JP2578581Y2 - Work reversing jig - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention relates to a work reversing jig.
More specifically, the present invention relates to a work reversing jig capable of performing reverse bending or the like of a work in combination with a robot for handling a material for press brake.

[0002]

2. Description of the Related Art Conventionally, when a sheet material such as a metal sheet having a small thickness and a large area is applied to a press brake, handling work by an operator manually is often extremely difficult due to its shape instability and weight. It was difficult, and the continuous operation not only increased the worker's fatigue easily, but also the worker's inaccurate material handling operation due to the fatigue deteriorated the product yield, and even danger of causing a work-related accident. . Moreover, the work speed by human power was not fast.

[0003] Therefore, it has naturally been considered to apply various devices instead of workers.

[0004] For example, in the beginning,
Attempts have been made to provide a tilting table at a distance from the press brake to facilitate loading and unloading of materials with power. However, in this case, although the tilting table has the effect of reducing the burden on the worker, it is difficult to adjust the bending angle, and the followability to the movement of the plate-like material during bending is poor, and the work of loading and unloading the material itself is performed. Was imperfect that workers had to do it.

Next, adoption of a general-purpose robot was considered. Originally, press brakes are suitable for sheet metal processing of small-quantity multi-product products, that is, bending, punching, hemming, riveting, etc. of sheet metal, so the adoption of robots was greatly expected in its effect. .

Therefore, for example, an application of a five- or six-axis joint arm type robot, which is the most general among general-purpose robots, has been considered.

However, these conventional articulated arm type robots have a relatively small operating range. Therefore, in order to feed and remove the plate material to and from the press brake, the support base of the robot is placed on the front floor of the press brake, and furthermore, on the press brake. There was a disadvantage that it had to be installed close. Therefore, it was not easy to adopt in terms of economy and practicality.

[0008] It has been considered that this problem can be solved by supporting the ceiling, but it is difficult for the ceiling supporting robot to support the plate material more strongly than the lower surface. In addition, various difficult problems arise in wiring and other maintenance work, so that they cannot be easily adopted in terms of economy and practicality.

When a plate material is fed to and removed from the press brake, the plate material must be fed and removed at right angles to the long axis of the upper and lower dies. When applied, it is difficult to make the feeding and removing operation directions of the plate material coincide with the direction perpendicular to the long axis of the upper and lower molds of the press brake. That is, general-purpose robots are mainly of the polar coordinate type, so for this application, 90 ° to 180 ° in front of the press brake.
The rotation of the plate material around the long axis (bending axis) of the upper and lower molds required to support the plate material during bending work is inevitable ) Was difficult to carry out smoothly.

Accordingly, the applicant of the present application has sought a robot which is parallel to the upper and lower mold long axes of the press brake, and which can easily perform a linear motion in a direction perpendicular to the long axis and a rotational movement about the long axis. As a result, it has three horizontal rotation axes and one right-angle rotation axis perpendicular to the horizontal rotation axis on the tip side,
In a press brake material handling robot having a function of gripping a plate-like material by a material gripping portion fixed to the right-angled rotating shaft and loading or unloading the plate-shaped material with respect to a press brake, The first shaft close to the support is made to substantially coincide with the extension axis of the long axis of one of the upper mold and the lower mold of the press brake, and the plate-like material can be continuously held even during the operation of the press brake. Successfully developed and put into practical use a new robot that handles material for press brakes. The present invention has already been filed and has already been patented (Japanese Patent Publication No. 1-47253).

However, in the process of putting the press brake material handling robot into practical use, reverse bending is required in some cases, and in order to realize this, it is necessary to change the work to the opposite surface. However, conventionally, FIG.
Even if there is no work reversing jig as shown in FIG. 3 or a work reversing jig is provided on the front surface of the upper surface, it is possible to perform a quick cooperative play with the material handling robot simply by temporarily storing the work. Because it was not
Improvement was required. In addition, conventionally, it was necessary to provide both a horizontal fixed base and a rotary table at the upper part of the front surface of the press brake, and there was a problem that the function was poor for a complicated structure.

