Bending system and method for configuring a modular die

Abstract

In the bending system and the method of arranging the combined die of the present application, the closing operation includes: a restraining operation of advancing the left lower die holding member (64L) to restrain the reference lower die (14a) with the left lower die holding member (64L); an inserting operation of advancing the right lower die holding member (64R) to insert the right lower die holding member (64R) into the insertion hole of the target lower die (14h); and an execution operation of moving the left and right lower die holding members (64L, 64R) along the left-right direction to close the lower dies (14a-14h) from the reference lower die (14a) to the target lower die (14h). The control device (100) performs a retry operation of advancing the right lower die holding member (64R) again to insert into the insertion hole (141) of the target lower die (14h) after releasing the restraining operation by retreating the left lower die holding member (64L) in the case of determining that the inserting operation fails.

Description

Technical Field

[0001] This invention relates to a bending processing system and a method for configuring a combination mold. Background Technology

[0002] The bending system includes a bending machine for bending workpieces, the bending machine having a worktable and a mold support mounted on the worktable to hold the molds. Additionally, the bending system includes a mold rack located to the side of the bending machine and housing multiple molds. The mold rack has multiple storage containers for holding the molds, and any selected storage container is configured to be positioned at a changeover location for mold replacement. Furthermore, the bending system includes left and right mold replacement units that transfer molds between the mold support and the storage containers positioned at the changeover location, and position them at a desired location on the mold support. Each mold replacement unit has a mold holding member that can be inserted and removed relative to an insertion hole provided in the mold (see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 5947861 Summary of the Invention

[0006] Furthermore, when a mold table composed of multiple molds is placed on a mold support, a closing action is performed to bring the multiple molds together so that there are no gaps between them. This closing action is performed by inserting a mold holding member into the mold's through-hole; however, if the insertion action of inserting the mold holding member into the through-hole is determined to have failed, an alarm is issued, resulting in a defect where the closing action is interrupted.

[0007] One aspect of the bending processing system disclosed herein includes: a bending machine having a plurality of molds arranged in a left-right direction on a mold support provided on a worktable; a first moving body and a second moving body having mold holding members that can be inserted and removed relative to through holes provided on the molds by moving forward and backward in a front-back direction, and the first moving body and the second moving body are movably disposed on the rear or front side of the worktable in a left-right direction; and a control device that controls the first moving body and the second moving body respectively to perform a closing action that brings the plurality of molds together to eliminate gaps between the molds. The closing action includes: a constraint action that moves the first mold holding member of the first moving body forward to constrain a reference mold located at one end of the plurality of molds by means of the first mold holding member; an insertion action that moves the second mold holding member of the second moving body forward to insert the second mold holding member into the through hole of a target mold selected from the remaining molds of the plurality of molds excluding the reference mold; and an execution action that moves the first moving body and the second moving body in a left-right direction in a manner of approaching each other, bringing the molds from the reference mold to the target mold together. If the control device determines that the insertion action has failed, after retracting the first mold holding component to release the constraint, it will perform a retry action to move the second mold holding component forward again and insert the second mold holding component into the insertion hole of the target mold.

[0008] According to one aspect of the bending process system disclosed herein, when the insertion operation is determined to have failed, a retry operation is performed. This retry operation is performed with the first mold holding member retracted and the reference mold released from its constraints. Releasing the reference mold from its constraints creates a small margin of error for the reference mold, allowing for a small overall movement from the reference mold to the target mold. This makes it easier to insert the second mold holding member into the target mold during the retry operation. Consequently, even if the insertion operation temporarily fails, the approach operation can continue without generating an alarm as long as the second mold holding member can be inserted into the target mold through the retry operation.

[0009] According to one method of this disclosure, it is possible to suppress the interruption of the approaching action. Attached Figure Description

[0010] Figure 1 This is a front view schematically showing the structure of the bending processing system of the first embodiment.

[0011] Figure 2 It is a schematic representation Figure 1 The side view of the structure of the bending processing system shown.

[0012] Figure 3A This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0013] Figure 3B This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0014] Figure 3C This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0015] Figure 3D This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0016] Figure 4A This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0017] Figure 4B This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0018] Figure 4C This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0019] Figure 4D This diagram illustrates a portion of the approaching action steps in the first embodiment.

[0020] Figure 5A This is a diagram representing the steps of the initial action.

[0021] Figure 5B This is a diagram representing the steps of the initial action.

[0022] Figure 5C This is a diagram representing the steps of the initial action.

[0023] Figure 5D This is a diagram representing the steps of the initial action.

[0024] Figure 6A This is a diagram showing the steps of the first attempt.

[0025] Figure 6B This is a diagram showing the steps of the first attempt.

[0026] Figure 6C This is a diagram showing the steps of the first attempt.

[0027] Figure 6D This is a diagram showing the steps of the first attempt.

[0028] Figure 7A This is a diagram showing the steps of the second attempt.

[0029] Figure 7B This is a diagram showing the steps of the second attempt.

[0030] Figure 7C This is a diagram showing the steps of the second attempt.

[0031] Figure 7D This is a diagram showing the steps of the second attempt.

[0032] Figure 8A This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0033] Figure 8B This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0034] Figure 8C This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0035] Figure 8D This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0036] Figure 9A This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0037] Figure 9B This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0038] Figure 9C This diagram illustrates a portion of the approaching action steps in the second embodiment.

[0039] Figure 9D This diagram illustrates a portion of the approaching action steps in the second embodiment. Detailed Implementation

[0040] Hereinafter, the bending processing system and the configuration method of the combined mold according to this embodiment will be described with reference to the accompanying drawings.

[0041] (First Implementation)

[0042] Figure 1 This is a front view schematically showing the structure of the bending processing system of the first embodiment. Figure 2 It is a schematic representation Figure 1 A side view of the structure of the bending processing system shown. (Refer to...) Figure 1 and Figure 2 The bending processing system 10 of the first embodiment will be described below. In the following description, the left-right direction, the front-back direction, and the up-down direction are defined as directions, but these directions are used only for ease of explanation. The left-right direction and the front-back direction correspond to two directions orthogonal in the horizontal direction, and the up-down direction corresponds to the vertical direction.

