JPH0832399B2 - Material sucking robot for press brake - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a material handling robot for press brakes, and more specifically, to a flat plate material to be bent, which is carried into the press brake and bent. The present invention relates to a material handling robot for a press brake that is carried out from the press brake.

<Prior Art> A press brake has been used to bend a predetermined position of a flat plate material at a predetermined angle, and a material handling robot for a press brake for loading and unloading the flat plate material with respect to the press brake. Are arranged (see Japanese Patent Laid-Open No. 59-175968).

In the press brake material handling robot, as shown in FIG. 5, a horizontal rotation shaft (43) which is aligned with the upper long axis (41) of the press brake is provided on the upper part of the support base (42). The horizontal rotation shaft (45) is provided at the tip of the right-angle actuating arm (44) extending in the right-angle direction from the horizontal rotation shaft (43). Further, the horizontal rotation shaft (47) is provided at the tip of the right angle actuating arm (46) extending in the right angle direction from the horizontal rotation shaft (45). Furthermore, the horizontal axis of rotation (4
7) is extended to half the length of the upper mold, and the vertical rotation shaft (48) is provided at the tip of the horizontal rotation shaft (47). Further, a grip member (49) having a plurality of suction heads (50) is provided.

Further, even when the flat plate material (52) is bent by raising the lower die (51) of the press brake, the horizontal rotation shaft (43) is arranged so that the gripping member (49) follows the flat plate material (52). I am trying to make it work.

Therefore, by operating the horizontal rotation shafts (43) (45) (47), a plurality of flat plate materials (52) are stacked.
The gripping member (49) can be moved to the uppermost surface of the. By operating the plurality of suction heads (50) of the gripping member (49) in this state, the uppermost flat plate material (52) can be sucked. Horizontal rotation axis (43) (45)
By operating (47), only one flat plate material (52) can be brought into contact with the upper surface of the lower die (51) of the press brake. After that, lower mold (51) is raised and upper mold (53)
The flat plate material (52) can be bent by pressing the flat plate material (52) with the lower mold (51). The holding member (49) continues to hold the flat plate material (52) while the bending operation is being performed.
Since 3) is rotated following the bending operation, the gripping member (49) can be made to follow the flat plate material (52) only by controlling one axis.

Further, after the bending operation is completed, the lower mold (51) is lowered, and then the horizontal rotation shafts (43) (45) (47) are operated, so that it can be carried out to the discharge position.

As a result, the suction state by the suction head (50) provided on the gripping member (49) is kept secured not only when the flat plate material (52) is loaded and unloaded, but also when the flat plate material (52) is bent. It is possible to prevent the positional deviation of the flat plate material due to the deviation from the suction start timing and the like, and to achieve high bending accuracy.

<Problems to be Solved by the Invention> The material handling robot for press brakes having the above-mentioned configuration is
It has been recognized that it is necessary to hold the flat plate material not only during the loading and unloading of the flat plate material but also during the pressing operation. By controlling only the horizontal rotation axis (43), the gripping member It seems that (49) can be made to follow the flat plate material (52) during bending. However, in reality, the mass of the part driven by the horizontal rotation axis (43) becomes significantly large, and the bending trajectory is not constant due to the plate thickness tolerance, so the plate material (52) is made to completely follow. Is almost impossible. As a result, if the press speed of the press brake is not changed at all, the flatness of the flat plate material (52)
There is a problem that the bending force is applied to and the accuracy of the finished product is reduced. Conversely, if the press speed of the press brake is reduced, the gripping member (49) can be made to completely follow. However, by adopting a material handling robot for the press brake, it is possible to reduce the processing speed of the press brake. There is a problem that it will end up.

More specifically, the press brake has a top die (5
Since the bending angle can be controlled by pressing the flat plate material (52) between the lower mold (3) and the lower mold (51) and controlling the degree of pressing, generally the pressing speed is It is held constant. However, since the portion of the gripping member (49) that is sucked by the suction head (50) moves in accordance with the trigonometric function value that is determined by the bending angle, the portion between the start of bending and the end of bending is Gripping member (4
The amount of movement in 9) is not constant, but changes according to the bending angle during the execution of the pressing operation. As a result, at a normal press speed, the followability becomes insufficient due to the influence of the mass of the portion driven by the horizontal rotary shaft (43).

