JP3236316B2 - Plate bending machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the bending of a large plate material.
The present invention relates to a sheet bending apparatus for performing a work .

[0002]

2. Description of the Related Art Conventionally, when punching and bending are performed on a sheet material, punching is performed as primary processing, and then there is a burr of the sheet material after punching as secondary processing. It was customary to bend the inside so that the side was inside.

[0003] Therefore, in order to make the surface with burrs generated on the back side after the primary working face the upper surface side, the work after the primary working is turned, for example, while being held by a robot or the like, and is then carried into a bending machine in that state. Had been bent.

[0004]

[SUMMARY OF THE INVENTION In the above-described configuration, for loading the robot bending machine by reversing the word <br/> over click while adsorbed gripping one side of the large work, during the process The work must be gripped to the end, and since there is no follow-up device by numerical control, setup for the preparation of the next work cannot be performed, so that there is a disadvantage that total work time is required and cost reduction is hindered.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a plate bending apparatus capable of preparing a next work and capable of following a work currently being processed. It is intended to provide.

[0006]

[Means for Solving the Problems] In view of the above-mentioned problems, etc.
In view of the above, the present invention provides a method for bending the work when bending the work.
A tracking device that supports the work by following the bending angle
Located at the work supply section in front of the plate bending machine equipped with
Equipped with a robot that holds the workpiece and transports it to the following device
In the sheet bending apparatus, the robot
One side of the work can be completely sucked on the cut arm
And a follow-up device from the work supply unit.
Path of the workpiece by the robot arm to the workpiece
During the work carried by the robot arm
Lifting and lowering that can temporarily hold the
Arm, and the work held by the robot arm
After temporarily holding the workpiece vertically on the lifting frame
The suction member of the robot arm allows the workpiece to be
Absorb the other side completely and turn the work upside down
It is configured to be transported to the following device.

[0007]

[0008]

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS.

In FIG. 1, a plate material bending apparatus 1 comprises:
It is constituted by a plate material bending machine 3 and a work carrying-in / out device 5 provided in front (right side in FIG. 1) of the plate material bending machine 3.

The plate bending machine 3 is, for example, a press brake or the like , and is a large work such as a fixed length material.
A movable lower table which is moved up and down by a hydraulic cylinder serving as a pressurizing unit is provided at a lower portion of the main body 7, and a die holder which is a lower holder is provided above the movable lower table. A die having a V-groove formed therethrough is provided.

On the other hand, a fixed upper table is provided on the upper part of the main body 7, and the lower end of the fixed upper table is engaged with the V groove of the die via a punch holder as an upper die holder. A punch is provided, and the plate-shaped workpiece W is bent between the punch and the die.

The plate bending machine 3 is provided with a follower 9 by numerical control, which rises with the rise of the movable lower table, and when the work W is bent by being sandwiched between a punch and a die. It is configured to support a part of the workpiece W and follow the bending angle.

The work loading / unloading device 5 is provided with a work holding portion 11 for transporting a work W at the center, and a work supply portion 13, a work reversing portion 15, and a plate material around the work holding portion 11. The following apparatus 9 of the bending machine 3 and the product unloading section 17 are provided.

Work loading / unloading device 5 having such a configuration
The work W of the work supply unit 13 is held by the robot arm 19 of the work holding unit 11, transferred to the work reversing unit 15, the work W is turned upside down, transferred to the plate bending machine 3, and bent. The product bent by the machine 3 is transported to the product discharge section 17. Therefore,
The work supply unit 13, the work reversing unit 15, a part of the plate bending machine 3, and the product unloading unit 17 are all disposed within the operation area of the robot arm 19 of the work holding unit 11.

As shown in FIG. 2, the work holding section 11
It comprises a base 21 erected and fixed from the floor, and a robot arm 19 rotatably provided on the upper part of the base 21.

The robot arm 19 has a pedestal 23 fixed on the base 21, a support member 25 rotatably provided on the pedestal 23, and a first member provided on an upper end of the support member 25. The first shaft rotatably provided on the support shaft 27 of the
Arm member 29, a second arm member 33 rotatably provided on a second support shaft 31 provided at a distal end of the first arm member 29, and a second arm member 33. It comprises a rotatable cylindrical member 35 provided at the distal end, and a holding member 39 rotatably provided on a third support shaft 37 provided at the distal end of the cylindrical member 35, and rotates in six axial directions. It is being moved. Then, as shown in FIG. 3, the holding member 39 rotated in the six axial directions has a large surface.
A suction member 41 having a substantially I-shape is provided so that one side of the work W can be entirely sucked . This suction member 41 is
For example, the work W is attracted by an electromagnet or negative air pressure. By pressing the suction member 41 against the surface of the work W and operating the work W, the work W is sucked and held by the suction member 41. ,
It is transported anywhere within the working area of the robot arm 19. When the operation of the suction member 41 is released, the work W is released from the suction member 41 and is arranged at a predetermined position.

