JP2012101317A - Robot hand for bending long material and long material bending system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot hand for a long material, the robot hand having a suction means and a gripper and enabling loading, and to provide a long material bending system using the robot hand.SOLUTION: In the robot hand for a long material, the robot hand 15 is provided with a suction means 31 and a gripper 51 for gripping both ends of a workpiece in a longitudinal direction thereof, and the suction means can be moved and positioned in a back and forth direction of the workpiece. The long material bending system includes a robot supplying a workpiece to a sheet folding machine, and a grip changing device. In the long material bending system, the robot hand 15 of is provided with the suction means 31 and the gripper 51 for gripping the both ends of the workpiece in the longitudinal direction thereof, and the suction means can be moved and positioned in the back and forth direction of the workpiece.

Description

  The present invention relates to a robot hand for bending a long material and a long material bending system.

  In general, a sash bending process of a long material is manufactured using a long plate material, that is, a long material using a press brake which is a bending machine.

  47 (a) and 47 (b) show an intermediate process in the sash bending process. In this example, the work W is sucked and held by the vacuum pad 103 and the upper mold 101 of the bending machine is used. The case where it supplies between the lower mold | dies 102 is shown.

  In the state shown in FIG. 47A, the next bending position is positioned between the upper mold 101 and the lower mold 102, and then the upper mold 101 is lowered to the upper surface of the work W, so that the upper surface of the work W is It is the state stopped at the position (pinching position) where the upper mold 101 contacts.

  In the case of the cross-sectional shape of the workpiece W shown in FIG. 47A, the balance between the front and rear of the bending position is poor, and the workpiece W rotates counterclockwise as shown in FIG. I can't do it.

  In addition, when the workpiece W has a cross-sectional shape as shown in FIG. 48, the vacuum pad 103 may interfere with the flange 104 bent to the lower side of the workpiece W and the workpiece W may not be reliably held by suction.

  On the other hand, in the case of a work having a small flange portion, a method of gripping the flange portion with a gripper is used instead of the suction holding means using a vacuum pad.

  However, the use of gripper type gripping means expands the range of the cross-sectional shape that can be bent, but it is not possible to load one material out of the loaded material and supply it to the plate material processing machine.

  In view of this, a plate material gripping device having a vacuum pad adsorbing means and a gripper type gripping means capable of loading a workpiece that is picked up from the loaded material and supplied to the plate material processing machine is employed (for example, a patent) Reference 1).

Japanese Utility Model Publication No. 6-66982

  In the above-mentioned patent document 1, a plate material grip for supplying a narrow plate material to a bending machine such as a press brake without using an intermediate stand or an inverter and taking out a product processed by the bending machine is disclosed. An apparatus is described.

  More specifically, referring to FIG. 49, the plate material gripping device has a left / right reversing mechanism 106 attached to the tip of the third arm 105 of the articulated robot, and has a main shaft 107 that is driven to be reversed by the left / right reversing mechanism 106. A square bar-like base 108 is provided at the tip of the main shaft 107 so as to be rotatable in a plane parallel to the third arm 105.

  A pair of suction bars 109, a front edge sandwiching bar 110, and a side edge sandwiching bar 111 are provided on the front side of the square bar-shaped base 108 from the inside in the lateral direction so as to be symmetrical with respect to the center C4 of the main shaft. They are provided in order toward the outside.

  The suction bar 109 is extendable and retractable by a vacuum pad drive cylinder provided on the rear surface side of the base 108, and a vacuum pad 114 is swingably provided at the tip of the suction bar 109. Similarly, the front edge pinching bar 110 is provided to be extendable and contractible by a drive cylinder 115, and a front edge pinching chuck 116 is provided at the tip.

  Further, the side edge sandwiching bar 111 is provided so as to be extendable and contractable by a drive cylinder 117, and a pair of side edge sandwiching chucks 118 are provided at the tip so as to face each other. A driving motor 119 is provided for rotating the plate material around the long axis CK of the plate material while the plate material is held on the side edge sandwiching chuck 118.

