Bending device

Abstract

To provide a bending machine that reduces the required workspace and does not reduce the working speed. [Solution] The first positioning and moving means 22 holds the target material, the wire 10, at the first bending position member 62 and the first holding member 64 of the first moving body 6. The first bending and moving means 24 moves the first moving body 6 to the bending position while holding the wire 10 at the planned bending position. The second non-holding means 26 releases the wire 10 from the second bending position member 82 and the second holding member 84 of the second moving body 8, putting it into a non-holding state. The second positioning and moving means 28 moves the non-holding second moving body 8 to the next planned bending position of the wire 10 and puts it back into a holding state. The second bending and moving means 30 moves the second moving body 8 to the bending position while holding the wire 10 at the next planned bending position. By repeating the above process, the bending process is carried out continuously in a linear manner without rotating the end of the bending process.

Description

Technical Field

[0001] This invention relates to an apparatus for bending materials.

Background Art

[0002] In order to form heater materials or the like, a process of folding and bending a wire or a plate material in a zigzag shape is performed. For example, the hydraulic bending machine SB16 of Winton Machine Company realizes serpentine bending as shown in FIG. 19.

[0003] As shown in FIG. 19a, this apparatus includes cylindrical bodies 4a and 4b that can sandwich a wire 2. The wire 2 supplied from the left side in the figure is projected from the cylindrical bodies 4a and 4b by a desired length.

[0004] In this state, as shown in FIG. 19b, with the cylindrical body 4a as the center, the cylindrical body 4b is rotated in the direction of arrow A around it to bend the wire 2. Continuing the bending, the cylindrical body 4b is rotated until the state shown in FIG. 19c is reached to perform a bending of approximately 180 degrees.

[0005] Subsequently, with the cylindrical body 4a as the center, the cylindrical body 4b is rotated in the direction of arrow B (opposite to A) to reach the state shown in FIG. 19d. Here, the wire 2 is sent out in the direction of arrow C and projected from the cylindrical bodies 4a and 4b by a desired length as shown in FIG. 19e.

[0006] In this state, as shown in FIG. 19f, with the cylindrical body 4b as the center, the cylindrical body 4a is rotated in the direction of arrow D around it to bend the wire 2. Continuing the bending, the cylindrical body 4a is rotated until the state shown in FIG. 19g is reached to perform a bending of approximately 180 degrees.

[0007] Furthermore, as shown in FIG. 19h, the wire 2 is sent out in the direction of arrow E, and with the cylindrical body 4a as the center, the cylindrical body 4a is rotated in the direction of arrow F around it to bend the wire.

[0008] The meandering bend is achieved by repeatedly performing the above process. [Prior art documents] [Non-patent literature]

[0009] [Non-Patent Document 1] Product page: https: / / www.directindustry.com / ja / prod / winton-machine-company / product-30011-721101.html [Overview of the project] [Problems that the invention aims to solve]

[0010] However, conventional bending machines, as described above, have the problem that the bent portion needs to be rotated. As shown in Figure 20, the longer the length L of the already bent portion, the more space is required for rotation, which severely limits the length of bent parts that can be produced continuously.

[0011] The purpose of this invention is to solve the above-mentioned problems and provide a bending apparatus that requires less workspace. [Means for solving the problem]

[0012] The following lists several independent features of this invention. Each of these features is independent and does not necessarily need to be combined, but can be combined as desired.

