JP5598418B2 - Bending member manufacturing equipment - Google Patents

Description

  The present invention relates to a bending member manufacturing apparatus.

  As is well known, high strength, light weight and small size are required for strength members, reinforcing members or structural members for metal automobiles and various machines having a bent shape. This type of bending member has heretofore been manufactured by, for example, welding of a pressed product, punching of a thick plate, forging, or the like. However, the reduction in weight and size of the bending member achieved by these manufacturing methods has reached its limit, and its realization is not easy.

  In recent years, it has been actively studied to manufacture this type of bending member by so-called tube hydroforming (see, for example, Non-Patent Document 1). On page 28 of Non-Patent Document 1, there are various problems in tube hydroforming, such as the development of materials that will be used as raw materials and the expansion of the degree of freedom of shapes that can be molded. Therefore, further technical development is required in the future. It is described.

The present applicant previously disclosed a bending apparatus according to Patent Document 1. FIG. 2 is an explanatory view showing an outline of the bending apparatus 0. As shown in FIG.
As shown in FIG. 2, the bending apparatus 0 basically includes a feed mechanism 3 that uses, for example, a ball screw from the upstream side to the downstream side of the steel pipe 1 that is supported by the support mechanism 2 so as to be movable in the axial direction. The steel pipe 1 is partially heated rapidly by the induction heating coil 5 downstream of the support mechanism 2 to Ac ₃ or more points while cooling water is injected by the water cooling device 6 disposed downstream of the induction heating coil 5. The steel pipe 1 is rapidly cooled. Thereby, the high temperature part 1a heated to Ac ₃ points or more is formed in a part of the longitudinal direction of the steel pipe 1. In addition, the code | symbol 7 is a support mechanism which supports the steel pipe 1 movably in the axial direction.

  Then, the position of the movable roller die 4 having at least one pair of roll pairs 4a that can be supported while feeding the steel pipe 1 is changed two-dimensionally or three-dimensionally, and a bending moment is applied to the high-temperature portion of the steel pipe 1 by two. Sufficient bending of the bending member 8 having the bending portion and the quenching portion that are bent in three dimensions or in the longitudinal direction and / or the circumferential direction in the plane intersecting the longitudinal direction intermittently or continuously. Manufacture with high work efficiency while ensuring accuracy.

International Publication No. 2006/093006 Pamphlet

Automotive Technology Vol. 57, no. 6,2003 23-28

As described above, the bending apparatus 0 rapidly heats the steel pipe 1 partially to a high temperature of Ac ₃ points or more by the induction heating coil 5 and rapidly cools the steel pipe 1 by the water cooling apparatus 6. For this reason, in order to safely and efficiently mass-produce bent members using the bending apparatus 0, it is necessary to give sufficient consideration to preventing fires by reliably preventing not only the steel pipe 1 but also the induction heating coil 5 from being melted. There is.

  Further, when the induction heating coil 5 does not operate properly, the high temperature portion 1a having a desired temperature cannot be formed, and the deformation resistance of the high temperature portion 1a does not decrease to a desired level. There is a risk of damaging the drive device that drives 4 in two or three dimensions.

Moreover, when the feed mechanism 3 of the steel pipe 1 does not operate properly, the heating time of the high temperature part 1a of the steel pipe 1 increases, the temperature of the high temperature part 1a increases abnormally, and the steel pipe 1 may melt.
In addition, if the gripping member that grips the front end portion or the rear end portion of the steel pipe 1 is not properly gripped, the chuck device for the steel pipe 1 is detached, and the front end portion or the rear end portion of the steel pipe 1 is undisturbed and arranged in the periphery. There is a risk of collision with various types of equipment.

Furthermore, for example, when the steel pipe 1 processed by the industrial robot or each device is taken over to the next process, the industrial robot or each device and the steel pipe 1 may collide with each other and may be damaged.
Thus, the bending apparatus 0 can damage each apparatus and the steel pipe 1 if the induction heating coil 5, the feed mechanism 3 of the steel pipe 1, the chuck apparatus for the steel pipe 1, and the industrial robot do not operate properly. There is sex.

  For this reason, in order to mass-produce a bending member safely and efficiently without damaging each apparatus and the steel pipe 1 by the bending apparatus 0, the occurrence of a fire due to melting of not only the steel pipe 1 but also the induction heating coil 5 Careful consideration must be given to prevention and damage of each device.

  The objective of this invention is providing the manufacturing apparatus of the bending member which can mass-produce a bending member, operating safely and efficiently, without damaging each apparatus and a metal material.