  In the invention described in Patent Document 1, the vacuum pad suction mechanism 114 is used until one plate material is picked up from the original plate stock and lifted, and then the plate material is transferred to the leading edge pinching mechanism 116 before bending. , Work reversal, reworking and product removal are performed in a state of being held in the leading edge pinching mechanism 116, and the production tact is shortened by not using an intermediate stand or reversing machine. It is.

  However, in the invention relating to the plate material gripping device described in the cited document 1, there are various problems when performing sash bending of a long material, and the range in which sash bending of a practical long material can be performed is narrow. There is a problem.

  That is, many sash-bending products made of practical long materials have few gripping margins and cannot be gripped by side edge pinching chucks (grippers) unless the workpiece is replaced.

  Similarly, in sash bending of a long material having a small dimension of the bending flange portion, the side edge pinch chuck (gripper) 118 and the mold interfere with each other during bending unless bending is performed. Further, since the side edge chuck chuck (gripper) 118 can advance and retreat in the front-rear direction but cannot move in the left-right direction, which is the longitudinal direction of the plate material, there is a problem that it is not possible to bend the plate material having different longitudinal dimensions. is there.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to be able to grip a long material with a small grip allowance or a long material having a different longitudinal dimension, and bend processing. An object of the present invention is to provide a long material bending robot hand provided with a gripper capable of avoiding interference between a gripper and a mold sometimes and a suction means capable of sucking and holding one surface of a long material.

  In addition, a robot that supplies a workpiece made of long plate material to a plate material bending machine or carries out a processed product, and a long plate material gripper that temporarily holds a workpiece made of a long plate material held by the robot hand of this robot In a long plate bending system comprising an apparatus, a robot hand exchange station, a material station, and a product station, the robot hand is a long material having a different longitudinal dimension even with a long material having a small gripping allowance. However, a long plate material bending system comprising a gripper that can be gripped and can avoid interference between the gripper and the mold at the time of bending, and an adsorption means that can adsorb and hold one surface of the long material. Is to provide.

  The long plate material bending robot hand according to claim 1 as means for solving the above-mentioned problem is a robot hand that can be attached to and detached from the robot hand mounting portion of the robot, and the robot hand is made of a long plate material. And a gripper capable of gripping both ends in the longitudinal direction of the workpiece sucked by the suction means and capable of gripping and moving away from each other, and gripping the suction means by the gripper The gist of the present invention is that the surface of the workpiece thus provided can be moved and positioned in the front-rear direction perpendicular to the longitudinal direction.

  The long plate material bending robot hand according to claim 2 is the long plate material bending robot hand according to claim 1, wherein the suction means includes a plurality of vacuum pad holders extending in the longitudinal direction. Vacuum pads are arranged at appropriate intervals, and the vacuum pad holder is provided to be movable and positionable in the front-rear direction by a drive cylinder. The gripper has a movable lower jaw that can be opened and closed with respect to a fixed upper jaw. The gist is that the thickness of the fixed upper jaw in the opening / closing direction is thinner than that of the movable lower jaw.

  The long plate material bending system according to claim 3 is a robot for supplying a workpiece made of a long plate material to a plate material bending machine and carrying out a product processed by the plate material bending machine, and the robot of this robot A gripping device for receiving the workpiece held by a hand and temporarily holding the workpiece; a robot hand exchanging station; a material station for placing the workpiece; and a product station for placing the product. In the long plate material bending system, the robot hand is provided with suction means capable of sucking and holding one surface of the workpiece and capable of gripping both longitudinal ends of the work sucked by the suction means and approaching and moving away from each other. Before and after orthogonally intersecting the longitudinal direction on the surface of the workpiece gripped by the gripper. It is an Abstract by comprising movable positioning direction.

