JP6896224B2 - Sequential molding method and sequential molding equipment - Google Patents

Description

The present invention relates to a sequential molding method and a sequential molding apparatus that gradually deforms a metal plate by pressing a tool against the metal plate to move the metal plate into a three-dimensional shape.

As a conventional sequential molding method, there is one described in Patent Document 1 under the name of a sequential overhang molding apparatus for a metal plate. The molding apparatus described in Patent Document 1 has a horizontal moving mechanism for moving a processing table on which a metal plate is fixed in the horizontal direction, and is a tool that supports sequential molding punches so that molding can be performed from both the upper and lower sides of the metal plate. Supports are provided at the top and bottom of the machining table, the upper tool support and lower tool support are provided with vertical vertical movement mechanisms, and the lower tool support is provided with a horizontal machining table in addition to the vertical direction. It has a horizontal movement mechanism with a smaller amount of movement. In the above-mentioned molding apparatus, the metal plate and the upper and lower tools are relatively moved to form the metal plate into a three-dimensional shell shape.

Japanese Patent No. 3787900

However, the conventional sequential molding apparatus as described above makes the metal plate movable in the horizontal direction (X, Y direction), the upper tool movable in the vertical direction (Z direction), and the lower tool in the horizontal direction and vertical direction. It is configured to move in a direction (X, Y, Z direction). For this reason, the above-mentioned sequential molding apparatus requires a large number of control axes (6 axes), complicated equipment and control, a long molding time, and an occupied area for moving the metal plate in the horizontal direction. Therefore, there is a problem that the equipment becomes large, and it has been a problem to solve such a problem.

The present invention has been made by paying attention to the above-mentioned conventional problems, and it is possible to reduce the number of control shafts, simplify the equipment and control, shorten the molding time, and reduce the size of the equipment. It is an object of the present invention to provide a sequential molding method and a sequential molding apparatus that can be achieved.

The sequential molding method according to the present invention is a method in which the tip of a tool is pressed against a metal plate holding a periphery to move the metal plate, thereby gradually deforming the metal plate in the thickness direction to form a three-dimensional shape. In this sequential molding method, the metal plate is rotatably held around a rotation axis orthogonal to the main surface of the metal plate, and the tool is moved forward and backward in one direction orthogonal to the rotation axis of the metal plate and toward the metal plate. Hold it so that it can reciprocate in the direction of the metal. Then, in the sequential molding method , a tool movement path, which is a circuit path corresponding to the molding site, is set on the metal plate, and the tool is reciprocated on a reference line orthogonal to the rotation axis of the metal plate while rotating the metal plate. It is characterized in that a metal plate is formed by aligning the tool with the tool movement path.

Further, the sequential forming apparatus according to the present invention is an apparatus for forming a three-dimensional shape by gradually deforming the metal plate in the thickness direction by pressing the tip of the tool against the metal plate holding the periphery and moving the metal plate. This sequential molding device has a work holding mechanism that rotatably holds a metal plate around a rotation axis orthogonal to its main surface, and a tool in one direction orthogonal to the rotation axis of the metal plate and a metal plate. It is provided with a tool holding mechanism that reciprocates and holds the work in the direction of advancing and retreating, and a main control device that controls the work holding mechanism and the tool holding mechanism. Then, in the sequential molding apparatus, the main control device rotates the metal plate in which the tool movement path, which is the circumferential path corresponding to the molding site, is set, and the tool movement path is on the reference line orthogonal to the rotation axis of the metal plate. It is characterized by controlling the reciprocating movement of the tool on the reference line so that the tool and the tool match.

In the sequential molding method and the sequential molding apparatus according to the present invention, by adopting the above configuration, the control shaft is a rotation shaft of a metal plate, a drive shaft of a tool in one direction along the main surface of the metal plate, and a metal. There are three drive shafts of the tool in the direction of moving forward and backward toward the plate. Further, the metal plate does not need to be moved in the horizontal direction, but is only rotated. As a result, in the above-mentioned sequential molding method and sequential molding apparatus, the number of control shafts can be reduced to simplify the equipment and control, shorten the molding time, and reduce the size of the equipment. ..

