JP2011235352A - Automatic handling method of bending member and device of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic handling device of a bending member, which drastically shortens a working tact per workpiece by suppressing a grab change of a workpiece down to a minimum frequency, thereby increasing the work efficiency and reducing a working cost.SOLUTION: The origin on XY axial coordinates which has in advance been programmed in accordance with a size and shape of a workpiece 1 is set as a handling start point in an operation bed table 11. A workpiece grip mechanism 31 of an automatic handing device 30 grips a long side 1c of the workpiece on a bring-on table 12, and moves it to the handling start point in a clamped state. Now, the mechanism 31 moves it forward from the handling start point toward (a die of) a panel bender body 10 in a Y axial direction in the clamped state. The workpiece 1 is moved backward to the handling start point after a long side 1b of the workpiece 1 is bent. A grip holding plate 38 of the automatic handing device 30 is swiveled at 90° in a counterclockwise direction, and a short side 1e is bent. In such a way, the long and short four sides are bent.

Description

  The present invention relates to a forging machine such as a press brake or a panel bender for bending a metal material such as a thin steel plate, and more specifically, a bending operation in which a turning operation for turning a panel-shaped workpiece in a bending direction to a mold is automated. The present invention relates to a member handling apparatus.

  For example, by sending a rectangular workpiece to a panel bender and bending the long and short sides of the workpiece in order, for example, a housing or an assembly panel for a product such as a steel door, a wall material, or steel furniture is manufactured. In this case, the work is a panel bender whose next process is the one that has been sheared to the required size in the previous process, or one that has been punched into a required shape and processed into a developed sheet (blank) before bending. Is often sent to. For example, as shown in FIGS. 7A and 7B, when bending each of the four sides of the rectangular workpiece 1 in order, the center of the workpiece 1 is held by the center clamps 21 and 22 of the manipulator. Work handling is performed by turning and turning the work bending direction to the mold. The workpiece 1 in the illustrated example is manufactured as a frame-shaped panel having a flange shown in FIG. 7B by bending two long sides 1b and 1c and short sides 1d and 1e in order.

  On the other hand, as shown in FIGS. 8 (a) and 8 (b), for example, the above-described steel door panel, a window opening 1a at the center of the work 1 in the previous process is sent to the panel vendor. The situation is different in the process to be performed. In this case, since the opening 1a is vacant, the center portion of the work 1 cannot be clamped by the center clamps 21 and 22 shown in FIGS. 7 (a) and 7 (b). Therefore, the center clamps 21 and 22 inevitably have to grip and clamp the workpiece 1 at an eccentric position shifted from the center of the workpiece. When the gripping position deviates from the center of the workpiece in this way, the turning radius for turning the workpiece 1 increases by the deviated distance. As the turning radius increases, it is necessary to secure a large work space for workpiece handling, which is disadvantageous because it restricts the layout in the factory.

  In order to solve the problem that the turning radius of the work 1 becomes large in recent years, as shown in FIGS. 8 (a) and 8 (b), a handling device or method for gripping one side of the work 1 with the grip mechanism 31 and turning it to the mold. Has been developed. For example, in the case of the apparatus and method disclosed in Patent Document 1, a manipulator that moves a workpiece in the X-axis and Y-axis directions as coordinate axes is composed of a first manipulator and a second manipulator.

  Special Table 2000-503908

  However, in the apparatus disclosed in Patent Document 1, the grip mechanism must be changed from one side of the workpiece to the other side every time the bending direction of the workpiece is turned to the mold. That is, when the work is rectangular and each of the four long and short sides is bent, it is necessary to change all the long and short sides. As a result, there is a problem that the machining tact per workpiece becomes very long, which is reflected in the machining cost and becomes high.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an automatic bending member handling apparatus capable of improving the work efficiency and reducing the machining cost by greatly reducing the machining tact per work by keeping the number of workpieces changed to the minimum number of times. Is to provide.

  To achieve the above object, the bending member automatic handling method according to claim 1 according to the present invention starts handling the origin on the XY axis coordinates programmed in advance according to the size and shape of the bending member. Set to a point, move from the handling start point to the carry-in position in the X-axis direction, move to the handling start point in a clamped state gripping the first side of the bending member positioned there, and After the bending member moved to the handling start point is advanced in the clamped state with the Y-axis direction directed toward the mold, the second side facing the first side of the bending member is bent by the mold. Retreating to the handling start point, and turning the bending member around the handling start point in the clockwise direction or the counterclockwise direction, Each side of the upper bending processed sequentially, wherein the unloading is moved in the X-axis direction toward the unloading position bent member after bending of each side.

  In order to achieve the above object, a bending member automatic handling apparatus according to claim 2, which is representative of the present invention, is adjacent to a mold for bending the bending member and a front front portion of the mold. An operation table in a place where handling is performed to turn the bending member toward the mold, a loading / unloading table provided adjacent to the operation table, and a size of the bending member Reciprocating in the X-axis direction between the loading / unloading table with the origin on the XY-axis coordinates set according to the shape as the handling start point, and between the mold and the handling start point A carrier that moves forward and backward in the Y-axis direction, a grip holding plate that is rotatably supported by the carrier, and a bent portion that is held in a row by the grip holding plate and grips one side of the bending member. The is characterized in that it comprises a workpiece gripping mechanism comprising a plurality of divert to the mold by turning clockwise or counterclockwise direction.

