JP2665866B2 - Plate supply mechanism - Google Patents
Plate supply mechanismInfo
- Publication number
- JP2665866B2 JP2665866B2 JP35339892A JP35339892A JP2665866B2 JP 2665866 B2 JP2665866 B2 JP 2665866B2 JP 35339892 A JP35339892 A JP 35339892A JP 35339892 A JP35339892 A JP 35339892A JP 2665866 B2 JP2665866 B2 JP 2665866B2
- Authority
- JP
- Japan
- Prior art keywords
- plate
- plate material
- adjusting device
- supply mechanism
- press brake
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、プレスブレ−キとロボ
ットを用いた板材の折り曲げ作業に際して、板材を一枚
ずつロボットに供給するために用いるための板材供給機
構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate material supply mechanism for supplying plate materials one by one to a robot at the time of bending a plate material using a press brake and a robot.
【０００２】[0002]
【従来の技術】プレスブレ−キとロボットを用いた板材
の折り曲げ作業に際して、折り曲げ用の板材をロボット
によってプレスブレ−キに供給するには、一枚ずつ板材
をロボットによって把持しプレスブレーキ金型間に供給
する必要がある。この場合、積み重ねられた板材の一枚
一枚が精密に位置合わせされていないと、折り曲げられ
る板材の折り曲げ代の寸法がまちまちとなる。また逆に
折曲げる場合にロボットは板材を表裏反対面を持ちかえ
る必要があり、別に反転装置を設ける必要があった。2. Description of the Related Art In a bending operation of a plate material using a press brake and a robot, a plate material for bending is supplied to the press brake by a robot. Need to supply. In this case, if each of the stacked plate members is not precisely aligned, the size of the bent margin of the plate member to be bent varies. When the robot is bent in the opposite direction, the robot needs to change the plate material to the opposite side, and it is necessary to provide a reversing device separately.
【０００３】[0003]
【発明が解決しようとする課題】本発明は、前記従来技
術の問題点に鑑み、プレスブレーキと多関節ロボットと
を用いた板材の折り曲げ作業に際し、板材を一枚ずつ正
確に位置合わせした後プレスブレーキに供給すること、
および板材の表裏を反転させて逆折曲げを可能とするこ
とを目的とする。またプレスブレーキと多関節ロボット
とを用いて板材の折り曲げ作業を全自動化するための板
材供給機構を提供することを目的とする。SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, the present invention has been made in consideration of the problems described above. Supplying brakes,
Further, it is an object of the present invention to enable reverse bending by reversing the front and back of a plate material. Another object of the present invention is to provide a plate material supply mechanism for fully automating a bending operation of a plate material using a press brake and an articulated robot.
【０００４】[0004]
【課題を解決するための手段】上記の目的を達成するた
め本発明の板材供給機構は、上下移動自在に設けられた
板材吸着機構を有しかつ水平移動自在な板材把持移送装
置と、板材を左右に移動するための位置調整機構を有し
かつ一端に設けられた水平軸を中心として回動自在な板
材調整装置とからなることを特徴とする。また前記板材
調整装置は、板材を吸着把持する機構を有することが望
ましい。In order to achieve the above-mentioned object, a plate material supply mechanism according to the present invention has a plate material holding and transferring device which has a plate material suction mechanism provided so as to be vertically movable and which can be moved horizontally, and It is characterized by comprising a plate adjusting device having a position adjusting mechanism for moving to the left and right and rotatable around a horizontal axis provided at one end. Further, it is desirable that the plate material adjusting device has a mechanism for sucking and holding the plate material.