[0013] (1)(5) The bending apparatus according to the present invention comprises a first movable body having a first bending position member and a first holding member provided opposite to the first bending position member, and capable of selecting between a holding state in which a long workpiece is held between the first bending position member and the first holding member and a non-holding state in which it is not held; a second movable body having a second bending position member and a second holding member provided opposite to the second bending position member, and capable of selecting between a holding state in which a long workpiece is held between the second bending position member and the second holding member and a non-holding state in which it is not held; and the first A bending apparatus comprising a movable body and a control unit that controls at least the movement and holding / non-holding states of the second movable body, wherein the control unit repeatedly performs the following processes by means (a) to (f) each time bending is performed by the bending moving means, updating the bending position, and the control unit (a) in a holding state in which the second movable body holds the target material, moves the first bending position member and the first holding member of the first movable body to the bending portion on the target material, and holds the bending portion of the target material with the first movable body (b) a first positioning and moving means that controls the first moving body to be in a holding state, (c) a second non-holding means that puts the second moving body into a non-holding state where it does not hold the target material when the first moving body, which is in a holding state, is moved to the bending position by the first positioning and moving means, (d) when the second moving body, which is in a holding state, is into a non-holding state by the second non-holding means, the second bending position member and the second holding part The device is characterized by comprising: (e) a second positioning and moving means for moving the material to the next bending portion on the target material and controlling the second moving body to a holding state in which it holds the next bending portion of the target material; (f) a second bending and moving means for moving the second moving body to the next bending position when the second positioning and moving means has brought the second moving body to the next bending position; and (g) a first non-holding means for putting the first moving body into a non-holding state in which it does not hold the target material when the second moving body has moved to the next bending position by the second bending and moving means.

[0014] Therefore, bending can be performed with less workspace than before.

[0015] (2) In the bending apparatus according to the present invention, when the first positioning moving means moves the first movable body to a bending portion, at least the first bending position member of the first movable body is moved out of the way perpendicular to the extension direction of the target material so that the first movable body does not interfere with the target material, and then moves to the bending portion; when the second positioning moving means moves the second movable body to the next bending portion, at least the second bending position member of the second movable body is moved out of the way perpendicular to the extension direction of the target material so that the second movable body does not interfere with the target material, and then moves to the next bending portion.

[0016] Therefore, the first and second moving bodies can be easily moved to the bending point.

[0017] (3) The bending apparatus according to the present invention further comprises: a first pressing member configured to be movable for pressing down on target materials on both sides of a first bending position member; a second pressing member configured to be movable for pressing down on target materials on both sides of a second bending position member; and a pressing member control means that moves the first or second moving body to a position that presses the target material so that the target material undergoing bending reaches a desired bent state when the first or second moving body is moved by the first or second bending moving means.

[0018] Therefore, bending can be performed properly.

[0019] (4) In the bending apparatus according to the present invention, the first bending moving means and the second bending moving means move the target material beyond the bending position or the next bending position so that it is temporarily in a bending state that exceeds the target bending state, and then move it to the bending position or the next bending position.

[0020] Therefore, appropriate bending can be achieved considering springback.

[0021] (6) A method for manufacturing a bent workpiece according to this invention is a method for manufacturing a bent workpiece by bending a long target material. In a state where the previous bending site of the target material is held, the bending site of the target material is held, and in this held state, the bending site is moved to a bending position to bend the target material. The next bending site of the target material is held, and in this held state, the next bending site is moved to the next bending position to bend the target material. The above process is repeated to manufacture a bent workpiece.

[0022] Therefore, a bent workpiece can be produced without requiring a working space as in the prior art.

[0023] The "first positioning and moving means" corresponds to step S5 in the embodiment.

[0024] The "first bending and moving means" corresponds to step S6 in the embodiment.

[0025] The "second non-holding means" corresponds to step S7 in the embodiment.

[0026] The "second positioning and moving means" corresponds to step S9 in the embodiment.

[0027] The "second bending and moving means" corresponds to step S12 in the embodiment.

[0028] The "first non-holding means" corresponds to step S13 in the embodiment.

[0029] The term "device" is a concept that includes not only devices composed of a single computer, but also devices composed of multiple computers connected via a network or the like. Therefore, if some or all of the means of the present invention are distributed across multiple computers (for example, distributed across a server device and terminal devices), these multiple computers constitute the device.

