JP2002137019A - Workpiece twisting machine and bending method using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten time until positioning a workpiece from the time when automatically feeding it into a bending machine, by lessening a sag of the workpiece so as to improve processing efficiency. SOLUTION: The workpiece twisting machine of this invention is provided with a pair of clampers 6 and 7 which grip two mutually opposed sides (1) and (2) of the workpiece W, and a twisting section 8 which twists the workpiece W by turning only the clamper 6 of the pair of clampers 6 and 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work twisting apparatus which reduces the time required for a workpiece to be automatically supplied to a bending machine by reducing the sagging of the work, thereby shortening the time required for positioning and improving the processing efficiency. And a bending method using the device.

[0002]

2. Description of the Related Art Conventionally, when a workpiece is automatically supplied to a bending machine, for example, a press brake and positioned, a bending robot is used as is well known.

In this case, a vacuum pad 50 is attached to the tip of the bending robot, as shown in FIG.

In this state, if the work W is placed on the die D and hits against the abutment 51, the positioning of the work W is completed.

[0005]

[Problems to be solved by the invention]

However, when the work W is a long material,
As shown in FIG. 8, the sucked workpiece W hangs down.

For this reason, when the work W is made to move straight toward the die D, the hanging portion of the work W and the die D interfere with each other, and the work W is transferred to the die D.
Can not be put on top.

In order to avoid this state, conventionally, FIG.
As shown in FIG. 9, the work W is once lifted up to above the die D (FIG. 9A), and then lowered onto the die D (FIG. 9).
(B)) At this time, since the work W becomes flat, the flattened work W is abutted against the abutment 50 to complete the positioning (FIG. 9C).

However, as described above, the vacuum pad 5
When the workpiece W sucked at 0 is once raised and then lowered, the operation of the bending robot is slowed accordingly, and therefore, the workpiece W is sucked by the bending robot and automatically supplied to the bending machine. The speed (material handling speed) when positioning by abutting against the abutment 50 decreases.

As a result, it is clear that the entire processing time is delayed and the efficiency is reduced.

SUMMARY OF THE INVENTION An object of the present invention is to reduce the sag of a work, thereby shortening the time required for automatically supplying the work to a bending machine and positioning the work, thereby improving the processing efficiency.

[0012]

In order to solve the above-mentioned problems, according to the present invention, as shown in FIGS. 1 to 7, a pair of clampers 6, 7 for gripping two opposite sides of a work W are provided.
A work twisting device 16 having a twisting portion 8 for turning only one of the pair of clampers 6 and 7 to twist the work W; and the work twisting device. 16 is attached to the bending robot 10, the work W is supplied to a bending machine in a state where the work W is twisted, the work W is released, the work W is abutted against the abutment 5, and the work W is bent by the punch P and the die D. A technical means called a bending method (FIG. 7) characterized by performing the processing is taken.

Therefore, according to the structure of the present invention, when the work W is twisted by the work twisting device 16 (FIG. 2) (FIG. 3), the work W is settled and stable, and the work W Sagging can be reduced.

Therefore, according to the above-mentioned bending method (FIG. 7), the work twisting device 16 is attached to the bending robot 10 (FIG. 1), and the work W is straightened while being twisted. The workpiece W can be supplied by being placed on the die D of the bending machine 13 to be abutted against the abutment 5 for positioning and bending.

According to the present invention, by reducing the sagging of the work, the time required for automatically supplying the work to the bending machine and positioning the work can be shortened, and the working efficiency can be improved. .

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in accordance with embodiments with reference to the accompanying drawings. FIG. 1 is an overall view showing a bending system for carrying out the present invention.

The bending system shown in FIG.
3, a bending robot 10 installed in front of the bending machine 13, a work loading device 11, a work re-gripping device 12, and the like.

The bending machine 13 is, for example, a press brake, and performs a predetermined bending process on the workpiece W supplied by the bending robot 10 by a punch P and a die D, as is well known.

The bending robot 10 has a plate 1
4 is movable left and right along with the hand 5.
A work twisting device 16 (FIGS. 2 and 3), which will be described later, is attached, and the work W is supplied to the bending machine 13 in a state where the work W is twisted through the work twisting device 16 and then abutting 9 And can be positioned.

In this case, the bending robot 10 (FIG. 1) takes one piece of the work W from the work loading device 11 through the clampers 6 and 7 of the work twisting device 16, and moves the side holding the work W halfway. In the case of changing (for example, changing the gripping side from two opposing sides to (opposite from FIG. 2)), the work W is once suctioned to the vacuum pad 12A of the work re-gripping device 12,
The hand 5 is turned 180 ° in a horizontal plane, and different sides (for example, the above sides) are re-gripped by the clampers 6 and 7.