The present invention is a bending member manufacturing apparatus comprising the following metal material heating mechanism, metal material cooling mechanism, metal material support mechanism, and control mechanism.
Metal material heating mechanism: Inductive heating that is arranged away from the outer peripheral surface of the metal material sent in the longitudinal direction and heats this metal material from one end side to the other end side of the metal material A coil and a coil cooling mechanism for cooling the induction heating coil are provided.

  Metal material cooling mechanism: A high temperature part that moves in the axial direction of the metal material to a part in the axial direction of the metal material by spraying a cooling medium on the outer surface of the high temperature part of the metal material heated by the metal material heating mechanism Form.

  Metal material support mechanism: supporting the first part and the second part located on both sides in the axial direction of the metal material with the high temperature part as a boundary, and one or both of the first part and the second part The position can be changed in two or three dimensions.

  Control mechanism: When bending one metal material, (a) All stop that immediately outputs stop signals to all of the metal material heating mechanism, metal material cooling mechanism and metal material support mechanism, (b) Metal material heating mechanism, metal A stop signal is output to all of the material cooling mechanism and the metal material support mechanism, the stop is performed after the completion of feeding, which is output when the bending process for one metal material is finished, and (c) an alarm while continuously outputting the start signal to the coil cooling mechanism One of the alarm outputs for outputting a signal is selected, and a signal for executing the selected operation is output.

In the present invention, a feeding device that feeds the metal material in the longitudinal direction may be further provided, or the metal material support mechanism may have a function of feeding the metal material in the longitudinal direction.
In these present inventions, if the coil cooling mechanism causes the total stop, the flow rate of the high-frequency panel cooling water is decreased, the flow rate of the high-frequency transformer cooling water is decreased, the flow rate of the coil lead cooling water is decreased, and the flow rate of the heating coil cooling water If the cause is a drop, high coil cooling water (return) thermometer temperature, coil cooling water pressure drop, metal material cooling mechanism, cooling water tank water level drop, or heating output of the induction heating coil decreases It is preferably selected when the feeding speed of the metal material is reduced or stopped, the gripping mechanism of the front end portion or the rear end portion of the metal material is malfunctioning, or the absence of the metal material at a predetermined position.

  Furthermore, in these present inventions, the alarm output is an increase or decrease in the water level of the coil cooling water tank of the coil cooling mechanism, an increase in the water level of the cooling water tank of the metal material cooling mechanism, or the high temperature of the cooling water thermometer. It is preferred that it be selected.

  ADVANTAGE OF THE INVENTION According to this invention, the manufacturing apparatus of the bending member which can mass-produce a bending member can be provided, operating safely and efficiently.

FIG. 1 is a perspective view showing an example of the configuration of a bending member manufacturing apparatus according to the present invention. FIG. 2 is an explanatory diagram showing an outline of the bending apparatus disclosed in Patent Document 1. As shown in FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In the following description, a case where the steel material is a steel pipe that is a representative example of a member having a closed cross-sectional shape is taken as an example. However, the present invention is not limited to a steel pipe, and is equally applicable to steel materials having a closed cross-sectional shape.

FIG. 1 is a perspective view showing an example of the configuration of a bending member manufacturing apparatus 10 according to the present invention.
As shown in FIG. 1, the manufacturing apparatus 10 includes a feed mechanism 11, a metal material heating mechanism 12, a metal material cooling mechanism 13, a metal material support mechanism 14, a control mechanism 15, and a deformation suppression mechanism 32. The elements will be described sequentially.

"Feeding mechanism 11"
First, the holding members 17 and 18 of the steel pipe 16 and the industrial robots 19 to 20 will be briefly described.

  The steel pipe 16 has a gripping member (chuck) 17 inserted in the first end portion 16a. A gripping member (chuck) 18 is also inserted inside the second end portion 16b. The holding member 17 has a cylindrical large diameter portion 17 a having an outer diameter larger than the outer diameter of the steel pipe 16 and a cylindrical shape having an outer diameter smaller than the inner diameter of the steel pipe 15 and inserted into the steel pipe 16. Similarly, the gripping member 18 also has a cylindrical large diameter portion 18 a having an outer diameter larger than the outer diameter of the steel pipe 16 and an outer diameter smaller than the inner diameter of the steel pipe 15. And a cylindrical small-diameter portion inserted inside the steel pipe 16. The end surface of the large diameter portion 17 a is applied to the end surface of the first end portion 16 a of the steel pipe 15, and the end surface of the large diameter portion 18 a is applied to the end surface of the second end portion 16 b of the steel pipe 15. In the manufacturing apparatus 10, the gripping member 17 is supported by the third industrial robot 22, and the gripping member 18 is supported by the first industrial robot 19.

  The feed mechanism 11 includes a general-purpose six-axis multi-joint type first industrial robot 19. The manufacturing apparatus 10 includes not only the first industrial robot 19 but also the induction heating coil support robot 20, the second industrial robot 21, and the third industrial robot 22. A similar robot is used.