[0030] The term "program" is a concept that includes not only programs that can be directly executed by the CPU, but also source code programs, compressed programs, encrypted programs, and programs that work in conjunction with the operating system to perform their functions. [Brief explanation of the drawing]

[0031] [Figure 1] This is the functional configuration of a bending apparatus according to one embodiment of the present invention. [Figure 2] This is a diagram showing the external appearance of a bending machine. [Figure 3] This diagram shows the structure of the mobile unit 6. [Figure 4] This diagram shows the structure of the mobile unit 8. [Figure 5] This diagram shows the hardware configuration of the control unit. [Figure 6a] This is a flowchart of control program 124. [Figure 6b] This is a flowchart of control program 124. [Figure 7] This is a diagram illustrating the bending process. [Figure 8] This is a diagram illustrating the bending process. [Figure 9] This is a diagram illustrating the bending process. [Figure 10] This is a diagram illustrating the bending process. [Figure 11] This is a diagram illustrating the bending process. [Figure 12] This is a diagram illustrating the bending process. [Figure 13] This is a diagram illustrating the bending process. [Figure 14] This is a diagram illustrating the bending process. [Figure 15] This is a diagram illustrating the bending process. [Figure 16] This is a diagram illustrating the bending process. [Figure 17] This is a diagram illustrating the bending process. [Figure 18] This figure shows a bending process according to another embodiment. [Figure 19] This is a diagram showing a conventional bending machine. [Figure 20] This is a diagram showing a conventional bending machine. [Modes for carrying out the invention]

[0032] 1. Overall Structure Figure 1 shows the functional configuration of a bending apparatus according to one embodiment of the present invention. In this embodiment, the control unit is composed of a first positioning and moving means 22, a first bending and moving means 24, a second non-holding means 26, a second positioning and moving means 28, a second bending and moving means 30, and a first non-holding means 32.

[0033] The first positioning and moving means 22 holds the portion of the wire 10, which is the target material, that is to be bent, by the first bending position member 62 and the first holding member 64 of the first moving body 6.

[0034] The first bending and moving means 24 moves the first moving body 6 to the bending position while holding the wire 10 at the intended bending position. This causes the wire 10 to be bent.

[0035] The second non-holding means 26 releases the wire 10 from the second bending position member 82 and the second holding member 84 of the second movable body 8, thereby putting it into a non-holding state.

[0036] The second positioning and moving means 28 moves the second moving body 8, which is in an unheld state, to the next planned bending point of the wire 10, and then puts it back into a held state.

[0037] The second bending and moving means 30 moves the second moving body 8 to the bending position while holding the wire 10 in a position where it is intended to bend to the next position. This causes the wire 10 to be bent.

[0038] The first non-holding means 32 releases the wire 10 from the first bending position member 62 and the first holding member 64 of the first movable body 6, thereby returning it to a non-holding state.

[0039] The first positioning and moving means 22 moves the first moving body 6, which is in an unheld state, to the next planned bending point of the wire 10, and then puts it back into a held state.

[0040] Subsequently, the above process is repeated to continuously bend the wire 10.

[0041] In this embodiment, the first moving body 6 and the second moving body 8 are alternately moved to the bending portion of the wire 10 to perform the bending process. Therefore, the wire 10 that has been bent can be fed out without being rotated, thus reducing the space required during processing compared to conventional methods.

[0042] Furthermore, there is no need to rotate the bent workpiece in order to perform the bending process. Therefore, there is no need to reduce the speed to prevent deformation of the workpiece due to an increase in rotational inertia moment, and the processing speed does not decrease.

[0043] Furthermore, since the processed parts can be discharged linearly without rotation, it is easy to add other processes (such as cutting or pressing).

[0044] 2. Appearance and Mechanical Configuration Figure 2 shows a plan view of the bending apparatus. A first movable body 6 and a second movable body 8 are provided on the table 100. These movable bodies 6 and 8 are configured to be movable in the XYZ directions, as will be described later.

