JP2824892B2 - Work holding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending machine for bending a metal plate, and more particularly to a gripping device for gripping a plate at the time of bending.

[0002]

2. Description of the Related Art Panels formed by bending the vicinity of each side corner of a metal plate are used for cabinets, furniture, refrigerators and the like of various devices. In an automated bending line, the work plate (hereinafter simply referred to as “work”) conveyed to the front of the bending machine by a conveyor or other conveying device is moved to a bending position using a gripping device equipped with an adsorption member. It is carried in, positioned and bent. Depending on the type of work, one side is bent, and then the work is turned and turned by a gripping device equipped with the suction member to perform processing such as bending twice. .

[0003]

Since the gripping device is mounted on a support member to which the suction member is fixed, the size of the work that can be gripped is limited, and the bending machine is changed for each size of the work. And it is not possible to cope with the current situation where various kinds of small-quantity production are required. In addition, when handling a large-sized work plate material, it is necessary to specially provide a dedicated large-scale gripping device in order to prevent sagging. On the other hand, it is possible to cope with this with an industrial robot, but it is very expensive and the control relation is complicated. SUMMARY OF THE INVENTION The present invention has been made in order to eliminate the disadvantages of the conventional type, and an object of the present invention is to provide a bending device for a bending machine capable of gripping a work plate of any size, large or small, with a simple structure. It is in.

[0004]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to an apparatus for gripping a work plate by mounting a suction member above a front table of a bending machine, wherein the apparatus is mounted on an upper front part of the bending machine. Arms, a frame suspended horizontally with elevating means interposed between the arms, a pair of left and right slide members inserted and retractable in the longitudinal direction inside the frame, and attached to the tip of each slide member A pair of arms that open and close in a horizontal plane, a plurality of suction members provided on the lower side of each arm, and turning means for rotating the frame holding the work by the suction members in a horizontal plane. I do. Also,
It has a mechanism for extending and retracting the slide member by a telescopic cylinder attached to the frame and a rack and pinion provided in the frame, and an arm opening and closing mechanism for opening and closing the arm in a horizontal plane by a cylinder provided at the tip of the slide member. .

[0005] The arm is attached to a horizontal axis which is mounted on the upper front of the folding machine. The arm is rotated at the end of the horizontal axis when the suction member is not used, so that the suction member is raised from the front of the folding machine. It is provided with a rotating cylinder to be avoided. The elevating means includes a saddle mounted movably in the longitudinal direction of the upper end of the arm, an elevating frame engaged with the saddle, and an elevating cylinder provided between the saddle and the elevating frame. The turning means is
A vertical axis rotatably supported by the lifting frame and having the frame fixed to the lower end, a turning motor provided on the lifting frame near the top of the vertical axis, and provided between the motor output shaft and the vertical axis. Transmission gears.

[0006]

[Function] The work is sucked up and down and swung. In accordance with the size of the work plate, the telescopic cylinder attached to the frame is driven to extend and contract a pair of left and right slide members with the rack and pinion provided in the frame, and further, the cylinder provided at the tip of the slide member is driven. Thus, the left and right arms are opened and closed within a horizontal plane, and the suction member is moved to a position suitable for gripping the work.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. The following embodiment is applied to a work holding of a press brake, and FIG. 1 is a side view of a press brake to which a work holding device of the present invention is attached, and FIG. 2 is a plan view. The press brake includes a main cylinder 2 disposed on the upper part of the machine main body or frame 1, a ram 3 which moves up and down by the main cylinder 2, an upper die 4 mounted on the lower end of the ram, and a lower die 6 mounted on the upper surface of the bed 5. have. A front table 7 with casters is arranged in front of the machine body 1, a gap is formed in a direction orthogonal to the bending line 11 of the front table 7, and several front gauges 8 are provided. A back gauge 9 is provided at the rear of the back gauge. The work 60 conveyed onto the front table 7 is pushed out by a front gauge 8 in a bending curve direction by a belt conveyor, an industrial robot, or a manual operation, and is accurately positioned by a back gauge 9, and then the upper mold 4 is lowered to lower the work. The end is bent.

The work gripping device 10 includes a crosspiece 12 disposed on the front upper portion of the machine body 1, a lifting frame 24 attached to the crosspiece, a frame 31 suspended from the lower end of the vertical axis of the lifting frame 24, a frame 31. The main members are a pair of left and right slide members 32 which are elastically inserted therein, and a large number of suction members 16 provided below the distal ends of the slide members 32 (FIGS. 1 to 1).
3). As shown in FIGS. 1 to 3, the arm brace 12 is attached substantially at the center of a horizontal shaft 14 supported by a bearing 15 at the upper front of the machine body 1. A cylinder 17 for turning a brace is provided on the side of the bearing 15, and its piston rod 18 is provided.
Is connected to the arm 16 at the end of the abscissa by a pin 19, and extends horizontally above the front table as shown by a solid line in FIG. 1 when the cylinder 17 is extended, and as shown by a chain line in FIG. Is rotated to the retracted position.