  According to the automatic handling method of a bending member according to claim 1 of the present invention, the following effects can be obtained. When bending by bending each side of the bending member to the mold, the bending member is moved in the X-axis direction and the Y-axis direction of the coordinate plane, and the bending member is swiveled around the handling start point. A large work range is not required for swinging. Therefore, it is effective for space saving in the factory layout.

  Moreover, according to the automatic handling apparatus of the bending member of Claim 2 of this invention, the following effects are acquired. Multiple workpiece gripping mechanisms provided in the automatic handling device grip and clamp one side of the bending member, rotate the bending member in the clamped state, and turn each side to the mold, ensuring only a minimum turning area Just do it. In addition, the conventional problem of “changing the hook” on all sides of the bending member can be solved. That is, since the change of the knob is set only once, the machining tact per bending member is remarkably shortened, which is very effective in improving the work efficiency and reducing the cost.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a bending member automatic handling apparatus according to the present invention will be described below in detail with reference to the drawings. 7 and 8 described as the conventional example, the same or common members are denoted by the same reference numerals, and the new members according to the present embodiment are denoted by the new reference numerals, so that the difference from the conventional example is different. To clarify.

First Embodiment FIG. 1 is an overall plan view of a structural example in which the bending member automatic handling apparatus 30 according to the present embodiment is applied to an AC servo drive type panel bender. The panel bender body 10 is provided with a bending mold composed of upper and lower molds (not shown). On the front side of the front portion of the panel bender body 10 is provided an operation table 11 for handling workpieces. A rectangular workpiece 1 which is a bending member shown in FIGS. 4A and 4B is positioned on the operation table 11 by being laterally fed from the X-axis direction as a coordinate axis. The Y-axis direction is fed forward in the direction of, and the bending process is started. A roller conveyor type carry-in table (carry-in position) 12 is provided in the operation table 11 to feed and position the works 1 one by one from a work accumulation stock (not shown). The automatic handling device 30 described in detail below moves on the X-axis from the right to the left in the figure and grips the work 1 on the carry-in table 12 almost in synchronization with the work carry-in operation to the carry-in table 12. Clamp

  A manipulator 20 for gripping and handling the workpiece 1 is disposed on the operation table 11 and includes center clamps 21 and 22 shown in FIGS. 7A and 7B. And clamped from the back side.

  Further, assuming that the operation table 11 is a plane of XY axis orthogonal coordinates, the position of the coordinate origin is programmed in advance in accordance with the size and shape of the work 1, and sequence control is possible. The automatic handling apparatus 30 which is the main part of the present embodiment is arranged with such a coordinate origin as a handling start point. As shown in FIG. 2, the automatic handling device 30 is guided to the guide rail 15 from the handling start point of the original position on the operation table 11 via the carrier (cart) 37, in the X axis direction and the Y axis direction of the coordinate axes. It is designed to move linearly. A grip holding plate 38 is rotatably supported on the carrier 37 and is rotated by receiving rotational power from a rotational power source 39 including a motor and a speed reducer. In the same embodiment, four work grip mechanisms 31 are carried in a row on the grip holding plate 38. These four work grip mechanisms 31 are set so that all four or a part of the four work simultaneously by sequence control programmed in advance according to the size and shape of the work 1.

  Accordingly, the grip holding plate 38 is rotated together with the four work grip mechanisms 31 in the clockwise direction or the counterclockwise direction within a range of a rotation angle of 90 ° to a maximum of 180 °. That is, the four work grip mechanisms 31 integrally move linearly in the X and Y axis directions and rotate on the operation table 11 within an angle range of 90 ° to 180 °. 5A to 5C show the structure and operation order of these four work grip mechanisms 31. FIG. Each work grip mechanism 31 has a pair of upper and lower claw-shaped grip members 32 and 33 for grasping and clamping the work 1, and the upper grip member 32 constitutes one member of a toggle mechanism to generate a boost. ing. The upper end of the grip member 32 is pivotally supported by a movable bracket 34 via a hinge pin 32a so as to be rotatable, and is connected to a rod 35a of a cylinder device (actuator) 35 via a hinge pin 32b. Therefore, the grip member 32 is rotated about the hinge pin 32a by the reciprocating operation of the piston of the cylinder device 35, and the workpiece 1 is gripped in cooperation with the lower grip member 33. The lower grip member 33 is integrally coupled to the movable bracket 34, and these integral assemblies are held so as to be vertically movable in the vertical direction by the linear motion of the rod 36a of the cylinder device 36.