Further, in consideration of maneuverability and mechanical strength, the operating range of the gripping member (49) cannot be increased,
Peripheral device for moving the flat plate material (52) to the movable limit position of the gripping member (49) and peripheral device for moving the flat plate material (52) from the movement limit position of the gripping member (49) to the stacking position. Therefore, there is a problem that not only the press brake system becomes large as a whole but also the constitution becomes plural.

Furthermore, since the direction in which the flat plate material (52) is loaded is predetermined by the press brake material handling robot, the installation position of the press brake, the arrangement situation with other peripheral devices, and the loading position of the flat plate material (52). There is a problem in that it is necessary to prepare two types of press brake material handling robots in consideration of the possibility that the arrangement positional relationship with the press brake may be reversed depending on the carry-out position or the like.

<Purpose of the Invention> The present invention has been made in view of the above problems, and it is possible to simplify the configuration of the press brake system as a whole, downsize it, and increase the operating range. It is an object of the present invention to provide a material handling robot for a press brake, which is capable of improving the versatility of the material.

<Means for Solving the Problems> In order to achieve the above object, a material handling robot for a press brake according to the present invention supports at least one vertical rotating shaft and horizontal rotating shaft portion by a reciprocating arm. The base of the reciprocating arm is located on the front and side faces of the press brake at a predetermined position that does not face directly on either side, and the reciprocating arm has a length that allows it to face the center of the front face of the press brake. The arm parts driven by the vertical rotation axis and the horizontal rotation axis respectively suppress a large increase in the moving speed of the reciprocating arm that is required to maintain the predetermined moving speed of the plate-shaped material. Is set to a predetermined length so that the material gripping portion interrupts the gripping of the plate-shaped material during operation of the press brake, and the reciprocating arm and each shaft are made of the plate-shaped material. The material gripper is operated so as to substantially follow the material.

<Operation> With the press brake material handling robot having the above-described configuration, the material gripping portion is operated by operating one or more vertical rotation shafts and horizontal rotation shafts while the reciprocating arm is moved to a predetermined position. The flat plate material can be gripped and then lifted to a predetermined height. Then, the reciprocating arm is moved while the plate material is being lifted, and if necessary, one or more vertical rotation shafts and horizontal rotation shafts are operated to carry the gripped state of the plate material into the press brake. Therefore, the flat plate material can be finally loaded into the press brake.

After that, the flat plate material is held on the press brake side, for example, the flat plate material is held by the upper die and the lower die, and the holding of the flat plate material by the material holding portion is interrupted. By operating one or more vertical rotation shafts and horizontal rotation shafts along with the operation, the material gripping portion can be moved so as to be aligned with the flat plate material to some extent, and when the press operation is completed,
The material gripping portion can be brought into close contact with the flat plate material.

Therefore, after that, the flat plate material may be held by the material holding portion and then the upper die and the lower die of the press brake may be separated, and the reciprocating arm may be moved to move the flat plate material to the carry-out position. it can.

In summary, since the reciprocating arm regulates the moving range of one or more vertical rotating shafts and horizontal rotating shafts, the moving range can be easily expanded, and the reciprocating arm can move the movable range. Since one or more vertical rotary shafts and horizontal rotary shafts are operated at the limit position of the range, the overall operable range can be increased. Since one or more vertical rotation shafts and horizontal rotation shafts can be operated with reference to the reciprocating arm that simply reciprocates, the material gripper can be positioned on either side of the reciprocating arm. Therefore, the flat plate material can be carried in and out satisfactorily regardless of the arrangement position with respect to the press brake. Furthermore, when the material gripper is moved by the two vertical rotation axes and the reciprocating movement axis in accordance with the predetermined movement of the flat plate material held by the press brake, the two rotation arms are utilized by using the geometrical relationship. If the ratio of the length of is properly selected (tip side / root side = 3 /
(7 to 3/10), because it is not necessary to increase the maximum speed of the heavy reciprocating shaft, it is possible to remarkably improve the followability of the material gripping part in combination with the ease of control of the two rotating shafts with small mass. You can

Then, during the pressing operation, since the flat plate material is clamped between the upper die and the lower die, it is not necessary to hold the flat plate material by the material holding portion during this period.
As a result, the robot control during the press operation can be simplified.

<Examples> Hereinafter, detailed description will be given with reference to the accompanying drawings illustrating examples.