It is a figure explaining the 1st Embodiment of the sequential molding method which concerns on this invention, and is the side view explaining the sequential molding apparatus to which a sequential molding method is applied. 5 are plan views (A) to (E) for explaining the molding process of the metal plate. It is explanatory drawing (A) which shows the vector relation of molding speed, tool speed and rotation speed, and is the graph (B) which shows the relationship between molding time and the rotation speed of a metal plate. It is a figure explaining the 2nd Embodiment of the sequential molding method which concerns on this invention, and is the side view explaining the sequential molding apparatus to which a sequential molding method is applied. It is a figure explaining the 3rd Embodiment of the sequential molding method which concerns on this invention, and is the side view explaining the sequential molding apparatus to which a sequential molding method is applied. It is a figure explaining the 4th Embodiment of the sequential molding method which concerns on this invention, and is the side view explaining the sequential molding apparatus to which a sequential molding method is applied. It is a perspective view explaining the molding procedure of a metal plate. It is a plan view (A) which shows the molding process of forward rotation sequentially in the molding process of a metal plate, and is a plan view (B) which shows the molding process of reciprocating rotation sequentially.

FIG. 1 is a diagram illustrating a sequential molding apparatus to which the sequential molding method of the present invention can be applied. In the illustrated sequential molding apparatus, the tip of the tool 1 is pressed against the metal plate A holding the periphery to move the metal plate A, thereby gradually deforming the metal plate A in the thickness direction to form a three-dimensional shape.

The sequential forming apparatus includes, as a general rule, a work holding mechanism 11 for holding the metal plate A, a tool holding mechanism 12 for holding the tool 1, and a main control device 13 for controlling the work holding mechanism 11 and the tool holding mechanism 12. It has. The work holding mechanism 11 rotatably holds the metal plate A around a rotation axis C orthogonal to the main surface thereof. The tool holding mechanism 12 reciprocally holds the tool 1 in one direction (X direction) orthogonal to the rotation axis C of the metal plate A and in the direction of advancing and retreating toward the metal plate A (Z direction). Further, the tool 1 is a round bar-shaped tool having a spherical tip, and is arranged with the tip facing the metal plate A.

More specifically, the work holding mechanism 11 is provided with the fixing jig 16 rotatably provided on the base 13 via a rotation driving motor 14 and a rolling device 15 such as a guide roller. There is. The fixing jig 16 arranges the metal plate A horizontally and firmly restrains the periphery thereof. Further, the fixing jig 16 holds a flat metal plate (indicated by a virtual line) A before molding at a predetermined height, and a concave portion (molding portion) B after molding is below the metal plate A. There is a space that can accommodate the. In this way, the work holding mechanism 11 rotatably holds the metal plate A around the rotation axis C orthogonal to the main surface thereof.

The tool holding mechanism 12 is a multi-axis control type work robot, in which the base end portion of the first arm 17C is connected to the swivel base 17A via the first joint 17B, and the tip end portion of the first arm 17C. The base end portion of the second arm 17E is connected to the second arm 17D via the second joint 17D. A hand portion 17G is connected to the tip of the second arm 17E via a third joint 17F, and the tool 1 is attached to the hand portion 17G.

Since the tool holding mechanism 12 is a multi-axis control type work robot, it is orthogonal to the horizontal direction (X, Y direction), the vertical direction (Z direction), and the orthogonal three-axis directions (X to Z-axis directions). It is possible to change the posture of the tool 1. However, in the sequential forming method and the sequential forming apparatus of this embodiment, the tool 1 may be held in a posture in which its axis is vertical, and the tool 1 may be moved in one horizontal direction and in the vertical direction. Teaching program can be simplified. In this way, the tool holding mechanism 12 can reciprocate the tool 1 in one direction (X direction) orthogonal to the rotation axis C of the metal plate A and in the direction of advancing and retreating toward the metal plate A (Z direction). keeping.

In the main control device 13, while rotating the metal plate A in which the tool movement path (TP) is set, the tool movement path and the tool 1 move on a reference line (SL) orthogonal to the rotation axis C of the metal plate A. Control is performed to reciprocate the tool 1 on the reference line (SL) so as to match. Further, the main control device 13 advances the tool 1 toward the metal plate A as the molding progresses. The tool movement path (TP) and the reference line (SL) will be described in the sequential forming method described later.