  The long plate material bending system according to claim 4 is characterized in that, in the long plate material bending system according to claim 3, the grip changer is provided in the plate material bending machine body. is there.

  According to the robot hand for bending a long plate material of the present invention, it is possible to grip a workpiece made of a long material with a small gripping allowance or a long material having a different longitudinal dimension. In addition, since the thickness of the gripper's fixed upper jaw in the opening / closing direction is thinner than that of the movable lower jaw, the area where the gripper and the mold interfere during bending can be made smaller.

  In addition, the gripper and suction means capable of sucking and holding one surface of a workpiece made of a long material are provided on the robot hand so that it can be moved and positioned in the longitudinal direction perpendicular to the longitudinal direction on the surface of the long plate material. It became possible to load by loading a single board that was impossible.

  Furthermore, the time for re-holding can be further shortened by using a re-holding device provided in the plate material bending machine body.

Explanatory drawing of the elongate board | plate material bending processing system using the robot equipped with the robot hand which concerns on this invention. The side view of a robot equipped with a robot hand according to the present invention (partially omitted). FIGS. 3A and 3B are explanatory views of the operation state of the suction unit when the robot hand according to the present invention is viewed from above, FIG. 3A shows the retracted position of the suction unit, and FIG. FIGS. 4A and 4B are explanatory views of the operation state of the gripper when the robot hand according to the present invention is viewed from above, and FIG. 4A shows a state in which the left and right grippers approach each other, and FIG. 5A is a sectional view taken along the line B-B in FIG. 3, and the retracting position of the suction unit is shown. FIG. 5B is a sectional view taken along the line C-C in FIG. FIG. 6A is a view taken in the direction of arrow D in FIG. 5. FIG. 6A shows a closed state of the gripper, and FIG. 6B shows an open state. An example of a bent product of a long workpiece. DD cross section of FIG. FIG. 8 is a development view of a bent product of the long material workpiece of FIG. 7. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. It is explanatory drawing of the bending process of a long material workpiece | work, and is the EE arrow line view in Fig.23 (a). It is explanatory drawing of the bending process of a elongate workpiece, and is the FF arrow line view in FIG.23 (b). Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. It is explanatory drawing of the bending process of a long material workpiece | work, and the GG arrow line view of FIG. It is explanatory drawing of the bending process of a long material workpiece | work, and the HH arrow line view of FIG. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. Explanatory drawing of the bending process of a elongate workpiece. An example in which a grip changing device for a long plate material is provided in a press brake body which is a plate material bending machine. 46A shows a state where the gripper is used to grip the workpiece, and FIG. 46B shows a state where the robot hand is rotated 180 degrees in the vertical plane and the workpiece is gripped. . 47A and 47B are explanatory diagrams when the work W is sucked and held by the vacuum pad 103 and supplied to the bending machine, in which FIG. 47A shows a pinching state, and FIG. 47B shows a state where the work W is rotated counterclockwise. The figure shown. The figure which showed the state which cannot hold | maintain the workpiece | work W by the vacuum pad 103 interfering with the flange 104 bent to the lower side of the workpiece | work W. FIG. An example of a conventional robot hand provided with a vacuum pad and a gripper.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 shows a configuration of a long plate bending system 1 according to the present invention. An articulated industrial robot 5 is provided on the front side of a press bending machine 3, for example, a plate bending machine. is there. The robot 5 is provided so as to be movable and positionable in the X-axis direction, which is a direction parallel to the longitudinal direction of a bending die (not shown) attached to the press brake 3.

  On the front side of the robot 5, there are provided a material station 7 on which a workpiece W made of a long plate material used for bending is loaded, and a product station 11 on which a product P processed by the press brake 3 is placed. .

  Further, as shown in FIG. 1, the work W held by a robot hand 15 (to be described later) of the robot 5 is received and temporarily held on the left side of the robot 5 when the press brake 3 is viewed from the front side. A re-holding device 13 is provided.