FIG. 1 is a schematic perspective view showing a state in which the material handling robot for a press brake of the present invention is arranged with respect to the press brake. The press brake (1) is placed at a predetermined position which does not directly face either the front surface or the side surface. A material handling robot (2) for press brakes is arranged. Incidentally, (11) is an upper mold, (12) is a lower mold, and (13) is a material for temporarily supporting the flat plate material (3) carried into the press brake (1) in an adsorbed state. It is a support department. Although not shown, a back gauge for restricting the bending allowance is attached to the press brake (1) so that the bending allowance can be adjusted based on a set input value from the outside. However, the material support portion (13) can be adjusted in vertical position by the operation handle (13a) as shown in FIG. 3, and can be rotated about the shaft (13b) so that it is located in front of the press brake (1). It is preferable that the storage state can be selected.

FIG. 2 is a perspective view showing an embodiment of a material handling robot for press brakes according to the present invention, in which a base (2
Reciprocating arm (22) supported by 1) so that it can reciprocate.
And a first horizontal rotation shaft (23) provided at the tip of the reciprocating arm (22) and a tip of a first arm (24) extending in a direction perpendicular to the first horizontal rotation shaft (23). The second horizontal rotation shaft (25), the vertical rotation shaft (27) provided at the tip of the second arm (26) extending in the extension direction of the second horizontal rotation shaft (25), and the vertical rotation shaft ( A material gripping portion (29) provided at the tip of the third arm (28) extending in the extension direction of (27),
It has a plurality of suction heads (30) provided at the tip of the material gripping part (29).

The reciprocating arm (22) has a vertical standing portion (22
a) and a horizontal arm (22b), the horizontal arm (22
In b), the tip is set to a length such that it can directly face the center of the front surface of the press brake (1). Further, the first arm (24), the second arm (26) and the third arm (28) are
Each of them is set to a predetermined length capable of suppressing a large increase in the moving speed of the reciprocating arms (22) (32) necessary to maintain the predetermined moving speed of the flat plate material (3).

The operation of the press brake system having the above configuration is as follows.

A large number of flat plate materials (3) are stacked on a material support table (4) which is provided directly opposite the front surface of the press brake (1) and is separated by a predetermined distance.

In this state, the reciprocating arm (22) is moved to a position substantially facing the material support base (4), and the first rotating shaft (23), the second rotating shaft (25) and the vertical rotating shaft (27) are moved. ) Are operated to move the material gripper (2
The plurality of suction heads (30) of 9) are brought into contact with the uppermost flat plate material (3). Then, the flat plate material (3) is suctioned by the suction head (30), and the shafts (23), (25), (27) are moved in the opposite directions, so that only one flat plate material (3) can be lifted.

After lifting the flat plate material (3) in this way, the reciprocating arm (22) is moved toward the press brake (1) so that the bending positions of the flat plate material (3) are the upper mold (11) and the lower mold. Press brake (1) so that it is located between (12)
After being carried in, the flat plate material (3) is supported by the material support portion (13), and then the suction of the flat plate material (3) by the suction head (32) is stopped. In this state, the correctly positioned flat plate material (3) is supported by the material support portion (13) in a sucked state, so that the reciprocating arm (2
2), the first horizontal rotation shaft (23), the second horizontal rotation shaft (25) and the vertical rotation shaft (27) are operated to move the material gripping portion (29) below the flat plate material (3). , The suction head (30) is turned upside down so that the movement of the flat plate material (3) accompanying the press work is not obstructed. However, it goes without saying that the flat plate material (3) may be sucked by the suction head (30) with the position and orientation of the material gripping portion (29) thus changed.

After that, the flat plate material (3) is bent by lowering the upper mold (11). Specifically, the flat plate material (3) is bent by the upper mold (11) and the lower mold (12). Since the suction of the flat plate material (3) by the suction head (30) is stopped immediately before sandwiching, the bending angle of the flat plate material (3) is accurately controlled by controlling the descending distance of the upper die (11). It can be set to. Then, while the above-mentioned bending operation is being performed, the operation of the first horizontal rotating shaft (23) and the second horizontal rotating shaft (25) is controlled so that the material gripping part (29) is bent. It is possible to substantially follow the planned suction position of the flat plate material (3) that rises at high speed.
However, the followability in this case does not have to be so high because the suction operation is not actually performed, but since the mass of the portion near the tip is smaller than that of the first horizontal rotation shaft (23), it is considerably accurate. After the bending operation is completed, the suction operation by the suction head (30) can be performed with almost no time delay.

