Bending apparatus and control method therefor

Abstract

According to an embodiment of the present disclosure, provided is a bending apparatus for bending a workpiece, the bending apparatus comprising: a base; a chuck unit which is provided on the base and fixes the position of the workpiece during work; a bending unit which is a multi-joint robot provided on the base, and carries out bending of the workpiece from both sides of the chuck unit and is movable in the lengthwise direction of the base; and a support unit which is a multi-joint robot provided on the base, and is movable in the lengthwise direction of the base and supports the workpiece, wherein, when the bending unit bends the workpiece, the support unit is located, on the basis of the chuck unit, farther than the bending unit in the lengthwise direction of the base and moves while supporting the end side of the workpiece.

Description

Bending device and control method thereof

[0001] The present invention relates to a bending device and a method for controlling the same.

[0002] Generally, a bending device is a device that automatically bends wires, rods, or other workpieces to form machines or parts. The bending device can flexibly vary the bending angle and bending direction to easily bend and form parts up to three dimensions.

[0003] Patent Document 1 relates to a double-head bending machine equipped with multiple robots that perform bending. Patent Document 1 is characterized by the fact that a bending robot and a chuck that fixes a workpiece are movably mounted on a track device. However, since the chuck is a part that fixes the workpiece, if the chuck is movably mounted, it is difficult to improve the processing quality of the workpiece apart from facilitating feeding and discharge.

[0004] Patent Document 2 discloses a double-head bending device with a simple bending robot structure. Patent Document 2 discloses that an auxiliary gripper (grabbing body) is included for precise processing, but there is a problem in that it is positioned between the chuck and the bending part and only grips the straight part of the workpiece, and due to the presence of the configuration, it is difficult to process the part adjacent to the chuck.

[0005] There is a growing demand for bending devices that can perform bending efficiently while lowering product manufacturing costs, and enable smooth bending regardless of the length of the workpiece.

[0006] According to one embodiment of the present disclosure, a bending device capable of smoothly performing bending regardless of the length of the workpiece is provided.

[0007] In addition, we aim to provide a bending device that can improve the quality of the bent workpiece by preventing sagging of the workpiece.

[0008] In addition, we aim to provide a commercially viable bending device by lowering the manufacturing cost.

[0009] The problem to be solved by one embodiment of the present disclosure is not limited to the above-described content.

[0010] According to one embodiment of the present disclosure, a bending device for bending a workpiece comprises: a base; a chuck portion provided on the base and fixing the position of the workpiece during operation; a bending portion provided on the base as a multi-joint robot that performs bending of the workpiece on each side of the chuck portion and is movable in the longitudinal direction of the base; and a finger portion provided on the base as a multi-joint robot that is movable in the longitudinal direction of the base and is capable of supporting the workpiece, wherein the finger portion is provided to move to the part of the workpiece where the operation is completed and to support the workpiece when the workpiece is completed for a predetermined length.

[0011] In addition, the finger portion provides a bending device configured to support the workpiece by positioning it at the uncompleted portion of the workpiece when the workpiece has not been completed to a predetermined length.

[0012] In addition, the bending device is provided such that when the workpiece has not been worked on for a predetermined length, the finger portion is configured to be able to rotate in the circumferential direction and move in the extension direction of the workpiece, and after the workpiece has been worked on for a predetermined length, only the circumferential rotation of the workpiece is enabled.

[0013] In addition, the finger portion provides a bending device that continuously supports the workpiece until the operation on the workpiece is completed.

[0014] In addition, the above chuck portion is positioned at the center of the base, the bending portion is provided on one side and the other side of the base, respectively, and the finger portion is provided on one side and the other side of the base, respectively, to provide a bending device.

[0015] Additionally, the base includes a bending guide configured to allow the bending part to move along the longitudinal direction of the base and a finger guide configured to allow the finger part to move along the longitudinal direction of the base, and the bending guide is configured to be longer than the finger guide, thereby providing a bending device.

