JP3078869B2 - Plate processing machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate processing machine, and more particularly to a plate processing machine capable of performing various types of processing while holding a workpiece vertically.

[0002]

2. Description of the Related Art Conventionally, as a processing step for obtaining, for example, a box-shaped product from a work, it is general to follow the order of cutting, forming, bending, welding and polishing. Moreover, a processing machine exists for each of these processing steps, and an intermediate product exists between the steps.

[0003]

By the way, in the above-mentioned prior art, after forming, these intermediate products have a three-dimensional shape, so that a large space or space is required for storage. In other words, there is a problem that even if the processing machine in each process is small, the storage location of the intermediate product is large.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems by realizing machining without an intermediate product, enabling small-volume production of other types in a small space and a small space, and leveling the machining. The object of the present invention is to provide a plate processing machine.

[0005]

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, the present invention relates to a method in which a plate-like work is placed on a work pallet movable along a rail which is long in the X-axis direction which is the front-back direction. A laser processing machine is provided which is long and axially supported in the axial direction, and which is movable beyond the work in the Y-axis direction which is a left-right direction orthogonal to the X-axis direction, In this configuration, a left-handed robot and a right-handed robot capable of holding a tool for performing appropriate processing on a processed work are arranged on both left and right sides of the rail.

[0006]

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

Referring to FIGS. 5, 6 and 7, the plate material processing machine 1 has a substantially hemispherical cover 3, and the ceiling of the cover 3 has an openable / closable ceiling which can be opened and closed in the left-right direction. 5F and 5B are provided. A window 7 made of, for example, transparent plastic is provided at a position above the floor surface in the height direction of the cover 3 so that the inside can be viewed. An operation panel 9 is provided on the right side of the window 7 in FIG. 5, so that a robot, a laser processing machine, and the like provided in the cover 3 can be operated externally.

In the lower part of the cover 3 on both front and rear sides, a work entrance 1 of a work transfer path 11 in the front and rear direction is provided.
3. A product outlet 15 is provided. The work carry-in entrance 13 is provided with a work carry-in external rail 17, and the product carry-out exit 15 is provided with a product carry-out external rail 1.
9 are provided.

Therefore, in a state where the work is supported vertically, the work is guided by the work carrying outer rail 17 and carried into the cover 3 from the work carrying entrance 13 and is subjected to various kinds of processing by both robots and laser processing machines described later. After the operation, the product is guided from the product outlet 15 by the product unloading outer rail 19 and is unloaded from the inside of the cover 3 to the outside.

The openable ceilings 5F and 5B are opened when maintenance and inspection of both robots and laser processing machines in the cover 3 are performed. In addition, when the work is processed in the cover 3, the openable ceilings 5F and 5B are closed, and the operator operates the operation panel 9 from outside to perform the work on the work. What is monitored. Therefore, during processing, noise is lower and safety is higher than before.

As shown in FIG. 4, a left-hand robot 21 and a left-hand robot 21
A right-hand robot 23 is arranged, and automatic tool changers 25 and 27 for left-hand and right-hand robots are arranged adjacent to the left-hand robot 21 and the right-hand robot 23, respectively. Further, a laser processing machine 29 is arranged near the work transfer path 11.

The laser beam machine 29 has X ₁ , Y ₁ , Z
_{It has} three linear axes, _one rotation axis for A ₁ and B ₁ , and one axis for the gap sensor C ₁ . Similarly, the left-hand and right-hand robots 21 and 23 also have X ₂ ; X ₃ , Y ₂ ; Y ₃ ,
Z ₂ ; _three linear axes of Z ₃ , A ₂ ; A ₃ , B ₂ ; B ₃ ,
C ₂ ; _three rotation axes of C ₃ and one gripper axis of G ₂ and G ₃ . Further, the automatic tool changers 25 and 27 for the left and right hand robots have one rotation axis of T ₂ and T ₃ respectively. Therefore, the entire plate processing machine 1 has a total of 22 axes, and the processing is performed while the work W is held vertically, and the product G is obtained.

FIGS. 1, 2 and 3 show an embodiment of the shaft configuration in FIG. 4 described above. That is, in FIGS. 1, 2 and 3, a central portion in the cover 3 between the work loading outer rail 17 and the product unloading outer rail 19 extends in the left-right direction (front-rear direction) in FIG. 2. A work pallet rail 31 is laid. The work pallet rail 31 is provided with a work pallet 33 guided by the work pallet rail 31 and movable in the left-right direction in FIG.

