JP2773917B2 - Work positioning device for bending equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial application field) The present invention relates to a bending machine for performing a bending process by cooperating with a bending machine and a bending robot for providing a work supply service to the machine. The present invention relates to a work positioning device.

(Related Art) In general, a bending machine is provided with a butting device such as a back gauge which regulates a tip position of a work to be bent, and a work processing dimension is determined by abutting and positioning the tip of the work against the butting device. .
Whether or not the work collides with the butting device is appropriately detected by operation of a limit switch or the like.

However, when a bending robot is applied to a bending machine to perform a work supply service, the bending robot appropriately strikes the work against a butting device that is positioned by moving back and forth with respect to a die (punch and die). Difficult.

Therefore, conventionally, as shown in JP-A-59-227379 (method and apparatus for supplying a workpiece), a non-contact displacement sensor is provided instead of the back gauge, and a bending robot (industrial use) is provided. The robot detects the positional deviation when positioning the work to the expected position, and corrects the deviation.

With this configuration, the workpiece held by the robot is positioned within the operating range of the sensor, and then a predetermined correction may be performed. Therefore, the positioning is easy and reliable.

On the other hand, in recent bending machines, in order to set the work width position to a fixed position with respect to the mold, for example, Japanese Unexamined Patent Publication No.
No. 68226 (Manipulator for plate bending apparatus and plate bending apparatus equipped with the manipulator)
As shown in FIG. 1, there is an example in which a side gauge for detecting a work side end is provided on a side surface of a bending machine.

The side gauge detects the work side end and positions the work side end at a fixed position with respect to the mold side end so that a predetermined position of the mold hits a predetermined position in the left-right direction of the work. is there.

(Problems to be Solved by the Invention) However, as described above, in the work positioning of the conventional bending apparatus which has been variously proposed, the work is performed by a bending robot with respect to a non-contact displacement sensor corresponding to a back gauge. After positioning and detecting the side end of the work with the side gauge, the left and right positioning with respect to the mold is performed and the predetermined bending processing is performed.However, the processing efficiency is poor depending on how to make the side gauge or the suitability of the positioning control method. In addition, there is a problem that processing accuracy is deteriorated.

In other words, for example, when a relatively small mold is arranged at a substantially central portion of the bending machine, and a side gauge is provided on a frame portion on a side surface of the bending machine,
If side gauging is performed after positioning in the front-rear direction of the work, much time is required for movement during the gauging, and the processing efficiency is deteriorated. Also, in view of this point, when the mold position is set closer to the side gauge side, not only a long mold setup time is required, but also the processing accuracy is affected.
Further, for example, when the work is twisted, if the work is side-gauged, a deviation occurs between the reference point (for example, a gripping point) of the bending robot and the front / rear or left / right position of the side end of the work corresponding to the side gauge.
Gauging is not performed correctly and machining accuracy deteriorates.

In particular, in a bending process in which a work has a flange portion on a side surface and the flange portion must be accurately positioned with respect to a mold, a defective product may be generated depending on a degree of lateral displacement. .

Therefore, the present invention provides a work positioning device of a bending device that performs a bending process by positioning a work with a bending robot with respect to a punch and a die of a bending machine and relatively approaching / separating the punch and the die. The purpose is to perform high-precision positioning.

[Structure of the Invention] (Means for Solving the Problems) In view of the above-described conventional problems, the present invention provides a plurality of moving bodies on a stretch provided so as to be positionable in the front-rear direction with respect to a mold of a bending device. Are provided so as to be positionable in the left and right directions, and a position detector for detecting the front end position of the work positioned with respect to the mold is provided on each of the movable bodies, and one of the position detectors for appropriately detecting the side end position of the work The position detector arranged at the side position of the moving body is provided integrally with the one moving body.

(Example) Hereinafter, an example of the present invention will be described.

FIG. 1 is a plan view showing a main part of a positioning device of a bending device according to one embodiment of the present invention.