[0016] In addition, a bending device is provided in which the number of rotation axes of the finger portion is equal to or greater than the number of rotation axes of the bending portion.

[0017] In addition, the finger portion includes a first workpiece support portion that supports the workpiece so that it can rotate in the circumferential direction and move in the extension direction, and a second workpiece support portion that supports the workpiece so that it can only rotate in the circumferential direction after the workpiece has been processed to a predetermined length. When the workpiece is processed, the first workpiece support portion is positioned between the bending portion and the chuck portion, and when the workpiece is processed to a predetermined length, the chuck portion, the bending portion, and the second workpiece support portion are positioned in that order.

[0018] In addition, the first workpiece support is provided with a plurality of first roller parts provided in a pair of grippers rotatably provided at the end of the finger part, and the first roller parts are provided in a shape in which the cross-sectional area decreases toward the center, and when the grippers are rotated and closed, the workpiece is positioned and supported at the center of the first roller parts.

[0019] In addition, the second workpiece support is provided with a plurality of second roller parts provided on one side and the other side of a pair of grippers rotatably provided at the end of the finger part, and the second roller parts are arranged staggered to support the workpiece, thereby providing a bending device.

[0020] The bending device according to the embodiment of the present disclosure can efficiently perform bending operations regardless of the length of the workpiece.

[0021] In addition, it can improve the quality of the bending operation by preventing sagging of the workpiece.

[0022] In addition, manufacturing costs can be reduced by simplifying the structure of the bending part.

[0023] FIG. 1 is a perspective view of a bending device according to one embodiment.

[0024] FIG. 2 is a drawing showing a bending part of a bending device according to one embodiment.

[0025] FIG. 3 is a drawing showing a finger portion of a bending device according to one embodiment.

[0026] FIG. 4 is a drawing showing a finger unit of a bending device according to one embodiment.

[0027] FIG. 5 is a perspective view of a bending device according to another embodiment.

[0028] FIGS. 6 to 10 are drawings illustrating the operation of a bending device according to one embodiment.

[0029] FIG. 11 is a diagram briefly illustrating the operation of a finger portion according to one embodiment.

[0030] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to facilitate a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely illustrative and the present invention is not limited thereto.

[0031] In describing the embodiments of the present invention, detailed descriptions of known technologies related to the present invention are omitted if it is determined that such detailed descriptions may unnecessarily obscure the essence of the present invention. Furthermore, the terms described below are defined in consideration of their functions within the present invention, and these may vary depending on the intentions or practices of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Terms used in the detailed description are intended merely to describe the embodiments of the present invention and should not be limiting in any way. Unless explicitly stated otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "include" or "comprise" are intended to refer to certain characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof other than those described.

[0032] Additionally, terms such as "first," "second," etc., may be used additionally for the convenience of order, distinction, or explanation. For example, they may be used to distinguish cases where a single component performs the same function but is used in a positional or separate configuration. Therefore, terms such as "first," "second," etc., may be omitted.

[0033]

[0034] FIG. 1 is a drawing showing a bending device (100) according to one embodiment of the present disclosure. Referring to FIG. 1, the bending device (100) according to one embodiment of the present disclosure includes a base (1), a chuck part (2), a bending part (3), and a finger part (4).

[0035] A bending device (100) according to one embodiment of the present disclosure is configured to bend a workpiece continuously or intermittently. The workpiece may be a wire, a bar, a long material with a cross-section that is not circular, etc. It is sufficient that the workpiece can be bent by the bending unit of the bending section (3) described later, and there are no restrictions on the material or shape.

[0036] The base (1) can provide a space in which the equipment described below can be mounted or moved. The base (1) can be provided in a symmetrical shape on both sides from the center in the width direction.

[0037] The base may include a first base (11) provided on the width-direction center side and a second base (12) provided on both sides of the first base (11). The second base (12) may be provided higher than the first base (11) relative to the ground.