【０００５】[0005]
【作用】本発明の板材供給機構は、次の工程により板材
を精密に折曲げることができる。すなわち図３Ａ〜Ｃ、
図４Ｄ〜Ｅおよび図５Ｆ〜Ｈを用いて説明すると、 （Ａ）板材把持移送工程（図３Ａ） 板材把持移送装置１０は板材２を一枚ずつ把持し、プレ
スブレーキ５０前部に設置されている板材調整装置２０
に移送供給する。 （Ｂ）板材位置調整工程（図３Ｂ） 板材調整装置２０は供給された板材２の位置合わせをす
るため、板材調整装置２０に設けられた板材左右位置調
整機構２２，２２によってプレスブレーキに対する前後
左右の位置合わせをする。 （Ｃ）ロボットによる板材把持工程（図３Ｃ） 板材調整装置２０の一端に設けられた水平軸２３を軸と
して回動し、多関節ロボット４０は板材２を把持する。 （Ｄ）板材折曲げ工程（図４Ｄ） 次に、板材２をプレスブレーキ５０に供給し、板材２を
折曲げる。 （Ｅ）製品積載工程（図４Ｅ） 折曲げられた製品は多関節ロボット４０によって製品コ
ンベア３０に載置される。 また、原板を裏側から持ちかえる場合は、製品コンベア
上の製品を退避させておき、板材を把持した板材調整装
置を製品コンベア方向に回動させて板材調整装置に設け
た吸着機構よって板材を把持し反転することができる
（図５Ｆ〜Ｈ）。The plate material supply mechanism of the present invention can precisely bend a plate material by the following steps. That is, FIGS.
4A to 4E and FIGS. 5F to 5H, (A) Sheet material gripping and transferring step (FIG. 3A) The sheet material gripping and transferring device 10 grips the sheet material 2 one by one and is installed in front of the press brake 50. Plate adjusting device 20
Transfer supply to (B) Sheet material position adjusting step (FIG. 3B) The sheet material adjusting device 20 adjusts the position of the supplied plate material 2 by using the plate material left and right position adjusting mechanisms 22 provided in the sheet material adjusting device 20, and the front, rear, left and right with respect to the press brake. Align the position. (C) Sheet Material Grasping Step by Robot (FIG. 3C) The multi-joint robot 40 grips the sheet material 2 by rotating around a horizontal shaft 23 provided at one end of the sheet material adjusting device 20. (D) Plate Material Bending Step (FIG. 4D) Next, the plate material 2 is supplied to the press brake 50, and the plate material 2 is bent. (E) Product Loading Step (FIG. 4E) The bent product is placed on the product conveyor 30 by the articulated robot 40. When the original plate is to be replaced from the back side, the product on the product conveyor is retracted, the plate adjusting device holding the plate is rotated in the product conveyor direction, and the plate is gripped by the suction mechanism provided in the plate adjusting device. Can be inverted (FIGS. 5F-H).
【０００６】[0006]
【実施例】以下に本発明を実施例および図に基づいて詳
細に説明する。図１は本発明の板材供給機構の１実施例
の概略を示す斜視図であり、図２は板材調整装置２０の
１動作態様を示す側面図である。図１において、１０は
板材把持移送装置、２０は板材調整装置、３０は製品コ
ンベア、４０は多関節ロボット、５０はプレスブレーキ
である。板材把持移送装置１０には多数の吸盤を持った
板材吸着機構１１が設けられており、板材把持移送装置
１０の上部に設けられたシリンダ１２によって板材２を
上方に持ち上げ可能となっている。また板材把持移送装
置１０は下部に車輪１３を有し、矢印Ｘ方向に移動可能
である。板材把持移送装置１０は板材吸着機構１１によ
り、予め積み重ねられて載置されている板材２を一枚ず
つ吸着把持し板材調整装置２０に移送する。板材調整装
置２０には板材２を矢印Ｙ方向に移動させるための板材
左右位置調整機構２２，２２が設けられており、板材調
整装置２０内に移送された板材２を移動し、プレスブレ
ーキによって折曲げられる前の板材２の左右位置を確定
する。また板材調整装置２０は水平軸２３を軸として回
動可能となっており、位置決め後または位置決めと並行
して多関節ロボット４０が板材２を吸着把持しやすい位
置まで回動する。また板材調整装置２０には板材２を吸
着把持するための吸着機構２４，２４が設けられてお
り、板材２を製品コンベア３０上に反転載置する場合に
板材２を一時的に把持する役割をする。製品コンベア３
０には積み重ねられた製品３２を水平方向に移動させる
ための回転ローラ３３が設けられている。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to embodiments and drawings. FIG. 1 is a perspective view schematically showing an embodiment of a plate material supply mechanism according to the present invention, and FIG. 2 is a side view showing one operation mode of the plate material adjusting device 20. In FIG. 1, reference numeral 10 denotes a plate material holding and transferring device, 20 denotes a plate material adjusting device, 30 denotes a product conveyor, 40 denotes an articulated robot, and 50 denotes a press brake. The plate holding and transferring device 10 is provided