The robot arm 19 constructed as described above
By means of a separately provided control device (not shown), the work W is moved up and down and moved in the left and right direction by the rotation control of each support shaft, and further, the work W is gripped in the vertical direction and the work supply unit 13 Transfer of the workpiece W, loading and unloading of the workpiece W to and from the workpiece reversing unit 15, loading and unloading of the workpiece W to and from the plate bending machine 3, and further transporting to the product unloading unit 17. Etc. can be performed smoothly.

As shown in FIG. 2, the work supply section 13 includes a material table 43 having a predetermined height from the floor and a pallet 45 detachably mounted on the upper surface of the material table 43.
Are formed. A work W that has been punched by a punch press or the like is placed on the upper surface of the pallet 45. The burrs generated during the punching process project from the back surface of the punched work W, and the burrs are accumulated with the burr surface as the lower surface.

It should be noted that the material table 43 may be a material carriage provided with wheels at the bottom, in which case the work supply unit 13
The vehicle may be positioned by providing a stop or the like at the specified position.

The work turning section 1 5, the workpiece supply section 1
3 and the plate bending machine 3, and is installed so that a longitudinal direction thereof is centered on a direction perpendicular to a line connecting the center of the plate bending machine 3 and the work holding unit 11. (See FIG. 1). As shown in FIGS. 4 and 5, the work reversing unit 15 includes a base 47 formed by a frame on the floor, a movable base 49 movably provided on the base 47, Work provided on moving table 49
The lift frame 51 is configured to temporarily hold W vertically and to vertically move up and down.

The base portion 47 is a frame structure fixed on the floor surface, and a guide rail 53 for moving a moving base 49, which will be described later, is provided on the left and right bases in FIG. . A rack gear 59 that meshes with the gear 57 of the traveling motor 55 of the movable base 49 is provided at a substantially intermediate portion of the guide rail 53. An intermediate portion between the rack gear 59 and one of the guide rails 53 will be described later. A reference bar 61, such as a magnescale, for positioning the movable table 49 is fixed.

The moving table 49 is a frame formed by upper and lower frame members 63, each of which has a rectangular shape formed of a shaped steel material, and guide columns 65 erected at the center of the frame member 63 in the short direction. The longitudinal direction of the rectangle is formed so that the longitudinal direction of the work W as a fixed-size object can be placed.
The moving body 49 is moved by driving the traveling motor 55. Further, a position sensor 71 is provided at a position corresponding to the reference bar 61 provided on the base portion 47 below the moving table 49, and a traveling motor 55 of the moving table 49 is provided.
The amount of movement is controlled. In addition, a guide member 69 is fitted to the guide rail 53.

The projecting member 6 provided below the moving table 49
7, a rotary shaft 73 penetrating in the longitudinal direction is provided immediately below the guide column 65, and two chain sprockets 75 are provided near the inner surface of the guide column 65 at both ends of the rotary shaft 73. A lifting sprocket 77 is provided at one end of the rotating shaft 73 outside the projecting member 67, and the lifting sprocket 77 is
9 is driven through a chain 83 by a driving sprocket 81 of a lifting motor 79 provided at one end of the rotary shaft 73.
Is to be rotated.

The rotation of the rotating shaft 73 rotates a chain sprocket 75 provided on the rotating shaft 73, and the rotation of the chain sprocket 75 is driven via a lifting chain 85 by a driven sprocket 87 provided above the guide column 65. Conveyed to. A part of the elevating chain 85 is attached to an elevating frame 51 which will be described later.
The vertically moving frame 51 is moved in the up-down direction by the drive.

The elevating frame 51 is connected to the guide support 6.
5, a frame member 91 having rollers 89 which are transferred from the left and right, a plate member 93 attached to the frame member 91 and spanned between the left and right guide posts 65, and a plate member 93.
Are provided facing each other from both side surfaces of the workpiece W, and an upright member 97 in which a plurality of opposed rollers 95 are respectively provided in the facing surface is provided. It is slightly shorter, and is configured by attaching a plurality of pieces to the side surface of the plate-like member 93.

The elevating frame 51 is engaged with an elevating chain 85 provided on the moving table 49 via a sprocket 99 provided on the frame member 91 so as to be moved up and down as the elevating chain 85 moves. It is configured. The work W is sandwiched between the opposing rollers 95 of the standing member 97 of the elevating frame 51, and the work W is moved up and down by the operation of the elevating chain 85.

The elevating frame 51 thus constructed
As shown in FIG. 4, first, the robot arm 19 holds the workpiece W in the vertical direction,
5, the lifting frame 51 on the moving table 49 is raised by the operation of the lifting motor 79, and the work W is placed between the standing members 97 of the lifting frame 51 facing each other. The lifting frame 51 rises while holding the work W, and the plate-like member 9 of the lifting frame 51
When the upper surface of 3 touches the lower end surface of the work W, the suction member 41 of the robot arm 19 releases the work W. With this opening, the elevating frame 51 is lowered along the guide column 65 by the reverse rotation of the elevating motor 79 and is accommodated in the movable table 49. At this time, the suction member 41 of the robot arm 19 is in a standby state with its direction being reversed by the rotation of the cylindrical member 35.