[0038] The base (1) may include a bending part guide (121) provided to allow the bending part (3) to move. The bending part guide (121) may be provided in pairs on the upper surface of the second base (12). This may be for the purpose of stably supporting the bending part (3).

[0039] The bending guide (121) is sufficient if it can move the bending part (3) along the longitudinal direction of the base (1), and there are no restrictions on the shape or type of the guide. For example, the bending guide (121) can be provided in various forms, such as an LM guide or a rack-and-pinion type.

[0040] The bending guide (121) may be provided on the upper surface of the base (1). Specifically, it may be provided on the upper side of the second base (12) of the base (1). More specifically, since the second base (12) is provided on both sides of the first base (11), the bending guide (121) may also be provided on both sides in the width direction of the base (1).

[0041] The base (1) may include a finger guide (111) provided so that the finger portion (4) can move along the longitudinal direction of the base (1). The finger guide (111) may be provided in pairs on the upper surface of the first base (11). This may be for the purpose of stably supporting the finger portion (4).

[0042]

[0043] * The finger guide (111) is sufficient if it can move the finger (4) along the longitudinal direction of the base (1), and there are no restrictions on the shape or type of the guide. For example, the finger guide (111) can be provided in various forms, such as an LM guide or a rack-and-pinion type.

[0044] The finger guide (111) may be provided on the upper surface of the base (1). Specifically, it may be provided on the first base (11) of the base (1). More specifically, it may be provided on the upper surface of the first base (11).

[0045] One or more finger portions (4) may be provided in the finger portion guide (111). Specifically, the finger portion guide (111) may be provided with finger portions (4) equal to the number of bending portions (3). That is, one or more finger portions (4) may be moved along the finger portion guide (111) in the longitudinal direction of the base (1).

[0046] The finger guide (111) may be shorter than the bending guide (121). In this case, the finger (4) may be provided as a robot having a rotation axis equal to or greater than that of the bending (3). This will be described later.

[0047] Additionally, the finger guide (111) and the bending guide (121) may be provided parallel to each other. This allows the finger (4) and the bending (3) to move along the longitudinal direction of the base (1) without interfering with each other.

[0048] The bending section guide (121) may be provided to be longer than the finger section guide (111). That is, the finger section (4) has a shorter distance of movement compared to the bending section (3), but can smoothly perform the bending operation according to one embodiment of the present disclosure. Specific details regarding this will be described later.

[0049] The chuck (2) can fix the workpiece. The chuck (2) can fix the position of the workpiece where the bending operation is performed. By doing so, the workpiece remains in the correct position while the bending unit (3) performs the bending, thereby increasing the efficiency of the workpiece processing operation and improving the quality of the workpiece.

[0050] The chuck portion (2) may be provided on the base (1). Specifically, the chuck portion (2) may be provided on the first base (11) of the base (1). The chuck portion (2) may be located at the width-direction center of the base (1). The chuck portion (2) may be located at the length-direction center of the base (1). The chuck portion (2) may be located at the center of the base (1). More specifically, the chuck portion (2) may be located on the first base portion. At this time, the chuck portion (2) may be located on the outer side of the aforementioned finger portion guide (111). Thus, bending operations can be performed independently at the front and back of the base in the length-direction relative to the chuck portion (2).

[0051] The chuck (2) may be provided by extending upward from the upper surface of the first base (11) relative to the ground. The length to which the chuck (2) is extended may be determined by considering that the bending part (3) and the finger part (4) are provided as multi-joint robots, that interference between each component is prevented while the bending operation is performed, and that the direction of the bending operation is not restricted.

[0052] The bending section (3) is provided to bend a workpiece. When a workpiece is supplied, the bending section (3) bends the workpiece through a bending unit. The bending section (3) can move from the end of the workpiece to the chuck section (2) to perform bending.

[0053] The bending part (3) may be equipped with a multi-joint robot. A multi-joint robot refers to a robot having multiple rotation axes, such as a 3-axis robot arm or a 6-axis robot arm.