The present inventors have conducted intensive studies and have completed a work reversing jig suitable for quickly changing a work.

[0013]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work reversing jig which enables automatic reverse bending and / or stacking of works by cooperating with a material handling robot for press brake.

Another object of the present invention is to calculate operation data of a material handling robot from measured values such as width, length, height (thickness) of an original plate or a work, and to automatically operate the robot and press brake. It is in.

[0015]

[Constitution of the Invention] According to the present invention, a frame provided on the front surface of the press brake body and a horizontal rotating shaft pivotally attached to the frame are centered.
A rotary table that swings as an axis, and the rotary table cooperates with a press-braking material handling robot to temporarily store the work during the process and enable the robot to reverse and change the work. A work reversing jig (claim 1) and a work original plate and / or a width and / or a length and / or a height of a work, wherein the work can be reversely bent and / or stacked and stacked. A work reversing jig (Claim 2) according to Claim 1 is provided with a linear motion screw mechanism capable of measurement on a turntable.

Hereinafter, the present invention will be described in detail using embodiments.

[0017]

1 is a perspective view of an embodiment of the present invention, FIG. 2 is an overall side view showing the operation of the embodiment of the present invention, FIGS. 3, 4 and 5 are side views showing the operation of the embodiment of the present invention. 6, 7, 8 and 9 are perspective views showing an embodiment of a reverse-bent work, FIGS. 10 and 11 are cross-sectional views showing a stacking operation, and FIG. 12 is a perspective view showing a conventional example.

FIGS. 1, 2, 3, 4, 5, 6, 7, 8,
In 9, 10, 11, and 13, 1 is a material handling robot, 2 is a support table, 3 is a motor with a reduction gear, 3A is a motor 3
4 is a right-angle operating arm, 5 is a motor with a reducer, 6 is a right-angle operating arm, 7 is a motor with a reducer, 8 is a horizontal operating arm, 9
Is a motor with a speed reducer, 10 is an output shaft of the motor 9, 11 is a suction head, 12 is a suction cup, 13 is a plate material, 14 is a work,
5 is a control box, 20 is a press brake, 21 is a fixed upper mold,
21A is an upper mold long axis, 22 is a vertical type, 50 is a work reversing jig, 51 is a gantry, 52 is a drive motor with a reduction gear, and 53 is
A horizontal rotating shaft, 55 is a swinging rotary table, 57 is a lifting / lowering stopper A, 58 is a lifting / lowering stopper B, 60 is a width measuring instrument,
61 is a linear motion screw, 62 is a moving piece, 63 is a width measuring motor,
65 is a length measuring device, 65A is a bidirectional linear screw, 66, 6
7 is a moving piece and 68 is a length measuring motor.

First, in FIG. 1, a gantry 51 is fixed to the center of the front upper surface of the press brake.
Rotating table 55 between a pair of arms via a horizontal rotating shaft 53
Is pivoted. A drive motor 52 with a speed reducer is provided on one arm of the gantry 51, and the angle of the swinging rotary table 55 can be precisely and freely changed over about 180 °. A plurality of lifting / lowering stoppers A (57) and a plurality of lifting / lowering stoppers B (58) are provided in the rotating table 55 so as to be able to come and go on the upper surface of the table, and the plurality of stoppers A and the plurality of stoppers B are provided. Each of them is simultaneously protruded and retracted on the upper surface of the rotary table by a hydraulic cylinder or an electromagnetic solenoid. When submerged, both the stoppers A and B are completely submerged from the upper surface of the table, and no snagging occurs.