  The first industrial robot 19, the induction heating coil support robot 20, the second industrial robot 21, and further the third industrial robot 22 used in the manufacturing apparatus 10 are all so-called vertical having first to sixth axes. It is an articulated robot. The first axis turns the upper arm 23 in a horizontal plane. The second axis turns the upper arm 23 back and forth. The third axis pivots the forearm 24 up and down. The fourth axis rotates the forearm 24. The fifth axis turns the wrist up and down. The sixth axis rotates the wrist. In addition to these, you may have the 7th axis | shaft which rotates the upper arm 23 as needed. The first to seventh axes are all driven by an AC servo motor.

  The first industrial robot 19, the induction heating coil support robot 20, the second industrial robot 21, and the third industrial robot 22 are all in the same manner as other general-purpose industrial robots. A controller for comprehensively controlling the operation and an input device for teaching the operation (both not shown) are provided.

  At the tip of the wrist of the first industrial robot 19, a steel pipe 16 that is a material housed in a pallet (not shown) disposed on the floor near the side of the first industrial robot 19 is gripped and gripped. A gripping member 18 is provided as an effector (end effector) for allowing the steel pipe 16 to pass through through holes provided in the support mechanism 14 and the heating mechanism 13 described later.

The gripping member 17 inserted into the first end 16 a of the steel pipe 16 is supported by the wrist of the third industrial robot 22.
The gripping member 18 is used not only in the feed mechanism 11 but also when the steel pipe 16 is directly gripped by the second industrial robot 21 without using a movable roller die constituting the support mechanism 14 described later, or a deformation prevention mechanism. 32 is also used. The gripping member 18 greatly affects the dimensional accuracy and productivity of the bending member manufactured by the manufacturing apparatus 10.

  In this manufacturing apparatus 10, the steel pipe 16 is moved from the pallet (not shown) to the manufacturing apparatus 10 and set on the manufacturing apparatus 10 by the first industrial robot 19, so that the cycle time can be reduced, and the productivity can be reduced. Can be increased.

Next, the feed mechanism 11 will be described. The feed mechanism 11 is a mechanism for feeding the steel pipe 16 that is a material of the bending member in the longitudinal direction.
The feed mechanism 11 moves the steel pipe 16 in which the gripping member 17 is inserted into the first end portion 16a in the longitudinal direction of the steel pipe 16 starting from the first end portion 16a, that is, white in FIG. It is for sending in the direction of the arrow.

  The feed mechanism 11 may be a mechanism that can feed the steel pipe 16 in its longitudinal direction, and is not limited to a specific device. In this manufacturing apparatus 10, the feeding mechanism 11 is configured by a six-axis multi-joint type first industrial robot 19 that supports the gripping member 18 so as to be movable in the feeding direction of the steel pipe 16. However, instead of the first industrial robot 19, a known feeding device such as a ball screw may be used. In this case, in order to manufacture a bending member, a support mechanism composed of a pair of rollers or the like is arranged to position the steel pipe 16 between the feed mechanism 11 and the heating mechanism 12 at a predetermined position while feeding it. Is desirable.

  It is also possible to configure the manufacturing apparatus 10 without arranging the feeding mechanism 11. As the metal material support mechanism 14 to be described later, for example, an articulated industrial robot that grips the first end portion 16a and an articulated industrial robot that grips the second end portion 16b are used in combination. This is because the steel pipe 16 can be fed in the longitudinal direction by the operation of these industrial robots without arranging a dedicated feeding device. That is, the metal material support mechanism 14 may have a function of feeding the steel pipe 16 in the longitudinal direction.

"Metal material heating mechanism 12"
The metal material heating mechanism 12 includes an induction heating coil 12a and a coil cooling mechanism 12b.
The induction heating coil 12a has an annular main body disposed at a first position A apart from the outer peripheral surface 16c of the steel pipe 16 fed in the longitudinal direction. The induction heating coil 12a has a first shape from the first end portion 16a side of the steel pipe 16. The steel pipe 16 is heated in the longitudinal direction toward the second end portion 16b. Although not shown, the induction heating coil 12a is provided with a known incidental mechanism such as a high-frequency transformer.

  The coil cooling mechanism 12b is provided with a coil cooling water circulation tank 12c, a coil cooling water feed pipe 12d, and a coil cooling water return pipe 12e. The coil cooling water stored in the coil cooling water circulation tank 12c is supplied to the inside of the induction heating coil 12a via the coil cooling water feed pipe 12d to cool the induction heating coil 12a, and the coil cooling which cooled the induction heating coil 12a. The water is returned to the coil cooling water circulation tank 12c by the coil cooling water return pipe 12e.