On the other hand, the LM guide 13 is provided on the upper surface of the arm bar 12 and the saddle 21 is engaged. The saddle 21 is provided with a lifting means 20 including a lifting frame 24 and a lifting cylinder 22. Since the piston rod 23 of the lifting cylinder 22 is connected to the lower projection 24a of the lifting frame 24, when the cylinder 22 is operated, the lifting frame 24 moves from the pass line PL of FIG. It can be raised and lowered in the meantime. In order to make the elevating means 20 movable in the longitudinal direction of the upper surface of the arm, the arm 12 and the elevating frame 24 are provided with moving means such as a motor, a pinion, a rack, a gear, a screw, a ball screw or a chain, a sprocket, an encoder, A moving position detecting means (not shown) such as a linear scale is provided.

As shown in FIGS. 1 and 2, a vertical axis 29 is suspended from the elevating frame 24, and a rectangular cylindrical frame 3 is provided at the lower end thereof.
1 is mounted horizontally. A gear 28 is mounted on the top of the vertical axis 29, and this gear 28 is meshed with a pinion 27 provided on the output shaft of the motor 26 to constitute the turning means 25 of the frame 31. The turning angle is detected by an angle detector, and for example, the work is stopped at a position turned by 90 ° or 180 °.

A pair of left and right slide members 32 constituting a holding means are inserted into the frame 31. As shown in FIGS. 3 and 4, each slide member 32 has a rack 33 formed on the inner upper or lower wall thereof, and these racks 33 are engaged with pinions 34 attached to the frame 31. A telescopic cylinder 36 constituting a telescopic mechanism is provided laterally at the upper end of one end of the frame body 31, and a piston rod 37 of this cylinder 36 is connected to an end block 38 fixed to one end of a slide member. By actuating, the left and right slide members 32, 32 are slid equidistantly in opposite directions (FIGS. 3 to 6). The moving distance of the slide members 32, 32 is detected by a position detector (not shown) to control the stroke of the cylinder 36.

An end block 3 is provided at the tip of each slide member 32.
Eight. The end block 38 has a rotating shaft 4
Attach a pair of arms 40 that can be freely opened and closed by erected 4 and 44. A fixed suction member 4 is provided at the front end of the end block 38.
5. Each of the arms 40 is provided with a floating suction member 46, 47 which changes its position in accordance with the opening and closing of the arm. The fixed suction member 45 is supported by a fixed shaft 41 provided at the front end of the end block 38 as shown in an enlarged view in FIG. 7, while the floating suction members 46 and 47 are supported by a rotating shaft 44 of the end block 38. Are supported by shafts 42 and 43 provided at the bent portion and the distal end portion of the arm. Each suction member has a spring 48 interposed between the lower surface of the end block 38 or the arm 40 and the upper surface of the suction member. In addition,
In this embodiment, the suction member is of the vacuum chuck type, but is not limited to this, and may be of the electromagnet type.

The end block 38 has an opening and closing mechanism 50 for opening and closing the arm 40. This mechanism is shown in FIGS.
As shown in the figure, a cylinder 51 provided on the tip side of the slide member 32, a rack 53 connected to a piston rod 52 of the cylinder 51, a pinion 54 meshing with the rack 53, and an upper end of a rotating shaft 44. A gear 55 fixedly engaged with the pinion 54;
Is driven to change the opening of the arm from the solid line position to the chain line position in FIG. 7 to adjust the operable range of the suction member. 3 is a cross-sectional plan view showing an extended state of the slide member 32, and FIG. 4 is a side view of FIG. FIG.
FIG. 6 is a cross-sectional view showing the contracted state of the slide member 32.
FIG. 6 is a side view of FIG. 5.

(Operation) Next, the operation of the work holding device having the above-described configuration will be described. The work 60 conveyed on the front table 7 is moved to the center of the machine by a width moving member (not shown) by a belt conveyor, an industrial robot, or a manual operation, and is pushed out by a front gauge 8 in a folding curve direction. 9 for accurate positioning, upper die 4
Is lowered to bend the work end, and then the work is turned 90 ° or 180 ° on the front table to sequentially bend the four side ends of the rectangular work 60. At the time of bending, a follower lever (not shown) is rotated to support the flip-up rotation side of the work.

First, the effective length of the slide members 32, 32 is set by driving the expansion / contraction mechanism 35 so that the work can be gripped in an optimum state according to the size of the work.
The opening angle of the arm 40 is determined by the opening / closing mechanism 50 (FIGS. 3 to 6). After positioning the conveyed work 60 as described above and bending one long side end thereof, the work 60
Is moved to approximately the center of the front table 7. Next, in order to bend the other long side end of the workpiece 60, the lifting cylinder 22 in the upper gripping device 10 is driven to lower the frame 31, and the workpiece is gripped by the suction members 45 to 47. The lifting cylinder 22 is contracted while being held, and is raised to the turning level RL in FIG. At that position, the motor 26 of the turning means 30 is driven to turn the work by 180 °, and then the elevating cylinder 22 is extended to make each of the suction members 45 to 45 extend.
The work is lowered on the front table 7 by lowering the work 47, and after positioning, the other long side end is bent.