[0054] The bending part (3) may be provided on the base (1). The bending part (3) may be provided on the second base (12). The bending part (3) may be provided on a bending part guide (121) located on the upper surface of the second base (12) so as to be movable in the longitudinal direction of the base (1).

[0055] Multiple bending sections (3) may be provided. When multiple bending sections (3) are provided, the bending sections (3) may be provided in pairs on both sides of the base (1). Thus, the chuck section (2) is located at the center of the base (1), and the bending sections (3) are located on each of the second bases (12) on both sides, so that bending can be performed independently on both sides with respect to the chuck section (2).

[0056] The following description is based on the assumption that two bending parts (3) are provided. However, it is sufficient to provide multiple bending parts (3) and is not limited thereto. The following description is an example. Additionally, the bending parts (3) may each be provided in the same form. The bending part (3) provided on one side of the base (1) can be classified as the first bending part (3), and the bending part (3) provided on the other side as the second bending part (3), but for convenience of explanation, only one bending part (3) is described. That is, since the second bending part (3) can be provided in the same way as the first bending part (3), the description of the second bending part (3) may be omitted.

[0057] The bending section (3) includes a bending section base (31), a bending motor (32), a bending robot arm (33), and a bending unit (34).

[0058] The bending part base (31) can be connected to the bending part guide (121) to support the bending part (3). The bending part base (31) can provide a space where the bending robot arm (33) and the bending motor (32) can be combined.

[0059] The bending motor (32) provides power to move the bending base (31) from the bending guide (121) to the bending part (3).

[0060] The bending robot arm (33) is equipped as a multi-joint robot and is the part where the bending unit (34), described later, is mounted.

[0061] The bending robot arm (33) may be equipped as a robot arm having three rotation axes. The bending robot arm (33) may also be equipped as a robot arm having six rotation axes, but since each rotation axis requires a separate motor to operate independently of each other, using the bending robot arm (33) in a form that uses six rotation axes may cause an increase in manufacturing costs. However, both when the bending robot arm (33) is equipped as a 3-axis robot arm and when it is equipped as a 6-axis robot arm, the bending operation according to one embodiment of the present disclosure can be performed smoothly.

[0062] The bending unit (34) may be a bending head that performs a bending operation. There are no restrictions on the bending head.

[0063] The bending unit (34) can be rotatably provided at the end of the bending robot arm (33).

[0064] The bending unit (34) may be provided at the end of the bending robot arm (33). By doing so, the bending unit (34) can be moved to the part where the workpiece is located.

[0065] The bending unit (3) can perform bending by operating from the end of the workpiece at the required position once the chuck unit (2) fixes the position of the workpiece. The bending unit (3) can perform bending operations while moving toward the chuck unit (2).

[0066] The finger portion (4) may be a multi-joint robot provided on the base (1). As described above, the finger portion (4) may be provided as a 3-axis robot arm or a 6-axis robot arm. The finger portion (4) may support a workpiece. Specifically, the finger portion (4) may perform the role of preventing sagging at the end of the workpiece.

[0067] The finger portion (4) may be provided to be movable in the longitudinal direction of the base (1). As described below, the finger portion (4) may include a first finger portion and a second finger portion. However, since the finger portion is provided in the same form, the description will be based on one finger portion (4). The first finger portion (4) and the second finger portion (4) may be provided to be seated on the finger portion guide (111) and moved in the longitudinal direction of the base (1).

[0068] The finger part (4) can assist the operation of the bending part (3).

[0069]

[0070] The finger part (4) can assist the bending part (3) in its operation from before the bending part (3) starts the operation until the bending process is finished. Specific details regarding this will be described later.

[0071] The finger section (4) may include a first finger section that assists the operation of the first bending section (3) and a second finger section (4) that assists the operation of the second bending section (3). The finger section (4) may be provided in the same number as the number of bending sections (3). However, as described above, the explanation is based on one finger section.