The metal material heating mechanism 12 has a capability of rapidly heating the steel pipe 16 to be fed to a temperature range that can be hardened, for example, at _three or more points of Ac of the steel pipe 15.
The metal material heating mechanism 12 is movably supported by an induction heating coil support robot 20 as one body with a metal material cooling mechanism 13 described later.

  Although not shown, the induction heating coil 12a, the high frequency transformer, the coil cooling water circulation tank 12c, the coil cooling water feed pipe 12d, the coil cooling water return pipe 12e, and the like are appropriately positioned at the components of the metal material heating mechanism 12. A decrease in the flow rate of the high frequency panel cooling water, a decrease in the flow rate of the high frequency transformer, a decrease in the flow rate of the coil lead cooling water, a decrease in the flow rate of the heating coil cooling water, and a decrease in the water level of the coil cooling water circulation tank 12c, the coil Various sensors that can detect the high temperature of the cooling water (return) thermometer and the pressure drop of the coil cooling water are arranged. The detection values of these various sensors are output to the control device 15 described later during the entire operation time of the manufacturing apparatus 10. Based on this detection value, the control device 15 selects any one of an operation to be described later, a stop after completion of feeding, and an alarm output, and outputs a signal for executing the selected operation.

"Metal material cooling mechanism 13"
The metal material cooling mechanism 13 is disposed at a second position B downstream of the first position A in the feed direction of the steel pipe 16. By spraying a cooling medium onto the outer surface 16c of the high temperature portion of the steel pipe 16 heated by the metal material heating mechanism 12, a high temperature portion 16d heated to Ac ₃ points or more is formed in a part in the axial direction of the steel pipe 16. Since the steel pipe 16 is sent in the axial direction, the high temperature part 16d moves toward the axial direction of the steel pipe 16.

  In the manufacturing apparatus 10, it is desirable to use a water cooling mechanism as the metal material cooling mechanism 13. The water cooling mechanism 13 includes a cooling water injection nozzle 13a, a cooling water supply pipe 13c for supplying the cooling water 13b to the cooling water injection nozzle 13a, and a cooling water supply tank 13d.

By spraying the cooling water 13b from the water cooling mechanism 13 onto the outer surface 16c of the steel pipe 16, for example, the steel pipe 16 heated to a temperature of _three or more points Ac can be rapidly cooled and the steel pipe 16 can be quenched.

As described above, the metal material cooling mechanism 13 is integrally supported with the metal material heating mechanism 13 and supported by the induction heating coil support robot 20 so as to be movable.
Although not shown, appropriate positions of components of the metal material cooling mechanism 13 such as the cooling water injection nozzle 13a, the cooling water supply pipe 13c that supplies the cooling water 13b to the cooling water injection nozzle 13a, and the cooling water supply tank 13d. In addition, various sensors that can detect a decrease in the water level of the cooling water supply tank 13d, a high temperature of the cooling water thermometer, and an increase in the water level of the cooling water supply tank 13d are arranged. The detection values of these various sensors are output to the control device 15 described later during the entire operation time of the manufacturing apparatus 10. Based on this detection value, the control device 15 selects any one of an operation to be described later, a stop after completion of feeding, and an alarm output, and outputs a signal for executing the selected operation.

"Metal material support mechanism 14"
The metal material support mechanism 14 includes a first support mechanism 14-1 and a second support mechanism 14-2.

  The first support mechanism 14-1 is disposed at a position A ′ upstream of the first position A in the feed direction of the steel pipe 16, that is, between the feed mechanism 11 and the heating mechanism 12, and is sent by the feed mechanism 11. At least one set of a pair of rolls 25, 25 that support the steel pipe 16 while feeding it and that can be supported while feeding the steel pipe 16 (in the example shown in the figure, another pair of rolls 26, 26 is provided, for a total of two It is comprised by the die | dye 27 which has.

The die 27 is fixedly mounted on the support base 28, but is not limited to this. For example, the die 27 may be movably supported by a general-purpose 6-axis articulated industrial robot.
Such a die 27 is well known and used by those skilled in the art, so further description of the first support mechanism 14-1 will be omitted.

  The 2nd support mechanism 14-2 is arrange | positioned in the position C downstream of the feed direction of the steel pipe 16 rather than the cooling mechanism 13, and supports the steel pipe 16 sent so that a movement is possible. The second support mechanism 14-2 moves in a two-dimensional or three-dimensional direction while supporting at least one portion of the steel pipe 16. As a result, the second support mechanism 14-2 gives a bending moment to the high temperature portion 16d between the positions A and B in the steel pipe 16 where the deformation resistance is greatly reduced by heating, so that the steel pipe 16 has a desired shape. It is for bending.