[0043] The bending processing system 10 includes: a bending machine 16, which has a plurality of lower dies 14 arranged in the left-right direction on a lower die support 30 provided on the lower worktable 24; left and right lower die changing units 50L and 50R, which have lower die holding members that can be inserted and removed relative to the insertion holes 141 provided on the lower dies 14 by moving forward and backward in the front-back direction, and are provided on the rear or front side of the lower worktable 24 in a manner that can move in the left-right direction; and a control device 100, which controls the left and right lower die changing units 50L and 50R respectively to perform a closing action that brings the plurality of lower dies 14 together so that there is no gap between the lower dies 14. The approaching action includes: a constraint action, which moves the lower mold holding member 64L of the left lower mold changing unit 50L forward, and uses the left lower mold holding member 64L to constrain the reference lower mold 14 located at one end of the plurality of lower molds 14; an insertion action, which moves the lower mold holding member 64R of the right lower mold changing unit 50R forward, and inserts the lower mold holding member 64R into the insertion hole 141 of the target lower mold 14 selected from the remaining lower molds 14 other than the reference lower mold 14; and an execution action, which moves the left and right lower mold changing units 50L and 50R in a left-right direction in a manner that brings them closer together from the reference lower mold 14 to the target lower mold 14. If the control device 100 determines that the insertion operation has failed, after retracting the left lower die holding member 64L to release the constraint of the reference lower die 14, it performs a retry operation to advance the right lower die holding member 64R again and insert the right lower die holding member 64R into the insertion hole 141 of the target lower die 14. However, the above description refers to the approaching operation of the left and right lower die changing units 50L and 50R, which are provided corresponding to the lower die 14, but the approaching operation of the left and right upper die changing units 74L and 74R, which are provided corresponding to the upper die 12, is also the same.

[0044] The following is a detailed description of the bending system 10. The bending system 10 is a system for bending plate-shaped workpieces W, such as metal plates. The bending system 10 includes a bending machine 16, left and right lower die changing units 50L and 50R, left and right upper die changing units 74L and 74R, and a control device 100.

[0045] The bending machine 16 uses the cooperation of the upper die, such as the punch, and the lower die, such as the punch, to bend the workpiece W.

[0046] The bending machine 16 includes a main frame 18. The main frame 18 has left and right side plates 20 that are separated and opposed in the left-right direction. A lower worktable 24 extending in the left-right direction is provided at the lower part of the main frame 18, and an upper worktable 26 extending in the left-right direction is provided at the upper part of the main frame 18. The upper worktable 26 is configured to move in the vertical direction. A hydraulic cylinder 28, serving as an actuator for vertical movement, is provided on the upper part of each side plate 20 to move the upper worktable 26 relative to the main frame 18. Alternatively, instead of configuring the upper worktable 26 to move vertically, the lower worktable 24 can be configured to move in both vertical and horizontal directions. A servo motor can also be used instead of the hydraulic cylinder 28 as the actuator for vertical movement.

[0047] A lower mold support 30 is provided on the upper side of the lower worktable 24 to detachably hold the lower mold 14. The lower mold support 30 may be a structure that extends continuously in the left-right direction, or it may be a structure that is intermittently arranged in the left-right direction at appropriate intervals. A support groove 30g for inserting the shank (base) 140 of the lower mold 14 is formed on the lower mold support 30 in the left-right direction. The lower mold support 30 has a hydraulic clamp 32 for fixing the lower mold 14 relative to the lower worktable 24.

[0048] An upper mold support 34 is provided on the lower side of the upper worktable 26 to hold the upper mold 12 detachably. The upper mold support 34 may be a structure that extends continuously in the left-right direction, or it may be a structure that is intermittently arranged in the left-right direction at appropriate intervals. A support groove 34g is formed in the upper mold support 34 in the left-right direction for inserting the handle (base) 120 of the upper mold 12. The upper mold support 34 has a hydraulic clamp 36 for fixing the upper mold 12 relative to the upper worktable 26.

[0049] A through hole 141 extending in the front-to-back direction is provided at the center of the lower mold 14 in the left-to-right direction (width direction). The position of the through hole 141 in the lower mold 14, which is mounted on the lower mold support 30, can be specified based on the position of one of the left or right sides of the lower mold 14, and is a position equivalent to half the width of the mold from that reference. In addition, similarly to the lower mold 14, the upper mold 12 is also provided with a through hole 121 extending in the front-to-back direction.

[0050] In the bending processing system 10, a mold frame 42 for accommodating multiple lower molds 14 and multiple upper molds 12 is provided on the side of the bending machine in the left-right direction, i.e., on the right side in this embodiment.

[0051] The mold holder 42 has multiple lower storage containers, each holding one or more lower molds 14, arranged in a front-to-back direction. The multiple lower storage containers are configured to move in both the vertical and front-to-back directions using a storage container moving mechanism. The storage container moving mechanism selects any one of the multiple lower storage containers and moves it in both the vertical and front-to-back directions, thereby positioning it at a changeover position for the lower mold. This changeover position is set adjacent to the lower mold support 30 in the left-to-right direction.

[0052] In addition, the mold holder 42 has multiple upper storage containers that each hold one or more upper molds 12. The structure of each upper storage container is the same as that of the lower storage container.

[0053] The left and right lower die changing units 50L and 50R are used for transferring the lower die 14 between the lower die support 30 and the lower storage container positioned at the lower die changing position, and for configuring the lower die 14 in the lower die support 30. The left and right lower die changing units 50L and 50R are equivalent to the first and second moving bodies set corresponding to the lower die 14.

[0054] The left and right lower die changing units 50L and 50R are located on the rear side of the lower worktable 24. A lower guide 48 extending in the left and right direction is provided on the rear side of the lower die support 30. Each lower die changing unit 50L and 50R is configured to be movable in the left and right direction via the lower guide 48.

[0055] The left and right lower mold changing units 50L and 50R are independently constructed and can operate independently of each other. The structures of the left and right lower mold changing units 50L and 50R correspond to each other. Therefore, the structure of the right lower mold changing unit 50R will be described below as an example.

[0056] The lower die changing unit 50R on the right side moves in the left and right directions by being driven by a servo motor 52, which acts as an actuator for left and right movement. The servo motor 52 has an encoder 54 that acts as a position detector for detecting the left and right position of the lower die changing unit 50R.

