JPH0635016B2 - Bending machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a bending apparatus for automatically bending a rod-shaped or tubular work such as a wire rod or a pipe into a desired shape.

[Prior Art] Conventionally, as a bending apparatus of this type, for example, Japanese Patent Laid-Open No.
As described in Japanese Patent Application Laid-Open No. 9-159225, a moving table having a chuck for gripping one end of a work and turning about its axis, and a bending head for bending the work at a predetermined angle at the other end are provided. Things are used.

That is, as shown in FIG. 15, one end of the work 71 is gripped by the chuck 72, the chuck 72 is rotated by the drive motor 73 to determine the bending direction of the work, and the movable table to which the chuck 72 is attached is determined. A bending apparatus is known in which 74 is moved in the axial direction of the workpiece 71 to determine the bending position of the workpiece 71, and the bending head 75 sequentially bends the workpiece 71.

[Problems to be Solved by the Invention] However, in this type of device, since the work 71 is rotated around its axis to determine the bending direction, it is impossible to machine a work having a small diameter and poor rigidity. There was a problem. That is, for a small-diameter work with inferior rigidity, when the work is bent and the work is largely protruding from the bending head, the work is rotated by using a chuck to change the bending direction of the work. Is deformed, and the work cannot be formed into a desired shape.

Therefore, conventionally, when bending such a small-diameter workpiece having inferior rigidity, for example, a bending jig 78 in which a bending die 77 is arranged at a predetermined position as shown in FIG. 16 is used.
Bending was performed manually by using. Therefore, the workability is poor and the productivity is low.

The present invention has been made for the purpose of providing a bending apparatus capable of favorably bending even a work having a small diameter as described above and having a small rigidity, and improving the productivity thereof. It has a structure like.

[Means for Solving Problems] That is, as shown in FIG. 1, the structure of the present invention as means for solving the above problems has a shape corresponding to the bending radius of a rod-shaped or cylindrical work W. A bending head M3 that holds the workpiece W by a bending die M1 having a plurality of grooves and a fastening die M2 that is rotatable around the bending die M1 and rotates the fastening die M2 to perform bending work. A bending machine for bending the work W into a desired shape, which includes a fixing base M for holding the work W and fixing it at a predetermined position.
4, rails M5 provided parallel to the axial direction of the work W fixed to the fixed base M4, and rails M5 provided on both sides of the fixed base M4.
And a pair of sliding mechanisms M7 that slidably attaches to the movable table M6 on which the bending head M3 is mounted and that moves along the rail M5 to a bending position in the axial direction of the work W. The bending head M3 is attached to the moving table M6.
Of two sets of moving mechanisms M8 for linearly moving the workpiece W in a vertical direction and a front-back direction orthogonal to the axial direction of the workpiece W to a predetermined position.
And the bending head M mounted on the moving mechanism M8.
3 in a predetermined direction according to the bending direction of the work W,
A gist of a bending apparatus is characterized by including two sets of rotating mechanisms M9 that rotate around an axis parallel to the work W at a predetermined distance.

[Operation] In the bending apparatus of the present invention thus configured, the fixing table M4 holds the work W and fixes the work W at a predetermined position. Then, the two slide mechanisms M7 are connected to the moving table M6.
Respectively along the rails M5 to move the bending head M
3 is moved to the bending position of the work W in the axial direction. Further, the two sets of rotating mechanisms M9 rotate the bending head M3 around a shaft parallel to the work W in a predetermined direction according to the bending direction of the work W by a predetermined distance. The mechanism M8 linearly bends the bending head M3 in a vertical direction and a front-back direction orthogonal to the axial direction of the work W, respectively.
The groove 1 is moved to a position corresponding to the work W according to the bending radius. Then, the bending head M3 rotates the clamping die M2 around the bending die M1 to bend the work W in a predetermined bending direction with a predetermined bending radius.

EXAMPLES Examples of the present invention will be described below with reference to the drawings.

First, FIGS. 2 and 3 show the overall construction of the bending apparatus of this embodiment. FIG. 2 is a front view thereof, and FIG. 3 is a plan view thereof.

As shown in the figure, the bending apparatus of the present embodiment has a fixed base 2 that holds a work 1 in the center and horizontally holds it at a predetermined height position, and a work 1 held on the fixed base 2 in parallel with the fixed base 2. And the two moving stands 4L and 4R provided on the right and left sides of the fixed stand 2 centering on the fixed stand 2 respectively. The moving stands 4L and 4R have arm mechanisms 5L and 5R, respectively.
The work 1 can be bent from the left and right by the bending heads 6L and 6R attached via the.