Therefore, thereafter, even if the upper die (11) is lifted, the flat plate material (3) is surely gripped, so there is no possibility that it will fall by itself, and the reciprocating arm (22) remains as it is.
The flat plate materials (3) can be moved to positions (not shown) by operating the shafts (23), (25) and (27) and stacked by stopping the suction operation.

As is clear from the above description, in this embodiment, since the reciprocating distance of the reciprocating arm (22) is determined by the length of the base (21), the length of the base (21) is sufficient. By making the length long, it is possible to use a flat material transport carriage as the material support base (4), and it is possible to set the stop position of the flat material transport carriage quite freely.

Further, although not particularly shown, the positional relationship between the press brake (1) and the material support base (4) based on the press brake material handling robot (2) may be set reversely. Also, if the press brake (1) and the material support base (4) are arranged at a distance commensurate with the reciprocating distance of the reciprocating arm (22), the flat plate material (3) can be smoothly moved in the same manner as above. It can carry in, bend and carry out.

<Embodiment 2> FIG. 4 is a schematic perspective view showing a press brake system incorporating a press brake material handling robot of another embodiment. The point different from the above embodiment is that the base (21) stands. Instead of the reciprocating arm (22) that reciprocates in the installed state, only the reciprocating arm (32) that reciprocates in a suspended state from the base (31) is used. The structure of the part is the same.

In the case of this embodiment, since the base (31) is present in the air, the space utilization efficiency on the floor surface can be improved and the same operation as the above embodiment can be achieved.

The present invention is not limited to the above-described embodiment, and for example, the material support portion (13) is omitted, and the flat plate material (3) is sandwiched between the upper die (11) and the lower die (12). It is possible to stop the suction by the rear suction head (30), and instead of moving the upper mold (11) up and down, the lower mold (12).
Can be moved up and down, and various design changes can be made within a range that does not change the gist of the present invention.

<Effects of the Invention> As described above, according to the present invention, since the movable range by the reciprocating arm is regulated, the movable range can be set large and the expansion of the movable range can be easily dealt with. In addition, since the mass of each arm supported by the reciprocating arm is small, the followability of the material gripping part can be improved and the press speed of the press brake can be maintained as it is. It has a unique effect that can be set freely.

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing a press brake system incorporating an embodiment of a material handling robot for press brakes of the present invention, and FIG. 2 is a perspective view showing an embodiment of a material handling robot for press brakes of the present invention. Fig. 3 is a schematic perspective view showing a material support portion of a press brake, Fig. 4 is a schematic perspective view showing a press brake system incorporating another embodiment of a material handling robot for a press brake, and Fig. 5 is The schematic perspective view which shows the press brake system which incorporated the conventional material handling robot for press brakes. (1) …… Press brake, (2) …… Press brake material handling robot, (3) …… Plate material, (21) (3
1) …… Base, (22) (32) …… Reciprocating arm, (2
3) …… First horizontal axis of rotation, (24) …… First arm, (2
5) …… Second horizontal rotation axis, (26) …… Second arm, (2
7) …… Vertical rotation axis, (28) …… Third arm, (29)…
... Material grip

Claims (1)

[Claims] 1. A press brake (1) for holding a plate-shaped material (3) by means of a material holding portion having one or more vertical rotation shafts and a horizontal rotation shaft and attached to the vertical rotation shaft. In a material handling robot for a press brake having a function of loading and unloading a plate-shaped material, one or more vertical rotation shafts (27) and horizontal rotation shafts (23) (25) are reciprocated by an arm (22). ) (32), the bases (21) and (31) of the reciprocating arms (22) and (32) are arranged at predetermined positions on the front and side surfaces of the press brake (1) so that they do not directly face any surface. Reciprocating arm (22)
The length of (32) is set so as to be able to face the central portion of the front surface of the press brake (1), and the arm portions are respectively driven by the vertical rotation shaft (27) and the horizontal rotation shafts (23) (25). The reciprocating arms (22) (32) required for the (28), (24) and (26) to maintain a predetermined moving speed of the plate-shaped material (3).
Is set to a predetermined length capable of suppressing a significant increase in the moving speed of the plate material, and the material gripping part (29) interrupts the gripping of the plate-shaped material (3) during operation of the press brake, and Reciprocating arms (22) (32) and each axis (2
3) A material handling robot for a press brake, wherein the material handling part (29) is moved so that the material (25) and (27) substantially follow the plate-shaped material (3).