JP2527823B2 - Work removal method and device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention interposes a work held by a robot between a gooseneck punch of a press brake and a die, and applies a load to the work by the punch. The present invention relates to a method and a device for taking out a work from a gooseneck punch when performing V-bending.

[Conventional technology]

In the press brake, a plate material is inserted between a punch and a die, and a pressing operation by the punch is sequentially applied to the work to sequentially bend the plate material to complete a product such as a box.

By the way, among the molds used for V-bending, there are a gooseneck type punch 1 and a die 2 as shown in FIG. 5, and when these molds are used, the work 3 is hook-shaped as shown in the figure. Bent.

[Problems to be Solved by the Invention]

If the gooseneck type punch 1 is used,
As shown in the drawing, since the work 3 is in a state of being engaged with the punch 1, the punch 1 cannot be removed from the work 3 only by raising the punch 1. Therefore, conventionally, the removal work is performed with the assistance of the operator, and the operator is forced to perform a manual work that is troublesome and requires skill.

The present invention has been made in view of such a situation,
An object of the present invention is to provide a work taking-out method and device which can take out a work from the punch automatically and efficiently when performing V-bending using a gooseneck punch.

[Means for solving the problem]

According to the present invention, a work picked up by a robot is interposed between a gooseneck punch and a die of a press brake, and a work is taken out from the gooseneck punch when performing V-bending by pressurizing the gooseneck punch. A first step of detecting the end of the V-bending by the gooseneck punch, and after detecting the end of the V-bending, drive the press brake and the robot to simultaneously raise the gooseneck punch and the V-bent work by a predetermined distance. A second step of controlling, and a third step of driving and controlling the robot so that the work is moved in a predetermined direction set in advance after the second step and the work is extracted from the gooseneck punch, and the third step. After finishing the above process, drive the press brake to move the gooseneck punch upward. Controls, so that comprising a fourth step of driving and controlling the robot to take out the workpiece from the press brake.

Further, according to the present invention, a press brake having punch driving means for vertically moving the gooseneck punch is provided,
In a work taking-out device that takes out a work from a press brake after performing V-bending of the work by pressurizing with a gooseneck punch, a work moving robot that moves the work in a three-dimensional direction by gripping the work and the gooseneck. Machining end detecting means for detecting that the die punch has reached a target point, and a first raising command for raising and moving the work and the punch by a predetermined distance in response to the detection of the machining end detecting means. A first control means that outputs to the punch driving means at the same time, and a movement command that moves the work in a predetermined direction that corresponds to the direction in which the tip of the gooseneck punch extends after the upward movement according to the first lifting command. To the work moving robot, and a work transfer by the second control means. After the completion, the third control means for outputting a second ascending command for ascending the punch to the standby point is output to the punch driving means, and after the completion of the movement of the work by the second control means, the work is horizontally moved. And a fourth control means for outputting a horizontal movement command taken out from the press brake to the work moving robot.

[Action]

When the pressurizing operation by the gooseneck punch is completed,
Both the robot and the press brake are driven simultaneously, and the work and the punch are simultaneously moved up. Next, the robot is driven to move the workpiece away from the punch in the direction in which the tip of the gooseneck punch extends, and the workpiece is pulled out of the punch. Next, the press brake is driven to raise the punch to the standby point, and the robot is driven to horizontally move the work to take out the work from the press brake.

〔Example〕

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

FIG. 2 shows the overall configuration of the press brake system.

The press brake 10 includes a fixed table 13 having a die 12 supported thereon and a gooseneck punch 14 for pressing a work.
And a movable table 15 which is vertically movable, and two back stoppers 16 for positioning the work. In addition, in the same drawing, the butt stopper 16 is shown, so that the central portions of the die 12 and the punch 14 are omitted.

Further, in this system, a work supply device 17 for taking out a plurality of accumulated plate materials (workpieces) 3 one by one by a suction pad, and a work 3 grasped by a hand 18 is inserted between a punch 14 and a die 12. A robot 20 for handling and transporting the work involved in bending, such as positioning the work, a holding table 30 for the robot 20 to change the work during the handling work by the robot 20, and a product on which the finished product is placed. NC that drives and controls the platform 40, press brake 10 and work supply device 17.
The apparatus 50 and a robot controller 60 that drives and controls the robot 20 according to NC data are configured.

The robot 20 has a body part 21 placed on the floor, an arm part having three joints, and a rotatable hand 18.
The work held by the hand 18 can be freely moved in the three-dimensional direction.

FIG. 3 shows the configuration of the control system of this system. The movable table 15 to which the gooseneck punch 14 is attached is driven by the movable table drive device. The crank angle indicating the vertical position of the movable table 15 is detected by the crank angle detector 62, and this detected angle is input to the NC controller 50.

The operator inputs data according to the content of the bending process to the NC controller 50, and the NC controller drives and controls each part of the press brake 10 as needed based on the input data, and the robot is based on the input data. Robot controller after conversion to drive control data
Transfer to 60. The robot controller 60 drives and controls the robot 30 based on the converted data, and controls the supply, handling, movement, take-out, etc. of the work 3.

Hereinafter, a work taking-out procedure when the V-bending process is performed by the gooseneck punch 14 will be described with reference to FIGS. 1 and 4.

-Procedure 1 (Fig. 1 (a)) The state shown in Fig. 1 (a) is a state after one bending process is completed, and thereafter, the robot 20 moves the hand 18
The workpiece 3 gripped by is moved until it comes into contact with the back stopper 16, thereby performing positioning for the next bending process.