As shown in FIG. 4, the fixed base 2 is composed of a column 11 for holding the work 1 at a predetermined height and a clamp 12 for holding the work 1. Also clamp 1
The hydraulic cylinder 12c includes a fixed clamper 12a, a movable clamper 12b, and a hydraulic cylinder 12c.
By moving the moving clamper 12b in the direction of arrow A, the work 1 is gripped between the fixed clamper 12a and the moving clamper 12b.

Next, as shown in FIG. 5, in order to slidably fix the left and right moving bases 4L and 4R to the rail 3, a fitting convex portion 14 is formed on the longitudinal side surface thereof, and the left and right moving bases 4L and 4R ( In the drawing, the right moving table 4R is shown)
By fitting with 5, the left and right moving stands 4L and 4R are slidably attached. Incidentally, FIG. 5 shows a- shown in FIG.
It shows a sectional view taken along the line a '.

The rail 3 is provided with left and right screw shafts 17L and 17R around the fixed base 2, and the left and right ends thereof are provided with the screw shafts 17L and 17R.
Moving motors 18L and 18R for rotating the are provided. The screw shafts 17L, 17R and the moving motors 18L, 18R slide the left and right moving bases 4L, 4R along the rails 3, respectively, and bend them attached to the moving bases 4L, 4R via arm mechanisms 5L, 5R. Head 6L,
6R is for adjusting the position with respect to the work 1 and determining the bending position of the work 1. As shown in FIG. 5, the moving bases 4L and 4R (right moving base 4R is shown in the figure)
The screw shaft 17 is attached to the female screw portion 19 protruding from the
L and 17R (showing the right screw shaft 17R in the drawing) are screwed together, and the screw shafts 17L and 17R are rotated by the moving motors 18L and 18R, so that the moving stands 4L and 4R can be slid. .

Further, the movable bases 4L and 4R are provided with a rotary encoder (not shown) so that the position of the movable base 4L, 4R on the rail 3 can be detected.
The positions of L and 6R are detected. Incidentally, the rail 3, the moving bases 4L and 4R, the female screw portion 19, the screw shaft 17
Two sets of sliding mechanisms M7 are constituted by L, 17R and the carriage motors 18L, 18R.

Next, as shown in FIG. 5, the arm mechanisms 5L and 5R attached to the left and right moving bases 4L and 4R are bent heads on a plane orthogonal to the rail 3 around the work 1 (the right arm mechanism 5R is shown in the figure). The racks 20r and 21r are attached to the two movable links 20 and 21 and the movable bases 4L and 4R, respectively, so that the 6L and 6R can be positioned at arbitrary positions. A vertical motor 22 for moving the moving link 20 up and down, a guide portion 23 of the moving link 21 formed at the upper end of the moving link 20, and a pinion gear (not shown) attached to the guide portion 23 to rotate the moving link 20. It is composed of a front-back motor 24 that moves back and forth. Further, each of the moving links 20 and 21 has a protrusion 20 at the center thereof.
a, 21a are projected, and the reference position switches 20s, 21s (not shown) mounted inside the movable table 4L or 4R and the guide portion 23 are turned on to reference the movable links 20, 21 which are moved up and down and back and forth. The position can be detected. The vertical motor 22 and the front-back motor 2 are
4 is a stepper motor, and the position of each bending head 6L, 6R can be adjusted by a drive signal.

Further, a twisting motor 25 having a rotating shaft that rotates about an axis parallel to the work 1 at a predetermined distance is attached to the tip of the moving link 21 of each of the arm mechanisms 5L and 5R. The base 30 of the bending heads 6L and 6R, which will be described later, is attached to the rotary shaft of the twist motor 25. A bending shaft 31 is erected on the base 30 so as to be orthogonal to the axial direction of the work 1. By rotating the twist motor 25, the bending shaft 31 is bent about the rotation shaft of the twist motor 25. The heads 6L and 6R are rotated on a plane orthogonal to the work 1. That is, the bending heads 6L and 6R are rotated around the work 1 while the bending shafts 31 of the bending heads 6L and 6R are orthogonal to the axial direction of the work 1.
Therefore, the work 1 is sandwiched between the bending die 32 and the fastening die 35, and the fastening die 35 is bent around the bending shaft 31.
When the work 1 is rotated around 2, the work 1 is bent so as to be wound around the bending die 32, and the bending head 6L,
The bending direction of the work 1 by 6R can be adjusted. Here, the bending direction means a direction in which the bent work 1 is oriented, and specifically, on the plane orthogonal to the axial direction of the work 1, the bending work 1 makes with respect to a reference line included in the plane. It is an angle. The arm mechanism 5L,
The 5R forms two sets of moving mechanisms M8, and the both twist motors 25 form two sets of rotating mechanisms M9.