The control operations of the bending machine 13 and the bending robot 10, the work twisting device 16 and its clampers 6 and 7 (FIG. 7) are all performed by the NC device 1.
5 (control signals S1,
S2, etc.).

The work twisting device 16 is attached to the hand 5 of the bending robot 10 as shown in FIG.

In FIG. 2, on both sides of the hand 5, a first
Arm 1 and second arm 2 are attached, and each arm 1,
The clampers 6, 7 are provided at the tip of 2 via support members 3, 4.
Is attached, and two opposite sides of the work W can be gripped.

In this case, for example, the clamper 7 on the left side is fixed to the support member 4, while the clamper 6 on the right side is pivotally attached to the support member 3 by a torsion portion 8, which will be described later. To give a twist.

The two clampers 6 and 7 have the same structure. For example, one of the clampers 6 has a structure as shown in FIG.
The main body 6A has a built-in opening / closing cylinder 6D, and a lower jaw 6C is integrally attached to a lower portion of the main body 6A.

The rear end of the upper jaw 6B is attached to the piston rod 6G of the opening / closing cylinder 6D via a shaft 6F so as to be movable up and down.
H, and protrudes from the main body 6A through a shaft 6
It is attached to the lower jaw 6C via E so as to be openable and closable.

With this configuration, normally (FIG. 4), the upper jaw 6B is open with respect to the lower jaw 6C.
When the opening / closing cylinder 6D is actuated to raise the piston rod 6G (FIG. 3), the upper jaw 6B closes with respect to the lower jaw 6C by lowering its lower end and lowering its tip at the same time. W can be gripped.

The one of the clampers 6 is provided with the above-mentioned torsion portion 8, and details thereof are shown in FIG.

In FIG. 3, one of the clampers 6 already described
One end of a pivot rod 8C is attached to the bottom of the pivot rod, and the pivot rod 8C is pivotally attached to the support member 3 via a shaft 8E at the center thereof.

The other end of the revolving rod 8C is hinged to one end of a connecting rod 8B as shown in FIG.
Is hingedly connected to a piston rod 8F of a turning cylinder 8A, and the turning cylinder 8A is fixed to the bottom of the first arm 1.

That is, a turning rod 8C that supports the one clamper 6 and can turn around an axis A, which will be described later, and a turning cylinder 8A that is connected to the turning rod 8C via a connecting rod 8B. The connecting portion 8 is configured.

In this case, the shaft 8E of the revolving rod 8C
Is located substantially at the center of the support member 3, and its axis coincides with the axis A parallel to the plane of the workpiece W.

With this configuration, when the turning cylinder 8A is at the neutral position (FIG. 6A), the connecting rod 8B is positioned horizontally and the turning rod 8C is positioned vertically, and one of the gripping workpieces W is held. The clamper 6 is at the 0 ° position.

However, when the swiveling cylinder 8A is operated to retract the piston 8D (FIG. 6B), the connecting rod 8B hinged to the piston rod 8F is retracted while being inclined as shown in the figure. The pivot rod 8
C can be turned clockwise.

As a result, the clamper 6 supported by the pivot rod 8C (FIG. 6 (B)) moves the shaft 8 of the pivot rod 8C.
The axis A of E (FIG. 3), that is, the axis A parallel to the plane of the workpiece W
, The work W can be twisted.

That is, of the two opposing sides of the work W (FIG. 2), the side is gripped by the fixed clamper 7 and is horizontal, but the side is the work W as described above.
Is held by the clamper 6 which is turned around the axis A parallel to the plane of FIG.

The predetermined angle θ is (FIG. 3), specifically, for example, 30 ° (FIG. 6 (B)), whereby the work W is twisted as described above. According to the present invention, the work W is stuck and stable, and by reducing the sagging of the work W, the time required for automatically supplying the work W to the bending machine 13 and positioning the work W is shortened, thereby improving the processing efficiency. Can be improved.

In FIG. 6B, the case where one clamper 6 is turned clockwise by the twisting portion 8 has been described, but the same applies to the case where it is turned counterclockwise.

That is, the turning cylinder 8A (see FIG.
(C)) When the piston 8D is actuated and pushed out, the connecting rod 8B hinged to the piston rod 8F,
As shown in the figure, the pivot rod 8 is pushed out while being inclined.
C can be turned counterclockwise.

As a result, the clamper 6 supported by the pivot rod 8C (FIG. 6 (C))
A of the axis 8E, ie, the axis A parallel to the plane of the workpiece W
, The work W can be similarly twisted (FIG. 2).

Hereinafter, the operation of the present invention having the above configuration will be described with reference to FIG.

(1) Operation until the work W is twisted.