[0072] The finger part (4) may include a finger base (41), a finger part motor (42), a finger robot arm (43), and a finger unit (44).

[0073] The finger base (41) is connected to the finger guide (111) so that the finger (4) can be moved along the length of the base (1).

[0074] The finger base (41) can provide a space where the finger motor (42) and the finger robot arm (43) can be installed.

[0075] The finger motor (42) can provide power so that the finger part (4) can move along the longitudinal direction of the base (1).

[0076] The finger robot arm (43) can be equipped as a multi-joint robot.

[0077] The finger robot arm (43) can preferably be equipped with a multi-joint robot having six rotation axes. This is because the finger robot arm (43) supports the end of the workpiece when the bending process proceeds beyond a certain length, so it must be able to be positioned at various points as the bending operation is performed. However, it is acceptable to equip it with a multi-joint robot having three rotation axes as long as it can smoothly perform the function of a support member even when the bending operation is performed repeatedly.

[0078] The finger unit (44) may be located at the end of the support robot arm (43). The finger unit (44) may include a gripper part (440), a first workpiece seating part (441), and a second workpiece seating part (442).

[0079] A detailed explanation of this will be provided later.

[0080]

[0081] FIG. 2 illustrates a bending section (3). Referring to FIG. 2, the bending section (3) is provided on the base (1) and is movable along the longitudinal direction of the base (1). The bending section (3) performs a bending operation on a workpiece.

[0082] The bending robot arm (33) of the bending unit (3) may have three rotation axes (A1, A2, A3). However, as described above, the operation can be performed smoothly even with six rotation axes. The bending unit (3) may be configured so that the three rotation axes operate independently.

[0083] The bending robot arm (33) may include a first bar (33a) and a second bar (33b). The first bar (33a) may extend from the bending part base (31) in the height direction of the base (1). The second bar (33b) is provided at the end of the first bar (33a) and is rotatably provided relative to the first bar (33a). A bending unit (34) may be rotatably provided at the end of the second bar (33b).

[0084] The bending part (3) may include an auxiliary finger part (35). The auxiliary finger part (4) may include a first extension part (351), a second extension part (352), and an auxiliary finger unit (353).

[0085] The first extension (351) is coupled to the bending robot arm (33) and extends along the longitudinal direction of the base (1). The distance between the auxiliary finger part (35) and the bending unit (34) can be determined according to the length of the first extension (351).

[0086] The first extension part (351) can be extended from the bending robot arm (351) toward the chuck (2). This allows the workpiece to be supported by extending from each of the bending parts (3) on both sides toward the chuck (2). Accordingly, the auxiliary finger part (35) supports the part of the workpiece before it is processed.

[0087] The second extension (352) may be a portion extending from the first extension (351) in the height direction of the base (1). The first extension (351) and the second extension (352) may be formed integrally.

[0088] The auxiliary finger unit (353) may be provided at the end of the second extension part (352) and may be rotatably provided. The auxiliary finger unit (353) may be provided in the same shape as the first workpiece seating part (441) described later.

[0089] For example, it may be equipped with three roller sections, and each roller section may have a cross-sectional area that decreases towards the center. Thus, a workpiece can be seated at the center of each roller section.

[0090] Each roller section can be arranged in sequence based on when the workpiece is placed. That is, it can be provided in a form where two roller sections are provided on one side and one roller section is provided on the other side.

[0091]

[0092] FIG. 3 is a drawing illustrating a finger portion, and FIG. 4 is a drawing showing various embodiments of a finger unit.

[0093] The finger robot arm (43) may be a multi-joint robot having six rotation axes (B1, B2, B3, B4, B5, B6). In addition, as described above, it is provided to be movable in the longitudinal direction of the base (1) and can support a workpiece.

[0094] The finger robot arm (43) can be equipped with six rotation axes that each operate independently.

[0095] The finger robot arm (43) can be positioned on the finger base (1). Specifically, the first bar (43a) can be positioned on the finger base (41) and rotate relative to the finger base (41).