On the work pallet 33, a plurality of work clamps 35 for holding the work W in a vertical state are provided at appropriate intervals. Therefore, the work W is conveyed while being supported vertically on the work pallet 33 by the work clamp 35.

On both sides of the work pallet rail 31, a support table 39 supporting a laser oscillator 37 is provided upright. The laser oscillator 3 supported on the support 39
A laser beam guide 41 for passing the laser beam LB oscillated from 7 to the laser processing machine 29 is provided between the laser oscillator 37 and the laser processing machine 29. Note that, as described above, the laser processing machine 29 has X ₁ , Y
₁ , 3 linear axes of Z ₁ , 2 rotary axes of A ₁ , B ₁ and C ₁
, And is movable in the Y-axis direction beyond the work W positioned at the center, but the specific configuration and operation thereof are already known, and the description thereof will be omitted. The work W is cut or welded by the laser processing machine 29.

Next, the specific structure of the left-hand and right-hand robots 21 and 23 will be described. Since the left-hand robot 21 and the right-hand robot 23 have substantially the same configuration except that they are symmetrically arranged, they are collectively described. I do.

That is, left and right hand robots 21 and 23
Is, as shown in FIGS. 8, 9 and 10, X
An X-axis base 43 extending in the axial direction is provided.
On the shaft base 43, two parallel X-axis guides 45 extending in the X-axis direction are provided. An X-axis carriage 47 guided by the X-axis guide 45 and movable in the X-axis direction is provided.

On the X-axis base 43, there is provided an X-axis rack 49 extending in the X-axis direction. An X-axis drive motor 51 is provided on the X-axis carriage 47, and an X-axis pinion 53 meshed with the X-axis rack 49 is attached to the output shaft of the X-axis drive motor 51. .

With the above configuration, when the X-axis drive motor 51 is driven, the X-axis pinion 53 is rotated via the output shaft. Since the X-axis pinion 53 is meshed with the X-axis rack 49, the rotation of the X-axis pinion 53 causes the X-axis carriage 47 to move through the X-axis rack 4 via the X-axis guide 4.
5 to be moved in the X-axis direction.

A plurality of Z-axis guides 55 extending in the Z-axis direction are erected on the X-axis carriage 47, and a Z-axis rack 57 extending in the Z-axis direction is erected. A Z-axis carriage 59 guided by the Z-axis guide 55 and movable in the Z-axis direction is provided. A Z-axis drive motor 61 is attached to the Z-axis carriage 59, and a Z-axis pinion 63 meshed with the Z-axis rack 57 is provided on the output shaft of the Z-axis drive motor 61.

With the above configuration, when the Z-axis drive motor 61 is driven, the Z-axis pinion 63 is rotated via the output shaft. Since the Z-axis pinion 63 is meshed with the Z-axis rack 57, the rotation of the Z-axis pinion 63 causes the Z-axis carriage 59 to move in the Z-axis direction via the Z-axis rack 57.

The Z-axis carriage 59 is provided with an A-axis rotator 65 which is horizontally rotatable about a vertical axis. An A-axis gear 67 is mounted below the A-axis rotator 65. I have. The A-axis drive motor 69 is provided on the Z-axis carriage 59. An A-axis pinion 71 meshed with the A-axis gear 67 via an output shaft is attached to the A-axis drive motor 69.

When the A-axis drive motor 69 is driven, the A-axis pinion 71 is rotated via the output shaft, and the A-axis gear 67 is further rotated. Will be rotated.

The Z-axis carriage 59 is provided with a B-axis rotator 73 rotatable in the B-axis direction about a horizontal axis. That is, the B-axis rotating body 73 is mounted on the Z-axis carriage 59 via the B-axis gear 75. In addition, a B-axis drive motor 77 is provided on the B-axis rotating body 73, and a B-axis pinion 79 meshed with the B-axis gear 75 is mounted on the output shaft of the B-axis drive motor 77. Have been.

With the above configuration, when the B-axis drive motor 77 is driven, the B-axis pinion 79 is rotated via the output shaft. Since the B-axis gear 75 is meshed with the B-axis pinion 79, the rotation of the B-axis pinion 79 causes the B-axis rotator 73 to move in the B-axis direction via the B-axis gear 75 as shown in FIG. Will be rotated.