[0057] The lower mold changing unit 50R on the right side includes: a lower unit body 56R, which is movable in the left-right direction relative to the lower guide 48; and a lower support member 58R, which is movable in the front-back and vertical directions relative to the lower unit body 56R. The lower support member 58R moves in the front-back direction relative to the lower unit body 56R by being driven by a first cylinder 60, which acts as an actuator for front-back movement. The lower support member 58R moves in the vertical direction relative to the lower unit body 56R by being driven by a second cylinder 62, which acts as an actuator for vertical movement.

[0058] The lower die changing unit 50R on the right side has a lower die holding member 64R that is movable in the front-rear direction relative to the lower support member 58R. The lower die holding member 64R is moved in the front-rear direction relative to the lower support member 58R by the drive of a third cylinder 66, which is an actuator for front-rear movement. The lower die holding member 64R is configured to be inserted into the insertion hole 141 of the lower die 14.

[0059] As described above, the left and right lower mold changing units 50L and 50R perform the transfer and configuration of the lower mold 14 in the lower mold support 30. Each lower mold changing unit 50L and 50R moves the lower mold holding members 64R and 64L forward and inserts the lower mold holding members 64R and 64L into the insertion hole 141 of the lower mold 14, thereby holding the lower mold 14.

[0060] With the lower mold 14 held by the lower mold holding components 64R and 64L, the lower mold changing units 50L and 50R move in the left and right directions, thereby enabling the lower mold 14 to be moved in the left and right directions. Furthermore, by positioning the lower mold changing units 50L and 50R in a predetermined position, the lower mold 14 can be arranged in the desired position on the lower mold support 30.

[0061] The left and right lower mold changing units 50L and 50R can independently perform the transfer and configuration of the lower mold 14. In addition, the left and right lower mold changing units 50L and 50R can hold the lower mold 14 located at the left and right ends of the multiple lower molds 14, and can also perform the transfer and configuration of multiple lower molds 14 at the same time.

[0062] When transferring or configuring the lower mold 14, there may sometimes be sufficient clearance on the left or right side of the lower mold 14. In this case, the lower mold holding members 64R and 64L may not be inserted through the insertion hole 141, but may instead contact the left or right side of the lower mold 14 and press that side in the left-right direction, thereby transferring the lower mold 14.

[0063] The left and right upper die changing units 74L and 74R perform tasks such as transferring the upper die 12 between the upper die support 34 and the upper storage container positioned at the upper die changing position, and configuring the upper die 12 in the upper die support 34. The left and right upper die changing units 74L and 74R are equivalent to the first and second moving bodies set corresponding to the upper die 12.

[0064] The structures of the left and right upper mold changing units 74L and 74R correspond to the structures of the left and right lower mold changing units 50L and 50R described above. That is, the upper guide 72, servo motor 76, encoder 78, upper unit body 80R (80L), upper support component 82R (82L), first cylinder 84, second cylinder 86, upper mold holding component 88R (88L), and third cylinder 90 in the upper mold changing unit 74R (74L) correspond to the lower guide 48, servo motor 52, encoder 54, lower unit body 56R (56L), lower support component 58R (58L), first cylinder 60, second cylinder 62, lower mold holding component 64R (64L), and third cylinder 66 in the lower mold changing unit 50R (50L).

[0065] The control device 100 is a device that controls the operation of the bending processing system 10. The control device 100 is, for example, a computer such as an NC device. A computer is mainly composed of a hardware processor such as a CPU (Central Processing Unit), memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus.

[0066] A predetermined computer program is installed in the computer. The hardware processor executes the computer program, thereby enabling the computer to perform multiple functions of the control device 100.

[0067] The control device 100 controls the operation of the bending machine 16 based on the machining program. Additionally, the control device 100 controls the operation of the left and right lower die changing units 50L and 50R and the left and right upper die changing units 74L and 74R based on the die changing program and preparation data. According to this control, the upper die 12 and lower die 14 are transferred, and their placement in the upper die support 34 and lower die support 30 is performed. The control device 100 stores the machining program, the die changing program, and the preparation data in its memory.

[0068] The preparation data refers to the data of one or more mold tables simultaneously configured on the mold supports (upper mold support 34 and lower mold support 30) of the multiple molds (upper mold 12 and lower mold 14) of the bending processing system 10 and the bending machine 16. Specifically, the preparation data includes information such as preparation number, mold layout, and the part to be processed. The mold layout includes the mold number of the molds constituting each worktable, the length of the mold in the width direction, and the installation position of the mold in the mold support.

[0069] The mold stand, configured on the mold support, consists of a single mold or a mold assembly composed of multiple molds combined in the left-right direction. When a mold stand consists of a mold assembly of multiple molds, these molds are arranged continuously in the left-right direction without gaps between them.

[0070] The following describes the operation of placing the lower die 14 and upper die 12 at desired positions on the lower die support 30 and upper die support 34 using the left and right lower die changing units 50L and 50R and the left and right upper die changing units 74L and 74R in the bending processing system 10 of this embodiment. In the following description, the operation of placing the mold table composed of multiple lower dies 14 at the required position on the lower die support 30 will be described using the operation of the left and right lower die changing units 50L and 50R as an example. Of course, the operation of placing multiple upper dies 12 on the upper die support 34 using the left and right upper die changing units 74L and 74R is also the same.

[0071] The control device 100 uses the position control of the left and right lower mold changing units 50L and 50R to position multiple lower molds 14 at predetermined positions on the lower mold support 30. Specifically, the control device 100 controls the servo motors 52 that drive the left and right lower mold changing units 50L and 50R respectively to perform left-right position control of the lower mold changing units 50L and 50R. In position control, the control device 100 can identify the left-right positions of the left and right lower mold changing units 50L and 50R based on the detection signals supplied from the encoder 54 that detects the rotational speed of the servo motors 52. The control device 100 can use position control to move or position the left and right lower mold changing units 50L and 50R in the left-right direction. By using the left-right movement and positioning actions of the left and right lower mold changing units 50L and 50R, multiple lower molds 14 can be positioned at desired positions on the lower mold support 30.