  A movable roller die 30 having at least one pair of a pair of rolls 29 that can be supported while feeding the steel pipe 16 was used as the second support mechanism 14-2. However, unlike this, as described above, the steel pipe 16 is directly attached by an effector such as a gripper provided to the second industrial robot 21 without using the movable roller die 30 as the second support mechanism 14-2. You may make it grasp.

  The movable roller die 30 is supported by the second industrial robot 21. A gripper 31 is provided at the wrist tip of the second industrial robot 21 as an effector (end effector) for holding the movable roller die 30. Needless to say, a type other than the gripper 31 may be used as the effector.

  Thus, the metal material support mechanism 14 supports two portions on both sides in the axial direction of the steel pipe 16 with the high temperature portion 16d of the steel pipe 16 as a boundary, and the second support mechanism 14-2 of these two portions. By changing the position of the part supported by 2D or 3D, a bending moment is given to the high temperature part 16d of the steel pipe 16, and the steel pipe 16 is bent into a desired shape.

[Deformation suppression mechanism 32]
Although the deformation suppressing mechanism 32 is not necessarily provided, the deformation of the steel pipe 16 after bending can be suppressed, so that the dimensional accuracy of the bending member can be increased.

The deformation suppression mechanism 32 is disposed at a position D downstream of the position B ′ in the feeding direction of the steel pipe 16 and prevents deformation of the steel pipe 16 to be fed.
In the manufacturing apparatus 10, the deformation prevention mechanism 32 is configured by the third industrial robot 22. The wrist of the third industrial robot 22 supports the gripping member 17 inserted into the first end portion 16 a of the steel pipe 16.

  In addition, in the manufacturing apparatus 10 which concerns on this invention, it is desirable to perform a bending process warm or hot. Warm is a heating temperature range in which the deformation resistance of a metal material is lower than that at room temperature. For example, a certain steel material has a temperature range of approximately 500 ° C. to 800 ° C. “Hot” refers to a heating temperature range in which the deformation resistance of the metal material is lower than that at room temperature and is necessary for quenching the metal material. For example, a certain steel material has a temperature range of 800 ° C. or higher. In particular, when it is performed hot, the quenching process can be performed by cooling at a predetermined cooling rate after reaching a predetermined temperature for quenching. Therefore, it is possible to prevent the occurrence of processing distortion such as thermal distortion.

"Control mechanism 15"
The control mechanism 15 is configured to manufacture one steel pipe 16-1 by the manufacturing apparatus 10.
(A) Full stop that immediately outputs a stop signal to all of the feeding device 11, the metal material heating mechanism 12, the metal material cooling mechanism 13, the metal material support mechanism 14, and the deformation suppression mechanism 32,
(B) A stop signal is output to all of the feeding device 11, the metal material heating mechanism 12, the metal material cooling mechanism 13, the metal material support mechanism 14, and the deformation suppression mechanism 32, and output when the bending process for one steel pipe 16-1 is completed. Stop after completion of feeding, and
(C) A signal for selecting one of the alarm outputs for outputting an alarm signal while continuing to output a start signal to the coil cooling mechanism that is ancillary equipment of the metal material cooling mechanism 13, and for executing the selected operation Is output.

  As described above, the selection of the operation by the control device 15 includes the detection values of various sensors arranged at appropriate positions of the components of the metal material heating mechanism 12 and the metal material cooling mechanism 13 during the entire operation time of the manufacturing apparatus 10. This is performed based on detection values of various sensors arranged at appropriate positions of the components.

  If the coil cooling mechanism is the cause, the control device 15 reduces the flow rate of the high frequency panel cooling water, the flow rate of the cooling water of the high frequency transformer, the flow rate of the coil lead cooling water, the flow rate of the induction heating coil cooling water, and induction. If the temperature of the heating coil cooling water (return) thermometer is high, the pressure of the induction heating coil cooling water is decreased, or if the metal material cooling mechanism is the cause, the water level of the coil cooling water circulation tank 12c is decreased. Decrease in heating output of the heating coil 12a, lowering or stopping of the feeding speed of the steel pipe 16, malfunction of the gripping members 17, 18 provided at the front end or rear end of the steel pipe 16, or absence of the steel pipe 16 at a predetermined position In the case of a seat, select all stop.

  Here, the "flow rate reduction of the high frequency panel cooling water" means that the "flow rate of the high frequency panel cooling water" that was controlled to cool the heat generated in the high frequency panel for generating the high frequency current is the standard. It means to drop below the value.

  “Reduction in the flow rate of the high frequency transformer cooling water” means that the “flow rate of the high frequency transformer cooling water”, which was controlled to cool the heat generated in the high frequency transformer, falls below the reference value. means.