  Next, the operation and action of the automatic handling apparatus 30 according to the first embodiment will be described with reference to FIGS. 6 (a) to (n). Hereinafter, the sequence operation of the automatic handling apparatus 20 can be performed by NC control based on electronic control by a microcomputer including a CPU (Central Control Unit).

  First, as shown in FIG. 6A, the workpiece 1 of the bending member shown in FIGS. 4A and 4B is sent onto the carry-in table 12 and positioned. Almost in synchronization with the workpiece loading operation, the automatic handling device 30 waiting at the handling start point on the operation table 11 starts moving in the X-axis direction toward the loading table 12 in the left direction in the figure. That is, the carrier 37 starts to move on the X axis toward the carry-in table 12 in the left direction by the start ON signal, and the four work grip mechanisms 31 on the grip holding plate 38 can grip the long side 1c of the work 1. Move up. Subsequently, the cylinder devices 35 of the four work grip mechanisms 31 are simultaneously operated to grip and grip the long side 1c of the work 1 (see FIG. 8).

  As shown in FIG. 6B, the work 1 gripped by the work grip mechanism 31 of the automatic handling device 30 is carried on the X-axis toward the operation table 11 in the right direction in the figure, and on the operation table 11. It moves to a predetermined position (original position) and is once positioned here. The original position of the operation table 11 becomes an initial movement position at which the work 1 starts to be bent.

  As shown in FIG. 6 (c), the work 1 is vertically moved forward on the Y-axis toward the panel bender body 10 while being gripped by the work grip mechanism 31. The long side 1b of the work 1 turned to the mold is bent at a predetermined angle.

  When the bending of the long side 1b is finished, as shown in FIG. 6 (d), the automatic handling apparatus 30 moves the workpiece 1 gripped by the workpiece grip mechanism 31 to the original position that is the initial movement position on the operation table 11. Retreat.

  At the stage of retreating to the original position, as shown in FIG. 6 (e), the work grip mechanism 31 of the automatic handling device 30 is turned together with the gripped work 1 together by a phase angle of 90 ° in the counterclockwise direction. The short side 1e is turned to the panel bender body 10. Then, the automatic handling device 30 moves forward on the Y-axis toward the panel bender main body 10 so that the short side 1e of the workpiece 1 being held faces the mold. Thereby, as shown in FIG. 6F, the short side 1e of the workpiece 1 is bent.

  When the bending of the short side 1e is finished, as shown in FIGS. 6 (g) and 6 (h), the automatic handling device 30 moves back to the original position while gripping the workpiece 1, and the phase angle for each workpiece 1 in the grip state. Turn clockwise by 180 °. As a result, the short side 1d of the work 1 is now turned to the panel bender body 10, the automatic handling device 30 is advanced to face the work 1 to the mold, and the short side 1d is bent as shown in FIG. 6 (i). Processing.

  After the bending of the short side 1d, as shown in FIG. 6 (j), the automatic handling device 30 releases the grip of the work 1 by the work grip mechanism 31, and the automatic handling device 30 alone has its grip holding plate 38 counteracted. Turn 180 ° clockwise. At this time, since the work 1 is free and unstable by releasing the grip, it can be held stably by the center clamps 21 and 22 shown in FIG. That is, this is an example in which the automatic handling device 30 and the manipulator 20 are used together. At this turning position, the work grip mechanism 31 is operated, and the already bent long side 1b of the work 1 is changed to be gripped. The workpiece 1 is changed only once during the entire bending process.

  After the change of the handle, the automatic handling device 30 turns from the lock change position in the clockwise direction by an angle of 90 ° and returns to the original handling start point. Thereby, as shown in FIG. 6 (k), the long side 1 c of the work 1 is directed to the panel bender body 10.

  As shown in FIG. 6A, the carrier 37 of the automatic handling apparatus 30 that grips the workpiece 1 moves forward on the Y axis, and the long side 1c of the workpiece 1 is bent. After the bending of the long side 1c, as shown in FIG. 6 (m), the carrier 37 of the automatic handling apparatus 30 moves back on the Y axis and returns to the original handling start point.

  As shown in FIG. 6 (n), the automatic handling device 30 that has returned to the handling start point grips the work 1 that has been bent on all four long and short sides, and moves to the left in the figure as shown in FIG. 6 (n). Then, the work 1 is carried on the carry-in table 12, and the work is unloaded.

  However, when the carry-out table 40 is provided on the right side of the operation table 11 in FIG. 6 (n), the work 1 that has been bent is operated on the carry-out conveyor 14 on the X-axis. Can also be carried out.

  Further, particularly when the work 1 is small, it is not necessary to return to the handling start point after bending all sides, and the work table 1 is moved back to the carry-in table 12 or the carry-out table 40 in an oblique direction. Can be carried out. A pass line for moving the workpiece in an oblique direction can also be set by setting the XY axis coordinates of the automatic handling apparatus 30. If a small work is carried out by such an oblique pass line, it is effective for shortening the tact time by obtaining a return time as compared with the case of returning to the handling start point which is the origin like the large work 1.