The main control device 13 directly controls the rotation direction and rotation speed of the motor 14 constituting the work holding mechanism 11, and also controls the rotation direction and the rotation speed of the motor 14 and the first to third third in the work robot which is the tool holding mechanism 12. It controls the motors (not shown) of the joints 17B, 17D, 17F.

Next, a sequential molding method using the above-mentioned sequential molding apparatus will be described with reference to FIG.
The shape of the metal plate A is not particularly limited, but in the illustrated example, the metal plate A is square, and a planar square-shaped concave portion (molding portion) B is molded inside the metal plate A. A tool movement path TP corresponding to the concave portion B is set on the metal plate A. The tool movement path TP is an initial molded portion by the tool 1 and is a portion corresponding to the opening edge of the concave portion B.

Further, FIG. 2 shows vertical and horizontal center lines orthogonal to the sides of the metal plate A. Here, in this embodiment, as shown in FIG. 2A, the intersection of the vertical and horizontal center lines is the rotation axis C of the metal plate A, and the horizontal center line is the reference line SL. The rotation shaft C and the reference line SL are immobile during molding.

In the sequential molding method, the work holding means 11 rotatably holds the metal plate A around the rotation axis C orthogonal to the main surface thereof, and the tool holding means 12 rotates the tool. It is held so that it can reciprocate in one direction (X direction) orthogonal to the axis and in the direction of advancing and retreating toward the metal plate (Z direction). Further, in the sequential forming method, a tool moving path TP corresponding to a forming portion (concave portion B) is set on the metal plate A.

Then, in the sequential molding method, the tool 1 is aligned with the tool movement path TP by reciprocating the tool 2 on the reference line SL orthogonal to the rotation axis C of the metal plate A while rotating the metal plate A. Mold the metal plate A. At this time, in the sequential forming method, the tool 1 is reciprocated on the reference line SL according to the change in the distance L from the rotation axis C to the intersection of the reference line SL and the tool movement path TP. Further, in this embodiment, the rotation axis C of the metal plate A and the center Cw of the molding portion (concave portion B) are aligned with each other, and molding is performed while rotating (rotating) the metal plate A in one direction. ..

That is, in the sequential molding method, at the start of molding shown in FIG. 2A, the tool 1 is located at the intersection of the tool movement path TP and the reference line SL, and the tool 1 is pressed against the metal plate A. After that, the metal plate A is rotated clockwise in FIG. At this time, since the tool movement path TP of the metal plate A is square, the distance from the first side of the tool movement path TP to the first angle K1 is as shown in FIGS. 2 (B) to 2 (D). , The distance L from the rotation axis C to the intersection of the reference line SL and the tool movement path TP increases.

During this time, in the sequential forming method, as shown in FIGS. 2B to 2D, the tool 1 is moved in the direction away from the rotation axis C on the reference line SL, and the tool 1 always coincides with the tool movement path TP. To be in a state to do. In other words, the main controller 13 ensures that the tool 1 always matches the tool movement path TP. Move the tool 1 on the reference line SL.

Next, in the sequential molding method, as shown in FIG. 2D, the metal plate A continues to rotate in the same direction after the reference line SL and the first angle K1 of the tool movement path TP coincide with each other. Therefore, as shown in FIG. 2 (E), the distance from the rotation axis C to the intersection of the reference line SL and the tool movement path TP until the center of the next side and the tool movement path TP coincide with each other. L decreases.

During this time, in the sequential forming method, as shown in FIGS. 2D and 2E, the tool 1 is moved in the direction approaching the rotation axis C on the reference line SL, and the tool 1 always coincides with the tool movement path TP. To be in a state to do. After that, in the sequential forming method, the tool 1 is reciprocated in the same manner as described above with the rotation of the metal plate A, and the tool 1 is formed over the entire circumference of the tool moving path TP. That is, substantially, the tool 1 orbits along the tool movement path TP.

