JP2005271073A - Ironing bending device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an ironing bending device wherein a working machine body is provided with a scalar robot, and bending for a work provided with a projecting part to the lower direction can be performed. <P>SOLUTION: The upper part on the front side in a fixing frame 3 of a working machine body in an ironing bending device is provided with a guide member 5 long to the right and left directions. A scalar robot 9 provided with a work holding part 27 for holding a work at the tip part of an arm is mounted along the guide member 5 freely movably. The guide member 5 is provided projectingly to the right and left directions of the fixing frame 3. Further, the positions corresponding to the projecting parts to the right and left directions of the guide member 5 are provided with origin positioning parts for positioning the origins of the work W. Then, a work holder exchanging region for exchanging the work holder 27 for holding the work is provided within the moving region of the scalar robot 9. Further, the upper face of a supporting table 29 for supporting the work is provided with a brush-shaped member 39 capable of freely supporting the work and also capable of accepting the projecting part to the lower direction formed on the work. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an ironing bending apparatus for performing ironing bending of a plate-like workpiece, and more particularly to an ironing bending apparatus provided with a scalar robot for carrying in and out of the workpiece.

  The processing machine main body in the ironing bending machine for ironing and bending plate-shaped workpieces is a bottom die that supports the workpiece, a top die that can press and fix the workpiece against the bottom die, and the top die presses onto the bottom die. The fixed workpiece includes an upper and lower bend dies that are bent in a vertical direction at a portion protruding rearward from between the bottom die and the top die.

  And, in order to carry in and position the workpiece with respect to the iron bending machine main body, as shown conceptually and schematically in FIG. 5 as a plan view, a workpiece is placed on the front side of the ironing bending machine 51 described above. A table 53 is arranged, and a manipulator 55 for carrying and positioning a plate-like workpiece W into the iron bending machine 51 is provided at the center in the left-right direction of the work table 53 so as to be movable back and forth. ing. The manipulator 55 is configured in a C-shape in which the upper arm and the lower arm are vertically opposed to each other, and the upper and lower work clamps that can hold the work W in the vertical direction at the tip of the upper and lower arms. 57U and 57L are provided to be horizontally rotatable.

In order to load the workpiece W onto the work table 53, the workpiece loading device 61 for pulling the workpiece W on the loading table 59 provided on the side into the workpiece table 53 is provided on the work table 53. A positioning device for reciprocating in the direction and positioning the workpiece W in the front-rear direction is provided (see, for example, Patent Document 1).
JP 2000-94041 A

  In the conventional configuration as described above, since the iron bending machine 51, the work table 53, and the manipulator 55 are separate components, it is difficult to center and align the iron bending machine 51 and the manipulator 55. There's a problem.

  The work clamps 57U and 57L provided in the manipulator 55 are clamped by pressing the center of the work W from above and below, and in order to prevent interference when the work W is turned horizontally, There is a problem that the upper and lower arms are relatively long, the manipulator 55 is larger than the size of the workpiece W, and the occupied area is increased.

  Further, a positioning device that positions the workpiece W when the workpiece W is clamped by the upper and lower clamps 57U and 57L of the manipulator 55, and a workpiece loading device 61 that pulls the workpiece W onto the workpiece table 53 are the manipulator. When the workpiece W is moved by 55, it is necessary to retreat so as not to interfere with the workpiece, the manipulator 55, etc., and there is a problem that the configuration of the workpiece positioning device and the like is complicated.

  In the conventional configuration, when the work is moved by the manipulator 55 or when the work W is turned, the lower surface of the work W may rub against the upper surface of the work table 53 and sometimes the lower surface of the work may be scratched. There are problems such as.

  Further, in the conventional iron bending machine, as shown in FIG. 4, for example, flanges F1 and F2 raised upward are provided on opposite sides of a rectangular workpiece W, respectively, and are orthogonal to the sides. When the flanges F3 and F4 that are lowered downward on the opposite sides are bent, the flanges F1, F2, and F3 can be bent, but the flange F4 cannot be bent. There's a problem.