In the table 55, a width measuring device 60 having a linear screw 61, a moving piece 62 and a width measuring motor 63 for driving the linear screw 61, and a similar length measuring device 65 are embedded at right angles to each other. It is possible to measure the width and length of the work or the original plate by sandwiching the work or the original plate between the stopper B (58) and the moving piece 62 and between the pair of moving pieces 66 and 67, respectively. I can do it.

Although not shown, the rotating table 55
The height of the work ( thickness in the case of a plate material) can be automatically measured by providing a linear motion screw and a moving piece in the direction perpendicular to the upper surface of the work.

Here, the conventional material handling robot shown in FIG. 13 (also used in the present invention) will be described as follows.

The press brake 20 is of a type in which the elevating / lowering mold 22 moves up and down with respect to the fixed upper mold 21. After inserting the end of the plate 13 between the upper and lower molds, the lower mold 22 is raised by hydraulic pressure. In this way, bending is performed. At this time, the upper mold long axis 21A is naturally stationary, and the lower mold long axis 22A moves.

In some cases, the lower die is fixed and the upper die is raised and lowered. The robot 1 is fixedly supported on the same floor together with a press brake by a support table 2, and the output shaft (horizontal rotation axis−first axis) 3 A of a motor 3 with a reduction gear fixed on the upper part of the support table 2 is the press brake. Of the upper die 21A. When the lower mold is fixed, it is made to coincide with the lower mold long axis.

Next, a right-angle operating arm 4 extending in a direction perpendicular to the shafts 3A and 21A is attached to the output shaft 3A, and a right-angle operating arm 6 is further fixed to the tip of the right-angle operating arm 4 to reduce the speed. Output shaft (horizontal rotary shaft-second
Shaft). A motor 7 with a speed reducer is fixed to the tip of the right-angled operating arm 6, and the output shaft (horizontal rotation axis-third axis) of the output shaft of the motor 7 with a speed reducer is の of the upper mold length. A horizontally extended horizontal operating arm 8 is attached, and the right-angled and parallel operating arms can be rotated to an arbitrary angle by each motor.

Next, a motor 9 with a speed reducer is fixed to the tip of the parallel operating arm 8 at right angles to the axis of the operating arm 8.
A suction head 11 for holding a plate 13 is fixed to an output shaft 10 of the motor 9 and is rotatable.

The material handling robot has a control box 15 having a built-in computer in addition to the above mechanical parts, which are electrically connected to each other, and power is supplied to the control box.

The operation of such a conventional material handling robot is as follows.

First, the plate 13 is lifted from the stack of the plate 13 by the single suction head 11. Next, the suction head 11 is rotated 180 ° while being raised, firmly supporting the plate 13 from below, and inserting the end of the plate between the upper and lower dies of the press brake (until it hits a stopper C (not shown)).

Next, the operating arm 4 rotates counterclockwise, following the bending of the press brake. That is, the support of the plate material during processing is performed accurately.

When bending by the press brake is completed, the space between the upper and lower dies of the press brake is opened, and the working arm of the robot is operated to carry out the product 14 from the press brake and complete one cycle of stacking in a stack.

In the present invention, the above-mentioned work reversing jig is added to this, and as a function, reverse bending and stacking can be performed.

[0033]

The operation of the present invention is as follows.

First, as shown in FIG. 2, the press brake performs one or several forward bendings (including a case of 90 ° orientation) by the above-described operation of the material handling robot 1, and
The work is gripped while being supported from below by the suction head on the rotating table 55 that is inclined at an angle of, for example, 30 ° to 60 ° above the horizontal, and the suction head 11 is separated. Next, the suction head 11 approaches from above the table 55 inclined downward by, for example, 45 ° to 60 °, lifts the work, and performs the reverse bending or the stacking operation. During this time, the specifications (width, length, height) of the work are measured as necessary mainly on the rotating table inclined downward, and the data is sent to the control box.

This process will be described in more detail with reference to FIGS.