After that, in the sequential forming method, the tool 1 is advanced (lowered) by a predetermined amount with respect to the metal plate A by the tool holding means 12, and the tool movement path TP is changed inward by a predetermined pitch as necessary. Perform molding. Then, in the sequential forming method, the central portion of the metal plate A is gradually deformed so as to be pushed down by repeating the advancement of the tool 1 and the pitch change as necessary for each orbital movement of the tool 1, and finally the predetermined shape is determined. A concave portion B having a depth is formed.

In the above sequential molding method, as shown in FIG. 3A, the molding speed V is the vector sum (Vm, Vn) of the moving speed Vt of the reciprocating tool 1 and the peripheral speed Vw of the metal plate A. Turn around. In the figure, C is the rotation shaft, 1 is the tool, R is the distance from the rotation shaft C to the tool 1, and ω is the angular velocity of the metal plate A.

That is, in FIG. 2, the molding speed V depends on the distance R from the rotation shaft C to the tool 1 (Vm, Vn), and also changes depending on the shape and size of the tool movement path TP. Therefore, in the sequential forming method, at least one of the rotation speed of the metal plate A and the movement speed of the tool 1 is adjusted according to the shape and size of the tool movement path TP, and the reference line SL and the tool movement path are always adjusted. The tool 1 is controlled so as to coincide with the intersection with the TP.

In the sequential molding method described in the above embodiment, the control shafts are the rotation shaft C of the metal plate A, the drive shaft (axis in the X direction) of the tool 1 in one direction along the main surface of the metal plate A, and the metal. There are three axes, the drive axis (axis in the Z direction) of the tool in the direction of advancing and retreating toward the plate A. In the sequential molding method, only the metal plate A is rotated around the rotation axis C (around the Z axis), and the metal plate A does not need to be moved.

As a result, in the above-mentioned sequential molding method and sequential molding apparatus, the number of control shafts can be reduced to simplify the equipment and control, shorten the molding time, and reduce the size of the equipment. .. FIG. 3B is a graph showing the relationship between the molding time and the rotation speed of the metal plate. In the sequential molding method of the present invention, the tool 1 is rotated around the metal plate A without being rotated (rotation). Compared with the case of the number 0), the molding time could be shortened to about one-third.

Further, the sequential molding method and the sequential molding apparatus reciprocate the tool 1 on the reference line SL according to a change in the distance L from the rotation axis C to the intersection of the reference line SL and the tool movement path TP. Therefore, it is possible to form not only a rotationally symmetric shape such as a square as shown in the illustrated example but also an asymmetrical shape, and it is possible to manufacture molded products having various shapes. The positional relationship between the tool movement path TP and the tool 1 at the start of molding is arbitrary.

Further, in the above-mentioned sequential molding method and sequential molding apparatus, the rotation axis C of the metal plate A and the center Cw of the molding portion (concave portion B) are aligned with each other, and the metal plate A is molded while being rotated in one direction. Therefore, it is convenient for molding a molded product having a relatively large molding portion, and molding can be performed in a short time while simplifying equipment and control.

4 to 8 are views for explaining the sequential molding method and the second to fourth embodiments of the sequential molding apparatus according to the present invention. In each of the following embodiments, the same constituent parts as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

<Second Embodiment>
The sequential molding apparatus shown in FIG. 4 is applicable to the sequential molding method according to the present invention, and performs molding using a plurality of (two) tools 1 arranged on one side of the metal plate A. .. In the illustrated sequential forming apparatus, tool holding means 12 and 12, which are working robots, are arranged on both sides of the work holding mechanism 11. Of course, the number of tools 1 arranged on one side of the metal plate A may be two or more.

The above-mentioned sequential molding method and sequential molding apparatus can obtain the same effect as that of the first embodiment, and also increase the number of processing points for one metal plate A, so that the molding time can be further shortened. it can. That is, in the case where the sequential forming method and the sequential forming apparatus form the square concave portion B as shown in FIG. 2, for example, if the two tool holding means 12 and 12 are arranged 180 degrees differently, the metal plate A The molding for one round of the tool movement path TP can be completed only by rotating the tool 180 degrees.