[0096] The second bar (43b) may be provided at the end of the first bar (43a). Specifically, the second bar (43b) may be rotatably connected to the first bar (43a) with respect to the first bar (43a).

[0097] The third bar (43c) may be provided at the end of the second bar (43b). Specifically, the third bar (43c) may be rotatably connected to the second bar (43b) with respect to the second bar.

[0098] The third bar (43c) may include a first part (43c1) that is rotatably connected to and extending from the second bar (43b), a second part (43c2) that is rotatably provided with respect to the first part (43c1), a third part (43c3) that is coupled to the second part (43c2) and is rotatably provided with respect to the second part (43c2), and a fourth part (43c4) that is coupled to the third part (43c3) and is rotatably provided with respect to the third part (43c3).

[0099] That is, the finger part (4) may include a rotation axis (B1) between the first bar (43a) and the finger part base (41), a rotation axis (B2) between the first bar (43a) and the second bar (43b), a rotation axis (B3) between the second bar (43b) and the third bar (43c), a rotation axis (B4) between the first part (43c1) and the second part (43c2), a rotation axis (B5) between the second part (43c2) and the third part (43c3), and a rotation axis (B6) between the third part (43c3) and the fourth part (43c4).

[0100]

[0101] FIGS. 4(a) and FIGS. 4(b) are drawings showing a first embodiment of a finger unit, and FIGS. 4(c) and FIGS. 4(d) are drawings showing a second embodiment of a finger unit.

[0102] The finger unit (44) includes a first workpiece seating portion (441) and a second workpiece seating portion (442).

[0103] The first workpiece seating portion (441) is provided in a form that allows the workpiece to be inserted and rotated in the circumferential direction, and the second workpiece seating portion (442) may be provided to allow only the workpiece to rotate in the circumferential direction.

[0104] The finger unit (44) may include a gripper part (440) rotatably provided at the end of the finger part (4). A first workpiece seating part (441) and a second workpiece seating part (442) may be provided on the gripper part (440).

[0105] The first workpiece seating portion (441) may be provided at the ends of the two clamp portions (440). The first workpiece seating portion may be provided in combination with the first roller portion (4411).

[0106] The first roller section (4411) may be provided in a cylindrical shape with a cross-sectional area that decreases toward the center so that the workpiece can be seated. That is, it may be provided in an hourglass shape.

[0107] Thus, when the clamp part (440) is rotated and closed, the workpiece can be seated and supported on the center side of the first roller part (4411).

[0108] At this time, the workpiece is not compressed, allowing the workpiece to be fed in. Two first roller sections (4411) may be provided on one side, and one first roller section (4411) may be provided on the other side.

[0109] Referring to FIGS. 4(a) and FIGS. 4(b), a second roller section (4421) may be provided on one side. Each second roller section (4421) may be arranged in an alternating manner so that a workpiece can be supported at the alternating portions. A recess is provided on the other side so that when the clamp section (440) is closed, the workpiece can be seated between the recess and the second roller section (4421). At this time, the recess performs the role of guiding the workpiece and can support the workpiece regardless of the diameter of the workpiece.

[0110] In other words, the second roller section (4421) may be positioned on both sides in the width direction of the gripper section (440), and on one side in the width direction, the second roller section (4421) may be positioned on different axes so that a portion of the second roller section (4421) overlaps. A workpiece may be placed on the outer side of the portion where the second roller section (4421) overlaps. As a result, even if the cross-sectional size of the workpiece increases, the workpiece may not deviate from its correct position.

[0111] Referring to FIG. 4(c) and FIG. 4(d), a second roller part (4421) may also be provided on the other side. In this case as well, the workpiece may be placed and supported on the portion where the second roller part (4421) is arranged in an alternating manner.

[0112] Additionally, the second workpiece seating portion (442) may include a first guide (443) provided on the clamp portion (440) and a second guide (444) provided on the outer side of the second roller portion (4421).