[0072] On the other hand, even when multiple lower dies 14 are positioned at the desired location on the lower die support 30 using position control, small gaps may occur between adjacent lower dies 14 due to various factors such as backlash in the drive mechanism, deflection of the lower die holding members 64L and 64R, and negative cross-sections of the lower dies 14. Therefore, the control device 100 controls the left and right lower die changing units 50L and 50R to perform a closing action that brings the multiple lower dies 14 together to eliminate the gaps between the lower dies. This closing action is performed by activating the left and right lower die changing units 50L and 50R under the position control of the control device 100.

[0073] Figures 3A to 3D as well as Figures 4A to 4D This is a diagram illustrating the steps of the approaching action in the first embodiment. Hereinafter, refer to... Figures 3A to 3D as well as Figures 4A to 4DThe approaching action of the first embodiment will be explained. In this figure, as an example of multiple lower molds 14, seven lower molds 14a to 14h are shown. The seven lower molds 14a to 14h are arranged from left to right in the order of lower mold 14a, lower mold 14b, lower mold 14c, lower mold 14d, lower mold 14e, lower mold 14f, lower mold 14g, and lower mold 14h.

[0074] In this embodiment, the die holder 42 of the bending system 10 is located on the right side of the bending machine 16. Therefore, the movement of the lower die 14, which is transferred from the die holder 42 to the lower die support 30, from right to left becomes the main body. Therefore, the leftmost lower die 14a among the seven lower dies 14a to 14h is used as the reference lower die 14a for the closing action. However, the reference lower die is not limited to the lower die 14a.

[0075] like Figure 3A As shown, the control device 100 moves the left-side lower mold changing unit 50L in the left-right direction, aligning the left-side lower mold changing unit 50L with the reference lower mold 14a (alignment operation). The alignment operation is performed such that the position of the left-side lower mold holding member 64L is aligned with the position of the insertion hole 141 of the reference lower mold 14a (the same applies to the alignment operation described below).

[0076] The control device 100 selects any one of the remaining lower dies 14b to 14h (excluding the reference lower die 14a) as the first target lower die. In this embodiment, the lower die 14e located in the middle of the remaining lower dies 14b to 14h is set as the first target lower die 14e. The control device 100 moves the lower die changing unit 50R on the right side in the left-right direction, aligning the lower die changing unit 50R relative to the target lower die 14e (alignment operation).

[0077] like Figure 3B As shown, the control device 100 advances the left lower mold holding member 64L, inserting it into the insertion hole 141 of the reference lower mold 14a. With the left lower mold holding member 64L inserted into the insertion hole 141 of the reference lower mold 14a, the reference lower mold 14a is constrained by the left lower mold holding member 64L (constraint action). Similarly, the control device 100 advances the right lower mold holding member 64R, inserting it into the insertion hole 141 of the target lower mold 14e (insertion action). The timing of advancing the right lower mold holding member 64R can be the same as the timing of advancing the left lower mold holding member 64L, or it can be after advancing the left lower mold holding member 64L.

[0078] like Figure 3CAs shown, the control device 100 moves the lower mold changing unit 50L on the left and the lower mold changing unit 50R on the right in a manner that brings them closer together in the left and right direction, so that the five lower molds 14a to 14e from the reference lower mold 14a to the target lower mold 14e move toward the center (execution action).

[0079] When the execution action is completed, the control device 100 selects the rightmost lower mold 14h among the seven lower molds 14a to 14h as the second target lower mold (new target lower mold) 14h. Then, while continuing the constraint action of the lower mold holding member 64L on the reference lower mold 14a, the control device 100 uses the lower mold holding member 64R on the right to perform the insertion action and execution action for the new target lower mold 14h.

[0080] Specifically, such as Figure 3D As shown, the control device 100 retracts the right-side lower mold holding member 64R, pulling it out of the insertion hole 141 of the object lower mold 14e. Figure 4A As shown, the control device 100 moves the lower mold changing unit 50R on the right side in the left-right direction, aligning the lower mold changing unit 50R on the right side with the target lower mold 14h (alignment action). Then, as... Figure 4B As shown, the control device 100 advances the right-side lower mold holding member 64R, inserting it into the insertion hole 141 of the target lower mold 14h (insertion action). Figure 4C As shown, the control device 100 moves the lower mold replacement unit 50L on the left and the lower mold replacement unit 50R on the right in a manner that brings them closer together in the left and right direction, so that the seven lower molds 14a to 14h from the reference lower mold 14a to the target lower mold 14h move toward the center (execution action).

[0081] Finally, as Figure 4D As shown, the control device 100 causes the lower mold holding member 64L on the left and the lower mold holding member 64R on the right to retract, and pulls out the left and right lower mold holding members 64L and 64R respectively from the insertion holes 141 of the reference lower mold 14a and the target lower mold 14h.

[0082] As described above, by performing a closing action, the seven lower molds 14a to 14h can be positioned at the desired location on the lower mold support 30 without any gaps between them.

[0083] Furthermore, the description of the approaching action above explained a method of switching the target lower mold twice, such as the middle lower mold 14e and the right lower mold 14h among the seven lower molds 14a to 14h. However, the number of times the target lower mold is switched can be set according to the number and total length of the lower molds 14 constituting the mold table. Moreover, switching the target lower mold only requires selecting any number of lower molds 14 from the remaining molds (excluding the reference lower mold 14a) from left to right, corresponding to the number of switching operations.

[0084] Furthermore, when the lower mold holding member 64L on the left side has been inserted into the insertion hole 141 of the reference lower mold 14a, the aforementioned approaching action is omitted in the above description from the actions of aligning the lower mold changing unit 50L on the left side with the reference lower mold 14a and inserting the lower mold holding member 64L on the left side into the insertion hole 141 of the reference lower mold 14a.

[0085] However, during such a closing action, sometimes the insertion action fails because it is impossible to insert the right-side lower mold holding member 64R into the insertion hole 141 of the target lower mold 14e, 14h, even if the intention is to do so. The control device 100 monitors the stroke of the first cylinder 60 or the third cylinder 66, and determines the insertion action as a failure if each cylinder 60, 66 fails to reach the predetermined stroke end.