with a plate sucking mechanism 11 having a number of suction cups, and the plate 2 can be lifted upward by a cylinder 12 provided at an upper portion of the plate holding and transferring device 10. The plate gripping / transporting device 10 has wheels 13 at its lower part, and is movable in the direction of the arrow X. The plate material gripping / transporting device 10 suctions and grips the plate materials 2 stacked and placed in advance one by one by the plate material suction mechanism 11 and transfers the plate materials 2 to the plate material adjusting device 20. The plate adjusting device 20 is provided with plate left and right position adjusting mechanisms 22 for moving the plate 2 in the direction of the arrow Y. The plate 2 transferred into the plate adjusting device 20 is moved and folded by a press brake. The left and right positions of the plate 2 before being bent are determined. The plate adjusting device 20 is rotatable about the horizontal shaft 23, and after the positioning or in parallel with the positioning, the articulated robot 40 is rotated to a position where the articulated robot 40 can easily hold the plate 2 by suction. The plate adjusting device 20 is provided with suction mechanisms 24 for holding the plate 2 by suction, and serves to temporarily hold the plate 2 when the plate 2 is placed upside down on the product conveyor 30. I do. Product conveyor 3
0 is provided with a rotating roller 33 for moving the stacked products 32 in the horizontal direction.
【０００７】図２において、板材調整装置２０は板材２
の位置合わせ完了後、水平軸２３を中心に多関節ロボッ
ト側に回動し、多関節ロボット４０が板材を把持しやす
い位置まで回動する。その際板材２は板材調整装置２０
の一端に設けられ板材ストッパー２５によって落下しな
いよう保持される。また板材ストッパー２５はプレスブ
レーキの金型長軸方向に対し一定の角度に設置されてお
り、板材２の最終的な位置決めの役割も果たしている。[0007] In FIG.
After the completion of the positioning, the robot is turned around the horizontal axis 23 toward the articulated robot, and is turned to a position where the articulated robot 40 can easily grip the plate material. At this time, the plate 2 is adjusted by the plate adjusting device 20
And is held by a plate stopper 25 so as not to drop. Further, the plate material stopper 25 is installed at a fixed angle with respect to the longitudinal direction of the die of the press brake, and also plays a role of final positioning of the plate material 2.
【０００８】[0008]
【発明の効果】本発明の板材供給機構は、プレスブレー
キと多関節ロボットとを用いた板材の折り曲げ作業に際
し、板材を一枚ずつ正確に位置合わせした後プレスブレ
ーキに供給することができる。また逆折曲げをする場合
には板材の表裏を容易に反転させることができる。また
プレスブレーキと多関節ロボットとを用いた板材の折曲
げ作業を全自動化することができる。The plate material supply mechanism of the present invention is capable of accurately aligning the plate materials one by one and supplying the same to the press brake when bending the plate materials using a press brake and an articulated robot. In the case of reverse bending, the plate material can be easily turned over. Further, it is possible to fully automate the work of bending the plate material using the press brake and the articulated robot.
【図１】板材供給機構の概略を示す斜視図である。FIG. 1 is a perspective view schematically showing a plate material supply mechanism.
【図２】板材調整装置の１動作態様を示す側面図であ
る。FIG. 2 is a side view showing one operation mode of the plate material adjusting device.
【図３】本発明の作用を示す側面図である。FIG. 3 is a side view showing the operation of the present invention.
【図４】本発明の作用を示す側面図である。FIG. 4 is a side view showing the operation of the present invention.
【図５】本発明の他の作用を示す側面図である。FIG. 5 is a side view showing another operation of the present invention.