[0113] The first guide (443) and the second guide (444) can be provided in such a way that the workpiece is guided toward the second workpiece seating portion (442) as the clamp portion (440) closes, even if the workpiece is not positioned upright. Specifically, they can be provided as a recess with the center portion recessed inward.

[0114]

[0115] FIG. 5 is a perspective view of a bending device according to one embodiment of the present disclosure.

[0116] Figure 5 illustrates a form in which the auxiliary finger portion (35) is applied. As explained in Figures 1 and 2, the explanation is omitted.

[0117] FIGS. 6 to 10 are operation diagrams of a bending device according to one embodiment of the present disclosure.

[0118] FIG. 6 illustrates the feeding of a workpiece. The bending part (3) can bring the workpiece into the bending device (100) from the outside of the bending device (100).

[0119] Referring to FIG. 7, when the workpiece is grasped at the chuck (2), the finger portion (4) operates to prevent the workpiece from moving out of its proper position. At this time, the first workpiece seating portion (441) is used.

[0120] Referring to FIG. 8, when the feeding of the workpiece is completed, the bending unit (3) is operated. The workpiece is inserted into the bending unit (34), and the bending unit (3) performs the bending operation. The bending process of the workpiece can start from the end of the workpiece.

[0121] At this time, the auxiliary finger portion (35) can always support the part of the workpiece that is not bent. At this time, the finger portion (4) can also support the workpiece by being positioned closer to the chuck portion (2) than the bending portion (3).

[0122] At this time, the bending part (3) moves toward the chuck part (2) while performing a bending operation from the end of the workpiece. Accordingly, the finger part (4) can also be moved toward the chuck part (2).

[0123] Referring to FIGS. 9 and 10, when the workpiece is worked on more than a certain portion, the gripper portion (440) opens so that the first workpiece seating portion (441) moves out of the position of the workpiece and supports the portion where bending has already taken place.

[0124] That is, the finger portion (4) can support the workpiece at a position further from the chuck portion (2) than the bending portion (3) based on the direction in which the workpiece is extended when the bending portion (3) works on the workpiece for a predetermined length.

[0125] In other words, the finger portion (4) can be provided to move to the part of the workpiece where the work is completed and to support the workpiece when the workpiece is completed to a predetermined length.

[0126] When the finger portion (4) is moved to the part where the work on the workpiece is completed and supports the workpiece, the workpiece can be positioned at the second workpiece seating portion (442). When the workpiece is seated at the second workpiece seating portion (442), the workpiece cannot be inserted, so the workpiece can be supported at the same position.

[0127] Therefore, even if the workpiece is very long, sagging can be prevented, allowing for accurate bending processing.

[0128] In addition, the finger portion (4) moves from the part of the workpiece where processing has not been performed to the part where processing of the workpiece has been completed, so that work can be performed until it is very close to the chuck portion (2), so that even if processing of the center side of the workpiece is required, the work can be efficiently completed without additional post-processing.

[0129] The finger portion (4) may not release the workpiece from the moment it supports the workpiece with the second workpiece seating portion (442) until the processing of the workpiece is finished. At this time, the position of the part supporting the workpiece can be determined by considering the bending direction, the bending speed, and the length of the workpiece.

[0130] Since the finger portion (4) operates to support the part of the workpiece where the work is not completed and then to support the part where the work is completed, the work can be performed smoothly even if the finger portion guide (111) is shorter than the bending portion guide (121), and the length of the base can be prevented from becoming excessively large.

[0131] When the finger part (4) supports the workpiece through the second workpiece seating part (442), it can be moved while maintaining the supported state even when the operation of the bending part (3) is in progress.

[0132] When the work is carried out in this way, interference with the finger part (4) may not occur even if the work of the bending part (3) is carried out.

[0133]

[0134] FIG. 11 is a simplified illustration of FIG. 9 and FIG. 10.

