JP2502258Y2 - Folding machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a bending machine provided with a back gauge device for positioning a work.

(Prior Art) Conventionally, as a back gauge device in a folding machine equipped with a bending robot that performs a work supply service, a stretch member that is movable in the front-rear direction and a plurality of movable members that are movable in the left-right direction provided on the strut member. And a workpiece abutting member.

Therefore, according to the size of the work, each abutting member is moved in the left-right direction, and then the stretch member is moved in the front-rear direction according to the predetermined bending line of the work, which is then clamped by the bending robot. In addition, the workpiece is abutted against the abutting member for positioning.

(Problems to be solved by the invention) By the way, in the above-described conventional back gauge device, the abutting member is moved in the left-right direction according to the size of the work, which causes no trouble, but the works are sequentially processed. In the middle of bending to form a box-shaped bent product, the height of the work end that abuts against the abutting member changes to various heights depending on the bent product.

In this way, the height of the work end that abuts against the abutting member varies depending on the bent product, so that the height of each abutting member is changed by the operator each time the bending product to be processed is changed. There was a problem that they had to be aligned.

Further, there is a limit in the working range because there is a limit in the combination and alignment of the abutting members depending on the type of bent product.

In order to improve the above-mentioned problems, an object of the present invention is to automatically move a work abutting device that constitutes a back gauge device in the left and right directions and a vertical direction so as to abut a work member. It is an object of the present invention to provide a folding machine equipped with a back gauge device that can cope with various changes in the height of the product and the type of the bent product.

[Structure of the Invention] (Means for Solving the Problems) In view of the conventional problems as described above, the present invention is arranged at a lower position of an upper frame provided with an upper mold, in cooperation with the upper mold, for the work. Provide a lower frame with a lower mold for bending, and to the base plate attached to this lower frame,
A folding machine provided with a manipulator for providing a work between the upper and lower molds, and at a rear position of the upper and lower molds, in a bending machine provided with a back gauge device for positioning the work, wherein the back gauge is At the rear position of the upper and lower molds, a stretch member stretched in the left-right direction is provided so as to be automatically movable in the front-rear direction, and a plurality of moving bodies supported by the stretch members are automatically moved in the left-right direction. The abutting members mounted on the movable bodies are provided so as to be movable and positionable, and the abutting members mounted on the movable bodies are automatically movable and positioned in the vertical direction. A length measuring sensor composed of a linear transducer that outputs a signal corresponding to the measured amount is provided on each of the abutting members, and the output values of the length measuring sensors are the same. Unishi Te is made of a configuration for positioning the edge of the workpiece to be parallel to the a fold line which is a processing position of the upper and lower molds.

(Embodiment) An embodiment of the present invention will be described in detail below with reference to the drawings.

Referring to FIGS. 3 and 4, the folding machine 1 is composed of, for example, a press brake, and the manipulator 3 is attached to the front side of the folding machine 1. On the side of the folding machine 1, a magazine section 5 accommodating the work W is provided, and a conveyor 7 for conveying the bent product P to the next step is arranged. The magazine part 5
Since the structure of the carrier device 7 may be a general structure, the detailed description thereof will be omitted.

The bending machine 1 includes an upper frame 9 and a lower frame 11 as in a general press brake, and an upper die 13 is detachably attached to the upper frame 9. A lower mold 15 is attached to the lower frame 11.

As is known, in the folding machine 1 having the above-described configuration, one of the upper and lower frames 9 and 11 is operated to move up and down, and the upper die 13 and the lower die 15 are engaged with each other. The work W interposed between 15 and 15 is bent.

Although not shown in detail, the lower frame 11 is configured to move up and down in this embodiment.

Further, the folding machine 1 is provided with a back gauge device 17 for positioning the workpiece W in the front-rear direction (left-right direction in FIG. 4: Y-axis direction) so as to be movable and positionable in the front-rear direction. Length measuring sensors 19 for detecting contact of the work W are attached to a plurality of positions of the back gauge device 17. The length measuring sensor 19 is composed of a linear transducer such as a direct acting potentiometer whose measuring process is relatively long.

With the above configuration, when the work W is brought into contact with and positioned by the back gauge device 17 which is preliminarily positioned by the usual means, it is detected whether or not the outputs of the respective length measuring sensors 19 at a plurality of positions match a predetermined output value. By doing the work W
It is possible to know whether or not the edge of is parallel to a bending line (hereinafter referred to as a bending axis C if necessary) which is a processing position (bending center) by the upper and lower molds 13 and 15, and the work W
Can be accurately positioned.

The output signal from the length measuring sensor 19 is the upper frame 9
It is input to the general bending machine control device 21 mounted on the. The folding machine control device 21 controls the operation of each operating part of the folding machine 1, the operation of the back gauge device 17 and the operation of the manipulator 3 in an integrated manner.
When the output signal from each length measurement sensor 19 is input, the operation of the manipulator 3 is controlled so that the output value of each length measurement sensor 19 becomes a desired output value.