The “decrease in the flow rate of the coil lead cooling water” means that the “flow rate of the coil lead cooling water”, which has been controlled to cool the heat generated in the coil lead, falls below a reference value.
“Reduction in the flow rate of the heating coil cooling water” means that the “flow rate of the induction heating coil cooling water” that has been controlled to cool the heat generated in the induction heating coil 12a falls below a reference value. .

  “High temperature of coil cooling water (return) thermometer” means “coil cooling water (return) thermometer monitoring that induction heating coil 12a cannot be sufficiently cooled due to abnormal heat generation of induction heating coil 12a” "Temperature of" rises above the reference value.

  “Coil cooling water pressure drop” means “coil cooling water pressure”, which monitors that the cooling water pressure drops due to an abnormality in the coil cooling water pump and the circulating water volume of the cooling water system cannot be secured sufficiently. It means to drop below the reference value.

  “The water level of the coil cooling water circulation tank 12c is reduced” means that the “water level of the coil cooling water circulation tank 12c” monitored so that the cooling water pump does not break down due to the idling operation of the cooling water pump is less than the reference value. It means to decline.

Moreover, the control apparatus 15 selects a stop after completion | finish of feeding, when the temperature of a coil cooling water thermometer is high.
Here, the “high temperature of the cooling water thermometer” means the “temperature of the cooling water thermometer” that has been monitored to prevent problems in cooling and / or quenching due to the high temperature of the cooling water. , Which means it will rise above the reference value.

  Further, the control device 15 selects an alarm output when the water level of the cooling water supply tank 13d is increased, the water level of the cooling water supply tank 13d is decreased, or the water level of the coil cooling water circulation tank 12c is increased.

  Here, “the increase in the water level of the cooling water supply tank 13d” means that the “water level of the cooling water supply tank 13d” monitored to prevent the cooling water from overflowing from the cooling water supply tank 13d is the standard. It means to rise above the value.

  “Reduction in the water level of the cooling water supply tank 13d” means that the “water level of the cooling water supply tank 13d” monitored to prevent the cooling water from running short falls below the reference value. To do.

  “Increase in the water level of the coil cooling water circulation tank 12c” means that the “water level in the coil cooling water circulation tank 12c” monitored to prevent the cooling water from overflowing from the coil cooling water circulation tank 12c exceeds the reference value. It means to rise.

  The “decrease in the heating output of the induction heating coil 12a (the heating output is zero)” will be described. If the steel pipe 16 is bent without induction heating, an abnormally large load acts on the second industrial robot 21, which may cause damage or bending of the second industrial robot 21. Therefore, the interlock is set by the control device 15 so that the second industrial robot 21 does not perform bending under a situation where the steel pipe 16 is not sufficiently induction heated.

  Specifically, (i) when inputting a machining pattern (movement trajectory) to the second industrial robot 21, when data for bending is input when there is no heating output of the induction heating coil 12a, An alarm is output at the same time as the conversion to the robot processing job is stopped, or (ii) a heating command to the induction heating coil 12a is output and the second industrial robot 21 tries to move to bend. However, when the output signal heated by the induction heating coil 12a is not output due to, for example, a failure or the predetermined value is not output, the manufacturing apparatus 10 is stopped in an emergency.

  The “decrease or stop of the feed speed of the steel pipe 16” will be described. If the heating output of the induction heating coil 12a is maintained when the feed of the steel pipe 16 is poor (low speed or stopped condition), the high temperature part (high frequency heating part) of the steel pipe 16 becomes abnormally high, and the steel pipe 16 Will melt. Therefore, an interlock is set to apply an emergency stop to the manufacturing apparatus 10 when the feeding of the steel pipe 16 becomes defective.

  Specifically, (i) when an abnormality (drive device failure, drive system chain breakage, electrical / control system failure) of the first industrial robot 19 that sends the steel pipe 16 occurs, the manufacturing device 10 An emergency stop, or (ii) an emergency stop of the manufacturing apparatus 10 when a failure of the first industrial robot 19 and a chucking disengagement of the gripping member 17 supported by the third industrial robot 22 are detected. To do.

  The “operation failure of the grip members 17 and 18 at the front end portion or the rear end portion of the steel pipe 16” will be described. When bending is started in a situation where chucking of the gripping member 18 attached to the first industrial robot 19 or the gripping member 19 attached to the third industrial robot 22 is insufficient, the chucking is released and the steel pipe 16 is removed. The tip or tail end of the steel pipe is swung without being constrained and collides with various peripheral facilities, and the steel pipe 16 and various peripheral facilities are damaged. For this reason, the interlock which makes the manufacturing apparatus 10 emergency stop when the situation where the chucking of the holding members 17 and 18 is insufficient occurs is set.

