-2nd gripping part 12 and the sliding movement between the 2-1st gripping part 21 and the 2-2nd gripping part ( 22) may include a control unit 50 for applying a control signal to the first driving unit 41 and the second driving unit 42 so as to control the amount of sliding movement between them.

When the forming unit 30 gradually forms the metal sheet 1, the control unit 50 controls the 1-1 holding unit based on the amount of pressure applied by the load applying unit 31 to the metal sheet 1. (11) and the sliding movement amount between the 1-2 gripping part 12 and between the 2-1 gripping part 21 and the 2-2nd gripping part 22 are variably controlled in real time to The first driving unit 41 and the second driving unit 42 may be feedback-controlled according to the amount of pressure applied by the load applying unit 31 so as to adjust the applied tensile force.

Here, the amount of pressure applied by the load applying unit 31 to the metal sheet 1 is based on the distance that the load applying unit 31 of the forming unit 30 descends to press the metal sheet 1. It can be calculated, or it can be calculated based on the load value applied from the load cell by installing a load cell in the load application unit 31.

Therefore, in the gradual forming apparatus 200 according to another embodiment of the present invention, as shown in FIG. 5, the forming unit 30 gradually forms the metal sheet 1 in the thickness direction of the metal sheet 1. The length of the metal sheet 1 perpendicular to the gradual forming direction of the metal sheet 1 in consideration of the amount of pressure applied by the load applying unit 31 of the forming unit 30 to the metal sheet 1 during the operation. Tensile force can be appropriately applied in the direction and the width direction, and in two axes.

Therefore, during the gradual forming of the metal plate 1, a tensile force is applied biaxially to the metal plate 1 with an appropriate force in consideration of the amount of gradual processing, thereby forming a tensile- By optimally inducing a bending stress state, it is possible to induce a decrease in the amount of elastic recovery according to a decrease in the stress deviation of the metal plate 1 in the thickness direction. Accordingly, after the gradual forming of the metal plate 1, by suppressing the deterioration of shape and dimension accuracy due to springback (elastic restoration), it is possible to have an effect of reducing the defect rate of molded products and improving productivity.

In addition, as shown in FIG. 6, the gradual forming apparatus 300 according to another embodiment of the present invention is installed in the vicinity of the load support part 32 and spaced apart from the metal plate 1 by a predetermined distance (D) , a distance sensor 60 for measuring the amount of deflection of the portion of the metal plate 1 pressed by the load applying unit 31 may be included.

Accordingly, the control unit 50 receives the amount of deflection of the pressed portion of the metal plate 1 from the distance sensor 60, and the 1-1 gripping unit 11 and the 1-2 The sliding movement amount between the gripping units 12 and the sliding movement amount between the 2-1 gripping unit 21 and the 2-2 gripping unit 22 are variably controlled in real time to adjust the tensile force applied to the metal plate 1, The first driving unit 41 and the second driving unit 42 may be feedback-controlled according to the amount of deflection applied from the distance sensor 60 .

The distance sensor 60 used here is an infrared distance sensor capable of measuring a distance by irradiating a laser L from the installed position to the metal plate 1, or an ultrasonic distance sensor capable of measuring a distance by emitting ultrasonic waves. Various types of sensors may be applied. In addition, the distance sensor 60 may measure the amount of deflection of the portion of the metal plate 1 pressed by the load applying unit 31, and the length of the metal plate 1 together with the load support part 32. direction and the width direction, but in order to accurately measure the distance, a predetermined distance (D) spaced apart from the metal plate 1 in the thickness direction is fixed based on the position of the metal plate 1 before molding. may be desirable.

In addition, a plurality of distance sensors 60 are installed along the periphery of the load supporting portion 32 and triangulate the amount of deflection of the portion of the metal plate 1 pressed by the load applying portion 31, The deflection amount of the plate material 1 may be measured more accurately.

Therefore, in the gradual forming apparatus 300 according to another embodiment of the present invention, when the forming unit 30 gradually forms the metal sheet 1 in the thickness direction of the metal sheet 1, the metal sheet 1 Considering the amount of deflection of the portion pressed by the load applying unit 31 of the metal sheet 1, the tensile force is applied in two axes, the longitudinal direction and the width direction of the metal sheet 1 perpendicular to the progressive forming direction. can be applied appropriately.