In the present embodiment, the manipulator 3 is mounted on a base plate 23 which is integrally attached to a lower frame 11 which can be raised and lowered.

More specifically, the base plate 23 extends in the left-right direction (X-axis direction) along the longitudinal direction of the lower die 15, and the first movable table 25 is movable on the front surface of the base plate 23 in the X-axis direction. It is supported. The first moving table 25 is rotatably provided with a pinion (not shown) meshed with a rack rod 27 provided in the base plate 23 in the X-axis direction, and an X-axis for rotationally driving the pinion. A servo motor 29 is provided. Note that the power transmission mechanism for the X-axis servomotor 29 to rotate and drive the pinion may have a general configuration, and thus the detailed description thereof will be omitted. The X-axis servomotor 29 is composed of, for example, a stepping motor or the like, and has a position detecting device such as an encoder.

With the above configuration, the first moving table 25 can be moved in the X-axis direction by operating the X-axis servo motor 29, and the moving position of the first moving table 25 in the X-axis direction with respect to the reference position is detected. be able to.

As is clear from FIGS. 3 and 4, the first movable table
A fan-shaped portion 31 whose upper side is enlarged in the front-rear direction (Y-axis direction) is provided on the 25, and an arc-shaped rack member 33 is provided on the top of the fan-shaped portion 31. A second moving table 35 is supported on the rack member 33 so as to be movable in the Y-axis direction along the rack member 33. A pinion (not shown) that meshes with the rack member 33 is rotatably provided on the second moving table 35, and a Y that rotatably drives the pinion is used.
The axis servo motor 37 is mounted. The Y-axis servo motor 37 is provided with a position detecting device such as an encoder like the X-axis servo motor 29.

With the above configuration, by driving the Y-axis servomotor 37, the second moving table 35 is moved along the rack member 33 in an arc shape in the Y-axis direction. The position of the second moving table 35 in the Y-axis direction is detected by the position detection device provided in the Y-axis servomotor 37.

As is apparent from FIGS. 3 and 4, the second movable table
A movable up-and-down support column 39 which is movable in the upper and lower Z-axis directions orthogonal to the moving direction of the second moving table 35 is supported on the 35.
A rack in the vertical direction is formed on the elevating column 39.
A pinion (not shown) meshing with this rack is rotatably supported by the second moving base 35, and a Z-axis servomotor 41 for rotationally driving this pinion is provided on the second moving base.
It is attached to 35. The Z-axis servo motor 41 is provided with a position detecting device like the X-axis servo motor 29.

With the above-described configuration, the lifting column 39 is the Z-axis servo motor.
It will be understood that the drive of 41 moves up and down, and the up and down position is detected by the position detecting device.

An arm 43 extending in the Y-axis direction is appropriately fixed to the upper part of the lifting column 39. A plate material gripping device 45 capable of gripping one side edge of the work W is attached to the tip of the arm 43. More specifically, as shown in FIGS. 3 and 4, the plate material holding device 45 is provided rotatably in the up-down direction about a B axis parallel to the X axis, and at the same time, the B axis It is provided so that it can be rotated around an A axis that is orthogonal to.

A-axis servomotor 47 for turning the plate material gripping device 45 around the A-axis and a B-axis servomotor 49 for vertically rotating the plate material gripping device 45 around the B-axis.
Is attached to the arm 43. The A-axis and B-axis servo motors 47 and 49 are provided with a position detecting device like the X-axis servo motor 29 described above. The power transmission mechanism for turning the plate material gripping device 45 around the A axis by the A-axis servo motor 47 and the power transmission mechanism for turning up and down by the B-axis servo motor 49 have various configurations. However, since this configuration does not have a characteristic, the detailed description thereof will be omitted.

Referring again to FIG. 3, an auxiliary gripping device 51 capable of temporarily gripping the work W is attached to one side of the lower frame 11 or the base plate 23, and a side gauge device 53 is also provided. It is attached via a bracket.

The auxiliary gripping device 51 includes an upper jaw 55 and a lower jaw 57 for gripping the work W, and the vertical movement of the upper jaw 55 is performed by an actuator (not shown).

The side gauge device 53 is used when detecting the positional relationship between the manipulator 3 and one side edge of the work W gripped by the plate material gripping device 45, and includes a side sensor 59. The side sensor 59 is the back gauge device 17
Like the length measuring sensor 19 provided in the above, it is composed of a linear transducer such as a direct acting potentiometer. The output value of the side sensor 59 is input to the folding machine control device 21.