  In addition, the workpiece 1 is manufactured as a frame-like door panel or the like by bending the flanges of the four long and short sides into the shapes shown in FIGS. 4A and 4B and FIGS. 5A to 5C. Is shown as In each step of the operations shown in FIGS. 6 (a) to 6 (n), the long side 1b, 1c and the short side 1d, 1e of the workpiece 1 are each bent once. That is, as shown in FIG. 4 and FIG. 5, the method and form of bending by bending twice, third bending,... And flange bending are not the main points of the present embodiment, and thus the description thereof is omitted.

As is apparent from the above, the following many effects can be obtained in the first embodiment.
(1) Since the opening 1a for a window such as a door panel is opened in the previous step like the workpiece 1 in the illustrated example, the center clamp of the conventional manipulator 20 shown in FIGS. 7 (a) and 7 (b) 21 and 22 are more effective when the center of the work cannot be grasped and clamped.
(2) Conventionally, in order to grasp the eccentric position from the center of the work with the center clamps 21 and 22, the turning radius turned when bending the long and short sides of the work in turn is increased, and the area for a large turning radius is secured. There was a bug to do. In the present embodiment, such a problem is gripped by the automatic handling device 30 and the work 1 is turned at the center, so that it is only necessary to secure a minimum turning area, and space saving can be realized in the factory layout.
{Circle around (3)} Conventionally, since the work has been “changed” for each of the four sides of the workpiece, the machining tact per workpiece is long, which has been a major factor in increasing costs. In this embodiment, such a defect is set only once in FIG. 6 (j), so that the machining tact per workpiece is significantly shortened, which is very effective in improving work efficiency and reducing costs. It is.

Second Embodiment In the first embodiment, the form in which the long and short sides 1b, 1c, 1d, and 1e are bent in order when the opening 1a is vacant in the center of the work 1 has been described. On the other hand, when it corresponds to the bending process of the workpiece | work 1 which does not have an opening part in the workpiece | work center part shown to Fig.7 (a), (b), the center part of the workpiece | work 1 with the center clamp type manipulator 20 with which this apparatus is equipped. Is clamped, and each of the four sides is bent. As described above, either the center clamp type manipulator 20 or the automatic handling device 30 of the first embodiment can be properly used depending on the presence or absence of the opening 1a in the center of the work 1, and depending on the processing convenience, the manipulator 20 and the automatic manipulator 20 can be used automatically. Both handling devices 30 can be used together. The combined use is effective at the time of changing the knob described in the paragraph (0024).

  The preferred first and second embodiments have been described above. The present invention is not limited to the first and second embodiments as long as it does not depart from the gist and concept of the present invention, and other embodiments and their modifications and applications are possible. Furthermore, combinations of these embodiments are also possible.

The top view which shows the form which applied the automatic handling apparatus of suitable 1st Embodiment which concerns on this invention to the panel bender. The front view which shows the automatic handling apparatus of the 1st embodiment. The side view which shows the automatic handling apparatus of the 1st embodiment. (A), (b) is a perspective view which shows the example of the workpiece | work in the automatic handling apparatus of 1st Embodiment, respectively before the bending process and after a process. (A)-(c) is a side view which shows the structure and operation | movement order of the grip mechanism which is the principal part in 1st Embodiment. (A)-(n) is a top view which shows the bending process operation | work of a workpiece | work in order in 1st Embodiment. (A), (b) is a perspective view which shows before and after bending in the state which gripped the workpiece | work by the center clamp system. The perspective view which shows the workpiece | work bending process before and after showing the grip system at the time of providing the opening part for windows in the workpiece | work center part.

DESCRIPTION OF SYMBOLS 1 ... Work 1a .... Opening part 1b, 1c, 1c, 1d for windows Long side of work to be bent 11 ... Operation table 12 ... Loading table 13 ... Loading conveyor 14 ... unloading conveyor 20 ... manipulators 21, 22 ... center clamp 30 ... automatic handling device 31 ... work grip mechanism 32 ... upper grip member 33 connected to toggle mechanism ... Lower grip member 34 ... movable bracket 35 ... cylinder device 37 ... carrier 38 ... grip holding plate 39 ... grip holding plate rotational power source 40 ... unloading table

  The present invention relates to a forging machine such as a press brake or a panel bender for bending a metal material such as a thin steel plate, and more specifically, a bending operation in which a turning operation for turning a panel-shaped workpiece in a bending direction to a mold is automated. The present invention relates to a member handling apparatus.

For example, by sending a rectangular workpiece to a panel bender and bending the long and short sides of the workpiece in order, for example, a housing or an assembly panel for a product such as a steel door, a wall material, or steel furniture is manufactured. In this case, the work is a panel bender whose next process is the one that has been sheared to the required size in the previous process, or one that has been punched into a required shape and processed into a developed sheet (blank) before bending. Is often sent to. For example, as shown in FIGS. 11 (a) and 11 (b) , when bending each of the four long and short sides of the rectangular workpiece 1 in order, the center portion of the workpiece 1 is held by the center clamps 21 and 22 of the manipulator. Work handling is performed by turning and turning the work bending direction to the mold. The workpiece 1 in the illustrated example is manufactured as a frame-shaped panel having a flange shown in FIG. 11B by bending two long sides 1b and 1c and short sides 1d and 1e in order.