２ … 板材 １０ … 板材把持移送装置 ２０ … 板材調整装置 ３０ … 製品コンベア ４０ … 多関節ロボット ５０ … プレスブレーキ 2 plate material 10 plate material gripping transfer device 20 plate material adjustment device 30 product conveyor 40 articulated robot 50 press brake
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平４−367338（ＪＰ，Ａ) 特開 平６−154916（ＪＰ，Ａ) 実開 平５−80690（ＪＰ，Ｕ) 実開 平６−529（ＪＰ，Ｕ) 実開 平５−44329（ＪＰ，Ｕ) 実開 平３−126237（ＪＰ，Ｕ) 実開 平２−38138（ＪＰ，Ｕ) 実開 平２−53829（ＪＰ，Ｕ) ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-4-367338 (JP, A) JP-A-6-154916 (JP, A) JP-A 5-80690 (JP, U) JP-A-6-154690 529 (JP, U) Japanese Utility Model 5-44329 (JP, U) Japanese Utility Model 3-126237 (JP, U) Japanese Utility Model 2-38138 (JP, U) Japanese Utility Model 2-53829 (JP, U)
Claims (2)
を有しかつ水平移動自在な板材把持移送装置と、板材を
左右に移動するための位置調整機構を有しかつ一端に設
けられた水平軸を中心として回動自在な板材調整装置と
からなる板材供給機構。1. A horizontally movable plate holding and transferring device having a vertically movable plate sucking mechanism and a position adjusting mechanism for moving the plate horizontally, and a horizontal provided at one end. A plate material supply mechanism including a plate material adjustment device rotatable about an axis.
する機構を有する請求項１の板材供給機構。2. The plate material supply mechanism according to claim 1, wherein said plate material adjusting device has a mechanism for sucking and holding said plate material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35339892A JP2665866B2 (en) | 1992-12-11 | 1992-12-11 | Plate supply mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP35339892A JP2665866B2 (en) | 1992-12-11 | 1992-12-11 | Plate supply mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06179023A JPH06179023A (en) | 1994-06-28 |
| JP2665866B2 true JP2665866B2 (en) | 1997-10-22 |
Family
ID=18430572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP35339892A Expired - Fee Related JP2665866B2 (en) | 1992-12-11 | 1992-12-11 | Plate supply mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2665866B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111036794A (en) * | 2019-12-18 | 2020-04-21 | 南京海天轨道车辆装备有限公司 | Drag convenient type bender of material before follow-up |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3730862A1 (en) * | 1987-09-15 | 1989-03-23 | Glyco Metall Werke | LAYERING MATERIAL WITH METAL FUNCTIONAL LAYER, ESPECIALLY FOR THE PRODUCTION OF SLIDING ELEMENTS |
| GB2380772B (en) * | 2001-09-10 | 2004-06-09 | Daido Metal Co | Sliding member |
| JP4923752B2 (en) * | 2006-06-06 | 2012-04-25 | 村田機械株式会社 | Board processing system |
| EP2484460A1 (en) * | 2011-02-02 | 2012-08-08 | Luciano Gasparini | Centering method and device for carrying out the same |
| IT201800009564A1 (en) * | 2018-10-18 | 2020-04-18 | Starmatik Srl Uninominale | COMPACT AND PREASSEMBLED AUTOMATIC PROCESSING SYSTEM |
| CN111215543B (en) * | 2018-11-26 | 2021-05-18 | 宁波方太厨具有限公司 | Plate bending machine |
| AT526774B1 (en) * | 2023-03-31 | 2024-07-15 | Trumpf Maschinen Austria Gmbh & Co Kg | Desk for storing a sheet metal workpiece |
-
1992
- 1992-12-11 JP JP35339892A patent/JP2665866B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111036794A (en) * | 2019-12-18 | 2020-04-21 | 南京海天轨道车辆装备有限公司 | Drag convenient type bender of material before follow-up |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06179023A (en) | 1994-06-28 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19970520 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| LAPS | Cancellation because of no payment of annual fees |