  Specifically, (i) the chuck / unchuck position is detected based on the pressure of the hydraulic gripping member 18 of the first industrial robot 19 that feeds the steel pipe 16 and the stroke position of the forward / backward movement mechanism of the rod. In the forward / backward moving mechanism of the rod, the steel pipe 16 does not exist even if the chucking operation is performed, and it is possible to detect that the steel pipe 16 is not present even if the rod is advanced to the stroke end. . (Ii) The chuck / unchuck position is detected in the pressure of the gripping member 17 of the third industrial robot 22 and the stroke position of the forward / backward moving mechanism of the rod as in the above (i). In addition, it is preferable to output an alarm without starting the processing when it is detected before the processing is started, and to make the manufacturing apparatus 10 perform an emergency stop when it is detected during the processing.

A steel pipe detection interlock for preventing collision damage due to the absence of the steel pipe 16 at a predetermined position will be described.
Installed a steel pipe detection sensor to prevent the industrial robot or equipment and the steel pipe 16 that is the material from colliding with each other when the steel pipe 16 processed between the industrial robot and each equipment is taken over to the next process. And set an interlock to prevent collisions.

  Specifically, (a) a place where the steel pipe 16 is inserted into the first industrial robot 19 that sends the steel pipe 16, (b) a place where the gripping member 17 is inserted into the tip of the steel pipe 16 before processing, (c) processing Set to the delivery location etc. to the delivery product conveyor after completion.

  Further, when the next steel pipe 16 is inserted from the entry side of the manufacturing apparatus 10 in a situation where the presence of the steel pipe 16 is detected on the exit side of the manufacturing apparatus 10, an emergency stop is performed to prevent collision, or automatic In operation, the outgoing steel pipe 16 is dispensed, and the next steel pipe 16 is inserted after a situation where no material is detected.

The manufacturing apparatus 10 is configured as described above. Next, a situation in which a hardened steel material is manufactured by the manufacturing apparatus 10 will be described.
First, by operating the first industrial robot 19 that is the feeding device 11, the steel pipe 16 in which the gripping member 17 is inserted inside the first end portion 16a is used, with the first end portion 16a as the head. Send in the longitudinal direction.

Next, the operations listed below are performed.
(1) The steel pipe 16 to be sent is movably supported by the first support mechanism 14-1.
(2) After the steel pipe 16 to be sent is heated to a quenchable temperature range by the heating mechanism 12, the steel pipe 16 is cooled by spraying the cooling water 13b from the cooling water injection nozzle 13a of the water cooling mechanism 13 to the outer surface 16c. At this time, the induction heating coil support robot 20 may be stopped.

  (3) By operating the second industrial robot 23, the position of the second support mechanism 14-2 that supports the steel pipe 16 to be sent is changed in three dimensions or two dimensions, so that the heating mechanism 12 and A bending moment is given to the high temperature part 16d formed in the steel pipe 16 between the cooling mechanism 13 and it.

  The position of the gripping member 17 inserted into the first end portion 16a of the steel pipe 16 to be fed is moved so as not to deform the bent shape of the steel pipe 16 by operating the third industrial robot 22. .

  In this manufacturing apparatus 10, the control device 15 determines the above-described contents in the entire operation time, and based on this, a control signal is output, so that not only the steel pipe 16 but also the heating coil 12 a is prevented from being melted. As a result, it is possible to prevent the occurrence of a fire and to mass-produce the bending member safely and efficiently.

  Further, in the manufacturing apparatus 10, the control device 15 causes the heating output of the induction heating coil 12 a to decrease, the feed rate of the steel pipe 16 to decrease or stop, and the gripping members 17 and 18 provided at the front end or the rear end of the steel pipe 16. In the case of malfunction or absence of the steel pipe 16 at a predetermined position, a complete stop signal is output, so that bending is performed in a state where the steel pipe 16 is not induction heated, and the steel pipe 16 is fed. Bending of the steel pipe 16 when it is defective (low speed or stopped condition), bending work in a situation where the gripping members 17 and 18 are not sufficiently chucked, and absence of the steel pipe 16 at a predetermined position Therefore, any collision damage is prevented.

Thus, the bending member which is a hardening member which has a predetermined bending shape by this invention can be manufactured safely.
The bending member manufactured according to the present invention is applicable to, for example, uses (i) to (vii) exemplified below.

