JP2633155B2 - Plate bending system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate bending system, and more particularly to a plate bending system using a plate bending machine such as a press brake.

[0002]

2. Description of the Related Art In bending a plate by a plate bending machine such as a press brake, the plate is formed by a punch die (upper die) having a V-shaped edge and a die die (lower die) having a V-shaped groove. Since the sheet is sandwiched and bent, the plate material jumps upward with the progress of the bending.

[0003] As an apparatus for supporting a plate material bending operation by the above-mentioned plate material bending machine, a work table which can be tilted between a horizontal position and a vertical inclined position and has a plate material suction holding portion made of a vacuum pad, a magnet or the like. The work table sucks and holds the plate material by the plate material suction holding unit even during the bending process so as to support the bending process while the work table is tilted following the jump of the plate material accompanying the bending process of the plate material by the plate material bending machine. A bending follow-up support device configured as described above is conventionally known.

[0004]

SUMMARY OF THE INVENTION A bending follow-up support device is
Achieve the intended purpose and add the forward / backward function to set the plate at the predetermined bending position of the plate bending machine, and take out the plate from the bending position of the plate bending machine after finishing the processing However, this bending follow-up support device does not have a cargo handling function that can move the surface, such as transporting the plate from the stock yard to the plate bending machine. Adding a function is structurally difficult.

For this reason, conventionally, it is necessary to separately provide a plate material transfer device such as a crane capable of moving the surface for transferring the plate material from the material stock yard to the plate material bending machine. And the plate bending system is expensive and bulky.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems in the conventional plate bending system, and provides bending follow-up support without requiring a special bending follow-up support device, thereby reducing the number of required facilities. It is an object of the present invention to provide a plate material bending system that performs reduced and efficient plate material bending.

[0007]

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, the present invention provides a press brake, a stock yard for storing plate materials to be supplied to the press brake, and a place for storing plate materials after processing. A vertical arm is vertically movably supported on a slider which is movable horizontally in the X and Y axes perpendicular to the space above the product stock yard, and a vertical rotating arm provided below the vertical arm is vertically mounted. The vertical rotating arm is provided rotatably about an axis, and a horizontal rotating arm provided rotatably about a horizontal axis is provided on the vertical rotating arm, and a suction device capable of holding and holding a plate material is provided. The plate material in the yard is sucked and held and supplied to the press brake. The plate material follows the jump of the plate material at the time of bending in the press brake, and the plate material after the bending process is finished. It is made of a configuration for conveying the Kkuyado.

[0008]

According to the above construction, the slider moves in the X- and Y-axis directions, and the vertical arm moves up and down. Sheet material bending machine), and the plate material suction holding unit tilts around a horizontal axis following the bouncing of the plate material accompanying the bending of the plate material by the plate material bending machine. The plate material is sucked and held to support bending follow. Then, the plate material after the bending process is transported to the product stockyard.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows an embodiment of a plate bending system according to the present invention. The plate material bending system includes a press brake 1 as a plate material bending machine, an area gantry robot 3, a material stockyard 5 as a place for storing plate materials before working, and a product stockyard 7 as a place for storing plate materials after working. Have.

As shown in FIG. 2, the press brake 1 includes a punch die 11 mounted on an upper table 9.
And a die 15 attached to the lower table 13 to perform a V-shaped bending process with the plate material P interposed therebetween.

The area gantry robot 3 is a robot that can move in a rectangular coordinate system, and can move in the X and Y axis directions above the press brake 1, the material stock yard 5, and the product stock yard 7. A pair of traveling guide beams 19 that extend between the upper ends of the columns 17 erected at the four corners of the plate material transport region and extend in the Y-axis direction in parallel with each other, and are extended between the pair of traveling guide beams 19. A traveling beam 21 guided by the traveling guide beam 19 and reciprocating in the Y-axis direction; a slider 23 supported by the traveling beam 21 and reciprocating in the extending direction of the traveling beam 21, ie, the X-axis direction; In the vertical direction, ie, Z
A vertical arm 25 movably mounted in the axial direction, and further to the vertical arm 25, as shown in FIG.
The robot arm 3a includes a vertical rotating arm 27 rotatable about a vertical axis and a horizontal rotating arm 29 rotatable about a horizontal axis, and constitutes a 5-axis orthogonal coordinate robot as a whole. ing.