<Third Embodiment>
The sequential molding apparatus shown in FIG. 5 is applicable to the sequential molding method according to the present invention, and tools 1 and 1 arranged on both sides of the metal plate A are used, and the metal plate A is formed by both tools 1 and 1. Molding is performed in a sandwiched state. The sequential forming apparatus of the illustrated example includes a work holding mechanism 21 for holding the metal plate A vertically, and tool holding means 12 and 12 composed of working robots are arranged on both sides of the work holding mechanism 21.

The work holding device 21 of this embodiment is provided with a ring-shaped fixing jig 23 with a motor on the base 22 in a state where the rotation axis C is horizontal. The fixing jig 23 with a motor includes a restor 23A fixed to the base 22 and a rotor 23B concentrically arranged inside the stator 23A, and a clamp 23C that restrains the rotor 23B around the metal plate A. It has.

In the sequential molding apparatus having the above configuration, while rotating the metal plate A around the horizontal rotation axis C, the tools 1 and 1 are pressed against both sides thereof, and the metal plate A is placed on the metal plate A as in the previous embodiment. The tool 1 is reciprocated along the set reference line (see reference numeral SL in FIG. 2). At this time, in the sequential forming apparatus, the two tools 1 and 1 are not arranged on the coaxial line, but the metal plate A is sandwiched in a state of being slightly offset from each other.

The sequential molding method and the sequential molding apparatus described above can obtain the same effect as that of the first embodiment, and the pair of tools 1 and 1 have a role of suppressing the metal plate A and a role of molding the metal plate A. Will be responsible for each other. Therefore, even if there is no molding die, the metal plate A does not move (escape) locally, and the metal plate A can be accurately molded into a desired shape.

<Fourth Embodiment>
The sequential molding apparatus shown in FIG. 6 is applicable to the sequential molding method according to the present invention, and performs molding while reciprocally rotating the metal plate A within a predetermined angle range. The sequential forming apparatus of the illustrated example includes a work holding mechanism 31 for holding the metal plate A vertically, and tool holding means 12 and 12 composed of working robots are arranged on both sides of the work holding mechanism 31.

The work holding mechanism 31 of this embodiment includes a fixing jig 33 for holding the metal plate A in a vertical posture and a motor 34 for reciprocating the fixing jig 33 on the base 32. The fixing jig 33 includes a holding frame 33A that restrains the periphery of the metal plate A, and a rocking body 33B that is integrated under the holding frame 33A. The fixing jig 33 has a configuration in which a rolling device 35 such as a guide roller is interposed between the 32 and the rocking body 33B, and the output shaft of the motor 34 and the rocking body 33B are connected to each other. As a result, the work holding mechanism 31 reciprocates the metal plate A with the center line of the motor 34 as the rotation axis C by rotating the motor 34 in the forward and reverse directions.

Here, since the sequential molding method according to the present invention molds the metal plate A while rotating the metal plate A, when the molding portion (concave portion B) is relatively small, it rotates with the center Cw of the molding portion. When molding is performed so as to coincide with the moving axis C, the peripheral speed of the molded portion becomes small, and it becomes difficult to increase the relative speed between the metal plate A and the tool 1 to shorten the molding time.

Therefore, in the illustrated sequential molding apparatus, when the molding portion is relatively small, the rotation axis C of the metal plate A and the center Cw of the molding portion are offset to a distant position to increase the peripheral speed of the molding portion. At this time, the metal plate A is reciprocated. That is, in the sequential molding method and the sequential molding apparatus of the present invention, the rotation axis C of the metal plate A does not necessarily have to be the center Cw of the molding portion, and may be appropriately set according to the size of the molding portion and the like. it can.

Next, the sequential molding method of this embodiment will be described with reference to FIGS. 7 and 8. In the sequential molding apparatus shown in FIG. 6, the case where the rotating shaft C is provided outside the metal plate A has been described, but in FIGS. 7 and 8, the rotating shaft C is set as the center of the metal plate A for convenience. , The case where a relatively small molding portion (concave portion B) is formed at a position away from the center is illustrated. Therefore, FIG. 6 and FIGS. 7 and 8 differ only in the position of the rotation shaft C, and the rotation shaft C of the metal plate A and the center Cw of the molding portion are offset to positions apart from each other for molding. It is equivalent in that it increases the peripheral speed of the part.