[0086] Reasons for insertion failure include: (1) mechanical tilting of the lower die holding members 64L and 64R; (2) offset of the reference position of the lower die changing units 50L and 50R defined based on the predetermined position (e.g., the center) of the lower worktable 24; (3) the difference between the nominal and actual dimensions of the length of the lower die 14 and the resulting difference between the actual and theoretical positions of the insertion hole 141; and (4) the difference between the actual and theoretical positions caused by the deflection of the lower die holding members 64L and 64R. Furthermore, during the closing action, multiple object dies are repeatedly inserted and executed while the reference lower die 14a is constrained by the lower die holding member 64L on the left. Each time an action is executed, pressure is applied from the lower die holding member 64L to the reference lower die 14a, causing the closing lower die 14 as a whole to tend to be pushed to the right. Therefore, this state is repeated each time the action is executed, accumulating small offsets, which easily leads to positional displacement in the lower die 14 located on the right.

[0087] If the control device 100 determines that the insertion operation has failed, it performs a retry operation. The retry operation will be described in detail below. The retry operation involves advancing the right-side lower mold holding member 64R again and re-inserting the right-side lower mold holding member 64R into the insertion hole 141 of the target lower molds 14e and 14h. The retry operation will be described below using the insertion operation into the target lower mold 14h as an example. The retry operation includes an initial operation, a first retry operation, and a second retry operation.

[0088] Reference Figures 5A to 5D The initial actions are explained. Figures 5A to 5D This is a diagram showing the steps of the initial operation. In the following description of the retry operation, it is assumed that a failure occurred during the insertion operation of inserting the lower mold holding member 64R on the right into the insertion hole 141 of the lower mold 14h of the object. Figure 5A , Figure 5B ).

[0089] First, such as Figure 5C As shown, the control device 100 retracts the lower mold holding member 64R on the right side, causing the lower mold holding member 64R on the right side to separate from the object lower mold 14h.

[0090] Then, as Figure 5D As shown, the control device 100 moves the lower mold holding member 64R on the right forward and inserts the lower mold holding member 64R into the insertion hole 141 of the target lower mold 14h.

[0091] Thus, the initial action is to continue the constraint action of the lower mold holding member 64L on the reference lower mold 14a on the left side, and then move the lower mold holding member 64R on the right side forward again to attempt to insert the lower mold holding member 64R on the right side into the insertion hole 141 of the target lower mold 14h.

[0092] Reference Figures 6A to 6D The first trial action will be explained. Figures 6A to 6D This is a diagram showing the steps of the first retry action. As mentioned above, even if the initial action is performed, the insertion action to the lower model 14h of the object fails ( Figure 6A , Figure 6B The control device 100 executes the first retry action.

[0093] First, such as Figure 6C As shown, the control device 100 retracts the left lower mold holding member 64L, pulling it out of the insertion hole 141 of the reference lower mold 14a. This releases the reference lower mold 14a from the constraint action performed by the left lower mold holding member 64L. Furthermore, the control device 100 retracts the right lower mold holding member 64R, separating it from the target lower mold 14h.

[0094] Next, as Figure 6D As shown, the control device 100 moves the left and right lower mold holding parts 64L and 64R forward respectively, and inserts the left and right lower mold holding parts 64L and 64R into the insertion holes 141 of the reference lower mold 14a and the target lower mold 14h respectively.

[0095] Thus, the first retry action is, after the action of retracting the left lower mold holding member 64L to release the constraint of the reference lower mold 14a, the action of advancing the left and right lower mold holding members 64L and 64R respectively, and attempting to insert the right lower mold holding member 64R into the insertion hole 141 of the target lower mold 14h.

[0096] The following is for reference Figures 7A to 7D The second trial action will be explained. Figures 7A to 7D This diagram illustrates the steps of the second retry action. It addresses the situation where the insertion action to the object's lower module 14h fails even after the first retry action is performed. Figure 7A The control device 100 performs the second trial action.

[0097] like Figure 7B As shown, the control device 100 retracts the left lower mold holding member 64L, pulling it out of the insertion hole 141 of the reference lower mold 14a. This releases the reference lower mold 14a from the constraint action performed by the left lower mold holding member 64L. Furthermore, the control device 100 retracts the right lower mold holding member 64R, separating it from the target lower mold 14h.

[0098] like Figure 7C As shown, the control device 100 moves the lower mold holding member 64R on the right forward and inserts the lower mold holding member 64R on the right into the insertion hole 141 of the lower mold 14h.

[0099] If the lower mold retaining component 64R on the right side is successfully inserted into the lower mold 14h of the object, then as follows Figure 7D As shown, the control device 100 moves the left lower mold holding member 64L forward and inserts the left lower mold holding member 64L into the insertion hole 141 of the reference lower mold 14a.

[0100] Thus, in the second trial action, after the left lower die holding member 64L retracts to release the constraint of the reference lower die 14a, the right lower die holding member 64R moves forward again, followed by the left lower die holding member 64L moving forward again. This is an action that attempts to insert the right lower die holding member 64R into the insertion hole 141 of the target lower die 14h.

[0101] Thus, according to this embodiment, if the insertion operation is determined to have failed, a retry operation is performed. This retry operation is performed with the left lower mold holding member 64L retracted and the reference lower mold 14a released from its constraints. Releasing the reference lower mold 14a from its constraints creates a slight leftward movement margin. As a result, the lower molds 14a to 14h from the reference lower mold 14a to the target lower mold 14h can move slightly to the left as a whole, and the position of the target lower mold 14h moves. During the retry operation, it becomes easy to insert the right lower mold holding member 64R into the target lower mold 14h. Therefore, even if the insertion operation temporarily fails, as long as the right lower mold holding member 64R can be inserted into the target lower mold 14h through the retry operation, the approach operation can continue without generating a failure alarm. As a result, a mold configuration with high positional accuracy can be achieved.

[0102] Furthermore, in the first retry, the left and right lower mold holding members 64L and 64R advance simultaneously, but in the second retry, only the right lower mold holding member 64R advances first. In the second retry, while the right lower mold holding member 64R advances, the constraint on the reference lower mold 14a remains released, thus allowing the reference lower mold 14a to move slightly to the left. Therefore, the lower molds 14a to 14h from the reference lower mold 14a to the target lower mold 14h can move slightly to the left as a whole, allowing the right lower mold holding member 64R to be inserted into the target lower mold 14h.