A plurality of vacuum pads 31 as a suction device are attached to the horizontal rotating arm 29, and the vacuum pad 31 is configured to detachably hold the plate material P by suction.

The operation of the area gantry robot 3 is controlled by a robot control computer 33.

The robot control computer 33 inputs an operation signal from the operation panel 35, inputs information indicating the progress of the bending process from the press brake 1, and inputs various other signals, and inputs the signals in the Y-axis direction of the traveling beam 21. Move and
The movement of the slider 23 in the X-axis direction, the movement of the vertical arm 25 in the Z-axis direction, the rotation of the vertical rotation arm 27 around the vertical axis, the rotation of the horizontal rotation arm 29 around the horizontal axis, and the suction operation of the plate material by the vacuum pad 31. And the suction control of the plate material P by the vacuum pad 31, the Y-axis direction movement control of the traveling beam 21, the X-axis direction movement control of the slider 23, and the vertical arm based on the operation signals from the operation panel 35 and various input signals. 25 is controlled by the Z-axis direction movement control and the vertical rotation arm 27 is rotated around the vertical axis.
The sheet is further conveyed to the sheet bending position by the press brake 1, and is further conveyed from the sheet bending position by the press brake 1 to the product stock yard 7, and the sheet material is conveyed based on the bending progress information from the press brake 1. Movement of the slider 23 in the X-axis direction, movement of the vertical arm 25 in the Z-axis direction, and movement of the horizontal axis of the horizontal rotating arm 29 so that the vacuum pad 31 moves in the sheet-adsorbing state following the bouncing of the plate material accompanying the bending process. Performs complex control of rotation.

With the above-described control, the area gantry robot 3 sucks and holds the upper surface of the plate material P by the vacuum pad 31 in the material stock yard 5, and in this plate material suction holding state, the traveling beam 21 is in the Y position. The slider 23 moves in the X-axis direction while moving in the axial direction, the vertical rotating arm 27 rotates around the vertical axis, and the plate material P is conveyed from the material stockyard 5 to the plate material bending position by the press brake 1.

When the plate material P is conveyed to the plate bending position by the press brake 1, the bending process by the press brake 1 is started with the vacuum pad 31 of the area gantry robot 3 holding the plate material S by suction. The plate material P jumps upward with the progress of the bending process.

At this time, a combined operation of the movement of the slider 23 in the X-axis direction, the movement of the vertical arm 25 in the Z-axis direction, and the rotation of the horizontal rotating arm 29 around the horizontal axis based on the bending progress information from the press brake 1 is performed. Then, the vacuum pad 31 of the area gantry robot 3 moves following the bouncing of the plate material P in the plate material suction state, and by this operation, the auxiliary support of the plate material P is performed over the entire bending process.

When the bending of the plate material P is completed, the traveling beam 21 moves in the Y-axis direction, the slider 23 moves in the X-axis direction,
The plate material P is conveyed to the product stock yard 7 from the plate material bending position by the press brake 1 in a state where the plate material P is sucked by the vacuum pad 31 of the press brake 1 due to the rotation of the vertical rotation arm 27 around the vertical axis or the like.

Thus, the transfer of the plate material from the material stockyard 5 to the press brake 1, the auxiliary support during the bending of the plate material by the press brake 1, and the transfer of the plate material from the press brake 1 to the product stockyard 7 are performed by the vacuum pad 31.
Thus, a single suction holding operation is performed without changing the grip over the entire stroke.

FIG. 3 shows another embodiment of the plate bending system according to the present invention for the main part. FIG.
2, the portions corresponding to those in FIG. 2 are indicated by the same reference numerals as those in FIG. In this embodiment, the vacuum pad 31 is attached to the lower bottom surface of the plate P to hold the plate P.