On the other hand, as shown in FIGS. 12 (a) and 12 (b) , for example, the above-described steel door panel, the one in which the opening 1a for the window is opened at the center of the work 1 in the previous process is sent to the panel vendor. The situation is different in the process to be performed. In this case, since the opening 1a is vacant, the center portion of the work 1 cannot be clamped by the center clamps 21 and 22 shown in FIGS. 11 (a) and 11 (b) . Therefore, the center clamps 21 and 22 inevitably have to grip and clamp the workpiece 1 at an eccentric position shifted from the center of the workpiece. When the gripping position deviates from the center of the workpiece in this way, the turning radius for turning the workpiece 1 increases by the deviated distance. As the turning radius increases, it is necessary to secure a large work space for workpiece handling, which is disadvantageous because it restricts the layout in the factory.

In order to solve the problem that the turning radius of the workpiece 1 becomes large in recent years, as shown in FIGS. 12A and 12B, a handling device or method for gripping one side of the workpiece 1 with the grip mechanism 31 and turning it to the mold. Has been developed. For example, in the case of the apparatus and method disclosed in Patent Document 1, a manipulator that moves a workpiece in the X-axis and Y-axis directions as coordinate axes is composed of a first manipulator and a second manipulator.

  Special Table 2000-503908

  However, in the apparatus disclosed in Patent Document 1, the grip mechanism must be changed from one side of the workpiece to the other side every time the bending direction of the workpiece is turned to the mold. That is, when the work is rectangular and each of the four long and short sides is bent, it is necessary to change all the long and short sides. As a result, there is a problem that the machining tact per workpiece becomes very long, which is reflected in the machining cost and becomes high.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a bending member automatic handling method capable of increasing the work efficiency and reducing the machining cost by greatly reducing the machining tact per work by minimizing the number of workpieces to be changed. And providing such a device.

  To achieve the above object, the bending member automatic handling method according to claim 1 according to the present invention starts handling the origin on the XY axis coordinates programmed in advance according to the size and shape of the bending member. Set to a point, move from the handling start point to the carry-in position in the X-axis direction, move to the handling start point in a clamped state gripping the first side of the bending member positioned there, and After the bending member moved to the handling start point is advanced in the clamped state with the Y-axis direction directed toward the mold, the second side facing the first side of the bending member is bent by the mold. Retreating to the handling start point, and turning the bending member around the handling start point in the clockwise direction or the counterclockwise direction, Each side of the upper bending processed sequentially, wherein the unloading is moved in the X-axis direction toward the unloading position bent member after bending of each side.

  In order to achieve the above object, a bending member automatic handling apparatus according to claim 2, which is representative of the present invention, is adjacent to a mold for bending the bending member and a front front portion of the mold. An operation table in a place where handling is performed to turn the bending member toward the mold, a loading / unloading table provided adjacent to the operation table, and a size of the bending member Reciprocating in the X-axis direction between the loading / unloading table with the origin on the XY-axis coordinates set according to the shape as the handling start point, and between the mold and the handling start point A carrier that moves forward and backward in the Y-axis direction, a grip holding plate that is rotatably supported by the carrier, and a bent portion that is held in a row by the grip holding plate and grips one side of the bending member. The is characterized in that it comprises a workpiece gripping mechanism comprising a plurality of divert to the mold by turning clockwise or counterclockwise direction.

  According to the automatic handling method of a bending member according to claim 1 of the present invention, the following effects can be obtained. When bending by bending each side of the bending member to the mold, the bending member is moved in the X-axis direction and the Y-axis direction of the coordinate plane, and the bending member is swiveled around the handling start point. A large work range is not required for swinging. Therefore, it is effective for space saving in the factory layout.

  Moreover, according to the automatic handling apparatus of the bending member of Claim 2 of this invention, the following effects are acquired. Multiple workpiece gripping mechanisms provided in the automatic handling device grip and clamp one side of the bending member, rotate the bending member in the clamped state, and turn each side to the mold, ensuring only a minimum turning area Just do it. In addition, the conventional problem of “changing the hook” on all sides of the bending member can be solved. That is, since the change of the knob is set only once, the machining tact per bending member is remarkably shortened, which is very effective in improving the work efficiency and reducing the cost.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a bending member automatic handling method and apparatus according to the present invention will be described below in detail with reference to the drawings. 11 and 12 described as the conventional example, the same or common members are denoted by the same reference numerals, and the new members according to the present embodiment are denoted by the new reference numerals, so that the difference from the conventional example is different. To clarify.

