KR-20260062327-A - ROBOT BENDING AUTOMATION SYSTEM

Abstract

The present invention relates to a robot bending automation system, comprising a main body serving as a base, a robot arm vertically installed on the main body and having a plurality of joint structures, a bending tool rotatably mounted on the robot arm to bend a workpiece, and a controller for controlling the operation of the robot arm and the bending tool. By switching the bending direction of the workpiece to perform bending in both directions, and even if sagging occurs in the clamped workpiece, the bending tool can be moved to an accurate position to perform precise bending at the desired position, and quality deviations due to the operator can be prevented, thereby maintaining consistent product quality even when the operator changes.

Inventors

• 김영남

Assignees

• (주)더블유티엠

Dates

Publication Date

20260507

Application Date

20241029

Claims (6)

1. Main body serving as a base, A robot arm having a plurality of joint structures and installed vertically on the above main body, A bending tool mounted rotatably and movably on the above-mentioned robot arm to bend a workpiece for bending processing, and A robot bending automation system characterized by including a controller that controls the operation of the robot arm and the bending tool.
2. In paragraph 1, A power supply unit that supplies power to the above-mentioned robot arm, bending tool, and controller, A center chuck unit that clamps and supports the central part of a workpiece and rotates the clamped workpiece according to the angle to be bent, and A robot bending automation system characterized by further including an end chuck unit that clamps and supports the end of a workpiece.
3. In paragraph 1 or 2, A robot bending automation system characterized in that the robot arm is provided as a multi-joint robot capable of rotating around a plurality of axes, and the rotation direction of the bending tool can be changed according to the shape or length of the workpiece or bending processing conditions.
4. In paragraph 3, The above bending tool is a bending head installed at the tip of the robot arm, A clamp die rotatably coupled between a perpendicular direction orthogonal to the direction extending from the tip of the bending head and the above bending head It includes a press die installed in the above bending head toward the above perpendicular direction, A robot bending automation system characterized by the above press die being installed to be capable of linear reciprocating movement such that, when clamping the workpiece, the clamp die is rotated perpendicularly to one side of the bending head, it is spaced apart by a preset distance.
5. In paragraph 2, The above center chuck unit includes a clamping part that clamps the central part of a workpiece or a position spaced apart from the central part, and It includes a driving unit that provides driving force to rotate the clamping unit, and The above clamping part is a clamping member that clamps a workpiece introduced through an input port formed on one side. A clamping gear formed with one side corresponding to the above-mentioned input opening being open, A drive gear that rotates by receiving driving force from the above drive unit and A robot bending automation system characterized by including a pair of transmission gears that are rotatably installed on different axes and mesh with teeth formed on the outer surfaces of the clamping gear and the driving gear, respectively, to continuously transmit driving force from the driving gear to the clamping gear regardless of the rotation angle of the clamping gear.
6. In paragraph 2, The above end chuck unit comprises a support vertically positioned in the main body, and It includes a support member horizontally positioned at the top of the above support, and The above support member includes a plurality of jaws provided at the tip to clamp one end of a workpiece, and a driving member that generates a driving force to operate the plurality of jaws. A robot bending automation system characterized in that the plurality of above-mentioned jaws are connected to the drive unit and linked to the drive unit, and are received inside the support unit or protrude to the front end of the support unit according to the rotation of the link by the drive unit, thereby clamping or releasing one end of the workpiece.

Description

Robot Bending Automation System The present invention relates to a pipe bending device, and more specifically, to a robot bending automation system that applies a multi-joint robot arm to bend and shape a workpiece, such as a pipe, at various angles. Generally, a bending machine is equipment used to bend objects, such as pipes, to a desired angle. A bending machine is equipped with a bending tool for bending a bending object (hereinafter referred to as "bending"), and the bending tool is configured to bend in only one direction, namely the left direction or the right direction. Recently, in response to the trend of transitioning to unmanned automation through robots, robotic benders are being developed that apply robotic arms to bending machines to bend pipes through rotational movements in various directions and angles. In addition, dual-type or multi-type robot bender technology is also being applied, which uses two or more robot benders to perform bending on each side of the pipe. For example, the following patent documents 1 and 2 disclose, respectively, a configuration of a bending processing device to which one robot and two robots are applied according to the prior art. Meanwhile, since the pipe bending device according to the prior art performs only one operation on the workpiece using a single bending roll, there was a problem in that the working time increased as separate operations were performed in stages when two or more bending processes were required. In addition, conventional pipe bending devices undergo multiple bending processes to bend pipes of complex shapes, which causes increased costs due to labor loss and has the problem of mechanical interference during continuous processes. FIG. 1 is a front view of a robot bending automation system according to a preferred embodiment of the present invention, FIGS. 2 and FIGS. 3 are a side view and a top view, respectively, of the robot bending automation system illustrated in FIGS. 1. Figure 4 is an enlarged view of the robot arm, Fig. 5 is an enlarged view of a bending tool, FIG. 6 is an exploded view of the bending tool shown in FIG. 5. FIGS. 7 and FIGS. 8 are drawings illustrating the switching function of a bending tool, respectively. FIG. 9 is an enlarged view of the center chuck unit, FIG. 10 is an enlarged view of the end chuck unit. A robot bending automation system according to a preferred embodiment of the present invention will be described in detail below with reference to the attached drawings. FIG. 1 is a front view of a robot bending automation system according to a preferred embodiment of the present invention, and FIG. 2 and FIG. 3 are a side view and a top view, respectively, of the robot bending automation system shown in FIG. 1. FIG. 4 is an enlarged view of a robot arm, FIG. 5 is an enlarged view of a bending tool, FIG. 6 is an exploded view of the bending tool shown in FIG. 5, and FIG. 7 and FIG. 8 are drawings illustrating the switching function of the bending tool. FIG. 6 (a) shows a bending head and a clamp die, FIG. 6 (b) shows a press die, FIG. 7 illustrates an operation state in which the clamp die is rotated to bend the front end of a pipe, and FIG. 8 illustrates an operation state in which the clamp die is rotated to bend the rear end of a pipe. Additionally, FIG. 9 is an enlarged view of the center chuck unit, and FIG. 10 is an enlarged view of the end chuck unit. FIG. 10 (a) shows the operation state in which one end of the pipe is clamped, and FIG. 10 (b) shows the state in which the clamping is released. In the following, terms indicating directions such as 'left', 'right', 'forward', 'rear', 'upward', and 'downward' are defined as indicating the respective directions based on the state depicted in each drawing. In other words, the X-axis, Y-axis, and Z-axis depicted in each drawing are explained as representing the left-right direction, the front-back direction, and the up-down direction, respectively. As shown in FIGS. 1 to 3, a robot bending automation system (10) according to a preferred embodiment of the present invention includes a main body (11) that functions as a base and is movably provided, a robot arm (12) that is vertically installed on the main body (11) and has a plurality of joint structures, a bending tool (13) that is rotatably and movably mounted on the robot arm (12) to bend and process a workpiece, and a controller (14) that controls the operation of the robot arm (12) and the bending tool (13). In addition, a robot bending automation system (10) according to a preferred embodiment of the present invention may further include a power supply unit (15) that supplies power to a robot arm (12), a bending tool (13), and a controller (14), a center chuck unit (16) that clamps and supports the central part of a workpiece and rotates the clamped workpiece according to the angle to be bent, and an end chuck unit (17) that clamps and supports the end of a workpiece. The center chuck unit (16) functions