That is, the bending heads 6L and 6R include a base 30 as shown in FIGS. 6A and 6B (the drawing shows the left bending head 6L),
A bending die 32 fixed to the base 30 via a bending shaft 31 for bending the work 1 with a predetermined radius of curvature R;
A pressure die 33 that is slidably attached to the base 30 and presses and fixes the work 1 to the bending die 32, and a bending arm 3 that is attached to the base 30 so as to be rotatable around a bending shaft 31.
4, a clamping die 35 slidably attached to the bending arm 34 for pressing the work 1 against the bending die 31, and a pressure die 3.
3, hydraulic cylinders 36 and 37 that slide on the mold 3 and the clamping die 35, respectively, and a bending motor 38 that rotates the bending arm 34,
The work 1 can be bent along the bending die 32 by pressing the work 1 with the pressure die 33 and the clamping die 35 and rotating the bending arm 34 in the arrow B direction using the bending motor 38. Is configured.

Here, in the bending die 32 of the bending heads 6L and 6R,
As shown in FIG. 10, cylinders corresponding to several kinds (three kinds in the drawing) of radii of curvature R1, R2, R3 are stacked, and grooves 32a, 32b, 32c corresponding to the work 1 are formed on the outer periphery of the cylinders.
Are formed. The shapes of the work contact portions of the pressure die 33 and the clamping die 35 are formed in a step shape along the bending die 32 as shown in FIG.

In FIG. 6, 33a and 35a are fastening molds 3, respectively.
5 and the pressure die 33 in a slidable manner, fixing bolts for fixing the tightening die 35 and the pressure die 33 to sliding bases 36b and 37b attached to the tips of the piston links 36a and 37a of the hydraulic cylinders 36 and 37. Is represented. An optical work detection switch 30s is provided for detecting that the work 1 has reached a position where it can be bent. Further, as the twist motor 25, a step motor is used like the up / down motor 22 and the front / rear motor 24, and a reference angle switch that is turned on at a predetermined rotation angle is provided inside the step motor.

In the bending apparatus of the present embodiment configured as described above, the movement motors 18L and 18L are provided for the respective movement bases 4L and 4R.
R, the up / down motor 22, the front / rear motor 23, and the twist motor 25 of the arm mechanism 5L or 5R, and the bending head 6L
Alternatively, 6R hydraulic cylinders 36 and 37 and a bending motor 38
Is provided in accordance with a preset control program, and a control device for bending the work 1 from the left or right end into a predetermined shape is provided.

FIG. 7 is a block diagram showing the configuration of the control device 50 provided on the right moving base 4R. As shown in the figure, the control device 50 includes a drive signal output unit 51 that outputs drive signals to the moving motor 18R, the vertical motor 22, the front-back motor 24, the twist motor 25, the hydraulic cylinder 36, the hydraulic cylinder 37, and the bending motor 38, respectively. , A rotary encoder 4RS provided on the moving table 4R for detecting the position of the moving table 4R on the rail 3, a reference position switch 20S provided on the moving table 4R for detecting the reference position of the moving link 20, a moving link 2
Reference position switch 21S provided on the guide portion 23 at the front end of 0 and detecting the reference position of the moving link 21, a reference angle switch 25S provided on the twist motor 25 and detecting the reference angle thereof, and a base 30 of the bending head 6R. And a position data input section 52 for inputting a detection signal from a work detection switch 30S for detecting that the work 1 has come to a bending position, and bending data necessary for bending the work 1. Or, a bending data input section 53 for inputting a command signal for starting bending, etc., and various data input via the position data input section 52 and the bending data input section 53 are read in accordance with a preset control program. And a CPU 54 for executing bending control of the work 1,
A ROM 55 in which a control program and various data necessary for executing the bending control by the CPU 54 are stored in advance,
Similarly, a RAM 56 in which various data necessary for executing bending control by the CPU 54 is temporarily read and written, and a bus line 57 which connects the above-mentioned units and serves as a passage for various data.
It consists of and. In addition, the bending data input section 5
Bending data and command signals are input to command device 5
8 through. That is, the bending data for forming the work 1 into a desired shape, the bending start command signal, and the like are input by the operation of the command device 58 by the driver of the device.