Therefore, during the gradual forming of the metal plate 1, a biaxial tensile force is applied to the metal plate 1 with an appropriate force in consideration of the amount of deflection of the metal plate 1, so that the forming part and the outermost part of the metal plate 1 A tensile-bending stress state is optimally induced in the bent portion, thereby reducing the amount of elastic restoration according to the decrease in the stress deviation of the metal plate 1 in the thickness direction. Accordingly, after the gradual forming of the metal plate 1, by suppressing the deterioration of shape and dimension precision due to springback (elastic restoration), it is possible to have an effect of reducing the defect rate of molded products and improving productivity.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

1: metal plate
10: a pair of first gripping parts
11: 1-1 gripping part
12: 1-2 gripping part
20: a pair of second gripping parts
21: 2-1 holding part
22: 2-2 gripping part
30: molding part
40: tension generating unit
41: first driving unit
42: second driving unit
50: control unit
60: distance sensor
100, 200, 300: progressive molding device
S: elastic member

Claims (9)

a pair of first gripping parts gripping both ends of the metal plate in the longitudinal direction;
a pair of second gripping parts formed in a direction perpendicular to the pair of first gripping parts to grip both ends of the metal plate in a width direction;
A molding unit installed to be movable in at least one of the longitudinal direction and the width direction of the metal plate so as to gradually press at least a portion of the metal plate to gradually form the metal plate into a predetermined shape. ; and
At least one gripping part of the pair of first gripping parts and the pair of second gripping parts in a direction away from each other so that the molding unit can apply a tensile force to the metal sheet material when the forming unit gradually forms the metal sheet material Tensile force generating unit for moving;
Including, gradual molding apparatus. According to claim 1,
The pair of first gripping parts,
a 1-1 gripping part gripping one end of the metal plate in the longitudinal direction; and
A 1-2 gripping part formed to face the 1-1st gripping part based on the metal plate member and gripping the other end of the metal plate material in the longitudinal direction;
The pair of second gripping parts,
a 2-1 gripping part gripping one end of the metal plate in the width direction; and
a 2-2 gripping part formed to face the 2-1 gripping part with respect to the metal plate and gripping the other end of the metal plate in the width direction;
Including, gradual molding apparatus. According to claim 2,
The tensile force generating unit,
The 1-1 gripping part, so that elastic force can be applied to the 1-1 gripping part, the 1-2nd gripping part, and the 2-1st gripping part and the 2-2nd gripping part in a direction away from each other; an elastic member installed on one side of the 1-2 gripping part, the 2-1 gripping part, and the 2-2nd gripping part;
Including, gradual molding apparatus. According to claim 2,
The tensile force generating unit,
Applying a driving force to the 1-1 gripping part and the 1-2nd gripping part so that the 1-1 gripping part and the 1-2nd gripping part can slide in a direction moving away from each other or in a direction approaching each other. 1 driving unit; and
A method for applying a driving force to the 2-1 gripping part and the 2-2nd gripping part so that the 2-1 gripping part and the 2-2nd gripping part can slide in a direction away from each other or in a direction approaching each other. 2 drive unit;
Including, gradual molding apparatus. According to claim 4,
The first driving unit and the first driving unit and the first driving unit and the 1-2 sliding movement amount between the 1-1 gripping part and the 1-2 gripping part and the sliding movement between the 2-1 gripping part and the 2-2 gripping part can be controlled. 2 a control unit for applying a control signal to the driving unit;
Further comprising a gradual molding apparatus. According to claim 5,
The molding part,
It is formed in a rod shape and is installed in a direction facing one surface of the metal plate material so as to be movable in at least one of the longitudinal direction and the width direction of the metal plate material, and at least a portion of one surface of the metal plate material a load applying unit for pressing in the thickness direction of the metal plate; and
It is formed in a rod shape, and the load is applied in a direction facing the other surface of the metal plate so as to be movable in at least one of the longitudinal direction and the width direction of the metal plate in conjunction with the movement of the load applying unit. a load support unit installed opposite to the unit and supporting the other surface of the metal sheet at a portion where the load applying unit presses one surface of the metal sheet in the thickness direction;
Including, gradual molding apparatus. According to claim 6,
The control unit,
When the metal plate is progressively formed, the sliding movement amount between the 1-1 gripping part and the 1-2 gripping part and the 2-1 gripping part based on the amount of pressure applied by the load applying unit to the metal plate Feedback-controlling the first driving unit and the second driving unit according to the pressing amount of the load applying unit so that the amount of sliding movement between the 2-2 gripping units can be variably controlled in real time to adjust the tensile force applied to the metal plate, Gradual forming device. According to claim 6,
a distance sensor installed in the vicinity of the load support unit and spaced apart from the metal plate by a predetermined distance to measure a deflection amount of a portion of the metal plate pressed by the load applying unit;
Further comprising a gradual molding apparatus. According to claim 8,
The control unit,
The amount of deflection of the pressed portion of the metal plate is applied from the distance sensor, and based on the amount of deflection, the amount of sliding movement between the 1-1 gripping part and the 1-2nd gripping part and the 2-1 gripping part Feedback-controlling the first driving unit and the second driving unit according to the amount of deflection applied from the distance sensor so that the amount of sliding movement between the 2-2 gripping units can be variably controlled in real time to adjust the tensile force applied to the metal plate. , a progressive forming device.

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