As shown in the figure, in the positioning device of this example, a stretch 2 is arranged along a mold 1 and moving bodies 3 and 4 that can move independently in the left and right direction (X direction) in the figure with respect to the stretch 2. And potentiometers 5 and 6 for detecting the front end position of the workpiece W in the Y direction orthogonal to the X direction of each of the moving bodies 3 and 4 are provided. In the X direction, the right direction in the figure is positive (+), the reverse direction is negative (-), and in the Y direction, the upper side is positive (+) and the lower side is negative (-).

The potentiometers 5 and 6 are fixed to stoppers 7 and 8 fixed to the moving bodies 3 and 4, respectively.
It is possible to detect the front end position of the workpiece W located within a predetermined distance (for example, 10 to 15 mm) in the negative (-) axis direction. That is, the front end position of the work W can be detected by detecting the distance from the tips of the stoppers 7 and 8 to the work W. Here, a member that detects the front end position of the work W using the potentiometers 5 and 6 is referred to as a back gauge as in the related art.

Further, the stopper 7 detects the left end of the work W in the same manner as the potentiometers 5 and 6, and detects the X of the work W.
A potentiometer 9 for detecting the position is an appropriate arm member
It is fixedly provided via 10. Here, a member that detects the left end position of the work W using the potentiometer 9 is hereinafter referred to as a side gauge.

The rear end of the work W is gripped by the hand 12 of the bending robot, and is provided with a work supply service. The robot has, for example, six axes (three orthogonal axes X, Y,
Z, including rotation A and B axes). The hand 12 has an axis for gripping and moving the work W in the front-rear (Y) direction and rotating in the left-right direction (B direction) with the pivot 12A as a fulcrum. The attitude of W is determined and the X and Y axes are positioned.

 FIG. 2 shows an example of the work W.

Workpiece W of this embodiment, the flange portion W _B to the left and right sides of the horizontal portion W _A, having a W _C, flange portions W _B, W _C to width which gave a predetermined clearance C punch 1A ( The die 1B (not shown) also has the same width). Such work W mold 1 (1A, 1B) for positioning against, for example, (about 2mm in general) horizontal section W _A end clearance C from the workpiece W by the right side reference point P of It must be accurately positioned in the X direction so that _W is at the left end of the mold 1.

FIG. 3 shows an outline of a control device for controlling the bending machine and the bending robot.

As shown in the figure, the control device of the present embodiment is configured by connecting a schedule operation device 11 to a schedule editing device 10, and connecting a bending machine control device 12 and a robot control device 13 to the operation device 11.

The bending machine controller 12 includes servo motors M1 and M2 for servo positioning the moving bodies 7 and 8 of each back gauge in the X direction, and the potentiometers 5 (P1) and 6 (P2) of the back gauge and the side gauge. ), 9
(P3) is appropriately connected via an input / output interface. The distance signals detected by the potentiometers 5, 6, 9 are appropriately converted into position signals Y1, Y2, X3 and used. The stretch 2 is positioned and driven in the front-rear direction by a servo motor (not shown).

The robot controller 13 includes a Y-axis servo motor MY for driving the hand 12 and a servo motor MB for rotating the B-axis.
Many servo motors are provided.

In the above control device, the schedule editing device 10
The schedule operation device 11 is operated on the basis of the data scheduled in the above, and the work of positioning the work W in each schedule is performed by the cooperation of the bending machine control device 12 and the robot control device 13.

 FIG. 4 shows a positioning method of the work W.

In step 401, the robot hand 12 is positioned in the Y direction, and then in step 402, the potentiometer 9 of the side gauge is changed, that is, the work W is moved in the negative (-) direction until the left end of the work W touches the potentiometer 9. At this time, the back gauge may be appropriately pulled back. Further, as shown in FIG. 1, the side gauge is fixedly provided to one of the moving bodies 3, so that the moving amount is at most about several cm.

In step 404 and subsequent steps, positioning in the X direction is performed on condition that the workpiece W has been parallelized.

That is, the change amount (sensor change amount) ΔX of the potentiometer 9 is obtained on condition that the workpiece W is parallelized in step 404, and the amount l to be moved is determined in step 405.
Is obtained, the movement is performed by the movement amount 1 in step 406, and a positioning completion signal is output in step 407, and the process proceeds to a normal bending process.