[0135] As described above, if the process proceeds as described, it is advantageous for processing very long workpieces. When the length of the workpiece becomes very long, the size of the product produced through the bending process can be increased.

[0136] For example, when producing automotive brake lines, materials with cut edges are difficult to use for safety reasons, so they are manufactured using a bending device. In this process, using a long workpiece allows for the production of brake lines without cut or joint surfaces, even as the size of the vehicle increases. With the market share of electric vehicles steadily growing, there is a trend toward increasing the size of not only commercial vehicles but also passenger cars to accommodate larger battery capacities.

[0137] A bending device according to one embodiment of the present disclosure can improve the quality of the bending operation regardless of the length of the workpiece. This is because, when the workpiece is long, the sagging of the workpiece may become more severe in a curved shape, but the finger portion (4) prevents sagging, and when the workpiece is short, sagging can be prevented even when complex bending is performed, and even if the bending is not complex, one side of the workpiece is continuously supported, thereby improving the quality of the bending.

[0138]

[0139] Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications can be made to the above-described embodiments without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims set forth below as well as equivalents thereof.

Claims

1. In a bending device for bending a workpiece, base; A chuck part provided on the above base and fixing the position of the workpiece during operation; A multi-joint robot provided on the above base, comprising: a bending part configured to perform bending of a workpiece on each side of the chuck part and movable in the longitudinal direction of the base; and A multi-joint robot provided on the base, comprising a finger portion configured to be movable in the longitudinal direction of the base and configured to support a workpiece; The above bending part moves from the end of the workpiece to the chuck part and performs bending, A bending device configured such that when the finger portion is completed to a predetermined length of the workpiece, it moves to the completed portion of the workpiece to support the workpiece.

2. In Paragraph 1, The above finger portion is a bending device provided to support the workpiece by positioning it at the uncompleted portion of the workpiece when the workpiece has not been completed to a predetermined length.

3. In Claim 2, When the workpiece has not been worked on to a predetermined length, the finger portion is configured to be able to rotate in the circumferential direction and move in the extension direction of the workpiece, and A bending device configured to allow only circumferential rotation of the workpiece after the workpiece has been worked to a predetermined length.

4. In Paragraph 1, The above finger portion is a bending device that continuously supports the workpiece until the operation on the workpiece is completed.

5. In Paragraph 1, The above chuck is positioned at the center of the above base, and The above bending part is provided on one side and the other side of the base, respectively, and The finger portion is a bending device provided on one side and the other side of the base, respectively.

6. In Paragraph 5, The base includes a bending guide configured to allow the bending part to move in the longitudinal direction of the base, and a finger guide configured to allow the finger part to move in the longitudinal direction of the base. The bending guide above is a bending device that is longer than the finger guide above.

7. In Paragraph 1, A bending device having the number of rotation axes of the finger portion equal to or greater than the number of rotation axes of the bending portion.

8. In Paragraph 3, The finger portion comprises a first workpiece support portion that supports the workpiece so that it can rotate in the circumferential direction and move in the extension direction, and a second workpiece support portion that supports the workpiece so that it can only rotate in the circumferential direction after the workpiece has been completed to a predetermined length. A bending device configured such that when the above workpiece is processed, the first workpiece support is positioned between the bending part and the chuck part, and when the workpiece is processed to a predetermined length, the chuck part, the bending part, and the second workpiece support are positioned in that order.

9. In Paragraph 8, The first workpiece support is provided with a plurality of first roller parts provided in a pair of grippers rotatably provided at the end of the finger part, and The first roller part is provided in a shape in which the cross-sectional area becomes smaller towards the center, and A bending device in which a workpiece is positioned and supported at the center of the first roller sections when the above clamp section is rotated and closed.

10. In Paragraph 8, The second workpiece support is provided with a plurality of second roller parts provided on one side and the other side of a pair of gripping parts rotatably provided at the end of the finger part, and The above second roller section is arranged staggered to support the workpiece in a bending device.

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