  Further, on the right side of the press brake 3, there is provided a robot hand exchange station 19 comprising a hand placing table 17 (a, b) for holding a plurality of types of robot hands 15 (af). A control device 21 for controlling the long plate bending system 1 including the press brake 3 is provided.

  A base 23 extending in the X-axis direction is provided on the front side of the press brake 3 and in front of the robot hand exchanging station 19, and a pair of X-axis guide rails provided parallel to the X-axis on the base 23. 25, an X-axis carriage base 27 provided integrally with the lower portion of the robot 5 is provided movably.

  The X-axis carriage base 27 is provided so as to be movable and positionable in the X-axis direction by an X-axis drive motor (not shown) controlled by the control device. Therefore, the robot 5 can be moved and positioned in the X-axis direction.

  Referring to FIGS. 1 and 2, the robot 5 is, for example, a 6-axis control multi-joint industrial robot having a main shaft 29 erected on the X-axis carriage base 27 in the Z-axis direction. The main shaft 29 can be rotated and positioned within a range of about 360 degrees around the Z axis.

  A first arm J1 that is rotatable about a horizontal axis O1 (not shown) parallel to the X axis is provided at the upper portion of the main shaft 29, and a second arm J2 is provided at the tip of the first arm J1. Is pivotable about a horizontal axis O2 (not shown).

  Similarly, a third arm J3 is provided at the tip of the second arm J2 so as to be rotatable about a horizontal axis O3. Further, a fourth arm J4 is provided at the distal end of the third arm J3 so as to be rotatable about a horizontal axis O4 and rotatable with respect to the central axis of the third arm J3. A robot hand mounting portion (for example, Japanese Patent Laid-Open No. 7-290389) in which the robot hand 15 can be automatically attached and detached is built in the tip of the fourth arm J4.

  2 to 5 show an embodiment of the robot hand 15 according to the present invention. Referring to FIGS. 3 and 4, the robot hand 15 holds the one surface of the workpiece W by suction. The suction means 31 provided with a vacuum pad 37 that can be moved up and down, and a pair of left and right that can grip both ends of the workpiece W sucked by the suction means 31 in the longitudinal direction (left and right direction in FIG. 3) and can approach and move away from each other. Gripper 51 (l, r).

  The robot hand 15 has a flat hand body 33, and a vacuum pad support 35 extending in the left-right direction is provided at the front of the hand body 33. A plurality of vacuum pads 37 are provided in the left and right sides of the vacuum pad support 35 in the front-rear direction (vertical direction in FIG. 3) in a row in the left-right direction.

  A pair of left and right guide bars 39 (a, b) are integrally fixed to the front portion of the vacuum pad support 35 in a direction orthogonal to the vacuum pad support 35. The guide bar 39 (a, b) is guided by a guide member 40 (see FIG. 5) such as a linear motion bearing provided on the upper surface of the hand body 33 so as to be movable in the front-rear direction.

  The hand main body 33 is provided with a pair of cylinders 41 (a, b) operated by air pressure or hydraulic pressure that operates in a direction orthogonal to the vacuum pad support 35, and the cylinders 41 (a, b) The tip of the piston rod 43 is connected to the vacuum pad support 35.

  A gripper support 53 extending in the left-right direction is provided integrally with the hand main body 33 at a front portion of the hand main body 33 and slightly below the vacuum pad support 35.

  A pair of guide rails 55 extending in the left-right direction are provided on the front surface of the gripper support 53. A guide member 59 provided in a gripper carriage 57 provided with the gripper 51 is movably engaged with the guide rail 55.

  The gripper carriage 57 is provided with a guide holding member 61 slightly extended in the front-rear direction, and the gripper 51 is mounted on a guide rail 63 provided on the guide holding member 61 so that the position of the gripper 51 can be adjusted in the front-rear direction.