  The present invention has been made in view of the conventional problems as described above. A bottom die for supporting a workpiece, a top die capable of pressing and fixing the workpiece against the bottom die, and a workpiece fixed by the bottom die and the top die. In the ironing and bending apparatus provided with a bend die for bending the protruding part in the vertical direction, a long guide member in the left and right direction is provided on the upper front side of the fixed frame of the processing machine main body in the ironing and bending apparatus. In this configuration, a robot is provided with a work holding portion for holding the tip at the tip of the arm so as to be movable along the guide member.

  According to the present invention, in the iron bending apparatus, the guide member is provided so as to project in the left-right direction of the fixed frame, and the workpiece origin is positioned at a position corresponding to the projecting portion of the guide member in the left-right direction. It is the structure provided with the origin positioning part for performing.

  Further, the present invention is characterized in that in the ironing bending apparatus described above, a workpiece holder exchanging area for exchanging a workpiece holder for holding a workpiece is provided in the movement area of the robot. is there.

  Further, the present invention is the above-described iron bending apparatus, wherein a brush-like member is provided on the upper surface of the work table that supports the work so that the work can be supported and the downward projecting portion formed on the work can be immersed. It is characterized by.

  With the above configuration, according to the present invention, the positional relationship between the iron bending material and the scalar robot can be maintained with high accuracy by accurately attaching the guide member to the fixed frame in the iron bending machine. Yes, it is easy to assemble and assemble. In addition, since the workpiece is carried in and out of the iron bending machine by a scalar robot, it can be carried in and out and swiveled while the workpiece is lifted, and the overall configuration can be simplified and scratches can occur. Can be prevented.

  Furthermore, according to the present invention, the work holder can be exchanged in accordance with the size of the work with respect to the robot arm, whereby the work can be stably held. In addition, by providing a brush-like member on the upper surface of the work table, the protrusion is supported so as to be immersed in the brush-like member even when the workpiece has a downward protrusion. Is something that can be done.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. An ironing bending machine 1 according to this embodiment includes a bottom die that supports a plate-like workpiece, as in a general ironing bending machine. The top die that can press and fix the workpiece against the bottom die and can be moved up and down, and the portion of the workpiece fixed by the bottom die and the top die that protrudes from the bottom die to the rear side up and down Since this type of ironing bending machine is well known, a more detailed description of the ironing bending machine 1 is omitted.

  A guide member 5 that is long in the left-right direction is attached horizontally and integrally to the front upper part of the fixed frame 3 of the processing machine main body in the iron bending machine 1. As shown in FIG. 1, the guide member 5 protrudes in the left-right direction from one side in the left-right direction of the ironing bending machine 1, and the protruding length of the main body of the processing machine main body in the ironing bending machine 1. It is a dimension approximately equal to the width dimension in the left-right direction.

  A slide member 7 is supported on the guide member 5 so as to be movable in the left-right direction. A scalar robot 9 is mounted on the slide member 7 as an example of a robot. That is, a base 11 of a scalar robot 9 is mounted on the slide member 7, and the base 11 of the first arm 15 is connected to the base 11 via a pivot 13 parallel to the moving direction of the slide member 7. Is supported so as to be pivotable (swingable) in the vertical direction.

  A second arm 19 is rotatably supported at a tip portion of the first arm 15 via a pivot 17 parallel to the pivot 13, and the second arm 19 is supported with respect to the pivot 17. A third arm 21 that is long in an orthogonal direction is supported so as to be rotatable about the longitudinal axis of the third arm 21. Further, a clamp arm 25 is rotatably supported at the tip of the third arm 21 via a pivot 23 in a direction orthogonal to the longitudinal direction of the third arm 21. The clamp arm 25 is provided with a work holder 27 that holds the work W by being attracted or magnetically attached thereto, and is attachable and detachable at the tip.

  That is, a chuck device such as a collet tick is provided at the tip of the clamp arm 25, and the workpiece holder 27 can be attached and detached by opening and closing the chuck device.