In FIG. 3, the plate 13 or the work 14
Is carried by the suction head 11 from below, and the plate 1
After placing one end of the work 3 or the work 14 on the upper surface of the left end of the rotary table 55, the vacuum suction of the suction cup 12 is cut off, and the suction cup 12 is moved to the lower left with a slight delay. Accordingly, the plate 13 or the work 14 slides on the upper surface of the turntable in the direction of the arrow, and stops at the right end of the stopper A (57) which has been pushed up in advance. Thereafter, the stopper B (58) protrudes, and at the same time, the rotary table 55 tilts downward.

At the same time, the plate 13 or the work 14 slides on the rotating table to the left by its own weight, and the stopper B
(58) and stops. At this time, the width measuring motor 63 is rotated by a limit switch or the like to transmit the torque to the translation screw 61, and the moving piece 62 is moved to the lower left to measure the width of the plate 13 or the work 14. Then, the length measuring motor 68 is rotated and a linear motion screw 65A composed of a pair of bidirectional screws is used.
As a result, the moving pieces 66 and 67 approach each other, come into contact with the plate material or the work, and stop to measure the length. Then, the work is positioned in this manner. Although not shown, the height (or thickness) of the work can also be measured by a height measuring device that stands upright on the table upper surface. Then, all of these data are input to the storage device of the computer in the control box. These operations are summarized in the flowchart of FIG.

Next, the suction head 11 approaches the plate material or the work from the upper side and grips the plate material or the work, and is subjected to the same press brake work, whereby the reverse bending can be performed. In addition, it is also possible to load the completed work together.

FIGS. 6, 7, 8, and 9 are perspective views of an example of a reversely bent work. 10 and 11 are cross-sectional views of the stacking operation. In other words, such reverse bending and stacking can be easily performed.

[0040]

[Effects of the Invention] By implementing the present invention, all of the above objects can be achieved. That is, first, the work can be reversed for reverse bending, and even when the originals are randomly loaded, the position of the originals can be accurately positioned on the rotating table to make the robot's workpiece gripping position accurate. In addition to the above, it is possible to change the position of the original plate and / or the work and the robot's motion data from the measured values of the width, length and height (including thickness-plate thickness). It has a remarkable effect of calculating and automatically driving the robot.

[Brief description of the drawings]

FIG. 1 is a perspective view of an embodiment.

FIG. 2 is an overall side view showing the operation of the embodiment.

FIG. 3 is a side view showing the operation of the embodiment.

FIG. 4 is a side view showing the operation of the embodiment.

FIG. 5 is a side view showing the operation of the embodiment.

FIG. 6 is a perspective view of a reverse bending work embodiment.

FIG. 7 is a perspective view of a reverse bending work embodiment.

FIG. 8 is a perspective view of a reverse bending work embodiment.

FIG. 9 is a perspective view of a reverse bending work embodiment.

FIG. 10 is a cross-sectional view showing a mating stacking.

FIG. 11 is a cross-sectional view showing a mating loading.

FIG. 12 is a flowchart showing the operation of the embodiment.

FIG. 13 is a perspective view of a conventional example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Material handling robot 11 Suction head 13 Plate 14 Work 20 Press brake 50 Work reversing jig 51 Mount 52 Drive motor with reduction gear 53 Horizontal rotating shaft 55 Swinging rotary table 57 Lifting stopper A 58 Lifting stopper B 60 Width measuring device 65 Length measuring instrument

Claims (2)

(57) [Scope of request for utility model registration] 1. A and a rotating table which swings about axis horizontal rotary shaft which is pivotally mounted to the frame and pedestal disposed in the press brake body front, the pivoting table, material handling for press brake Work reversal characterized by cooperating with a robot to temporarily store the work during the process, allowing the robot to reverse and hold the work, and to enable reverse bending and / or stacking of the work jig. 2. The work reversing jig according to claim 1, wherein the rotary table is provided with a direct-acting screw mechanism capable of measuring the width and / or the length and / or the height of the work original plate and / or the work.