  Near the center of the front surface of the hand main body 33, there are provided a cylinder 65l that operates by air pressure, hydraulic pressure, electric power or the like that operates in the left direction, and a cylinder 65r that operates in the right direction. The piston rod 67 of the cylinder 65l is connected to the gripper carriage 57 of the gripper 51l, and the piston rod 67 of the cylinder 65r is connected to the gripper carriage 57 of the gripper 51r.

  In the above configuration, as shown in FIGS. 3 (a, b) and 5 (a, b), by simultaneously operating the cylinders 41 (a, b), the suction means 31 generally shown in FIG. It can be moved from the retracted position shown in (a) to the advanced position in front of the hand body 33 shown in FIG. 3 (b).

  Also, as shown in FIGS. 4A and 4B, the grippers 51l and 51r shown collectively are shown in FIG. 4A by simultaneously operating the cylinder 65l and the right cylinder 65r. From the closed position, it can be moved to the open position shown in FIG.

  Referring to FIG. 6, the gripper 51 (1, r) generally shown includes a movable lower jaw 69 that can be opened and closed with respect to the fixed upper jaw 71. The movable lower jaw 69 is integrally provided on the upper portion of the drive cylinder 73. A piston rod 75 protruding from the cylinder body 73 is connected to the fixed upper jaw 71.

  By operating the drive cylinder 73, the movable lower jaw 69 can be opened and closed with respect to the fixed upper jaw 71 as shown in FIGS. 6 (a) and 6 (b). By providing the fixed upper jaw 71 with a thickness in the opening / closing direction thinner than that of the movable lower jaw 69, the range in which the fixed upper jaw 71 and the upper mold interfere with each other during bending is reduced.

  Referring again to FIG. 1, the grip changing device 13 is provided with a gripper 77 that can receive and temporarily hold the workpiece W held by the robot hand 15. 24 and 25, which will be described later, the gripper 77 is provided with work clamps 81 that can be freely opened and closed on a rotating shaft 79 that is parallel to the X-axis direction and extends horizontally. .

  The rotary shaft 79 is provided so as to be rotatable in a range of 180 degrees clockwise or counterclockwise about the axis of the rotary shaft 79 by a rotation driving means (not shown). The held work W can be turned upside down by rotating it by 20 degrees (see FIGS. 24 and 25).

  In the long plate bending system 1 having the above-described configuration, a bending die (not shown) is taken out from the material station 7 by the suction means 31 of the robot 5 to which the robot hand 15 is mounted and is mounted on the press brake 3. Positioning can be supplied during (omitted).

  Corresponding to the bending position in the bending step of the bent product, both ends of the workpiece W in the longitudinal direction can be gripped by the gripper 51 instead of the suction means 31. Further, the gripper changing device 13 can be used to change the gripper 51 to the suction means 31 or the suction means 31 to the gripper 51.

  Further, by using the grip changing device 13, the suction position of the suction means 31 can be shifted and moved in the front-rear direction of the workpiece W by a cylinder 41 that operates in a direction orthogonal to the vacuum pad support 35. is there.

  FIG. 45 is an example in which a long plate material re-holding device 83 is provided on the front surface of the upper table 85 of the press brake 3 main body, which is a plate material bending machine, and the work W is placed on the long plate material re-holding device 83. The gripped state is shown.

  46A shows a state in which the workpiece W is gripped by using the gripper 51 of the robot hand 15 in the long plate material gripping changer 83, and FIG. 46B shows the robot hand 15 in a vertical plane. This shows a state in which the workpiece W is gripped by rotating 180 degrees and inverting the left and right sides of the gripper 51.

  As described above, when the long plate material grip changing device 83 is provided on the front surface of the upper table 85 of the press brake 3 body, the workpiece W is clamped in parallel to the upper table 85. In addition, since the plurality of clamps 87 of the long plate material grip changing device 83 are provided so that the openings are on the lower side, the plane of the workpiece W clamped to the clamp 87 is vertical, so the workpiece W The bending in the vertical direction is reduced.

