JP2019048317A - Clamp structure of manipulator, and bending method for plate material using the same - Google Patents

Abstract

To provide a clamp structure of a manipulator, that is suitable for bending a small-sized plate material, and a bending method for the plate material using the same.SOLUTION: A clamp structure of a manipulator for use in a plate material bending machine includes a main clamp that is provided on the tip side of the manipulator, and an auxiliary unit for holding a plate material, the advance and retreat of which are controlled by the manipulator.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a clamp structure of a manipulator used in a plate bending machine.

In the field of plate bending machines, a manipulator having a C-shaped frame is used to position and clamp a plate serving as a work, as disclosed in, for example, Patent Document 1.
Such a manipulator generally has a clamping structure so as to sandwich a plate material between the upper clamper and the lower clamper, and secures the holding stability between the upper clamper and the lower clamper and the rotational positioning accuracy of the workpiece. A fixed size is required from the viewpoint, and in the case of a small plate material, there is a problem that it is not possible to bend all sides of the plate in a square while clamping with the upper clamper and the lower clamper.

JP 2000-33590 A

  An object of the present invention is to provide a clamp structure of a manipulator suitable for bending a small size plate material and a plate material bending method using the same.

The clamp structure of the manipulator according to the present invention is a clamp structure of a manipulator used in a bending machine for plate material, and holds a main clamp provided on the tip end side of the manipulator and a plate material controlled in advance and retreat from the manipulator. And an auxiliary unit.
Here, the main clamp provided on the tip end side of the manipulator means one having an upper clamper and a lower clamper for sandwiching a plate material such as a C-shaped frame structure from above and below.
The plate material is clamped and held by the main clamp of the manipulator and is supplied to the bending machine so as to be positionable.

In the present invention, the auxiliary unit is attached so as to advance from the frame or the like of the manipulator to the distal end side when necessary to hold the plate material instead of the main clamp and to retract when not in use.
The structure of the auxiliary unit is not limited as long as it has such a structure.
For example, in the present invention, the auxiliary unit is exemplified by one having an adsorption holding portion which is controlled to be advanced and retracted from the side to the tip of the arm of the manipulator.
Here, the suction holding portion refers to a member that can hold a plate by suction using a suction pad also called a so-called vacuum pad, and is preferably one that can hold a bent portion of the plate.

  The bending method of a plate material according to the present invention is a bending method of a plate material using the clamp structure of a manipulator according to claim 1 or 2, wherein the plate material is provided on the front table side provided on the front side of the plate bending machine. And holding the plate material by the main clamp of the manipulator, bending at the other end leaving at least one side of the plate material with the bending machine, and bending the plate material Unclamping the one side which has not been done on the regripping unit, unclamping the main clamp, displacing and holding the plate member clamped by the regripping unit to the auxiliary unit, and moving the plate member to the auxiliary unit And holding the one side of the plate material that has not been bent.

  In the manipulator according to the present invention, since the auxiliary unit capable of holding the plate material is provided in addition to the main clamp, bending of each side of the plate is sequentially performed, and when the work is clamped by the main clamp, the remaining side is bent If this can not be done, the holding unit can be used to hold the work (plate material) in the middle of processing to perform bending, so bending of a small size plate can also be performed.

The example of a layout of the bending machine incidental installation which arrange | positions the manipulator based on this invention is shown. The side view near the arm tip of a manipulator is shown. A state where the work (plate material) is clamped by the main clamp and one side of the plate material is bent. The state after bending-processing to one side of a board material is shown. The structural example of a grip replacement unit is shown. It shows a state in which the plate material is gripped by the change unit. Indicates that the main clamp has been retracted. The auxiliary unit shows a state in which the plate material is held by suction. It shows a state in which the plate member is held by the auxiliary unit and bent to the other side of the plate.

  An example of a clamp structure of a manipulator according to the present invention and an example of bending a plate material using the same will be described below based on the drawings.

A layout diagram is shown in FIG.
A front table 2 is installed on the front side of the bending machine 1, and a plate (work) W is home-aligned, and has a set table 3 for feeding it to the front table side.
The manipulator 10 is controlled to be advanced and retracted so that the plate material W can be received from the set table 3 and supplied toward the bending machine 1.
A grip changing unit 30 is provided on the front table side, which is in front of the bending machine 1.