[0045] The wire 10 is supplied to the moving bodies 6 and 8 via a straightening mechanism 7 and a feeding mechanism 5 to ensure straightness. The straightening mechanism 7 straightens the wire 10 by passing it between multiple rollers. The feeding mechanism 5 grips the wire with rollers and feeds the wire 10 towards the moving bodies 6 and 8.

[0046] Furthermore, the feeding mechanism 5 and the straightening mechanism 7 are configured to be movable as a single unit in the Y direction by the electric actuator 13.

[0047] Figure 3 shows the structure of the first mobile body 6. Figure 3A is a plan view, and Figure 3B is a front view. The first mobile body 6 has a base plate 60, which is driven vertically (Z direction) by an operating cylinder 78.

[0048] An electric actuator 63 is provided on the base plate 60, positioned in the X direction. The electric actuator 63 allows a slider 63b to slide in the X direction by a motor 63a, and an electric actuator 65 is fixed to the slider 63b, positioned in the Y direction. The electric actuator 65 allows a unit base plate 65b to slide in the Y direction by a motor 65a, and a first mandrel 64, which is a first bending position member, is fixed to the unit base plate 65b.

[0049] Therefore, the unit base plate 65b and the first mandrel 64 are movable in the XYZ directions by the cylinder 78 and the electric actuators 63 and 65.

[0050] The unit base plate 65b is provided with a clamp 68, which is a holding member, positioned opposite the first mandrel 64, with the wire 10, which is the material to be held, in between. The first clamp 68 is driven in the Y direction by a cylinder 66 and can be switched between a state in which the wire 10 is held (holding state) and a state in which the wire 10 is not held (unholding state). Figure 3A shows the holding state in which the wire 10 is held by the first mandrel 64 and the first clamp 68. In this embodiment, a clamp 68 with a width narrower than the diameter of the mandrel 64 is used, but for stability in holding the wire 10, a clamp 68 with a width greater than or equal to the diameter of the mandrel 64 may be used.

[0051] Furthermore, the unit base plate 65b is provided with side pins 70 and 74, which are first retaining members, positioned on both the left and right sides of the core metal 64.

[0052] The side pin 70, fixed to the slider 72b, is attached to the unit base plate 65b via electric actuators 71 and 72. The electric actuator 71 allows the slider 72b to slide in the X direction by motor 71a. The electric actuator 72 is fixed to the slider 72b, and the electric actuator 72 allows the slider 72b to slide in the Y direction by motor 72a. Therefore, the side pin 70 is movable in the XY direction by electric actuators 71 and 72.

[0053] The side pin 74, fixed to the slider 76b, is attached to the unit base plate 65b via electric actuators 75 and 76, and, like the side pin 70, is movable in the X and Y directions by the electric actuators 75 and 76.

[0054] Figure 4 shows the structure of the second mobile body 8. The second mobile body 8 has the same structure as the first mobile body 6, except that it is inverted in the Y-axis direction.

[0055] 3. Hardware Configuration Figure 5 shows the hardware configuration when the control unit is configured using a CPU 110. The CPU 110 is connected to a memory 112, a touch display 114, a non-volatile memory 116, a communication circuit 118, and an I / O port 120.

[0056] Cylinders 66, 78, 86, and 98 are connected via I / O port 120, and the CPU 110 can control them. Furthermore, a positioning controller 111 is connected to I / O port 120, and electric actuators 13, 63, 65, 71, 72, 74, 75, 83, 85, 91, 92, 94, and 95 are connected to the positioning controller 111. The positioning controller 111 issues commands to the electric actuators 13, 63, 65, 71, 72, 74, 75, 83, 85, 91, 92, 94, and 95 to control the position of the aforementioned mandrel and side pins in the XYZ directions. Therefore, the CPU 110 can control the position of the aforementioned mandrel and side pins in the XYZ directions via the positioning controller 111.

[0057] The non-volatile memory 116 stores the operating system (such as TRON) 122 and the control program 124. The control program 124 works in cooperation with the operating system 122 to perform its functions. Alternatively, a program that operates independently of the control program 124 may be used.