Next, when bending of the long side is completed,
Following the short side bending at 90 ° turning, lowering, and positioning at the approach position, gripping the workpiece, and raising the position, bending the other short side by the same procedure as above after turning the workpiece at 180 ° at the gripping and raising position. Then, the four-sided bending of one work 60 is completed. After the bending is completed, the sheet is carried out to the front of the machine using the gripping device or to the rear of the machine using a separate handling device (not shown).

On the other hand, at the time of a special bending process without using the gripping device 10, the lifting frame 24 is made to stand by at the rising level UL in FIG.
By operating the cylinder 17 connected to the front side, the arm brace 12 is rotated to the position shown by the chain line in FIG. 1, and the apparatus 10 can be retracted from the upper surface of the front table. At the same time, if the follower on the front side of the bending machine is folded and stored, the space becomes an empty space, so that it can be used for special bending work by hand. The present apparatus can be applied to a Koki bending machine in addition to the V-bending processing using the press brake as shown in the above embodiment.

[0018]

As described above, the present invention has the following advantages. It is possible to accurately cope with various dimensions of the work plate material, and it is possible to perform optimal suction gripping without hanging down the center of the work. Automation of work front processing can be achieved.
The gripping device can be turned upward and stored when not in use, so that the space in front of the machine can be effectively used for other purposes.

[Brief description of the drawings]

FIG. 1 is a side view of a work holding device of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a cross-sectional plan view showing an extended state of a slide member.

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a cross-sectional view showing a contracted state of the slide member.

FIG. 6 is a side view of FIG. 5;

FIG. 7 is an enlarged side view of the arm opening / closing mechanism.

FIG. 8 is a sectional view of FIG. 8;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Work holding apparatus 12 Arm 14 Horizontal axis 17 Arm rotation cylinder 20 Elevating means 22 Elevating cylinder 24 Elevating frame 25 Revolving means 26 Revolving motor 29 Vertical axis 30 Gripping means 31 Frame 32 Slide member 33 Rack 34 Pinion 45-47 Suction Member 35 Telescopic mechanism 36 Telescopic cylinder 38 End block 40 Arm 50 Opening / closing mechanism 60 Work PL Pass line RL Rotation level UL Evacuation level

Claims (5)

(57) [Claims] 1. A device for holding a work plate by attaching an adsorbing member above a front table of a folding machine, wherein the arm is attached to an upper portion of the front of the folding machine, and is suspended horizontally by interposing elevating means on the arm. A lowered frame, a pair of left and right slide members inserted and retractably extended in the longitudinal direction inside the frame, a pair of arms attached to the tip of each slide member to open and close in a horizontal plane, and a lower side of each arm A work holding device, comprising: a plurality of suction members provided in the first and second members; and turning means for rotating a frame body holding the work by the suction members into a horizontal plane. 2. A brace is attached to a horizontal axis which is laid horizontally on an upper front part of the bending machine. The arm is rotated at the end of the horizontal axis when the suction member is not used, so that the suction member is moved from the front of the bending machine. 2. The work gripping device according to claim 1, further comprising a rotating cylinder for preventing the lifting of the workpiece. 3. An elevating means includes a saddle movably mounted in a longitudinal direction of an upper end of a brace, an elevating frame engaged with the saddle, and an elevating cylinder provided between the saddle and the elevating frame. The workpiece gripping device according to claim 1. 4. A turning means rotatably supported by the lifting frame and having the frame fixed to the lower end thereof, a turning motor provided on the lifting frame near the upper portion of the vertical axis, and a motor output. 4. The work holding device according to claim 1, further comprising a transmission gear provided between the shaft and the vertical axis. 5. A device for holding a work plate by attaching an adsorbing member above a front table of a folding machine, wherein the arm is attached to an upper part of the front of the folding machine, and the arm is hung horizontally via a lifting means. A lowered frame, a pair of left and right slide members inserted and retractably extended in the longitudinal direction inside the frame, a pair of arms attached to the tip of each slide member to open and close in a horizontal plane, and a lower side of each arm A plurality of suction members provided on the frame, turning means for rotating the frame holding the work by the suction members in a horizontal plane, and a slide member formed by a telescopic cylinder attached to the frame and a rack and pinion provided in the frame. A work gripping device comprising: a telescopic mechanism; and an arm opening / closing mechanism for opening and closing the arm in a horizontal plane by a cylinder provided at a tip end of a slide member.