 The calculation of the movement amount 1 is based on the following equation.

_{l = X T - (X S} -ΔX) X T: X position to position the workpiece left to mold 1 X _S: parallel-out of the reference position the workpiece W of the potentiometer 9, the positioning device shown in Figure 1 According to this, since the moving distance of the work W from the positioning state in the Y direction is small, and the movement during this time does not cause a large posture shift, parallel alignment may be performed at the time of positioning in the Y direction.

As shown in FIG. 5, when the left end position of the work W is viewed in a state where the parallel alignment of the work W is not performed, the detection position is apparent as compared with the parallel alignment in FIG. X _NG large deviation in (Xok-X _NG) is produce a.

The parallel alignment of the work W may be performed after the left end of the work W touches the potentiometer 9 after step S403.

Further, the parallelization of the work W may be performed simultaneously with the reading of the sensor change amount ΔX after the step 403 and the calculation of the movement amount 1 in the X direction.

That is, in the state of FIG. 5, the position of the work W and the amount of sensor change detected by each potentiometer are
Assuming that Y1, Y2, and ΔX, the sensor change amount ΔX when X1 = X2 can be obtained, so that the parallelization of the work W and the calculation of the X-direction movement amount 1 can be performed simultaneously.

As described above, according to the positioning method of this example, the work W
The amount of movement of the workpiece W in the X direction is determined on the condition that the
The workpiece W can be positioned in the X direction so that the reference point P _W is disposed with a predetermined clearance C with respect to the mold 1.
Thereby, the positioning error of the workpiece W in the X direction can be set within the positioning error of the bending robot.

In particular, when using the positioning device shown in FIG.
When the moving bodies 3 and 4 are moved to arbitrary positions with respect to the mold 1, the side gauges are moved together, so that high-speed and high-precision positioning can be performed.

The present invention is not limited to the above embodiments, but can be implemented in an appropriate mode by making appropriate design changes.

[Effects of the Invention] As can be understood from the above description of the embodiments, in short, the present invention provides a plurality of moving bodies (2) on a stretch (2) provided so as to be positionable in the front-rear direction with respect to a mold of a bending device. 3, 4) are provided so as to be positionable in the left-right direction, and a position detector (5, 6) for detecting a front end position of the work (W) positioned with respect to the mold is provided with each of the moving bodies (3, 4). ), And a position detector (9) which is appropriately disposed at a side position of one of the moving bodies so as to detect a side end position of the work (W) is integrally provided on the one of the moving bodies. It is.

As is apparent from the above-described configuration, in the present invention, each of the moving bodies 3 and 4 provided in the stretch 2 provided so as to be positionable in the left-right direction on the stretch 2 provided so as to be positionable in the front-rear direction can detect the position of the front end of the work W. Each of the moving bodies 3 and 4 is provided with a position detector 9 for detecting the side end position of the work W integrally provided on one of the moving bodies. The front end position of the work W can be detected by the position detectors 5 and 6 and the side end position of the work W can be detected by the position detector 9 at the same time. It can be done well.

[Brief description of the drawings]

FIG. 1 is a plan view showing a configuration diagram of a positioning device according to an embodiment of the present invention, FIG. 2 is a perspective view showing an example of a work, FIG. 3 is a block diagram showing a configuration example of a control device, FIG. The drawings are flowcharts of the positioning method, and FIGS. 5 and 6 are explanatory views of the parallel setting of the work. 1 (1A, 1B) ... Mold 2 ... Stretch 3, 4 ... Moving object 5, 6, 9 ... Potentiometer 10 ... Arm

Claims (1)

(57) [Claims] 1. A plurality of moving bodies (3, 4) are provided in a stretch (2) provided so as to be positionable in a front-rear direction with respect to a mold of a bending device so as to be positionable in a left-right direction.
A position detector (5, 6) for detecting a front end position of a work (W) positioned with respect to the mold is connected to each of the moving bodies (3, 4).
And a position detector (9) that is appropriately disposed at a side position of one of the moving bodies so as to detect a side end position of the workpiece (W) is provided integrally with the one moving body. Characteristic work positioning device for bending equipment.