[0058] 4. Bending process Figures 6a and 6b show the flowchart of the control program 124. Steps S1 to S4 show the initial settings.

[0059] As shown in Figure 7A, the CPU 110 controls cylinders 66 and 86 to open the clamps 68 and 88, which are the first and second holding members of the first movable body 6 and the second movable body 8, respectively (step S1). This makes it possible to introduce the wire 10, which is the target material, between the mandrel 64, which is the first bending position member, and the clamp 68, and between the mandrel 84, which is the second bending position member, and the clamp 88.

[0060] Next, the CPU 110 controls the electric actuators 63, 65, 83, and 85 to move the movable bodies 6 and 8 to predetermined initial positions (step S2). Figure 7A shows the state after they have been moved to their initial positions. In this embodiment, the initial positions of the cores 64 and 84 are such that each can hold a predetermined bent portion of the wire 10.

[0061] Next, the CPU 110 determines the Y-direction position of the feeding mechanism 5 using the electric actuator 13, controls the feeding mechanism 5 to grip the wire 10 with the rollers of the feeding mechanism 5, rotate the rollers, and supply the wire 10 to the predetermined position (step S3). Once the wire 10 has been fed to the predetermined position by the feeding mechanism 5, the gripping of the wire 10 by the feeding mechanism 5 is released, and the wire 10 becomes free.

[0062] When the wire 10 is supplied, the cylinders 66 and 86 are controlled to close the clamps 68 and 88, so that the wire 10 is held between the mandrel 64 and clamp 68, and between the mandrel 84 and clamp 88 (steps S4 and S5). In other words, the moving bodies 6 and 8 hold the bent portion of the wire 10 in a holding state. Furthermore, the electric actuators 71, 72, 75 and 76 are controlled to move the side pins 74 and 94 to the pressing start position (step S6). This state is shown in Figure 7B.

[0063] The CPU 110 controls the electric actuators 63 and 65 to move the moving body 6 along a predetermined trajectory toward the bending position 11, as shown in Figure 8A (step S7). In this case, it is preferable to move the moving body 6 so that the distance between the holding position of the wire 10 held by the mandrel 64 and clamp 68 of the moving body 6 and the holding position of the wire 10 held by the mandrel 84 and clamp 88 of the moving body 8 remains unchanged. Such a preferred start is determined by the distance from the center of the mandrel 64 to the center of the wire 10, the distance between the mandrel 64 of the moving body 6 and the mandrel 84 of the moving body 8 when holding the bending portion, and the relationship between the position of the mandrel 84 of the moving body 8 and the bending position 11.

[0064] In this case, the CPU 110 controls the electric actuators 75 and 76 to press the wire 10 with the side pins 74 so that the wire 10 takes on the intended shape (a straight line in this embodiment). It also controls the electric actuators 95 and 96 to press the wire 10 with the side pins 94. In this embodiment, in order to avoid interference between the side pins 74 and 94 and to perform pressing effectively, the side pins 74 and 94 are moved not only in the Y direction as the bending progresses, but also simultaneously in the X direction.

[0065] Furthermore, as shown in Figure 8B, the CPU 110 moves the mandrel 64 beyond the bending position 11 to the position where the wire 10 can be bent, and then moves the mandrel 64 back to the bending position 11 as shown in Figure 9A. This is done to achieve the desired bending (90 degrees in this embodiment) while taking into account springback during the bending process. Note that the position shown in Figure 8B will vary depending on the material and bending shape of the wire 10, so it is preferable to determine this by actually performing a test bending process.

[0066] Furthermore, when moving the wire 10 from Figure 7B to Figure 8B while the wire 10 is held by the movable body 6 as described above, the electric actuator 13 is controlled to move the feed mechanism 5 and the straightening mechanism 7 in the Y direction so that the Y-axis position of the movable body 6 matches the Y-axis position of the feed mechanism 5 and the straightening mechanism 7.