  The long plate material re-holding device 83 can perform re-holding using the suction means 31 of the robot hand 15. Further, since the long plate material re-holding device 83 is provided on the front surface of the upper table 85, there is an advantage that the time for re-holding can be shortened.

  Below, the procedure in the case of bending the bending product P as shown, for example in FIG. 7, FIG. 8 using the above-mentioned elongate board | plate bending process system 1 is demonstrated.

  The product P has six bent portions (1) to (7), and the bending process is also performed in this order. FIG. 9 is a development view WP of the product P, which is a work W. The dimensions of the workpiece W in the left and right longitudinal directions are different, the dimension of the right end is A, and the dimension of the left end is B (B <A).

  First, the long side of the right end of the workpiece W is gripped by the suction means 31 of the robot hand 15, and for example, the punch P mounted on the press brake 3 with the front side OS of the workpiece W facing upward It is conveyed between the dies D, and the left end portion of the work W is brought into contact with the abutting member 91 of the back gauge device 89 so that the bent portion (1) is positioned at the bending center of the punch P and the die D. Then, the punch P is brought into contact (pinching) with the surface OS of the workpiece W to set the reference position in the Z-axis direction (see [FIG. 10] to [FIG. 12]).

  Next, the gripping means 31 is replaced with the gripper 51. At this time, the gripper 51 is clamped so that the fixed upper jaw 71 whose thickness in the opening and closing direction is thin is on the upper side (front side) of the workpiece W, and the bending portion (1) is bent ([FIG. 13]). To [FIG. 14]).

  By clamping in this way, the bending process of the bent portion (1) can be performed without interference between the fixed upper jaw 71 and the punch P.

  Next, in order to perform the bending process of the bent portion (2), the upper and lower sides of the gripper 51 are turned upside down so that the back side BS of the workpiece W is upside down, and the bent portion (2 ) Is positioned and then pinched, and the gripper 51 is turned upside down and clamped again to perform bending processing of the bent portion (2) (see [FIG. 15] to [FIG. 17]).

  Next, in order to perform the bending process of the bent portion (3), the gripper 51 is turned upside down and clamped, and the bent portion (3) is positioned so that the front side OS of the workpiece W is on the upper side. After pinching, the folding part (3) is bent again with the gripper 51 turned upside down again (see [FIG. 18] to [FIG. 20]).

  Since the bending process of the bent part (4) and the bent part (5) is performed on the short side, it is necessary to change the gripper 51 to the suction means 31 ([FIG. 21] to [FIG. 22). ]reference).

  With reference to FIG. 23 to FIG. 25, description will be given of how the gripper 51 is gripped to the suction means 31 at the time of bending the bent portion (4) and the bent portion (5).

  The work clamp 81 of the gripper 77 of the grip changing device 13 is gripped between the bent part (1) and the bent part (3) of the work W gripped by the gripper 51 of the robot hand 15 (see FIG. 23). (See (a)] and [FIG. 24]).

  Next, after the gripper 51 is released, the work clamp 81 of the gripper 77 of the re-holding device 13 is rotated 180 degrees about the rotation shaft 79 to invert the work W upside down, and the surface side OS of the work W is moved to the robot. It is sucked and held by the suction means 31 of the hand 15 (see [FIG. 23 (b)] and [FIG. 25]).

  Next, after bending the short side bent portion (4), the work W is horizontally rotated 180 degrees to bend the bent portion (5) (see [FIG. 26] to [FIG. 29]).

  Next, in order to bend the bent portion (6), it is necessary to change the gripping means 31 to the gripper 51, but before this holding change, the gripping allowance 91 of the gripper 77 of the holding / replacement device 13 is required. (Refer to [FIG. 31], [FIG. 32]) The work clamp 81 of the grip changing device 13 is clamped between the bent portion (1) and the bent portion (3) of the workpiece W (see FIG. 31). [See FIGS. 33 and 35].