In step 101 of FIG. 7, the workpiece W is gripped by the clampers 6 and 7, and in step 102,
Only one clamper 6 is turned to twist the work W, and it is determined in step 103 whether the work W has been turned to a predetermined angle. If not turned (NO), the same operation is repeated and turned. In this case (YES), in step 104, the turning of the clamper 6 is stopped.

That is, the NC device 15 (FIG. 1) controls the bending robot 10 (control signal S5) to approach the work loading device 11, and controls the clampers 6, 7 of the work twisting device 16 (control). Signals S2 and S3), one workpiece W on the workpiece loading device 11 is taken out.

In this state, the NC device 15 operates the turning cylinder 8A (control signal S1), and the piston 8
D is pulled in (FIG. 6B), and the turning rod 8C is turned clockwise via the connecting rod 8B.

As a result, the one clamper 6 supported by the turning rod 8C (FIGS. 3 and 6B) turns around the axis A parallel to the work W plane, and the work W is twisted. Given.

While the one clamper 6 is turning, the NC device 15 is driven by the shaft 8 of the turning rod 8C, for example.
E (FIG. 3), the turning angle is monitored via an encoder attached thereto, and the turning angle is set to a predetermined angle, for example, 30 degrees.
When the rotation angle reaches (° (FIG. 6B)), the turning cylinder 8A is stopped, and thereby the turning of the clamper 6 is stopped.

At this time, the work W to which the torsion has been applied is settled (FIG. 2), and the work W is stably reduced in drooping.

(2) Operation until the work W is bent.

In step 105 of FIG.
Is supplied to the bending machine 13 in a twisted state,
In step 06, the work W is placed on the die D. In step 107, the twisted state is released to return the work W to the flat state. In step 108, the work W is abutted against the abutment 9 to perform positioning. In step 109, bending is performed.

That is, the NC device 15 (FIG. 1) controls the bending robot 10 again (control signal S5) and causes the work W to be opposed to the press brake 13 while being held by the clampers 6 and 7 in a twisted state. Then, the work W is supplied by moving straight on the die D, and the work W is released from the twisted state to a flat state, and then further advanced to abut against the abutment 9 for positioning.

Thus, according to the present invention, by sagging the work, the time required for automatically supplying the work to the bending machine and positioning the work can be shortened, and the processing efficiency can be improved.

Then, the NC device 15 controls the press brake 13 (control signal S4) and raises the die D or lowers the punch P.
Thus, the work W positioned above is subjected to bending.

[0054]

As described above, according to the work twisting apparatus of the present invention, by twisting the work,
The work is stable because the work is stiffened, and the sagging of the work can be reduced. Therefore, according to the bending method according to the present invention, the work twisting device is attached to a bending robot to impart a twist to the work. In this state, the workpiece can be supplied by placing the workpiece straight on a die of a bending machine, and the workpiece can be abutted and positioned to perform the bending process, thereby reducing the sagging of the workpiece. This has the effect of shortening the time required to automatically supply the workpiece to the bending machine and positioning it, thereby improving the machining efficiency.

[0055]

[Brief description of the drawings]

FIG. 1 is an overall view showing a bending system for carrying out the present invention.

FIG. 2 is an overall view of a work twisting device 16 constituting the present invention.

3 is a work twisting device 16 of FIG. 2 and its twisting portion 8;
FIG.

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

FIG. 5 is a side view of FIG. 3;

FIG. 6 is a diagram illustrating the operation of the present invention.

FIG. 7 is a flowchart illustrating the operation of the present invention.

FIG. 8 is an explanatory diagram of a configuration of a conventional technique.

FIG. 9 is an explanatory diagram of a problem in the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 1st arm 2 2nd arm 3, 4 Support member 5 Hand 6, 7 Clamper 8 Twisting part 10 Bending robot 11 Work loading device 12 Work regreasing device 13 Bending machine 14 Plate 15 NC device 16 Work twisting device W work

Claims (5)

[Claims] An object of the present invention is to have a pair of clampers for gripping two opposite sides of a work, and a torsion portion for turning only one of the pair of clampers to twist the work. Work twisting device. 2. The work twisting device according to claim 1, wherein the twisting portion rotates only one of the clampers by a predetermined angle about an axis parallel to the work plane. 3. The torsion portion is constituted by a turning rod supporting one of the clampers and capable of turning around the axis, and a turning cylinder connected to the turning rod via a connecting rod. The work twisting device according to claim 2. 4. The work according to claim 1, wherein said clamper comprises an opening / closing cylinder, an upper jaw opened / closed by said opening / closing cylinder, and a lower jaw cooperating with said upper jaw to grip the work. Twisting device. 5. The work twisting device according to claim 1 is attached to a bending robot, the work is supplied to a bending machine in a state where the work is twisted, and the work is abutted against the abutment to cancel the twist and positioned. And then performing bending using a punch and die.