Here, the bending data D includes the bending position X of the work 1 (position data of the moving table 4R on the rail 3), the bending direction α (rotation angle of the twist motor 25), and the bending angle β.
(Rotation angle of the bending motor 38), which is sequentially input from the right end of the work 1 for each bending position X1 ... Xn.

As described above, in the control device 50 of the present embodiment, the command device 5 is set in accordance with the control program preset in the ROM 55.
Bending control of the work 1 is executed according to the command signal input via the
An example of the control program for controlling the bending process stored in M55 is shown in FIG. 8 and will be described. The bending data D of the work 1 has already been input via the command device 58,
It is assumed to be stored in the RAM 56.

As shown in the drawing, in the bending control routine, first, step 100 is executed to determine whether or not a bending start command signal is input, that is, the work 1 is attached to the fixed base 2.
It is determined whether the driver has input a command signal to start bending. Then, the step 100 is repeatedly executed until the bending command signal is input, and when the bending command signal is input, the next step 1
Go to 10.

In step 110, the moving table 4R is moved by the moving motor 18R.
Is moved to the right end on the rail 3 and the vertical motor 22
And the front / rear motor 24 are used to move the arm mechanism 5R to a position where the reference position switches 20S and 21S are turned on, and the twist motor 25 is further moved to the reference angle switch 25.
By driving S to the ON state, each part is controlled to the reference position, and the position signal detected by the rotary encoder 4RS, the step position of the step motor used for the up / down motor 22, the front / rear motor 24, and the twist motor 25 are controlled. Initialize and execute the initialization process.

In other words, in this initialization processing, if the stepping motor is out of step or the detection result of the rotary encoder is abnormal in the previous bending control, the bending control will be executed if the next control is executed as it is. Since it cannot be executed accurately, each part is controlled to the reference position as described above, and the step position of the step motor and the rotary encoder 4R are controlled.
By initializing the detection result of S, the subsequent bending processing control can be executed well.

The reference position of the twisting motor 25 is set to a position for controlling the bending head upward in the horizontal direction as shown in FIG.

When the initialization process is executed in this way, in the subsequent step 120, the movement motor 18R and the twist motor 25 are
The vertical motor 22 and the front-rear motor 24 as they are.
The work 1 is driven to a position where the work 1 is detected by the work detection switch 30S of the bending head 6R, that is, the work 1 is located between the bending die 32 and the pressure die 33 of the bending head 6R. Move the bending head 6R to the position. This process is a process for driving and controlling the bending head 6R to a position where the work 1 can be bent, and the position of the work 1 on the plane orthogonal to the rail 3 is the fixed position of the work 1 by the fixing base 2. Since it can be estimated from (Zs, Ys), first, the front-back motor 24 is driven to drive the bending head 6
This is executed by advancing R to the point of Zs and then driving the up / down motor 22 to raise the bending head 6R to a position where the work detection switch 30S is turned on.
After the bending head 6R is moved in the front-back direction (Z direction), the bending head 6R is moved in the vertical direction (Y direction) because the work 1 is fixed by the weight of the work 1 at the fixed position (Zs, This is because there is a possibility that the position is displaced (falls) in the Y direction with respect to Ys).

Next, at step 130, of the bending data D input in advance and stored in the RAM 56, the bending data D at the rightmost end bending position that has not yet been bent.
The n is read and the process proceeds to the next step 140.

In step 140, the moving motor 18R is driven to control the position of the moving table 4R to the bending position Xn of the read bending data Dn. That is, this step 14
At 0, the moving motor 18R moves so that the position of the moving table 4R detected by the rotary encoder 4RS becomes the bending position Xn.
However, if the work 1 is lowered by its own weight at this time, the work 1 may be displaced from between the bending die 32 and the pressure die 33 of the bending head. Work detection switch 30S ON
The movable table 40 is moved while confirming the OFF state, and the vertical motor 22 and the forward / backward motor 24 are also drive-controlled so that the work detection switch 30S is always in the ON state.