The manipulator is provided with a main clamp 11 on the tip end side and an auxiliary unit 20 on the arm side surface of this manipulator, a side view of which is shown in FIG.
The manipulator 10 has a C-shaped frame structure having an upper arm 10a and a lower arm (not shown) and showing only the lower clamper 11b as shown in FIG.
An auxiliary unit 20 is attached to the side surface of the upper arm 10a of the manipulator 10. The auxiliary unit 20 slides the slide frame 21 along a slide rail (not shown), and the slide frame 21 obliquely downward and forwardly. The cylinder 23 is controlled forward and backward.
The slide frame 21 is connected to a suction frame 22 in the horizontal direction, and the tip of the suction frame 22 has a suction holding unit 24 formed of a suction pad suction-controlled by a vacuum pump.
When the rod 23a of the cylinder 23 advances (extends), the slide frame 21 advances obliquely downward, and along with this, the suction frame 22 advances to the tip side of the manipulator 10 while being lowered.

Next, an example of a procedure for bending a plate material will be described.
As shown in FIG. 2, the plate member W is clamped between the upper clamper 11a and the lower clamper 11b of the main clamp 11 in a state where the auxiliary unit 20 is raised and retracted.
Of the bending machine 1, only the plate-shaped receiving die 1b and the pressing die 1a are schematically shown.
As shown in FIG. 3, the manipulator 10 advances to supply the plate material W to the bending machine 1 side.
The present embodiment is an example in which the upper clamper 11a of the clamp 11 moves up and down.

Is placed on the receiving mold 1b the plate material W, the presser mold 1a is lowered, bending bent pieces L ₁ at a known, not shown in a state in which pressing the plate material W blade to one side of the plate material forming Do.
FIG. 3 shows the state of forming a bent piece L ₁ on one side of the plate material, if substantially the shape of the plate material W rectangular, also on both sides of the long sides of the bent piece L ₁ which is a short side on the main clamp 11 It can also be bent continuously by rotating 90 ° while clamping the plate material.
In this embodiment, an example will be described in which the short sides on opposite sides of the substantially rectangular plate material are bent.

The presser die 1a is raised, and the plate member W is retracted while being clamped by the main clamp 11 as shown in FIG. 4, and the plate member W is reversed as shown in FIG.
A grip changing unit 30 is provided at a lower portion of the front table 2 on the side of the bending machine 1.
The grip changing unit 30 is controlled to move up and down, and can clamp the plate material W by the gripping clamper 32 that moves up and down with the receiving claw 31.
As shown in FIG. 6 descends, it is clamped in place unit 20 grasp the side which is not opposite to the bending of the bent piece L ₁ of sheet material is W, the suction frame 22 of the auxiliary unit 20 as shown in FIGS. 7 and 8 , it is advanced, for attracting and holding the sides of the bent piece L ₁ at the suction holding section 24.
Thus, the remaining short side of the plate material W as shown in FIG. 9, it is possible to form the bent pieces L _2.

DESCRIPTION OF SYMBOLS 1 bending machine 1a presser die 10 receiving die 2 front table 3 set table 10 manipulator 10a upper arm 11 main clamp 11a upper clamper 11b lower clamper 20 auxiliary unit 21 slide frame 22 adsorption frame 23 cylinder 24 adsorption holding unit 30 grip change Unit 31 Catch 32 Hold the clamper

Claims (3)

It is a clamp structure of a manipulator used for a plate material bending machine,
A main clamp provided on the tip side of the manipulator,
A clamp structure of a manipulator, comprising: an auxiliary unit for holding a plate controlled to be advanced and retracted from the manipulator.   The clamp structure of a manipulator according to claim 1, wherein the auxiliary unit has a suction holding portion which is advanced and retreated from the side of the arm of the manipulator to the distal side. A bending method of a plate material using a clamp structure of a manipulator according to claim 1 or 2,
A plate replacement unit is provided on the front table side provided on the front side of the plate bending machine.
Holding the plate material by the main clamp of the manipulator and bending at the other end of the plate material while leaving at least one side of the plate material;
Clamping one side of the plate material which has not been bent to the regripping unit and unclamping the main clamp;
Allowing the auxiliary unit to hand over and hold the plate material clamped by the grip replacement unit;
And a step of holding the plate material in the auxiliary unit and bending the one side of the plate material that has not been bent.

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