With the above configuration, the work W is gripped by the plate material gripping device 45, moved in the X-axis, Y-axis and Z-axis directions, and
The upper mold 13 and the lower mold 15 are rotated around the axis and the B axis, and bending work is performed in various shapes.

FIG. 1 is an enlarged plan view showing only the back gauge device 17 provided at the rear (left side in FIG. 4) of the processing position (bending center) of the folding machine 1. First
In the figure, a stretch member 61 movable in the front-rear direction (Y-axis direction) is provided extending in the left-right direction (X-axis direction). The stretch member 61 is a ball screw (not shown),
It is movable in the Y-axis direction by a known drive device such as a servo motor.

Rear end of stretch member 61 (upper end in FIG. 1)
A rack 63 is integrally provided along the X-axis direction. A plurality of (for example, two) abutting devices 65 are attached to the stretch member 61.

Each abutting device 65 includes a moving body 67R, 67L and this moving body 67R, 6L.
It is composed of abutting members 69R, 69L provided on the front part (lower part in FIG. 1) of 7L. Moreover, the abutting members 69R, 69L are provided with the length measuring sensor 19, respectively.

A rack 63 provided at the rear end of the stretch member 61
The pinions 71R and 71L are meshed with each other, and the pinions 71R and 71L are provided in the moving bodies 67R and 67L. Moreover, the pinions 71R and 71L are linked to the servomotors 73R and 73L.

With the above configuration, when the servo motors 73R and 73L are individually driven, the pinions 71R and 71L are rotated. Since the pinions 71R and 71L are meshed with the rack 63, the moving bodies 67R and 67L are individually moved with respect to the stretch member 61 in the X-axis direction. The moving body 67R, 67L
T-shaped engaging portions 75R and 75L extending in the vertical direction (Z-axis direction) are provided at the front end portion (lower end portion in FIG. 1) of each, and the engaging portions 75R and 75L are abutted against each other. Material 69R, 6
Locking portions 77R and 77L of T-shaped grooves formed in 9L are provided. Since the engaging portions 75R, 75L are engaged with the locking portions 77R, 77L, the abutting members 69R, 69L are movable bodies 67R, 67L.
It can move in the Z-axis direction.

Racks 79R and 79L extending in the Z-axis direction are provided on the right side of the front ends of the moving bodies 67R and 67L. This rack 79R, 7
Pinions 81R and 81L are meshed with 9L, respectively, and the pinions 81R and 81L are provided to the abutting members 69R and 69L. Moreover, this pinion 81R, 81L is a servomotor 83R, 8L
It is linked to 3L.

With the above configuration, when the servo motors 83R and 83L are driven, the pinions 81R and 81L are rotated. Pinion 8
The 1R and 81L are meshed with the racks 79R and 79L, so that the abutting members 69R and 69L are individually Z-mounted with respect to the moving bodies 67R and 67L.
It will be moved in the axial direction.

Therefore, when the work W is bent by the folding machine 1 to obtain, for example, a box-shaped bent product P, the moving bodies 67R and 67L are moved in the X-axis direction according to the size of the work W. The abutting members 69R, 69L are positioned at predetermined positions in the X-axis direction. Next, the stretch member 61 is positioned in the Y-axis direction so that the bending position of the work W comes to the bending center, and the work W clamped by the plate material holding device 45 of the manipulator 3 is moved in the Y-axis direction to move the end of the work W. The portion is abutted against the abutting members 69R and 69L, and the bending position of the work W is positioned at the bending center.

In this state, the upper mold 13 and the lower mold 15 of the folding machine 1 are caused to cooperate with each other, so that the work W is bent. The manipulator 3 is controlled and operated in accordance with the bending of the work W.

In order to obtain a box-shaped bent product P by bending a plurality of bending positions of the work W, a plurality of bending positions are bent according to a predetermined bending order.
The height at the end of the work W that abuts against 69R and 69L changes. Depending on the height change at the end of the work W,
The abutting members 69R and 69L move in the Z-axis direction with respect to the moving bodies 67R and 67L, and the end of the work W is always abutted against the abutting members 69R and 69L and can be bent accurately. Further, even if the height at the end of the work W that abuts against the abutting members 69R, 69L changes depending on various types of box-shaped bent products P obtained from the work W, the abutting member 69R, 69
L moves in the Z-axis direction. Thus, since the end of the work W is always accurately abutted against the abutting members 69R, 69L, it is possible to obtain a bent product P with a good processing accuracy.

As shown in FIG. 2, the bending control device 21 includes a bending machine main body control device 85 and a manipulator control device 8.
7 and an abutting device control device 89, etc., and the folding machine body control device 85, the manipulator control device 87, and the abutting device control device 89 are connected to each other to exchange respective signals. It is supposed to be.