Since the metal plate A shown in FIG. 7 is square and forms a small square concave portion B at a position separated from the center, the center Cw of the concave portion B is offset to a position separated from the rotation axis C. is there. At this time, the four sides of the concave portion B shown in the drawing are parallel to the four sides of the metal plate A, and the diagonal lines thereof coincide with the diagonal lines of the metal plate A. Further, since the metal plate A is flat at the initial stage, the opening edge of the concave portion B after molding corresponds to the tool movement path TP.

Further, in the metal plate A, one diagonal line of the concave portion B passing through the rotation axis C and a reference line SL orthogonal to the rotation axis C coincide with each other. Therefore, the metal plate A is reciprocated in an angle range determined by two line segments connecting the rotation shaft C and the diagonal of the other diagonal line. Further, the tool 1 reciprocates on the reference line SL within the length range TA of one diagonal line of the concave portion B.

In the sequential molding method, the metal plate A is rotated in one direction as shown in FIG. 8 (A), and then the metal plate A is re-rotated in the reverse direction as shown in FIG. 8 (B) as a reference. On the line SL, the tool 1 is reciprocated according to a change in the distance from the rotation axis C to the intersection of the reference line SL and the tool movement path TP.

That is, in the sequential molding method, as shown in the uppermost stage of FIG. 8A, the metal plate A is formed by pressing the tool 1 at the intersection of the reference line SL and the square K1 of the tool movement path TP. While rotating clockwise on 8 (A), the tool 1 is always moved so that the tool 1 coincides with the intersection of the reference line SL and the tool movement path TP.

At this time, in the illustrated sequential molding method, as shown in the second stage from the top of FIG. 8A, the rotation axis C is used as a reference until the second angle K2 and the reference line SL coincide with each other. Since the distance to the intersection of the line SL and the tool movement path TP increases, the tool 1 is moved on the reference line SL in the direction away from the rotation axis C (upward in FIG. 8).

Next, in the sequential molding method, the rotation of the metal plate A is continued, and as shown in the third stage from the top of FIG. 8A, the reference line SL and the second corner K2 of the tool movement path TP are formed. After matching, the distance from the rotation axis C to the intersection of the reference line SL and the tool movement path TP decreases, so the tool is moved in the direction closer to the rotation axis (downward in FIG. 8) on the reference line SL. Move 1 Then, in the sequential forming method, as shown in the lowermost part of FIG. 8A, when the third angle K3 of the tool movement path TP and the reference line SL coincide with each other, the first two sides of the tool movement path TP The molding is completed, and the forward rotation of the metal plate A is stopped.

After that, as shown in FIG. 8B, the sequential forming method forms the latter two sides of the tool movement path TP while rotating the metal plate A counterclockwise. That is, as shown in the uppermost stage of FIG. 8B, the molding of the latter two sides is started in a state where the tool 1 is located at the intersection of the third corner K3 of the tool movement path TP and the reference line SL.

Further, in the sequential molding method, as shown in the second stage of FIG. 8B, the rotation axis C is used as a reference until the fourth corner K4 of the tool movement path TP and the reference line SL coincide with each other. Since the distance to the intersection of the line SL and the tool movement path TP is reduced, the tool 1 is moved on the reference line SL in the direction approaching the rotation axis C (downward in FIG. 8).

Further, in the sequential molding method, as shown in the third stage of FIG. 8B, the rotation axis C to the reference line until the first angle K1 of the tool movement path TP and the reference line SL coincide with each other. Since the distance to the intersection of the SL and the tool movement path TP increases, the tool 1 is moved in the direction away from the rotation axis C (upward in FIG. 8) on the reference line SL. Then, in the sequential forming method, as shown in the lowermost part of FIG. 8B, when the first angle K1 of the tool moving path TP and the reference line SL coincide with each other, the latter two sides of the tool moving path are formed. When finished, the return rotation of the metal plate A is stopped.