(I) Automotive strength members such as lower arms and brake pedals of automobile suspensions;
(Ii) Reinforcing members such as various types of automobile reinforcements and braces,
(Iii) Automotive structural members such as bumpers, door impact beams, side members, suspension mount members, pillars, side sills,
(Iv) Frames for bicycles and motorcycles, cranks (v) Reinforcing members for vehicles such as trains, cart parts (cart frames, various beams, etc.)
(Vi) Frame parts such as hulls, reinforcing members,
(Vii) Home appliance strength member, reinforcing member or structural member

DESCRIPTION OF SYMBOLS 0 Bending apparatus 1 Steel pipe 2 Support mechanism 3 Feed mechanism 4 Movable roller die 4a Roll 5 Heating mechanism 6 Cooling mechanism 7 Support mechanism 8 Bending member 10 Bending member manufacturing apparatus 11 Feed mechanism 12 Metal material heating mechanism 12a High frequency according to the present invention Induction heating coil 12b Coil cooling mechanism 12c Coil cooling water circulation tank 12d Coil cooling water feed pipe 12e Coil cooling water return pipe 13 Metal material cooling mechanism 13a Cooling water injection nozzle 13b Cooling water 13c Cooling water supply pipe 13d Cooling water supply tank 14 Metal material Support mechanism 14-1 1st support mechanism 14-2 2nd support mechanism 15 Control mechanism 16 Steel pipe 16a 1st end part 16b 2nd end part 16c Outer surface 16d High temperature part 17, 18 Grasping member 17a, 18a Large diameter Part 19 First industrial robot 20 Induction heating coil support robot 21 Second industrial robot 2 Third industrial robot 23 upper arm 24 forearm 25, 26 roll 27 die 28 supporting stand 29 roll 30 movable roller die 31 gripper 32 deformation restricting mechanism

Claims (5)

A bending member manufacturing apparatus comprising the following metal material heating mechanism, metal material cooling mechanism, metal material support mechanism, and control mechanism;
Metal material heating mechanism: induction heating that is arranged away from the outer peripheral surface of the metal material fed in the longitudinal direction and heats the metal material from one end side to the other end side of the metal material A coil and a coil cooling mechanism for cooling the induction heating coil,
Metal material cooling mechanism: Moves toward a part of the metal material in the axial direction by spraying cooling water on the outer surface of the high temperature part of the metal material heated by the metal material heating mechanism. Forming a high temperature part,
Metal material support mechanism: supporting the first part and the second part located on both sides in the axial direction of the metal material with the high temperature part as a boundary, and one of the first part and the second part Or both positions are configured to be changeable in 2D or 3D,
A control mechanism; at the time of bending of one metal material, (a) a total stop that immediately outputs a stop signal to all of the metal material heating mechanism, the metal material cooling mechanism, and the metal material support mechanism; and (b) the metal material. A stop signal is output to all of the heating mechanism, the metal material cooling mechanism, and the metal material support mechanism after the completion of the bending process for the one metal material, and (c) to the coil cooling mechanism. While selecting the operation of any one of the alarm outputs that output the alarm signal while continuing to output the start signal, the signal for executing the selected operation is output , and the full stop is supplied to the induction heating coil The flow rate of the high-frequency panel cooling water controlled to control the heat generated in the high-frequency panel for generating the high-frequency current is reduced, and the high-frequency change that transforms the high-frequency current supplied to the induction heating coil. Reduced flow rate of high-frequency transformer cooling water that was controlled to cool the heat generated in the generator, coil lead that was controlled to cool the heat generated by the coil lead connected to the induction heating coil The induction heating coil cannot be sufficiently cooled due to a decrease in the flow rate of the cooling water, a decrease in the flow rate of the heating coil cooling water that was controlled to cool the heat generated in the induction heating coil, and abnormal heat generation of the induction heating coil. The cooling water pressure drops due to the high temperature of the coil cooling water (return) thermometer that monitors this, and the abnormality of the coil cooling water pump that supplies cooling water to the induction coil, ensuring sufficient cooling water system circulation water volume In the case of a decrease in the pressure of the coil cooling water that is monitored to become impossible, or a decrease in the water level of the coil cooling water tank that contains the cooling water supplied to the induction heating coil Be-option.   Furthermore, the manufacturing apparatus of the bending member described in Claim 1 provided with the feeder which sends the said metal material to the longitudinal direction.   The bending member manufacturing apparatus according to claim 1, wherein the metal material support mechanism has a function of feeding the metal material in a longitudinal direction thereof. The apparatus for manufacturing a bending member according to any one of claims 1 to 3 , wherein the stop after the completion of feeding is performed when the temperature of the cooling water thermometer is high. The alarm output is an increase in the water level of the coil cooling water tank that contains the cooling water supplied to the induction heating coil, a reduction in the water level of the cooling water tank that contains the cooling water sprayed on the outer surface of the high temperature part of the metal material , or , flexural member manufacturing apparatus according to any one of up to claims 1 to 3, is selected when the water level rise in the cooling water tank.

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