First Embodiment FIG. 1 is an overall plan view of a structural example in which the bending member automatic handling apparatus 30 according to the present embodiment is applied to an AC servo drive type panel bender. The panel bender body 10 is provided with a bending mold composed of upper and lower molds (not shown). On the front side of the front portion of the panel bender body 10 is provided an operation table 11 for handling workpieces. A rectangular workpiece 1 which is a bending member shown in FIGS. 4A and 4B is positioned on the operation table 11 by being laterally fed from the X-axis direction as a coordinate axis. The Y-axis direction is fed forward in the direction of, and the bending process is started. A roller conveyor type carry-in table (carry-in position) 12 is provided in the operation table 11 to feed and position the works 1 one by one from a work accumulation stock (not shown). The automatic handling device 30 described in detail below moves on the X-axis from the right to the left in the figure and grips the work 1 on the carry-in table 12 almost in synchronization with the work carry-in operation to the carry-in table 12. Clamp.

A manipulator 20 for gripping and handling the work 1 is disposed on the operation table 11 and includes center clamps 21 and 22 shown in FIGS. 11A and 11B. And clamped from the back side.

  Further, assuming that the operation table 11 is a plane of XY axis orthogonal coordinates, the position of the coordinate origin is programmed in advance in accordance with the size and shape of the work 1, and sequence control is possible. The automatic handling apparatus 30 which is the main part of the present embodiment is arranged with such a coordinate origin as a handling start point. As shown in FIGS. 2 and 3, the automatic handling device 30 is guided to the guide rail 15 from the original handling start point on the operation table 11 via the carrier (cart) 37, and the X-axis direction and the Y-axis of the coordinate axes are It moves linearly in the axial direction. A grip holding plate 38 is rotatably supported on the carrier 37 and is rotated by receiving rotational power from a rotational power source 39 including a motor and a speed reducer. In the same embodiment, four work grip mechanisms 31 are carried in a row on the grip holding plate 38. These four work grip mechanisms 31 are set so that all four or a part of the four work simultaneously by sequence control programmed in advance according to the size and shape of the work 1.

  Accordingly, the grip holding plate 38 is rotated together with the four work grip mechanisms 31 in the clockwise direction or the counterclockwise direction within a range of a rotation angle of 90 ° to a maximum of 180 °. That is, the four work grip mechanisms 31 integrally move linearly in the X and Y axis directions and rotate on the operation table 11 within an angle range of 90 ° to 180 °. 5A to 5C show the structure and operation order of these four work grip mechanisms 31. FIG. Each work grip mechanism 31 has a pair of upper and lower claw-shaped grip members 32 and 33 for grasping and clamping the work 1, and the upper grip member 32 constitutes one member of a toggle mechanism to generate a boost. ing. The upper end of the grip member 32 is pivotally supported by a movable bracket 34 via a hinge pin 32a so as to be rotatable, and is connected to a rod 35a of a cylinder device (actuator) 35 via a hinge pin 32b. Therefore, the grip member 32 is rotated about the hinge pin 32a by the reciprocating operation of the piston of the cylinder device 35, and the workpiece 1 is gripped in cooperation with the lower grip member 33. The lower grip member 33 is integrally coupled to the movable bracket 34, and these integral assemblies are held so as to be vertically movable in the vertical direction by the linear motion of the rod 36a of the cylinder device 36.

Next, the automatic handling device 30 according to the first embodiment from the above configuration will be described with reference to FIGS. 6 to 10 the operation and effects. Hereinafter, the sequence operation of the automatic handling apparatus 20 can be performed by NC control based on electronic control by a microcomputer including a CPU (Central Control Unit).

First, as shown in FIG. 6A, the workpiece 1 of the bending member shown in FIGS. 4A and 4B is sent onto the carry-in table 12 and positioned. Almost in synchronization with the workpiece loading operation, the automatic handling device 30 waiting at the handling start point on the operation table 11 starts moving in the X-axis direction toward the loading table 12 in the left direction in the figure. That is, the carrier 37 starts to move on the X axis toward the carry-in table 12 in the left direction by the start ON signal, and the four work grip mechanisms 31 on the grip holding plate 38 can grip the long side 1c of the work 1. Move up. Subsequently, the cylinder devices 35 of the four work grip mechanisms 31 are simultaneously operated to grip and grip the long side 1c of the work 1 ( see FIG. 12 ).

  As shown in FIG. 6B, the work 1 gripped by the work grip mechanism 31 of the automatic handling device 30 is carried on the X-axis toward the operation table 11 in the right direction in the figure, and on the operation table 11. It moves to a predetermined position (original position) and is once positioned here. The original position of the operation table 11 becomes an initial movement position at which the work 1 starts to be bent.

  As shown in FIG. 6 (c), the work 1 is vertically moved forward on the Y-axis toward the panel bender body 10 while being gripped by the work grip mechanism 31. The long side 1b of the work 1 turned to the mold is bent at a predetermined angle.

When the bending of the long side 1b is finished, as shown in FIG. 7A , the automatic handling device 30 moves the work 1 gripped by the work grip mechanism 31 to the original position that is the initial movement position on the operation table 11. Retreat.