・ Procedure 2 (Fig. 1 (b)) When this workpiece positioning is completed, NC controller 50
Outputs a descending command to the movable table drive device 61,
The movable table 15 is lowered. By this lowering, the work 3 is pressed between the die 12 and the gooseneck type anti-roll 14, and as a result, the work 3 is V-bent. Along with this bending, the robot controller 60 rotationally controls the arm portion 22 of the robot 20 so that the hand 18 is moved from the position shown in FIG. 1A to the position shown in FIG.

-Procedure 3 (Fig. 1 (c)) The NC controller 50 detects the end of the pressurization by the detection output of the pressing force detection means (Fig. 4, step 100).
That is, the end of pressurization is detected when the punch 14 reaches the target point. This pressurization end signal is the NC controller 50.
Is also input to the robot controller 60 from the NC controller 50, and the NC controller 50 responds to the pressurization end signal by a predetermined distance l.
By inputting a movable table raising command for raising the movable table 15 to the movable table drive device 61, the movable table 15 is raised by a predetermined distance l. At the same time, the robot controller 60 also converts the ascending movement of the distance l into a rotation command for each arm in order to raise the work 3 by a predetermined distance l in response to the pressurization end signal, and outputs a rotation command for each arm. The work 3 is output to the robot 20 and the work 3 is moved to the distance l.
Only move up (step 110). That is, in the procedure 3, the gooseneck punch 14 and the work 3 are simultaneously raised by the predetermined distance l.

-Procedure 4 (Fig. 1 (d)) When the punch 14 and the work 3 have been lifted (step 120), the robot controller 60 sends an arm rotation command signal for moving the roller 3 in the direction of arrow e to the robot 20.
(Step 130). That is, the robot controller 60 recognizes the direction angle 4 in which the tip portion 14 'of the gooseneck punch 14 extends from the model number of the gooseneck punch 14 in the NC data given from the NC controller 50, and the ascending drive is performed. When finished, an arm rotation command signal for moving the work 3 in the direction of arrow e is output to the robot 20. As a result, the work 3 is moved in the e direction, and the work 3 is extracted from the punch 14.

-Procedure 5 (Fig. 1 (e)) When the movement of the work 3 in the e direction is completed (step 140), the NC controller 50 moves a lift command to raise the movable table 15 to the standby point (top dead center). It outputs to the table drive device 61 and raises the punch 14 to the standby point (step 150).

-Procedure 6 (Fig. 1 (f)) When the ascending of the punch 14 is completed (step 160),
The robot controller 60 outputs an arm rotation command signal for horizontally moving the work 3 in the direction of arrow f to the robot 20 (step 170). As a result, the work 3 is taken out from between the punch 14 of the press brake 10 and the die 12.

In addition, in the above embodiment, the procedure 5 and the procedure 6 can be performed simultaneously. That is, in the process of extracting the work 3 in the procedure 4, if the work 3 is extracted to a position where the horizontal movement of the work 3 in the f direction does not collide with the upward movement of the punch 14, the procedures 5 and 6 are performed simultaneously. be able to.

〔The invention's effect〕

As described above, according to the present invention, when performing the V-bending process using the gooseneck punch, the work can be automatically and efficiently taken out from the punch.

[Brief description of drawings]

FIG. 1 is a process drawing showing an embodiment of the present invention, FIG. 2 is a perspective view showing the overall structure of a breath brake system, and FIG.
FIG. 4 is a block diagram showing a configuration example of a control system, FIG. 4 is a flowchart showing an example of a control procedure of the embodiment, and FIG. 1,14 …… Gooseneck punch, 2,12 …… Die, 3 ……
Work, 10 …… Press brake, 15 …… Movable table,
17 …… Work supply device, 20 …… Robot, 30 …… Carrying table, 50 …… NC controller, 60 …… Robot controller.

Claims (2)

(57) [Claims] 1. A method of taking out a work from a gooseneck punch when V-bending is performed by pressurizing the gooseneck punch by interposing a work held by a robot between the gooseneck punch of the press brake and the die. In the first step, the first step of detecting the end of V-bending by the gooseneck punch, and the press brake and the robot for simultaneously raising the gooseneck punch and the V-bent work by a predetermined distance after the end of the V-bending is detected. Second drive control
Step, and after the second step, the robot is driven and controlled so that the work is moved in a predetermined direction set in advance to extract the work from the gooseneck punch, and after the third step, A fourth step of driving and controlling the press brake so as to move the gooseneck type punch upward, and drivingly controlling the robot so as to take out the work from the press brake. 2. A work take-out device, comprising a press brake having a punch driving means for vertically moving a gooseneck punch, taking out the work from the press brake after performing V-bending of the work by pressurization by the gooseneck punch. A three-dimensionally movable workpiece moving robot that grips and conveys a workpiece, machining end detecting means for detecting the end of machining by the gooseneck punch, and the work and robot in response to the detection output of the machining end detecting means. First control means for simultaneously outputting a first raising command for raising and moving the punch by a predetermined distance to the work moving robot and the punch driving means; and after the raising movement according to the first raising command, in a preset predetermined direction. Second control means for outputting a movement command for moving a work to the work moving robot And a third control means for outputting to the punch driving means a second ascending command for ascending and moving the punch to the standby point after completion of the work movement by the second control means, and the second control means. A work take-out device comprising: fourth control means for outputting, to the work moving robot, a movement command for moving the work in another direction and taking it out from the press brake after the work movement is completed.