[0103] Furthermore, in the above embodiment, the first retry action is performed first, and then the second retry action is performed in the event of an insertion failure. However, in the event of an insertion failure, the first retry action may be skipped and only the second retry action may be performed.

[0104] According to this embodiment, while the constraint action continues, the target lower die is reselected from the remaining lower dies 14b to 14h, and the insertion and execution actions are repeatedly performed. Each time the execution action is performed, pressure is applied from the lower die holding member 64L to the reference lower die 14a, causing the approaching lower die 14 as a whole to tend to be pushed to the right. Therefore, by repeating this state each time the action is executed, small offsets accumulate, making it easier for positional displacement to occur in the lower die 14 located on the right. If the target lower die is switched in this way, it becomes an environment prone to insertion failure. However, by retrying the action after releasing the constraint action of the reference lower die 14a, the lower die holding member 64R on the right can be inserted into the target lower die 14h. Thus, the approaching action can continue without generating an alarm caused by insertion failure.

[0105] According to this embodiment, the left lower mold holding member 64L is retracted to release the constraint action of the reference lower mold 14a. With this structure, retracting the left lower mold holding member 64L allows it to be pulled out from the through hole 141 of the reference lower mold 14a. Thus, the constraint action of the reference lower mold 14a can be appropriately released.

[0106] Furthermore, according to this embodiment, an initial action is performed before executing the first retry action and the second retry action. The initial action is an action in which the lower mold holding member 64R on the right side is advanced again while the constraint action performed by the lower mold holding member 64L on the left side continues. Therefore, if the insertion can be successfully guided in the initial action, the execution action can be transferred in a short time. As a result, a lower mold configuration with high positional accuracy can be achieved in a short time.

[0107] Furthermore, in this embodiment, after performing the initial action, the first retry action and the second retry action are performed. However, if the insertion is determined to have failed, the retry action may be performed without performing the initial action.

[0108] Furthermore, in the above embodiment, when the left-side lower mold holding member 64L constrains the reference lower mold 14a, the left-side lower mold holding member 64L is inserted into the insertion hole 141 of the reference lower mold 14a. However, the left-side lower mold holding member 64L may also contact the left side of the reference lower mold 14a to constrain it.

[0109] In this embodiment, when performing a closing action (execution action) on the lower die 14h located on the right end, the lower die retaining member 64R on the right side is inserted into the insertion hole 141 of the lower die 14h. However, if there is sufficient space on the right side of the lower die 14h, the lower die retaining member 64R on the right side can also be brought into contact with the side of the lower die 14h on the right side to perform the closing action. During the closing action, since the number of times the lower die retaining member 64R on the right side is inserted into the insertion hole 141 of the lower die 14h can be reduced, the possibility of insertion failure can be reduced.

[0110] In this embodiment, during the retry operation, when the left and right lower die holding components 64L and 64R are advanced, the left and right lower die changing units 50L and 50R are kept stationary in the left and right directions. Alternatively, the left and right lower die changing units 50L and 50R may be moved by a predetermined amount in the left and right directions.

[0111] First, the first method will be described. In this first method, the control device 100 controls the servo motor 52 of the lower mold changing unit 50R on the right and the servo motor 52 of the lower mold changing unit 50L on the left as follows.

[0112] For example, in Figures 6A to 6D During the first retry operation shown, if the control device 100 causes the left and right lower mold holding parts 64L and 64R to retract ( Figure 6C Then, the servo motors 52 of the left and right lower mold changing units 50L and 50R are driven respectively, so that the left and right lower mold changing units 50L and 50R move only a small amount. Then, the control device 100 moves the left and right lower mold holding parts 64L and 64R forward, inserting the left and right lower mold holding parts 64L and 64R into the insertion holes 141 of the lower molds 14a and 14h. Figure 6D ).

[0113] Similarly, in Figures 7A to 7D During the second trial operation shown, if the control device 100 causes the left and right lower mold holding parts 64L and 64R to retract ( Figure 7B Then, the servo motors 52 of the left and right lower mold changing units 50L and 50R are driven respectively, causing the left and right lower mold changing units 50L and 50R to move slightly. Then, the control device 100 moves the right lower mold holding member 64R forward, inserting the right lower mold holding member 64R into the insertion hole 141 of the target lower mold 14h. Figure 7C Additionally, the control device 100 advances the left-side lower mold holding member 64L, inserting it into the insertion hole 141 of the reference lower mold 14a. Figure 7D ).

[0114] According to this first method, the control device 100 controls the servo motor 52 (drive mechanism) that drives the right lower die changing unit 50R in the left-right direction and the servo motor 52 (drive mechanism) that drives the left lower die changing unit 50L in the left-right direction, thereby moving the left and right lower die changing units 50L and 50R by a predetermined amount using the driving force of the drive mechanisms. With this structure, even if there is an offset between the insertion holes 141 of the lower dies 14a and 14h and the left and right lower die holding members 64L and 64R, the offset can be reduced by moving the left and right lower die changing units 50L and 50R by a predetermined amount. This suppresses the failure of the insertion action during retry operations.

[0115] Furthermore, in the above description, the left and right lower mold changing units 50L and 50R are moved separately, but it is also possible to configure it so that only the right lower mold changing unit 50R corresponding to the target lower mold 14h is moved by a predetermined amount in the left and right direction. In addition, the direction in which the left and right lower mold changing units 50L and 50R are moved is the direction in which the offset between the through hole 141 and the left and right lower mold holding members 64L and 64R is reduced, and it is predetermined to be either the left or right direction considering the mechanical characteristics of the system.

[0116] Next, the second method will be described. In this second method, the control device 100 controls the servo motor 52 of the lower mold changing unit 50R on the right and the servo motor 52 of the lower mold changing unit 50L on the left as follows.

[0117] For example, in Figures 6A to 6D In the first trial operation shown, when the control device 100 retracts the left and right lower mold holding parts 64L and 64R ( Figure 6C The power supply to the servo motors 52 of the left and right lower mold changing units 50L and 50R is stopped, setting them to a servo off state. This releases the braking force restricting the left and right movement of the lower mold changing units 50L and 50R, allowing them to move freely in the left and right directions. Then, while maintaining the servo off state, the control device 100 advances the left and right lower mold holding members 64L and 64R, inserting the right lower mold holding member 64R into the insertion hole 141 of the target lower mold 14h. Figure 6D ).