[0067] As described above, the 90-degree bending process is performed. The CPU 110 controls the cylinder 86 to open the clamp 88 and release the wire 10 from being held (step S8). That is, the wire 10 is no longer held by the moving body 8. The CPU 110 also controls the electric actuator 91 to move the side pin 94 in the X direction and stop the pressure on the wire 10.

[0068] In this way, with the movable body 8 not interfering with the wire 10, the cylinder 98 is controlled to move the movable body 8 downward (in the Z direction) (step S9). In Figure 10A, the darker color of the movable body 8 indicates that it has moved downward. As a result, the mandrel 84, clamp 88, and side pins 90 and 94 can move freely in the X and Y directions without interfering with the wire 10.

[0069] The CPU 110 controls the electric actuators 83 and 85 to move the mandrel 84 and clamp 88 to the bent portion 13 on the wire 10, as shown in Figures 10B and 11A (step S10). At the same time, the CPU 110 controls the electric actuators 91 and 92 to return the side pin 90 to its initial position (step S11).

[0070] Next, the CPU 110 controls the cylinder 98 to move the movable body 8 upward (in the Z direction). As a result, the wire 10 passes between the mandrel 84 and the clamp 88 in an unheld state at the bending portion 13. This is shown in Figure 11B. In the figure, the movable body 8 is shown in white to indicate that the movable body 8 has risen from bottom to top.

[0071] The CPU 110 controls the cylinder 86 to close the clamp 88 and hold the wire 10 (step S12). That is, the movable body 8 is in a holding state, holding the wire 10. At this time, the CPU 110 controls the electric actuators 71 and 91 to move the side pins 70 and 90 in the X direction and move them to the pressing start position (step S13). This state is shown in Figure 12A.

[0072] The CPU 110 controls the electric actuators 83 and 85 to move the movable body 8 holding the wire 10 along a predetermined trajectory to the next bending position 15, as shown in Figures 12B, 13A, and 13B (step S14). At this time, the points of pressing the wire 10 with the side pins 70 and 90, temporarily performing an excessive bend as shown in Figure 13A to account for springback, and moving the feed mechanism 5 and the straightening mechanism 7 in the Y direction in accordance with the movement of the movable body 8 are the same as described above.

[0073] As described above, the first 180-degree bend is completed, as shown in Figure 13B. In this embodiment, the completed bend is held in place from the outside by the side pins 70 and 74.

[0074] Next, the CPU 110 controls the cylinder 66 and the electric actuator 65 to open the clamp 64 and the mandrel 68 (step S15). That is, the moving body 6 is put into a non-holding state where it does not hold the wire 10. It also controls the electric actuators 71 and 75 to put the side pins 70 and 74 into a state where they are not pressing against the wire 10.

[0075] In this state, the CPU 110 controls the cylinder 78 to move the movable body 6 in the downward direction (Z direction) (step S14). As shown in Figure 14B, both the clamp 64 and the mandrel 68 are away from the wire 10, so they do not interfere with the wire 10 during movement. In Figure 14B, the darker color of the movable body 6 indicates that it has moved downward. As a result, the mandrel 64, clamp 68, and side pins 70 and 74 can move freely in the X and Y directions without interfering with the wire 10.

[0076] The CPU 110 controls the electric actuators 63 and 65 to move the mandrel 64 and clamp 68 to the bent portion 17 on the wire 10, as shown in Figures 15A and 15B (step S15).

[0077] Next, the CPU 110 controls the cylinder 78 to move the movable body 6 upward (in the Z direction). As a result, the wire 10 passes between the mandrel 64 and the clamp 68 in an unheld state at the bending portion 17. This is shown in Figure 16A. In the figure, the movable body 6 is shown in white to indicate that the movable body 6 has risen from bottom to top.

[0078] The CPU 110 controls the electric actuators 76 and 96 to move the side pins 74 and 94 in the X direction and move them to their initial positions (step S18).