  A support table 29 that supports the workpiece W is provided on the front side of the iron bending machine 1, and a laterally protruding portion of the guide member 5 is formed on the lateral side of the support table 29. At the corresponding position, there is provided an origin positioning table 31 as an origin positioning portion for performing origin positioning in the front-rear direction (X, Y direction) of the workpiece W. The origin positioning table 31 is provided with an appropriate number of positioning members 33 such as positioning pins for positioning the workpiece W in the front-rear direction and an appropriate number of positioning members 35 for positioning in the left-right direction. It has been.

  In the configuration as described above, as indicated by an arrow A, a workpiece W cut in advance to a specified size and shape is loaded onto the origin positioning table 31 and brought into contact with the positioning members 33 and 35 for positioning in the front-rear and left-right directions. If it does, the workpiece | work W will be positioned in an origin position. In this way, the scalar robot 9 is moved along the guide member 5 so as to correspond to the workpiece W positioned at the origin position, the center portion of the workpiece W is held by the workpiece holder 27 in the scalar robot 9, and the iron bending is performed. The workpiece W is supplied to the processing machine 1.

  At this time, the scalar robot 19 transports the workpiece W while lifting it from the upper surfaces of the origin positioning table 31 and the support table 29, so that the positioning members 33 and 35 need to appear and disappear from the upper surface of the origin positioning table 31. And the configuration is simpler.

  Further, when the workpiece W is carried into the iron bending machine 1 or when the workpiece W is reversed, the workpiece W can be lifted from the upper surface of the support table 29. It is possible to suppress the occurrence of scratches or the like on the lower surface of the substrate. Then, after the work W is bent, even if the next new workpiece is positioned on the origin positioning table 31, the upper side of the new workpiece is exceeded as indicated by the arrow B. The product can be carried out.

  That is, a guide member 5 that is long in the left-right direction is provided at the front upper portion of the fixed frame 3 of the processing machine body, and the guide member 5 is provided to protrude to one side in the left-right direction of the fixed frame 3, An origin positioning table 31 for positioning the origin of the workpiece is disposed at a position corresponding to the projecting portion in the direction, and the scalar robot 9 is movably mounted on the guide member 5, and the origin positioning is performed by the scalar robot 9. Since the work W is carried in and out from the table 31 to the iron bending machine 1 and the product after the bending is carried out, the origin positioning table 31 and the support table 29 are supported to support the work W. The size can be limited, and the area occupied by the overall configuration can be reduced compared to the conventional case.

  In addition, since the scalar robot 9 is used to carry in and supply a workpiece to the iron bending machine 1 and to carry out the product after bending, a device for carrying in the workpiece and carrying out the product becomes unnecessary. In addition, the positioning accuracy of the support table 29 and the like can be rough, and the overall configuration can be simplified and the positioning of the support table and the like can be facilitated.

  As described above, when the workpiece W is held and transported by the workpiece holder 27 provided at the tip of the arm of the scalar robot 9, the workpiece holder 27 is exchanged according to the shape and size of the workpiece W. For this purpose, a work holder replacement area is provided in the movement area of the scalar robot 9.

  More specifically, a holder that stores a plurality of types of workpiece holders 27 corresponding to the shape and size of the workpiece W at an appropriate position of the support table 29 or the origin positioning table 31 below the guide member 5. A storage unit 37 is provided, and the holder storage unit 37 is provided with a lid member (not shown) that can be opened and closed. Therefore, by positioning the scalar robot 9 at a position corresponding to the holder storing portion 37, the workpiece holder 27 corresponding to the shape and dimensions of the workpiece can be attached to and detached from the clamp arm 25. Is.

  As will be understood from the above configuration, the scalar robot 9 moves to a position corresponding to the holder storage unit 37 and attaches / detaches the workpiece holder 27, so that the workpiece holder 27 is automatically replaced. Even when the workpiece W having various shapes and dimensions is bent one after another, the workpiece W can be stably held and supplied to the ironing and bending machine 1. It can be done.

  Further, an ironing brush-like member 39 such as a brush or artificial grass is provided on the upper surface of the support table 29. The brush-like member 39 has a function of supporting the workpiece W. When the protruding portion protruding downward is formed on the workpiece W, the brush-like member 39 is elastically deformed corresponding to the shape of the protruding portion. It is configured to be deformable so as to allow the protrusion to be immersed.

