Claims
- 1. A bending device for bending an elongated work piece comprising a chuck mechanism for holding an elongated work piece, a joint type robot having at least one joint rotating about said work piece, and a bending mechanism attached to a tip end of the joint type robot, the bending mechanism having a bending die, a clamping die, and a pressure die, and the bending of the work piece being performed using the bending, clamping and pressure dies, said bending device further comprising:automatic delivery control means for holding and moving said work piece from the bending device to an unloading position, spaced from the bending device, by utilizing the bending mechanism of the joint type robot following completion of the bending process.
- 2. The bending device according to claim 1, wherein said automatic delivery control means comprises pattern selecting means for selecting one processing pattern among a plurality of predetermined processing patterns in accordance with an angle of said bending mechanism of the joint type robot, and controlling means for controlling said joint type robot to move the work piece to the unloading position.
- 3. A bending device for bending an elongated work piece, the bending device comprising:a chuck mechanism for holding an elongated work piece; a joint type robot having a remote tip end, a bending mechanism attached to the remote tip end of the joint type robot, the bending mechanism comprising a bending die, a clamping die, and a pressure die, the bending of the work piece is performed using the bending, clamping and pressure dies, and the joint type robot having at least three joints to facilitate moving the bending mechanism a desired distance along the work piece as well as facilitate rotating the bending mechanism a desired angle relative to the work piece; movement control means for moving the bending mechanism of the joint type robot along the work piece, while rotating each of the joints to change an attitude of the bending mechanism and maintaining a condition in which the work piece remains located between the bending, clamping and pressure dies; and automatic delivery control means for moving said work piece, while holding said work piece positioned between at least two of the bending, clamping and pressure dies of the joint type robot, from the bending device to an unloading position, spaced from the bending device, by utilizing the bending mechanism of the joint type robot following completion of the bending process.
- 4. The bending device according to claim 3, wherein the movement control means comprises:reading means for reading coordinates of a middle point of the work piece when positioned between the bending, clamping and pressure dies; rotation means for rotating the bending mechanism around the coordinates of the middle point read by the reading means, thereby permitting a change of an attitude of the bending mechanism and facilitating bending of the work piece; and robot driving means for driving the joint type robot so as to move the bending mechanism while maintaining the work piece positioned between the bending, clamping and pressure dies.
- 5. The bending device according to claim 4, wherein the chuck mechanism releasably supports the work piece to facilitate bending and movement of the work piece to the unloading position following completion of the bending of the work piece.
- 6. The bending device according to claim 5, further comprising means for selecting a path for unloading said work piece from the bending device to the unloading position.
- 7. The bending device according to claim 6, wherein said automatic delivery control means comprises selecting means for selecting one processing pattern among a plurality of predetermined processing patterns in accordance with said angle of the bending mechanism of the joint type robot and the coordinates of the middle point read by the reading means of the joint type robot, and controlling means for controlling the joint type robot to move the work piece to the unloading position while holding said work piece positioned between the bending, clamping and pressure dies of the joint type robot.
- 8. The bending device according to claim 3, wherein the joint type robot is supported by a movable base, and the movable base is supported on a track, and the movable base is coupled to a drive mechanism to facilitate moving the movable base along the track.
- 9. The bending device according to claim 3, wherein the joint type robot has a first end of a first arm is pivotally supported by the movable base and a first end of a second arm is pivotally connected to a remote second end of the first arm, and a first end of a third arm is pivotally connected to a remote second end of the second arm, and a remote second end of the third arm is attached to the bending mechanism, and the pivotally connections of the first arm, the second arm and the third arm all extend parallel to an axial direction of the work piece.
- 10. The bending device according to claim 3, wherein a pressurized cylinder biases the clamping die toward engagement with the bending die to facilitate bending of the work piece during operation of the bending device.
- 11. The bending device according to claim 3, wherein the pressurized cylinder biases the pressure die toward engagement with the bending die to facilitate bending of the work piece during operation of the bending device.
- 12. The bending device according to claim 3, further comprising teaching delivery control means for holding and moving said work piece to the unloading position along a moving path stored by teaching and selecting means for selecting either of said automatic delivery control means and said teaching delivery control means.
- 13. A bending device for bending an elongated work piece, the bending device comprising:at least one joint type robot each having a remote tip end, a bending mechanism attached to each remote tip end of the at least one joint type robot, each bending mechanism comprising a bending die, a clamping die, and a pressure die, the bending of the work piece being performed using the bending, clamping and pressure dies of each bending mechanism, and each at least one joint type robot having at least three joints to facilitate moving the bending mechanism of each remote tip end of each at least one joint type robot and maintaining a condition in which the work piece remains located between the bending, clamping and pressure dies of each at least one joint type robot, and movement control means for moving each bending mechanism of each at least one joint type robot along the work piece, while rotating each of the at least three joints of each joint type robot to change an attitude of each bending mechanism and maintaining a condition in which the work piece remains located between the bending, clamping and pressure dies, the movement control means comprising: reading means for reading coordinates of a middle point of the work piece when positioned between the bending, clamping and pressure dies of each at least one joint type robot; rotation means for rotating each bending mechanism around the coordinates of the middle point read by the reading means, thereby permitting a change of an attitude of each bending mechanism and facilitating bending of the work piece; robot driving means for driving the at least one joint type robot so as to move each bending mechanism while maintaining the work piece positioned between the bending, clamping and pressure dies of each at least one joint type robot; and automatic delivery control means for moving said work piece, while holding said work piece positioned between the bending, clamping and pressure dies of each at least one joint type robot, from the bending device to an unloading position, spaced form the bending device, by utilizing each bending mechanism of each at least one joint type robot after bending of the work piece is completed.
- 14. The bending device according to claim 13, wherein a chuck mechanism releasably supports the work piece to facilitate bending and movement of the work piece to the unloading position after bending of the work piece is completed.
- 15. The bending device according to claim 13, further comprising determining means for selecting a path for unloading said work piece from the bending device to the unloading position.
- 16. The bending device according to claim 13, wherein said automatic delivery control means comprises pattern selecting means for selecting one processing pattern among a plurality of predetermined processing patterns in accordance with an angle of one bending mechanism of the at least one joint type robot, and the coordinates of the middle point read by the reading means of the at least one joint type robot, and controlling means for controlling the at least one joint type robot to move the work piece to the unloading position while holding said work piece positioned between the bending, clamping and pressure dies of the at least one joint type robot.
- 17. The bending device according to claim 13, further comprising teaching delivery control means for holding and moving said work piece to the unloading position along a moving path stored by teaching and selecting means for selecting either of said automatic delivery control means and said teaching delivery control means.
Priority Claims (3)
Number |
Date |
Country |
Kind |
10-22192 |
Feb 1998 |
JP |
|
10-22193 |
Feb 1998 |
JP |
|
10-22194 |
Feb 1998 |
JP |
|
Parent Case Info
This application is a division of Ser. No. 09/241,711, filed Feb. 2, 1999.
US Referenced Citations (7)
Foreign Referenced Citations (4)
Number |
Date |
Country |
3620151 |
Feb 1987 |
DE |
93029 |
Apr 1987 |
JP |
267021 |
Nov 1987 |
JP |
513011 |
Feb 1993 |
JP |