The bending machine main body control device 85 mainly performs control when bending the work W by cooperation of the upper die 13 and the lower die 15, for example. Further, the manipulator control device 87 mainly performs control of clamping the work W by the manipulator 3 when the work W is bent and following the movement. Further, the abutting device control device 89 mainly performs movement control for positioning the work W before bending the work W, particularly movement control for moving the abutting device 65 in the X-axis and Z-axis directions.

In the present embodiment, the abutment device control device 89 is provided separately from the folding machine main body control device 85, so that the abutment member 69R, depending on the size of the work W, in particular, the type of the bent product P.
Even if the height of the end of the work W that abuts against the 69L changes frequently, these control data are managed and stored independently, so that it can be easily dealt with.

The present invention is not limited to the above-described embodiment, but can be implemented in other modes by making appropriate changes.

[Effects of the Invention] As will be understood from the above description of the embodiments, in essence, the present invention cooperates with the upper mold (13) at the lower position of the upper frame (9) having the upper mold (13). A lower frame (11) provided with a lower mold (15) for working and bending the work (W) is provided, and a base plate (23) attached to the lower frame (11) is provided with the upper and lower molds ( A back gauge device which is provided with a manipulator (3) for providing a work (W) between (13, 15) and positions the work (W) at the rear position of the upper and lower molds (13, 15). (1
In a folding machine comprising 7), the back gauge (17) is provided with a stretch member (61) stretched in the left-right direction in the front-back direction at the rear position of the upper and lower molds (13, 15). The movable members (67L, 67R) supported by the stretch member (61) are automatically movable in the left-right direction, and the movable members (67L, 67R) are automatically positioned in the left-right direction. The mounted abutting members (69L, 69R) are provided so as to be automatically movable and positionable in the vertical direction, and the contact of the work (W) held by the manipulator (3) is detected to detect the work (W). Provided on each of the abutting members (69L, 69R) is a length measuring sensor (19) consisting of a linear transducer that outputs a signal corresponding to the amount pressed by, and the output value of each length measuring sensor (19). The edge of the work (W) so that Type (13, 15)
The configuration is such that positioning is performed so as to be parallel to the bending line which is the processing position.

As is apparent from the above configuration, in the present invention, the stretch member 61 extending in the left-right direction is moved and positioned in the front-rear direction, and the moving bodies 67L, 67R are moved and positioned in the left-right direction, and the abutting members 69L, By moving and positioning 69R in the vertical direction, it is possible to cope with the width of the work W in the left-right direction and easily respond to changes in the height position of the edge of the work W.

Further, each abutting member 69L, 69R is provided with a length measuring sensor 19 composed of a linear transducer which outputs a signal corresponding to the amount pressed by the work W, and the output value of each length measuring sensor 19 is When the workpiece W is positioned using the manipulator when the workpiece W is not held accurately when the workpiece W is positioned using the manipulator, the edge of the workpiece W is positioned so as to be parallel to the bending line. Even if there is, the work W can be accurately positioned.

[Brief description of drawings]

FIG. 1 shows the main part of the present invention, and is an enlarged plan view of the portion viewed in the direction of the arrow I in FIG. 4, FIG. 2 is a schematic block diagram of a folding machine control device, and FIG. FIG. 4 is a left side view of FIG. 3 showing a bending machine equipped with the manipulator of the embodiment. 1 …… Bending machine, 3 …… Manipulator 17 …… Back gauge device, 19 …… Length measurement sensor 21 …… Bending machine control device 61 …… Stretching member 65 …… Abutting device, 67R, 67L …… Movement Body 69R, 69L ... Abutting member

Claims (1)

(57) [Scope of utility model registration request] 1. A lower mold (15) for bending a work (W) in cooperation with the upper mold (13) at a lower position of an upper frame (9) having the upper mold (13). Lower frame with (1
1) is provided, and the manipulator (3) for providing the work (W) between the upper and lower molds (13, 15) is provided on the base plate (23) attached to the lower frame (11),
Further, in the folding machine provided with a back gauge device (17) for positioning the work (W) at the rear position of the upper and lower molds (13, 15), the back gauge (17)
At the rear of the upper and lower molds (13, 15), a stretch member (61) stretched in the left-right direction is provided so as to be automatically movable and positionable in the front-rear direction, and supported by the stretch member (61). Multiple moving bodies (67L, 67R) are provided so that they can be automatically moved and positioned in the left-right direction.
Each of the abutting members (69L, 69R) mounted on the R) is automatically movable in the vertical direction and positioned, and the contact of the work (W) held by the manipulator (3) is detected to detect the work. Length measuring sensor (19) consisting of a linear transducer that outputs a signal corresponding to the amount pressed by (W)
Is provided on each of the abutting members (69L, 69R), and the end lines of the work (W) are connected to the upper and lower molds (13, A bending machine characterized in that it is positioned so as to be parallel to the bending line which is the processing position of 15).