  With the above configuration, the flanges F1 to F4 of the workpiece W illustrated in FIG. 4 can be bent. That is, the workpiece W is supplied to the iron bending machine 1 by the scalar robot 9, and the work W is positioned on the bottom die BD (see FIG. 3) in the iron bending machine 1. After the workpiece W is pressed and fixed to the bottom die BD by the top die TD, the flange F1 is bent upward by the lower bend die D, and then the workpiece W is reversed again by reversing the front and rear of the workpiece W by the scalar robot 9. W is positioned and the flange F2 is bent upward.

  Next, the length of the top die TD is adjusted so that the length of the top die TD is equal to the distance between the flanges F1 and F2 (in this way, the length of the top die is automatically adjusted). Already known), after positioning the workpiece W by the scalar robot 9 so that the portion to be the flange F3 of the workpiece W protrudes backward from between the top die TD and the bottom die BD, By bending downward with the bend die D, the flange F3 is bent.

  Then, when the workpiece W is lifted by the scalar robot 9 and the front and rear of the workpiece W are reversed to position the portion that becomes the flange F4, the flange F3 bent to the lower side of the workpiece W is attached to the brush-like member 39. The workpiece W is immersed and supported by the brush-like member 39. That is, even if the workpiece W has a protruding portion that protrudes downward, the workpiece W can be supported by the brush-like member 39 without any problem. After positioning the workpiece W as described above, the flange F4 is processed by bending the protruding portion of the workpiece W downward by the upper bend die D.

  As can be understood from the above description, the work holder 27 can be automatically attached to and detached from the scalar robot 9, and the work W is carried into and supplied to the iron bending machine 1 by the above-mentioned scalar. Since it is performed by the robot 9, the overall configuration can be reduced in size and simplified. In addition, since the lower protrusion formed on the workpiece W is provided on the upper surface of the support table 29 and the brush-like member 39 is immersible, it is possible to bend a workpiece having a shape that has been impossible in the past. Processing is also possible.

It is plane explanatory drawing which shows arrangement | positioning relationships, such as a iron bending machine, a scalar robot, a support table, which concern on embodiment of this invention. It is side explanatory drawing same as the above. It is explanatory drawing of the bending process to the lower side of a support table and a workpiece | work. It is explanatory drawing which shows an example of the workpiece | work which performs a bending process. It is plane explanatory drawing which shows arrangement | positioning relationships, such as the conventional iron bending machine, a support table, and a manipulator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Iron bending machine 3 ... Fixed frame 5 ... Guide member 7 ... Slide member 9 ... Scalar robot 27 ... Work holder 29 ... Supporting table 31 ... Origin positioning table 33 ... Positioning member 35 ... Positioning part 37 ... Holder storing Part 39: Brush-like member

Claims (4)

  Ironing and folding equipped with a bottom die that supports the workpiece, a top die that can press and fix the workpiece against the bottom die, and a bend die that bends the protruding portion of the workpiece fixed by the bottom die and the top die in the vertical direction. In the bending apparatus, a robot provided with a guide member that is long in the left-right direction at the front upper part of the fixed frame of the processing machine body in the iron bending apparatus, and a work holding portion for holding the work at the tip of the arm Is mounted on the guide member so as to be movable along the guide member.   2. The ironing bending apparatus according to claim 1, wherein the guide member is provided so as to project in the left-right direction of the fixed frame, and the origin of the workpiece is positioned at a position corresponding to the projecting portion of the guide member in the left-right direction. An ironing bending apparatus characterized by comprising an origin positioning portion for performing.   3. The ironing bending apparatus according to claim 1, further comprising a workpiece holder exchanging area for exchanging a workpiece holder for holding the workpiece in the movement area of the robot. Ironing bending machine. The ironing bending apparatus according to claim 1, 2, or 3, wherein a brush-like member capable of supporting the workpiece and immersing a downward projecting portion formed on the workpiece is provided on the upper surface of the work table that supports the workpiece. An ironing and bending apparatus characterized by comprising:

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