At the stage of retreating to the original position, as shown in FIG. 7B, the work grip mechanism 31 of the automatic handling device 30 is turned together with the work 1 being gripped together by a phase angle of 90 ° in the counterclockwise direction. The short side 1e is turned to the panel bender body 10. Then, the automatic handling device 30 moves forward on the Y-axis toward the panel bender main body 10 so that the short side 1e of the workpiece 1 being held faces the mold. Thereby, as shown in FIG.7 (c) , the bending process of the short side 1e of the workpiece | work 1 is performed.

When the bending of the short side 1e is finished, as shown in FIGS. 8 (a) and 8 (b) , the automatic handling device 30 moves back to the original position while gripping the workpiece 1, and the phase angle for each workpiece 1 in the grip state. Turn clockwise by 180 °. As a result, the short side 1d of the work 1 is turned to the panel bender body 10 and the automatic handling device 30 is advanced to face the mold 1 to bend the short side 1d as shown in FIG. Processing.

After the bending of the short side 1d, as shown in FIG. 9A , the automatic handling device 30 releases the grip of the workpiece 1 by the workpiece gripping mechanism 31, and the automatic handling device 30 alone has its grip holding plate 38 counteracted. Turn 180 ° clockwise. In this case, the work 1 is so unstable they become free in the grip release, it can be allowed to stably and sandwiching the center clamp 21 shown in FIG. 11. That is, this is an example in which the automatic handling device 30 and the manipulator 20 are used together. At this turning position, the work grip mechanism 31 is operated, and the already bent long side 1b of the work 1 is changed to be gripped. The workpiece 1 is changed only once during the entire bending process.

After the change of the handle, the automatic handling device 30 turns from the lock change position in the clockwise direction by an angle of 90 ° and returns to the original handling start point. As a result, as shown in FIG. 9B , the long side 1 c of the work 1 is directed to the panel bender body 10.

As shown in FIG. 9C, the carrier 37 of the automatic handling apparatus 30 that grips the workpiece 1 moves forward on the Y axis, and the long side 1c of the workpiece 1 is bent. After the bending of the long side 1c, as shown in FIG. 10A , the carrier 37 of the automatic handling apparatus 30 moves back on the Y axis and returns to the original handling start point.

The automatic handling apparatus 30 that has returned to the handling start point moves on the X axis to the left in the figure as shown in FIG. 10B while holding the work 1 that has been bent on all four long and short sides as gripped. Then, the work 1 is carried on the carry-in table 12, and the work is unloaded.

However, in the case where the carry-out table 40 is provided on the right side of the operation table 11 in FIG. 10B , the work 1 that has finished all bending is operated on the carry-out conveyor 14 on the X-axis. Can also be carried out.

  Further, particularly when the work 1 is small, it is not necessary to return to the handling start point after bending all sides, and the work table 1 is moved back to the carry-in table 12 or the carry-out table 40 in an oblique direction. Can be carried out. A pass line for moving the workpiece in an oblique direction can also be set by setting the XY axis coordinates of the automatic handling apparatus 30. If a small work is carried out by such an oblique pass line, it is effective for shortening the tact time by obtaining a return time as compared with the case of returning to the handling start point which is the origin like the large work 1.

In addition, the workpiece 1 is manufactured as a frame-like door panel or the like by bending the flanges of the four long and short sides into the shapes shown in FIGS. 4A and 4B and FIGS. 5A to 5C. Is shown as In each step of the operations shown in FIGS. 6 to 10, the long side 1b, 1c and the short side 1d, 1e of the work 1 are described as being bent only once. That is, as shown in FIG. 4 and FIG. 5, the method and form of bending by bending twice, third bending,... And flange bending are not the main points of the present embodiment, and thus the description thereof is omitted.

As is apparent from the above, the following many effects can be obtained in the first embodiment.
{Circle around (1)} Since the opening 1a for a window such as a door panel is opened in the previous step as in the work 1 in the illustrated example, the center clamp of the conventional manipulator 20 shown in FIGS. 11 (a) and 11 (b). 21 and 22 are more effective when the center of the work cannot be grasped and clamped.
(2) Conventionally, in order to grasp the eccentric position from the center of the work with the center clamps 21 and 22, the turning radius turned when bending the long and short sides of the work in turn is increased, and the area for a large turning radius is secured. There was a bug to do. In the present embodiment, such a problem is gripped by the automatic handling device 30 and the work 1 is turned at the center, so that it is only necessary to secure a minimum turning area, and space saving can be realized in the factory layout.
{Circle around (3)} Conventionally, since the work has been “changed” for each of the four sides of the workpiece, the machining tact per workpiece is long, which has been a major factor in increasing costs. In this embodiment, such a defect is set only once in FIG. 9 (a) , so that the machining tact per workpiece is significantly shortened, which is very effective in improving work efficiency and reducing costs. It is.