In the following step 150, the rotation angle of the twist motor 25 is controlled according to the bending direction αn of the bending data Dn read in the above step 130, and the bending direction of the work 1 by the bending head 6R is controlled. Specifically, this processing is as follows when the twist motor 25 is rotated to αn as it is.
Since the position of the bending head 6R is displaced with respect to the work 1 and the work 1 is damaged, the twist motor 25 moves in accordance with the rotation angle of the twist motor 25 while drawing a locus indicated by a chain line in FIG. The up / down motor 22 and the front / rear motor 24 are drive-controlled so that.

Further, while confirming the position of the work 1 by the position sensor 30s, the grooves 32a, 32b, 32c having the radii of curvature R1, R2, R3 corresponding to the bending radii are moved to the positions corresponding to the work 1. For example, when bending is performed with the radius of curvature R1, the vertical motor 22 and the front-back motor 24 are drive-controlled so that the work 1 enters the groove 32a. Also,
When bending is performed with the radius of curvature R2, the vertical motor 22 and the front-back motor 24 are drive-controlled so that the work 1 enters the groove 32b.

In this way, when the bending position, the bending direction and the bending radius of the bending head 6R with respect to the work 1 are controlled, step 160 is executed this time, and the rail 1 is bent. That is, the hydraulic cylinders 36 and 37 of the bending head 6R
Is driven to press the work 1 against the bending mold 32 with the pressure mold 33, the clamping mold 35 is brought into contact with the work 1, and the bending motor is bent by the bending angle βn of the bending machine Dn read in step 130. The work 1 is bent by rotating 38, and then the hydraulic cylinders 36 and 3 are rotated.
7 to the original position, open the work 1 and bend motor 3
The conventional drive control of the bending head such as returning 8 to the original position is executed.

When the bending process of the work 1 is completed according to the bending process data Dn read in step 130 as described above, the process proceeds to step 170, and all the bending process data stored in the RAM 56 are bent. It is determined whether or not processing has been performed.

Then, if the bending at all bending positions has been completed, YES is determined in this step 170, the process proceeds to step 100 again, and if the bending of the work 1 is not completed, this step 170 is executed. Is determined to be NO, and the process proceeds to step 130.

As described above, the electronic control circuit 50 provided on the right moving table 4R sequentially performs bending from the right end of the work 1 to bend the work 1 into a desired shape according to the bending data. Although it is operated, the control circuit on the side of the left movable table 4L is configured in exactly the same manner as the control circuit 50, but the bending work is sequentially performed from the left end of the work 1.

As described above, in the bending apparatus of the present embodiment, the bending head 6L or 6R is moved along the work 1 fixed to the fixed base 2, and the bending work is sequentially performed from the left and right end portions of the work 1. Therefore, it is possible to perform bending without rotating the work 1 about the axis as in the conventional art, and to perform good bending without deforming the work even if the work has a small diameter or a long work. Will be able to.
Moreover, since the work 1 is not rotated, bending work can be performed without requiring a wide space for swinging the work 1. Then, the twist head 25 directs the bending heads 6L and 6R in a direction corresponding to the bending direction, and the vertical motor 22 and the front-back motor 24 cause the grooves 32 of the bending heads 6L and 6R to be bent.
The a, 32b and 32c are moved to positions corresponding to the work 1 according to the bending radius. Therefore, the work 1 can be bent three-dimensionally in a predetermined bending direction and can be bent with different bending radii. Further, in this embodiment, two bending heads 6L and 6R are provided on both sides of the fixed base 2, and bending work is performed from the left and right sides of the work 1 by this, so that the bending work time can be shortened and the productivity is improved. .

Further, in the above embodiment, the left and right moving bases 4L, 4R are configured to be moved by using the screw shafts 17L, 17R, but in addition to this, for example, as shown in FIG. 12, a chain 60 may be used for moving. It may be configured. That is, as shown in the figure, the movable base 4 ″ is slidably installed on the two rails 3 ″, the chain 60 is fixed to a part of the movable base 4 ″, and the chains provided on both ends of the rail 3 ″. The movable table 4 ″ may be positioned at an arbitrary position on the rail 3 ″ by rotating the gear 61. still,
In the figure, (a) is a front view and (b) is an end view taken along the line bb.