[0118] Similarly, in Figures 7A to 7D In the second trial operation shown, when the control device 100 retracts the left and right lower mold holding parts 64L and 64R ( Figure 7B The power supply to the servo motors 52 of the left and right lower mold changing units 50L and 50R is stopped, setting them to a servo off state. This releases the braking force restricting the left and right movement of the lower mold changing units 50L and 50R, allowing them to move freely in the left and right directions. Then, while maintaining the servo off state, the control device 100 advances the right lower mold holding member 64R, inserting it into the insertion hole 141 of the target lower mold 14h. Figure 7C Additionally, while maintaining the servo disconnect state, the control device 100 advances the left lower mold holding member 64L, inserting it into the insertion hole 141 of the reference lower mold 14a. Figure 7D ).

[0119] According to this second method, the control device 100 controls the servo motor 52 (drive mechanism) that drives the right lower die changing unit 50R in the left-right direction and the servo motor 52 (drive mechanism) that drives the left lower die changing unit 50L in the left-right direction, releasing the braking force that restricts the left and right movement of the lower die changing units 50L and 50R. This allows the left and right lower die changing units 50L and 50R to move a predetermined amount using the external force received by the left and right lower die holding members 64L and 64R from the insertion hole 141. According to this structure, even if there is an offset between the insertion hole 141 of the lower dies 14a and 14h and the left and right lower die holding members 64L and 64R, the left and right lower die holding members 64L and 64R will receive an external force from the insertion hole 141 when the left and right lower die holding members 64L and 64R are moved forward. Therefore, the left and right lower die changing units 50L and 50R move such that the left and right lower die holding members 64L and 64 are positioned along the insertion hole 141. This allows us to suppress the failure of inserted actions in retry actions.

[0120] Furthermore, according to the second method, when the left and right lower die holding members 64L and 64R are advanced, the left and right lower die changing units 50L and 50R can move freely in the left and right directions. Therefore, the control device 100 can also move the left and right lower die changing units 50L and 50R using the driving force of the drive mechanism after the left and right lower die holding members 64L and 64R are advanced, in order to correct the error between the current position and the target position. Alternatively, the control device 100 can also use the current position when the left and right lower die holding members 64L and 64R are advanced as the final target position.

[0121] In addition, the first and second methods described above are not only applicable to the first retry action and the second retry action, but also applicable to the control of the servo motor 52 of the lower mold changing unit 50R on the right side in the initial action.

[0122] (Second Implementation)

[0123] The bending system 10 of the second embodiment will now be described. The difference between the bending system 10 of the second embodiment and the bending system of the first embodiment lies in the approaching action step. Hereinafter, the bending system 10 of the second embodiment will be described focusing on the differences from the bending system 10 of the first embodiment.

[0124] Figures 8A to 8D ,as well as Figures 9A to 9D This is a diagram illustrating the steps of the approaching action in the second embodiment. Hereinafter, refer to... Figures 8A to 8D as well as Figures 9A to 9D The approaching action of the second embodiment will be explained. Figures 8A to 8C Actions and Figures 3A to 3C The corresponding action.

[0125] If the execution of the action for the first object modulo 14e ends, then as follows Figure 8D As shown, the control device 100 causes the left and right lower mold holding parts 64L and 64R to retract respectively, and pull out the left and right lower mold holding parts 64L and 64R from the insertion holes 141 of the reference lower mold 14a and the target lower mold 14e respectively.

[0126] like Figure 9A As shown, the control device 100 moves the lower mold changing unit 50R on the right side in the left and right direction, so that the lower mold changing unit 50R on the right side is aligned with the second object lower mold 14h (alignment action).

[0127] like Figure 9B As shown, the control device 100 moves the left and right lower mold holding members 64L and 64R forward respectively, inserting the left and right lower mold holding members 64L and 64R into the insertion holes 141 of the reference lower mold 14a and the target lower mold 14h (insertion action).

[0128] like Figure 9C As shown, the control device 100 moves the lower mold replacement unit 50L on the left and the lower mold replacement unit 50R on the right in a manner that brings them closer together in the left-right direction, so that the seven lower molds 14a to 14h from the reference lower mold 14a to the target lower mold 14h move toward the center (execution action).

[0129] Finally, as Figure 9D As shown, the control device 100 causes the left and right lower mold holding parts 64L and 64R to retract, and pulls out the left and right lower mold holding parts 64L and 64R respectively from the insertion holes 141 of the reference lower mold 14a and the target lower mold 14h.

[0130] As described above, by performing a closing action, the seven lower molds 14a to 14h can be positioned at the desired location on the lower mold support 30 without any gaps between them.

[0131] Thus, according to this embodiment, when the lower mold holding member 64R on the right is inserted into the target lower mold 14h, the left and right lower mold holding members 64L and 64R are simultaneously inserted into the reference lower mold 14a and the target lower mold 14h, while the constraint state of the lower mold holding member 64L on the reference lower mold is temporarily released.

[0132] According to this action, since the constraint on the reference lower mold 14a is temporarily released, a slight movement margin is created for the reference lower mold 14a to the left. As a result, the entire lower mold from the reference lower mold 14a to the target lower mold 14h can move slightly to the left, and the position of the target lower mold 14h moves. This allows the lower mold holding member 64R on the right side to be inserted into the target lower mold 14h. Therefore, the approaching action can continue without triggering an alarm caused by insertion failure. As a result, a mold configuration with high positional accuracy can be achieved.

[0133] Furthermore, in the first and second embodiments described above, the left and right lower mold changing units 50L and 50R and the left and right upper mold changing units 74L and 74R are exemplified as a first moving body and a second moving body. However, the first moving body and the second moving body are not limited thereto. In addition, in the first and second embodiments described above, the left and right lower mold changing units 50L and 50R and the left and right upper mold changing units 74L and 74R are provided on the rear side of the lower worktable 24 and the upper worktable 26, but they may also be provided on the front side of the lower worktable 24 and the upper worktable 26.