Second Embodiment In the first embodiment, the form in which the long and short sides 1b, 1c, 1d, and 1e are bent in order when the opening 1a is vacant in the center of the work 1 has been described. On the other hand, when it corresponds to the bending process of the workpiece | work 1 which does not have an opening part in the workpiece | work center part shown to Fig.11 (a), (b) , the center part of the workpiece | work 1 with the center clamp type manipulator 20 with which this apparatus is equipped. Is clamped, and each of the four sides is bent. As described above, either the center clamp type manipulator 20 or the automatic handling device 30 of the first embodiment can be properly used depending on the presence or absence of the opening 1a in the center of the work 1, and depending on the processing convenience, the manipulator 20 and the automatic manipulator 20 can be used automatically. Both handling devices 30 can be used together. The combined use is effective at the time of changing the knob described in the paragraph (0024).

  The preferred first and second embodiments have been described above. The present invention is not limited to the first and second embodiments as long as it does not depart from the gist and concept of the present invention, and other embodiments and their modifications and applications are possible. Furthermore, combinations of these embodiments are also possible.

The top view which shows the form which applied the automatic handling apparatus of suitable 1st Embodiment which concerns on this invention to the panel bender. The front view which shows the automatic handling apparatus of the 1st embodiment. The side view which shows the automatic handling apparatus of the 1st embodiment. (A), (b) is a perspective view which shows the example of the workpiece | work in the automatic handling apparatus of 1st Embodiment, respectively before the bending process and after a process. (A)-(c) is a side view which shows the structure and operation | movement order of the grip mechanism which is the principal part in 1st Embodiment. (A)-(c) is a top view which shows the bending process operation | work of a workpiece | work in order in 1st Embodiment. (A)-(c) is a top view which shows in order the bending process operation | movement of a workpiece | work following FIG. 6 in 1st Embodiment. (A)-(c) is a top view which shows in order the bending process operation | movement of a workpiece | work following FIG. 7 in 1st Embodiment. (A)-(c) is a top view which shows in order the bending process operation | movement of a workpiece | work following FIG. 8 in 1st Embodiment. (A), (b is a top view which shows in order the bending process operation | movement of a workpiece | work following FIG. 9 in 1st Embodiment. (A), (b) is a perspective view which shows before and after bending in the state which gripped the workpiece | work by the center clamp system. The perspective view which shows the workpiece | work bending process before and after showing the grip system at the time of providing the opening part for windows in the workpiece | work center part.

DESCRIPTION OF SYMBOLS 1 ... Work 1a ... Opening part for windows 1b, 1c, 1c, 1d ... Long side of workpiece to be bent 11 ... Operation table 12 ... Carrying table 13 ... Carrying conveyor 14 ... unloading conveyor 20 ... manipulators 21, 22 ... center clamp 30 ... automatic handling device 31 ... work grip mechanism 32 ... upper grip member connected to toggle mechanism 33 ... Lower grip member 34 ··· movable bracket 35 ··· cylinder device 37 ··· carrier 38 ··· grip holding plate 39 ··· rotational power source of grip holding plate 40 ··· carry-out table

Claims (6)

  The origin on the XY-axis coordinates programmed in advance according to the size and shape of the bending member is set as the handling start point, and the bending is positioned there by moving from the handling start point to the loading position in the X-axis direction. Moving the bending member moved to the handling start point in the clamped state holding the first side of the member and moving the bending member moved to the handling start point toward the mold in the clamped state, A second side opposite to the first side of the bending member is bent by a mold and then retracted to the handling start point after bending, and the bending member is rotated in the clockwise direction or the counterclockwise direction around the handling start point. Turn to bend the third side and each side beyond it, move the bent member after each side to the carry-out position in the X-axis direction and carry it Automatic handling scheme bending member characterized by.   2. The bending member automatic handling method according to claim 1, wherein when the bending process is performed in a clamped state by gripping all the sides of the bending member, the side is changed only once. A mold for bending a bending member;
An operation table at a place where handling is performed adjacent to the front front portion of the mold and the bending member is turned to the mold,
A table for loading and unloading provided adjacent to the side of the operation table;
Reciprocating in the X-axis direction between the loading / unloading table with the origin on the XY-axis coordinates set according to the size and shape of the bending member as the handling start point, and the mold and the handling A carrier that moves back and forth in the Y-axis direction between the start point and
A grip holding plate rotatably supported by the carrier;
A plurality of work gripping mechanisms which are held in a row by the grip holding plate and which turn the bending member in the clockwise direction or the counterclockwise direction in a clamped state in which one side of the bending member is gripped and turn it toward the mold;
An automatic handling device for a bending member, comprising:   4. The bending member automatic handling apparatus according to claim 3, wherein all or part of the plurality of work grip mechanisms are operated according to the size and shape of the bending member.   When the work grip mechanism pivots through the grip holding plate by releasing the clamped state of the bending member to change the side of the bending member, the clamped released bending member is clamped by a center clamp. 5. The bending member automatic handling apparatus according to claim 3, further comprising a manipulator for clamping.   6. The bending member automatic handling apparatus according to claim 5, wherein either one or both of the work grip mechanism and the manipulator can be selected corresponding to the size and shape of the bending member.

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