The robot arm 3a of the area gantry robot 3 has a vertical rotary arm 27 rotatable around a vertical axis and a horizontal rotary arm 29 rotatable about a horizontal axis.
The vacuum pad 31 adsorbs the plate material by a combined operation of the horizontal elastic arm 37, the Z-axis movement of the vertical arm 25, the rotation of the horizontal rotating arm 29 around the horizontal axis, and the horizontal elastic movement of the horizontal elastic arm 37. In this state, the plate P moves following the jump of the plate P. When the upper wall surface of the plate material P is sucked and held by the vacuum pad 31 by the robot arm 3 a shown in FIG. 3, it can be handled by rotating the horizontal telescopic arm 37 with respect to the vertical arm 25.

Therefore, in this embodiment, the same operation and effect as those of the above embodiment can be obtained.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various embodiments can be made within the scope of the present invention. Some will be apparent to those skilled in the art.

[0025]

As can be understood from the above description of the embodiments, in short, the present invention provides a press brake (1),
The X, Y-axis directions perpendicular to the space above the material stock yard (5) where the plate material before processing is supplied to the press brake (1) and the product stock yard (7) where the plate material after processing is stored are provided. A vertical arm (25) is supported by a horizontally movable slider (23) so as to be vertically movable, and a vertical rotating arm (27) provided below the vertical arm (25) can be rotated about a vertical axis. The vertical rotary arm (27) is provided with a horizontal rotary arm (29) rotatably provided around a horizontal axis, and a suction device capable of holding the plate material (P) by suction is provided. The plate material (P) of the material stock yard (5) is sucked and held and supplied to the press brake (1), and the plate material (P) follows the jump of the plate material (P) at the time of bending in the press brake (1). , And after bending Is made of wood (P) is configured so as to convey the Product stockyard (7).

As is apparent from the above configuration, in the present invention, the vertical arm 25 is moved up and down by the slider 23 which can move in the X and Y axis directions above the press brake 1, the material stock yard 5 and the product stock yard 7. A vertical rotating arm 27 movably supported and rotatably supported on the vertical arm 25 about a vertical axis is provided with a horizontal rotating unit 29 provided with a suction device capable of holding the plate material P by suction. It is provided so as to be rotatable around, and supplies the plate material P from the material stockyard 5 to the press brake 1, moves following the plate material P jumping at the time of bending by the press brake 1, and the plate material P after bending is completed. Is a configuration in which a series of operations of transfer to the product stock yard 7 are performed by the suction device, so that the plate material is supplied to the press brake, and the plate material is bent. A series of all steps of following a jump and transporting a processed plate material can be performed automatically with a simple configuration, thereby improving work efficiency and improving safety. .

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing one embodiment of a plate material bending system according to the present invention.

FIG. 2 is a side view showing an embodiment of a plate material bending system according to the present invention with respect to a main part thereof.

FIG. 3 is a side view showing a principal part of another embodiment of the plate material bending system according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Press brake 3 Area gantry robot 5 Material stock yard 7 Product stock yard 21 Running beam 23 Slider 25 Vertical arm 27 Vertical rotary arm 29 Horizontal rotary arm 31 Vacuum pad 33 Robot control computer 37 Horizontal telescopic arm

Claims (1)

(57) [Claims] 1. A press brake (1), a material stock yard (5) for storing plate materials before processing to be supplied to the press brake (1), and a product stock yard (7) for storing plate materials after processing. X orthogonal to the upper space,
A vertical arm (25) is provided on a slider (23) movable horizontally in the Y-axis direction so as to be vertically movable, and a vertical rotating arm (27) provided below the vertical arm (25) is mounted on a vertical axis. This vertical rotation arm (27) is provided so as to be rotatable around
Horizontal rotating arm (29) provided rotatable about the horizontal axis
And a suction device capable of sucking and holding the plate material (P) is provided. The suction device sucks and holds the plate material (P) in the material stock yard (5) and supplies it to the press brake (1). The press brake (1) is configured to move so as to follow the jump of the plate (P) at the time of bending in the bending process, and to convey the plate (P) after the bending process to the product stock yard (7). And a plate bending system.