[0134] As described above, embodiments of the present disclosure have been presented, but should not be construed as limiting these embodiments to the discussions and drawings that form part of this disclosure. Various alternative embodiments, examples, and techniques will become apparent to those skilled in the art based on this disclosure.

[0135] The disclosures in this application are related to the subject matter described in Japanese Patent Application No. 2021-072018 filed on April 21, 2021 and Japanese Patent Application No. 2022-65127 filed on April 11, 2022, and all of these disclosures are incorporated herein by reference.

Claims

1. A bending processing system, characterized in that, have: A bending machine has multiple molds arranged in the left-right direction on a mold support set on the worktable; The first and second movable bodies have a mold holding member that can be inserted and removed relative to an insertion hole provided in the mold by moving forward and backward in the front-back direction, and the first and second movable bodies are provided on the rear or front side of the worktable in a left-right direction. as well as The control device controls the first and second moving bodies respectively to perform a closing action that brings the plurality of molds together so that there are no gaps between the molds. The approaching action includes: The constraint action causes the first mold holding component of the first moving body to advance, and the first mold holding component constrains the reference mold located at one end of the plurality of molds. The insertion action causes the second mold holding member of the second moving body to advance, inserting the second mold holding member into the insertion hole of the object mold selected from the remaining molds excluding the reference mold from the plurality of molds; and The action is performed to move the first and second moving bodies in a left-right direction in a manner that brings them closer together, from the reference mold to the object mold. If the control device determines that the insertion action has failed, after retracting the first mold holding member to release the constraint action, it performs a retry action to move the second mold holding member forward again and insert the second mold holding member into the insertion hole of the object mold.

2. The bending processing system according to claim 1, characterized in that, The approaching action includes the following actions: while continuing the constraint action, reselect the object mold from the remaining molds, and repeatedly perform the insertion action and the execution action.

3. The bending processing system according to claim 1, characterized in that, The retry action includes a first retry action, which causes the first mold holding member and the second mold holding member to advance respectively, uses the first mold holding member to constrain the reference mold, and inserts the second mold holding member into the through hole of the object mold.

4. The bending processing system according to claim 2, characterized in that, The retry action includes a first retry action, which causes the first mold holding member and the second mold holding member to advance respectively, uses the first mold holding member to constrain the reference mold, and inserts the second mold holding member into the through hole of the object mold.

5. The bending processing system according to claim 1, characterized in that, The retry action includes a second retry action, which advances the second mold holding member to insert the second mold holding member into the through hole of the object mold, and then advances the first mold holding member to constrain the reference mold using the first mold holding member.

6. The bending processing system according to claim 2, characterized in that, The retry action includes a second retry action, which advances the second mold holding member to insert the second mold holding member into the through hole of the object mold, and then advances the first mold holding member to constrain the reference mold using the first mold holding member.

7. The bending processing system according to claim 3, characterized in that, The retry action also includes a second retry action, which involves advancing the second mold holding member to insert it into the through-hole of the object mold, and then advancing the first mold holding member to constrain the reference mold. The control device first performs the first retry action, and then performs the second retry action if the first retry action is determined to have failed.

8. The bending processing system according to claim 4, characterized in that, The retry action also includes a second retry action, which involves advancing the second mold holding member to insert it into the through-hole of the object mold, and then advancing the first mold holding member to constrain the reference mold. The control device first performs the first retry action, and then performs the second retry action if the first retry action is determined to have failed.

9. The bending system according to any one of claims 1 to 8, characterized in that, If the control device determines that the insertion action has failed, it performs the following initial action: while continuing the constraint action, it retracts the second mold holding member, then advances the second mold holding member again to insert it into the insertion hole of the object mold. If the initial action is determined to have failed, the retry action is performed.

10. The bending system according to any one of claims 1 to 8, characterized in that, During the retry operation, when the first mold holding component and the second mold holding component move forward, the first moving body and the second moving body move by a predetermined amount in the left and right directions.

11. The bending processing system according to claim 10, characterized in that, The control device controls the drive mechanism that drives the first moving body and the second moving body in the left and right directions, and uses the driving force of the drive mechanism to move the first moving body and the second moving body by the predetermined amount.

12. The bending processing system according to claim 10, characterized in that, The control device controls the drive mechanism that drives the first moving body and the second moving body in the left and right directions, releases the braking force that restricts the left and right movement of the first moving body and the second moving body, and uses the external force received by the first mold holding component and the second mold holding component from the through hole to move the first moving body and the second moving body by the predetermined amount.

13. The bending processing system according to claim 9, characterized in that, During the initial action, when the second mold holding component moves forward, the second moving body moves a predetermined amount in the left-right direction.

14. The bending processing system according to claim 13, characterized in that, The control device controls the drive mechanism that drives the second moving body in the left-right direction, and uses the driving force of the drive mechanism to move the second moving body by the predetermined amount.

15. The bending processing system according to claim 13, characterized in that, The control device controls the drive mechanism that drives the second moving body in the left-right direction, releases the braking force that restricts the left-right movement of the second moving body, and uses the external force received by the second mold holding component from the through hole to move the second moving body by the predetermined amount.

16. A method for arranging molds, wherein a control device controls a first moving body and a second moving body movably disposed on the rear or front side of a worktable of a bending machine in a left-right direction, the control device arranging a plurality of molds on a mold support provided on the worktable in a left-right direction, characterized in that... The control device controls the first and second moving bodies to perform a closing action that brings the plurality of molds together so that there are no gaps between the molds arranged on the mold support. The approaching action includes: The constraint action causes the first mold holding component of the first moving body to move forward in the front-back direction, and uses the first mold holding component to constrain the reference mold located at one end of the plurality of molds. The insertion action causes the second mold holding member of the second moving body to advance in the front-to-back direction, inserting the second mold holding member into the insertion hole of the object mold selected from the remaining molds excluding the reference mold from the plurality of molds; and The action is performed to move the first and second moving bodies in a left-right direction in a manner that brings them closer together, from the reference mold to the object mold. If the insertion action is determined to have failed, the control device, after retracting the first mold holding member to release the constraint action, performs a retry action to advance the second mold holding member again and insert the second mold holding member into the insertion hole of the object mold.

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