On the other hand, in the above-mentioned embodiment, the fixed base 2 is installed in the vicinity of the rail 3 completely fixed. However, as shown in FIG. 13, for example, the fixed base 2'is provided on the rail 63 and the fixed base 2'is mounted on the rail 63. After moving to the arbitrary position above, you may make it fix using the fixing tool 64. Further, as shown in the drawing, the column bottom 11a 'of the fixed base 2'is rotatably fixed on a plane orthogonal to the rail 63, and its inclination can be adjusted by a trunnion type cylinder 65 having one end rotatably mounted. You may comprise. In the case of such a configuration, the position for gripping the work can be easily set to an arbitrary position according to the bending shape of the work, and the pillar 11 'is rotated to perform bending work. After doing, the work can be moved to another position.

Further, in the above-mentioned embodiment, the clamp 12 for gripping the work is moved by the hydraulic cylinder 12c.
Is configured to be gripped by moving the work and pressing the work toward the fixed clamper 12a side. In addition to this, as shown in FIG. 14, for example, one end of two claws 67a, 67b is fixed by the fixtures 68a, 68b. It is rotatably fixed with its center 6
By moving 80 using the hydraulic cylinder 69 in the direction of the arrow shown in the figure, the work 1 ′ is placed between the claws 67a and 67b.
May be configured to grab.

[Effects of the Invention] As described above, according to the bending apparatus of the present invention,
One work can be bent three-dimensionally in a predetermined bending direction, and furthermore, it can be bent to a plurality of bending radii. Further, since the work can be bent into a desired shape without rotating, even a work with a small diameter having a poor rigidity or a work with a long length can be favorably bent without being deformed, Moreover, it can be bent without requiring a large space. Furthermore, since the both sides of the fixed base are bent into a predetermined shape, the bending time can be shortened and the productivity can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating the basic configuration of the present invention, FIGS. 2 to 9 show an embodiment of the present invention, and FIG. 2 is a front view showing the entire apparatus of the present embodiment, and FIG. FIG. 4 is a plan view thereof, FIG. 4 is a left side view showing a fixed base, FIG. 5 is a sectional view taken along the line aa ′ in FIG. 2, and FIG. 6 (a) is a front view showing a bending head structure. FIG. 6 (B) is a left side view thereof, FIG. 7 is a block diagram showing a configuration of a control circuit provided on the right moving base and used for bending a workpiece, and FIG. 8 is executed by the control circuit. A flowchart showing an example of bending control, FIG. 9 is for explaining the bending control,
FIG. 10 is an explanatory view schematically showing movements of a bending head, an arm mechanism, etc., FIG. 10 is an explanatory view showing a shape of a bending die provided in the bending head, and FIG. 11 is a pressure die (or tightening die) provided in the bending head. FIG. 12 shows a rail portion when a chain is used to move the moving table, (a) is a front view thereof, (b) is an end view of the bb ′ line, FIG. 13 is a side view showing another example of a fixing base, FIG. 14 is an explanatory view showing another example of a clamp provided on the fixing base for gripping a work, and FIG. 15 is a conventional bending apparatus. FIG. 16 is a diagram showing the construction, and FIG. 16 is an explanatory view showing a conventional bending jig used for bending a work having a small diameter. W, 1 ... Work M1, 32 ... Bending die M2, 33 ... Tightening die M3, 6L, 6R ... Bending head M4, 2 ... Fixing base M5, 3 ... Rail M6, 4L, 4R ... Moving Platform M7 …… Sliding mechanism M8 …… Movement mechanism M9 …… Rotation mechanism 17 …… Screw shafts 18L, 18R …… Movement motor 22 …… Vertical motor 24 …… Front and rear motor 25 …… Twist motor 50 …… Control device

Claims (1)

[Claims] 1. A work piece is clamped by a bending die having a plurality of grooves having a shape corresponding to a bending radius of a rod-shaped or cylindrical work piece, and a tightening die capable of rotating around the bending die, and the tightening is performed. A bending machine for bending a work into a desired shape, which comprises a bending head for rotating a mold to perform bending work, comprising: a fixing base for holding the work and fixing it at a predetermined position; A rail provided parallel to the axial direction of the workpiece fixed to the table, and a movable table provided on each side of the fixed table and slidably attached to the rail, on which the bending head is mounted, At two axial bending positions, and two sets of sliding mechanisms that move along the rails, and the bending head, which are respectively attached to the moving table, move the bending head in the vertical direction and the front-back direction orthogonal to the axial direction of the workpiece. Linearly in place Two sets of moving mechanisms that move, and the bending heads mounted on the moving mechanisms, respectively, are rotated in a predetermined direction according to the bending direction of the workpiece around a shaft parallel to the workpiece at a predetermined distance. A bending apparatus comprising: two sets of rotating mechanisms that move.