Further, in the sequential forming method, the tool 1 is advanced (lowered) by a predetermined amount with respect to the metal plate A, the tool moving path TP is changed inward by a predetermined pitch as necessary, and the same forming is performed on four sides. The advancement of the tool 1 and the pitch change as necessary are repeated for each molding. As a result, in the sequential molding method, a part of the metal plate A is gradually deformed so as to be pushed down, and finally a concave portion B having a predetermined depth is formed.

In the above-mentioned sequential molding method and sequential molding apparatus, even if the molding portion is relatively small (concave portion B), the rotating shaft C of the metal plate A and the center Cw of the molding portion are offset to form the molding portion. The peripheral speed of the above can be sufficiently increased, and the desired molding can be performed in a short time. In the above embodiment, for the sake of easy understanding, the concave portion B of the planar square is illustrated, but it is also possible to form a rotationally symmetric shape other than the square or an asymmetrical shape. Further, the positional relationship between the tool moving path TP and the tool 1 at the start of molding is arbitrary.

The sequential molding method and the sequential molding apparatus according to the present invention are not limited to the above-described embodiments, and the details of the configuration can be appropriately changed without departing from the gist of the present invention. For example, as the work holding mechanism and the tool holding mechanism, it is possible to use devices having various configurations. In particular, the tool holding mechanism has a direction in which the tool 1 is moved along the main surface of the metal plate A and a direction in which the tool 1 is moved forward and backward. Since it suffices to move in two directions, an NC machine tool or the like can be used in addition to the work robot, and a simple device capable of two-axis control can also be used.

A Metal plate B Concave part (molding part)
C Rotation axis of metal plate Cw Center of molding site SL reference line TP Tool movement path 1 Tool 11 Work holding mechanism 12 Tool holding mechanism 13 Main controller 21 Work holding mechanism 31 Work holding mechanism

Claims (7)

This is a sequential molding method in which the tip of a tool is pressed against a metal plate that holds the periphery to move it, thereby gradually deforming the metal plate in the thickness direction and forming it into a three-dimensional shape.
While holding the metal plate rotatably around a rotation axis orthogonal to its main surface,
Hold the tool so that it can reciprocate in one direction orthogonal to the rotation axis of the metal plate and in the direction of advancing and retreating toward the metal plate.
Set a tool movement path, which is a circuit path corresponding to the molding site, on the metal plate.
A sequential molding method characterized in that a metal plate is formed by aligning the tool with the tool movement path by reciprocating the tool on a reference line orthogonal to the rotation axis of the metal plate while rotating the metal plate. The sequential molding method according to claim 1, wherein the tool is reciprocated according to a change in the distance from the rotation axis to the intersection of the reference line and the tool movement path on the reference line. The sequential molding method according to claim 1 or 2, wherein the center of the molding portion of the metal plate and the rotation axis are aligned with each other, and molding is performed while rotating the metal plate in one direction. The sequential molding method according to claim 3, wherein molding is performed using a plurality of tools arranged on one side of a metal plate. The sequential molding method according to claim 1 or 2, wherein the center of the molding portion of the metal plate and the rotation axis are offset, and the metal plate is reciprocally rotated within a predetermined angle range for molding. The sequential molding method according to any one of claims 1 to 5, wherein molding is performed by using tools arranged on both sides of the metal plate and sandwiching the metal plate between both tools. It is a sequential molding device that gradually deforms the metal plate in the thickness direction and forms it into a three-dimensional shape by pressing the tip of the tool against the metal plate that holds the circumference and moving it.
A work holding mechanism that rotatably holds a metal plate around a rotation axis orthogonal to its main surface,
A tool holding mechanism that reciprocates and holds the tool in one direction orthogonal to the rotation axis of the metal plate and in the direction of advancing and retreating toward the metal plate.
It is equipped with a work holding mechanism and a main control device that controls the tool holding mechanism.
The main control device rotates the metal plate for which the tool movement path, which is the orbital path corresponding to the molding site, is set, so that the tool movement path and the tool coincide with each other on the reference line orthogonal to the rotation axis of the metal plate. In addition, a sequential molding apparatus characterized in that it controls the reciprocating movement of a tool on a reference line.

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