As shown in FIG. 8, a Y-axis carriage 81 is provided on the B-axis rotating body 73 via a sliding member so as to be movable in the Y-axis direction. This Y-axis carriage 8
Above and below one, a plurality of parallel Y-axis guides 83 are provided extending in the Y-axis direction. A Y-axis rack 85 extending in the Y-axis direction is provided above the Y-axis carriage 81. Further, a Y-axis drive motor 87 is provided on the B-axis rotator 73.
7 is provided with a Y-axis pinion 89 meshed with the Y-axis rack 85 via an output shaft.

With the above configuration, when the Y-axis drive motor 87 is driven, the Y-axis pinion 89 is rotated via the output shaft. Since the Y-axis pinion 89 is meshed with the Y-axis rack 85, the rotation of the Y-axis pinion 89 causes the Y-axis pinion 89 to rotate.
The Y-axis carriage 81 is moved in the Y-axis direction via the shaft rack 85.

A C-axis gear 91 is provided at the tip of the Y-axis carriage 81. A C-axis rotator 93 is attached to the C-axis gear 91. As shown in FIG. 10, the C-axis drive motor 9
The output shaft of the C-axis drive motor 95 has a C-axis pinion 97 meshed with the C-axis gear 91.
Is installed.

With the above configuration, when the C-axis drive motor 95 is driven, the C-axis pinion 97 is rotated. Since the C-axis gear 91 is meshed with the C-axis pinion 97, the rotation of the C-axis pinion 97 causes the C-axis rotating body 93 to move through the C-axis gear 91 as shown in FIG. Will be rotated in the direction.

The C-axis rotating body 93 is provided with a G-axis rack driving cylinder 99, and the G-axis rack driving cylinder 99 is provided with a G-axis rack 101. The G-axis rack 101 is provided with a gripper 105 in which a G-axis pinion 103 is engaged.

When the G-axis rack driving cylinder 99 is operated, the G-axis rack 101 moves in the Y-axis direction (up and down direction in FIG. 9), so that the gripper 105 is moved via the G-axis pinion 103 in FIG. As shown in (1), it is opened and closed in the G axis direction.

Therefore, the left and right hand robots 21 and 22
3 is a linear 3 axis of X ₂ ; X ₃ , Y ₂ ; Y ₃ , Z ₂ ; Z ₃ ;
_{A 2; A 3; B 2} ; B 3; C 2; rotation of the C ₃ 3 axes and G _2; and thus comprises a gripper 1 axis G _3.

11 and 1 are provided between the grippers 105.
As shown in FIG. 2 and FIG. 13, the tool 107 is gripped. In addition, the tool 107 includes a grip portion 109 of an automatic tool changer, a grip portion 111 of a robot for forming, bending, and polishing, and further includes a blade insertion portion 113.

The blade insertion portion 113 of the tool 107
14, FIG. 15 and FIG. 16 show an example of a bending process in which the workpiece W is bent by the left blade 115 of the left-hand robot 21 and the right blade 117 of the right-hand robot 23 inserted into the workpiece W. All the works W are provided with slits S in the illustrated shape by the laser processing machine 29.

In FIG. 14, the left blade 115 hits the workpiece W and stops. The right blade 117 hits the work W, and further proceeds to the left until the portion surrounded by the slit S is bent. For this drive, the aforementioned Y-axis drive motor 87 is used. Thus, the left blade 115 is attached to the work W.
The work W is bent in cooperation with the right blade 117.

FIG. 15 is similar to FIG.
The case where the widths of the right blades 115 and 117 are narrow is shown, and the operation is the same as that of FIG.
FIG. 16 shows an example in which the work W is bent R when the work W is bent.
Are used for bending R, and other than that are almost the same as those in FIG.

The blade insertion portion 113 of the tool 107
FIGS. 17 and 18 show an example of a forming process in which the work W is formed by the left blade 119 of the left-hand robot 21 and the right blade 121 of the right-hand robot 23 inserted into the workpiece W.

In FIG. 17, the work W is sandwiched between the left and right blades 119 and 121 to perform burring. FIG. 18 shows the left blade 1 on the workpiece W.
The embossing of the diamond shape is performed by the cooperation of the right blade 121 and the right blade 121. 17 and 18, the output torque of the Y-axis drive motor 87 is used for the pressing force, but a ball screw may be used instead.

The blade insertion portion 113 of the tool 107
FIG. 19 shows an example in which the workpiece W welded by the left blade 123 of the left-hand robot 21 inserted into the workpiece W is polished.
And in FIG.