[0079] If the processing is not yet complete, the CPU 110 returns from step S17 to step S5 and repeatedly executes steps S5 and below.

[0080] In step S5, the movable body 6 is held in place, and the side pins 74 and 94 are moved to the pressing start position (step S6). This state is shown in Figure 16B. Next, bending is performed in step S6. As a result, the second bend is completed, as shown in Figure 17A.

[0081] By repeating the above process, a wire 10 bent in a zigzag pattern can be obtained, as shown in Figure 17B. In this way, it is possible to manufacture long bent products with less processing space required than in conventional methods.

[0082] 5. Variations and Others (1) In the above embodiment, a wire with a round cross-section is used as the material to be worked on. However, a wire with a polygonal cross-section or a hollow material such as a pipe may also be used. Alternatively, a flat plate may be used and be bent.

[0083] (2) In the above embodiment, the side pins 70, 74, 90, and 94 are used to press the wire 10 during bending. However, depending on the material of the material to be bent and the type of bending, it is possible to perform a proper bending process without providing the side pins 70, 74, 90, and 94. For example, in Figure 17B, this applies when the bending dimension W is sufficiently small compared to the diameters of the mandrels 4a and 4b (generally, three times or less the diameter of the mandrel).

[0084] (3) In the above embodiment, in steps S8 and S14, the mandrel 64, clamp 68, side pins 70 and 74, mandrel 84, clamp 88, and side pins 90 and 94 are moved out of the way. However, it is sufficient to move at least the mandrels 64 and 84 out of the way.

[0085] (4) In the above embodiment, a bent product as shown in Figure 17B is manufactured. However, by controlling the bending part and bending position, a variety of bent products can be manufactured. For example, bent products as shown in Figures 18A and 18B can be obtained. In Figures 18A and 18B, the straight portion can be realized by feeding the wire 10 with the feeding mechanism 5.

[0086] (5) In the above embodiment, bending is performed on a flat surface. However, by controlling the bending position in three dimensions, it is also possible to perform three-dimensional bending that does not fall on the same plane.

[0087] (6) In the above embodiment, each of the means in Figure 1 is implemented using a CPU. However, some or all of them may be configured by logic circuits dedicated to specific processing, without relying on a modifiable program.

[0088] (7) In the above embodiment, clamps 68 and 88 are provided as retaining members. However, instead of using these clamps 68 and 88, the side pins 70, 74, 90, and 94 may be used as retaining members.

[0089] In other words, in the processes shown in Figures 7B, 8A, 8B, and 9A, the side pins 70 function as retaining members, holding the wire 10 with the mandrel 64 and the side pins 70. The mandrel 64 and the side pins 70 are not in exactly opposite positions, but this is preferable as it allows for a wider grip to hold the wire 10. Also, the side pins 90 function as retaining members, holding the wire 10 with the mandrel 84 and the side pins 90. The mandrel 84 and the side pins 90 are not in exactly opposite positions, but this is preferable as it allows for a wider grip to hold the wire 10.

[0090] Furthermore, in the processes shown in Figures 12A, 12B, 13A, and 13B, the side pins 94 function as retaining members, holding the wire 10 with the mandrel 84 and the side pins 94. The mandrel 84 and the side pins 94 are not in exactly opposite positions, but this is preferable as it allows for a wider grip to hold the wire 10. Also, the side pins 74 function as retaining members, holding the wire 10 with the mandrel 64 and the side pins 74. The mandrel 64 and the side pins 74 are not in exactly opposite positions, but this is preferable as it allows for a wider grip to hold the wire 10.

[0091] (7) The above modifications can be implemented in combination with each other.