  Next, in a state in which the work clamp 81 is clamped between the bent portion (1) and the bent portion (3) of the work W, the suction means 31 is moved upward as indicated by an arrow 93 so that the lower part of the work W Further, a grip allowance 91 of the gripper 77 of the grip changing device 13 is secured (see [FIG. 32]).

  Next, in order to change the gripping means 31 by the gripper 51 of the robot hand 15, the gripping portion 91 of the gripper 77 is clamped to the work clamp 81 of the gripper 77 of the gripping device 13 and the robot hand 15 is moved. Rotate 180 degrees and clamp between the bent portion (1) and the bent portion (3) so that the fixed upper jaw 71 of the gripper 51 comes to the back side RS of the workpiece W ([FIG. 37] to [FIG. 40]).

  Next, the bending portion (6) is positioned on the mold with the back side RS of the workpiece W facing up, and bending is performed (see [FIG. 41] and [FIG. 42]).

  Following the bending of the bent portion (6), the bent portion (7) is positioned and the last bent portion (7) is bent (see FIGS. 43 and 44).

1 Long plate bending system 3 Press brake 5 Industrial robot 7 Material station 11 Product station
DESCRIPTION OF SYMBOLS 13 Grab change apparatus 15 Robot hand 17 (a, b) Hand stand 19 Robot hand exchange station 21 Control apparatus 23 Base 25 X-axis guide rail 27 X-axis carriage base 29 Spindle 30 Robot hand mounting part 31 Adsorption means 33 Hand main body 35 Vacuum pad support 37 Vacuum pad 39 (a, b) Guide bar 40 Guide member 41 (a, b) Cylinder 43 Piston rod 51 (l, r) Gripper 53 Gripper support 55 Guide rail 57 Gripper carriage 59 Guide member 61 Guide holding member 63 Guide rail 65 (l, r) Cylinder 67 Piston rod 69 Movable lower jaw 71 Fixed upper jaw 73 Cylinder body 75 Piston rod 77 Gripper 79 Rotating shaft 81 Work clamp 8 Long plate member for engagement-switching device 85 upper table 87 clamp 89 back gauge device 91 abutting member J1 first arm J2 second arm J3 third arm J4 fourth arm W workpiece

Claims (4)

  The robot hand mounting portion of the robot is a detachable and replaceable robot hand, and the robot hand is provided with a suction means capable of sucking and holding one surface of a workpiece made of a long plate material, and the length of the workpiece sucked by the suction means Grippers capable of gripping both ends in the direction and capable of moving toward and away from each other are provided, and the suction means is provided on the surface of the workpiece gripped by the grippers so as to be movable in the front-rear direction perpendicular to the longitudinal direction. A robot hand for bending long sheet materials.   2. The robot hand for bending a long plate material according to claim 1, wherein the suction means is provided by arranging a plurality of vacuum pads at appropriate intervals on the vacuum pad holder extending in the longitudinal direction, and the vacuum pad holder. The gripper has a movable lower jaw that can be opened and closed with respect to the fixed upper jaw, and the thickness of the fixed upper jaw in the opening and closing direction is larger than that of the movable lower jaw. A robot hand for bending long plates, which is thin.   A robot for supplying a workpiece made of a long plate material to the plate bending machine and carrying out the product processed by the plate bending machine, and receiving the workpiece held by the robot hand of the robot and temporarily receiving it. In a long plate material bending processing system comprising a grip changing device for holding a workpiece, a robot hand exchanging station, a material station for placing the workpiece, and a product station for placing the product, A suction means capable of sucking and holding one surface of the work is provided, and grippers capable of gripping both longitudinal ends of the work sucked by the suction means and capable of moving toward and away from each other are provided. It is provided so that it can be moved and positioned in the front-rear direction perpendicular to the longitudinal direction on the surface of the gripped workpiece. Long sheet bending system.   4. The long plate bending system according to claim 3, wherein the grip changing device is provided in the plate bending machine main body.