[0040] In FIG. 19, in the process of making the product G box-shaped, in the case of the polishing along the weld line W _L of welded workpiece W, the polishing with a grinding wheel 125 at the tip of the left blade 123 It is done. Further, in FIG. 20, in welded workpiece W having a three-dimensional free-form surface, the case of performing the polishing along the weld line W _L, is polished with a spherical grindstone 125 on the tip of the left blade 123 It is done.

As described above, the left and right hand robots 21 and 23
The tool 107 is attached to the gripper 105 of the tool 107, and the blade 115, 117 (119, 119
121; 123), the work W cut or welded by the laser processing machine 29 can be bent, formed and polished by the single plate processing machine 1, so that there is no intermediate product. Plate material processing is realized. Therefore, a space for storing an intermediate product is not required, and the leveling of processing suitable for high-mix low-volume production becomes possible.

The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes. The left hand of the present embodiment,
Ball screws are used as driving means for the right-hand robots 21 and 23,
It is also possible to use splines or the like. Further, in order to minimize the bending force in the bending step, a laser processing machine 29 is used.
Is performing slit cutting using the laser beam LB, but left and right hand robots 21 for forming, bending, and polishing are used.
It is also possible to apply a V-cutting tool to the 23 grippers 105 to perform V-groove processing.

[0043]

As will be understood from the above description of the embodiment, in the present invention, the work pallet 33 for vertically supporting the plate-like work W is movable along the rail 31 in the front-back direction. A laser processing machine 29 for performing laser processing on the work W is provided movably in the left-right direction beyond the work W. A left-hand robot 21 and a right-hand robot 23 capable of holding a tool for performing appropriate processing on the workpiece W that has been laser-processed by the laser processing machine 29 are arranged on both left and right sides of the rail 31.

Therefore, according to the present invention, the work W vertically supported by the work pallet 33 can be laser-processed from both sides by the laser processing machine 29. For example, the plate-like work W is held horizontally. Compared to the case where laser processing is performed from both upper and lower surfaces, laser processing from both side surfaces can be performed with higher accuracy under the same conditions, so that laser processing can be performed regardless of the front and back of the work.
Since the left and right robots 21 and 23 capable of holding tools are arranged on both the left and right sides, the laser-processed work W can be appropriately processed simultaneously or separately from the left and right sides. That is, it is possible to efficiently perform separate appropriate processing after laser processing.

[Brief description of the drawings]

FIG. 1 is a front view of a sheet material processing machine, showing a main part of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a side view of FIG.

FIG. 4 is a shaft configuration diagram of each processing machine in FIG. 1;

FIG. 5 is a front view of the appearance in which each processing machine of the plate processing machine is housed in a cover.

FIG. 6 is a plan view of FIG.

FIG. 7 is a side view of FIG.

FIG. 8 is a front view showing a specific configuration of a left-handed and right-handed robot.

FIG. 9 is a plan view of FIG.

FIG. 10 is a side view of FIG.

FIG. 11 is a front view of a tool gripped by a gripper provided at the tip of the robot.

FIG. 12 is a plan view of FIG.

FIG. 13 is a side view of FIG.

FIG. 14 is an example of a bending process in which a work is bent.

FIG. 15 is an example of a bending step in which a work is bent.

FIG. 16 is an example of a bending step in which a work is bent.

FIG. 17 is an example of a forming step in which burring is performed on a work.

FIG. 18 is an example of a forming step in which a forming process is performed on a work;

FIG. 19 is a view showing an example of a polishing step in which a work is polished;

FIG. 20 is a view showing an example of a polishing step in which a work is polished;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 plate processing machine 3 cover 9 operation panel 11 work transfer path 21 left-hand robot 23 right-hand robot 25 automatic tool changer for left-hand robot 27 automatic tool changer for right-hand robot 29 laser processing machine 33 work pallet 35 work clamp 105 gripper 107 tool 115 Left blade 117 Right blade

Claims (1)

(57) [Claims] 1. A work pallet (3) movable along a rail (31) provided long in the X-axis direction which is the front-back direction.
3) A plate-like work (W) is provided to be long and vertically supported in the X-axis direction, and moves beyond the work (W) in the Y-axis direction, which is a horizontal direction orthogonal to the X-axis direction. A left-handed robot (2) having a free laser processing machine (29) and capable of freely holding a tool for performing appropriate processing on a work (W) laser-processed by the laser processing machine (29).
1) A plate material processing machine characterized in that a right-handed robot (23) is arranged on both left and right sides of the rail (31).