Claims

1. A first movable body having a first bending position member and a first holding member provided opposite the first bending position member, which can select between a holding state in which a long target material is held between the first bending position member and the first holding member and a non-holding state in which it is not held, A second movable body having a second bending position member and a second holding member provided opposite to the second bending position member, which can select between a holding state in which a long target material is held between the second bending position member and the second holding member and a non-holding state in which it is not held, A control unit that controls at least the movement and holding / non-holding states of the first and second moving bodies, A bending apparatus equipped with, The control unit repeatedly performs the following processes (a) to (f) while updating the bending position each time bending is performed by the bending moving means, and the control unit (a) A first positioning and moving means that controls the first bending position member and the first holding member of the first moving body to move to the bending portion on the target material while the second moving body is in a holding state holding the target material, (b) When the first positioning moving means holds the first moving body in a holding state with the bent portion, the first bending moving means moves the first moving body to the bending position, (c) When the first movable body, which is in a holding state by the first bending moving means, is moved to a bending position, the second non-holding means puts the second movable body into a non-holding state where it does not hold the target material, (d) When the second moving body is in a non-holding state by the second non-holding means, the second bending position member and the second holding member are moved to the next bending portion on the target material, and the second moving body is controlled to be in a holding state that holds the next bending portion on the target material, (e) When the second positioning moving means holds the second moving body in a position to the next bending portion, the second bending moving means moves the second moving body to the next bending position, (f) When the second moving body is moved to the next bending position by the second bending moving means, the first non-holding means puts the first moving body into a non-holding state where it does not hold the target material, A bending apparatus characterized by being equipped with the following features.

2. In the bending apparatus according to claim 1, When moving the first moving body to the bending portion, the first positioning moving means moves at least the first bending position member of the first moving body in a direction perpendicular to the extension direction of the target material so that the first moving body does not interfere with the target material, and then moves it to the bending portion. The bending apparatus is characterized in that, when moving the second moving body to the next bending portion, at least the second bending position member of the second moving body is moved out of the way perpendicular to the extension direction of the target material so that the second moving body does not interfere with the target material, and then moves to the next bending portion.

3. In the bending apparatus according to claim 1, To hold down the target material on both sides of the first bending position member, a first pressing member is provided which is configured to be movable, To hold down the target material on both sides of the second bending position member, a second pressing member is provided which is configured to be movable, When the first or second moving body is moved by the first or second bending moving means, a pressing member control means moves the target material to a position that presses the target material so that the target material undergoing bending reaches a desired bent state, A bending machine further equipped with [the following].

4. In the bending apparatus according to claim 1, A bending apparatus characterized in that the first bending moving means and the second bending moving means move the target material beyond the bending position or the next bending position so that it is temporarily in a bent state that exceeds the target bending state, and then move it to the bending position or the next bending position.

5. A control program for implementing the control unit of a bending machine using a computer, wherein the computer (a) A first positioning and moving means that controls the first moving body to move the first bending position member and the first holding member of the first moving body to the bending portion on the target material, while the second moving body is in a holding state in which it holds the target material, (b) When the first positioning moving means holds the first moving body in a holding state with the bent portion, the first bending moving means moves the first moving body to the bending position, (c) When the first movable body, which is in a holding state by the first bending moving means, is moved to a bending position, the second non-holding means puts the second movable body into a non-holding state where it does not hold the target material, (d) When the second moving body is in a non-holding state by the second non-holding means, the second bending position member and the second holding member are moved to the next bending portion on the target material, and the second moving body is controlled to be in a holding state that holds the next bending portion on the target material, (e) When the second positioning moving means holds the second moving body in a position to the next bending portion, the second bending moving means moves the second moving body to the next bending position, (f) A control program to cause the first moving body to function as a first non-holding means, which puts the first moving body into a non-holding state where it does not hold the target material, when the second moving body is moved to the next bending position by the second bending moving means.

6. A method for manufacturing a bent material by bending a long target material, While holding the bent portion in front of the target material, the bent portion of the target material is held, and while holding it, the bent portion is moved to the bent position to bend the target material. The next bending portion of the target material is held, and while holding it, the next bending portion is moved to the next bending position to bend the target material. A method for manufacturing a bent material by repeating the above process.

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