Bending device

• US 10,639,693 B2
• Filed: 04/13/2016
• Issued: 05/05/2020
• Est. Priority Date: 04/15/2015
• Status: Active Grant

• Current Assignee: Opton Co., Ltd.
• Original Assignee: Opton Co., Ltd.
• Inventors: Yogo, Teruaki, Oya, Hiroyuki
• Primary Examiner(s): Ekiert, Teresa M
• Application Number:
  US15/566,668
• Publication Number:
  US 20180141097A1
• Time in Patent Office: 1,483 Days
• CPC Class Codes: B21D 43/006 Feeding elongated articles, such as tubes, bars, or profiles
• CPC Class Codes: B21D 7/024 by a swinging forming member
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 5/02 travelling along a guideway
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: Y10S 901/15 Jointed arm

Abstract

A bending device according to one aspect of the present invention includes a track device which linearly extends in a predetermined direction, first and second bases placed on the track device and movable on the track device, a first robot mounted on the first base, a second robot mounted on the second base, and a bending mechanism which is disposed at each end of the first and second robots and grips and bends the workpiece. The first robot is a multi-articulated robot including a joint rotatable around an axis vertical to the first base and a joint rotatable around an axis parallel to the axial direction of the workpiece. The second robot is a multi-articulated robot including a joint rotatable around an axis vertical to the second base and a joint rotatable around an axis parallel to the axial direction of the workpiece.

Claims

1. A bending device for bending a first workpiece, the bending device comprising:

a main track device arranged in a longitudinal direction;

a first base configured to move longitudinally on the main track device;

a second base configured to move longitudinally on the main track device;

a first robot mounted on the first base, wherein the first robot is multi-articulated and includes a first rotatable supplemental joint;

a second robot mounted on the second base, wherein the second robot is multi-articulated and includes a second rotatable supplemental joint;

a first bending mechanism mounted on a distal end of the first robot;

a second bending mechanism mounted on a distal end of the second robot;

an auxiliary track device arranged parallel with the main track device and offset transversely from the main track device; and

a chuck device mounted on the auxiliary track device and configured to move longitudinally on the auxiliary track device, wherein the chuck device includes;

a chuck substrate mounted on the auxiliary track device;

a chuck support mounted on the chuck substrate;

a chuck arm located on a chuck pivot and mounted on the chuck support; and

a chuck mechanism located on a distal end of the chuck arm and configured for gripping;

wherein the chuck device is located within a first range of the first robot and within a second range of the second robot; and

wherein the chuck pivot is located vertically above the auxiliary track device and rotates about a horizontal axis parallel with the auxiliary track device.

2. The bending device of claim 1, further comprising a controller including instructions stored in a non-transitory storage medium that, when executed by at least one processor, cause the bending device to perform the following steps:

moving, by the first robot, to a conveying position;

clamping, by the first robot, the first workpiece;

moving, by the first robot, the first workpiece to the chuck device;

gripping, by the chuck device, the first workpiece;

moving, by the second robot, towards the first workpiece located at the chuck device;

bending, by the second robot, the first workpiece;

determining that all bending is completed;

gripping, by the first robot, the first workpiece;

releasing, by the chuck device, the first workpiece; and

carrying, by the first robot and/or by the second robot, the first workpiece away from the chuck device.

3. The bending device of claim 1, further comprising a workpiece feeder located on a side of the main track device that is opposite to the chuck device.

4. The bending device of claim 3, further comprising a controller including instructions stored in a non-transitory storage medium that, when executed by at least one processor, cause the bending device to perform the following steps:

taking out, by the first robot, the first workpiece from the workpiece feeder;

setting, by the first robot, the first workpiece on the chuck device;

moving, by the first robot, to a first machining start position;

bending, by the first robot, a first portion of the first workpiece; and

determining that bending has been completed.

5. The bending device of claim 3, further comprising a controller including instructions stored in a non-transitory storage medium that, when executed by at least one processor, cause the bending device to perform the following steps:

taking out, by the first robot, the first workpiece from the workpiece feeder;

setting, by the first robot, the first workpiece on the chuck device, and substantially simultaneously moving the second robot to a second robot machining start position;

moving, by the first robot, to a first robot machining start position, and substantially simultaneously bending, by the second robot, a portion of the first workpiece;

bending, by the first robot, an additional portion of the first workpiece, whereby the first workpiece with bent portions comprises a bent first workpiece;

taking, by the second robot, the bent first workpiece from the chuck device; and

discharging, by the second robot, the bent first workpiece.