Next, the traveling motor 55 is driven and the gear 5
By the rotation of 7, the moving table 49 is moved to the line LL in FIG. By this movement, the back side surface of the work W is made to correspond to the suction member 41 side of the robot arm 19. When the moved carriage 49 is stopped at a predetermined position by the reference bar 61 and the position sensor 71, the elevating motor 79 is driven again, and the elevating frame 51 is raised to a predetermined height. In this state, the robot arm 1
When the work 9 is returned from the standby position to the position where the work W is released and the work W is sucked by the suction member 41, the back surface side of the work W is sucked. Then, after waiting for the lowering of the elevating frame 51, the robot arm 19 positions the work W in the horizontal direction, and carries the work W into the plate bending machine 3 with the burr surface of the work W as the upper surface by the rotation of the support portion 25 of the robot arm 19. be able to.

The work W carried into the plate bending machine 3 is
As shown in FIG. 1, the positioning is performed by the magnetic attraction of the following device 9 by numerical control, and the punching and the die of the plate material bending machine 3 perform bending at a predetermined position. The tracking device 9 has an arithmetic processing unit including a calculation unit, a control unit, and a display unit, processes a signal input from an angle detector in the calculation unit, and controls the tracking plate via the control unit. It is not necessary to support the work W with the robot arm 19 in order to control the work W in accordance with the bent state.

During the bending of the work W by the plate bending machine 3 configured as described above, the work loading / unloading device 5
The robot arm 19 is rotated by the work supply unit 13 to hold the next work W, transported to the work reversing unit 15 to reverse the work W, and to prevent idle time in a series of machining operations. Is performed.

The product unloading section 17 is provided with the work reversing section 15
Although shown in FIG. 1 is a frame-structured table, this may be a conveyor for unloading. This may be a trolley for the next process or storage warehouse.

As described above, the work loading / unloading device 5
Is provided at the center, and the work supply section 13, the work reversing section 15, the work sheet folding machine 3 and the product unloading section 17 are provided in the operation area around the work sheet processing apparatus 1. (Waiting time) so you can work without
There is an advantage that the plate material can be bent with high efficiency.

The present invention is not limited to the above-described embodiment, but can be implemented in other modes by making appropriate changes.

[0035]

The present invention can be understood from the above description of the embodiments.
As described above, in the present invention, the work W
To use the follower 9 that supports the work W
When bending a workpiece W
From the supply unit 13 to the following device 9
When transporting a large workpiece W by the
In this case, the upper and lower sides of the quart W are transported. At this time,
Ark W is large, so the robot arm 19
One side of the work W is entirely covered by the provided suction member 41.
And lifts and lowers in the middle of the transport path.
Work W is placed vertically with respect to the elevating frame 51
After the holding, the suction member 41 of the robot arm 19 is
The other side of the work W is entirely
Following the surface of the work W by inverting the work W
It is transported to the device 9. At this time, the lifting frame 5
Since the robot arm 19 can move up and down freely,
If the robot moves over the lift frame 51 relatively,
Because it is not necessary to raise the arm 19 greatly,
Robot can be downsized despite handling work W
That can easily supply workpieces by reversing them
It is .

[Brief description of the drawings]

FIG. 1 is a plan view showing a configuration of a plate material bending apparatus according to an embodiment of the present invention.

FIG. 2 is a side view of a work loading / unloading device of the plate bending apparatus of FIG. 1;

FIG. 3 is a plan view of the work carrying-in / out device of FIG. 2;

FIG. 4 is a side view of a work reversing unit of the plate bending apparatus of FIG. 1;

FIG. 5 is a plan view of the work reversing unit of FIG. 4;

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 plate material bending device 3 plate material bending machine 5 work carrying-in / out device 11 work holding unit 13 work supply unit 15 work reversing unit 17 product carry-out unit 49 moving table 51 elevating frame

Claims (1)

(57) [Claims] The work (W) is bent at the time of bending the work (W).
The work (W) is supported by following the bending angle of the work (W).
In front of a sheet bending machine (3) with a follower (9) to hold
On the other hand, the work (W) located in the work supply section (13)
A robot for holding and transporting to the following device (9)
In the sheet bending machine, the robot
To one side of the work (W) on the arm (19).
An adsorbing member (41) is provided to be able to adsorb the workpiece.
The robot from the feeder (13) to the follower (9)
In the middle of the conveyance path of the work (W) by the arm (19)
Before being conveyed by the robot arm (19)
The work (W) can be temporarily held vertically and can move up and down
A moving frame (51), and the robot arm
The work (W) held in (19) is lifted and lowered
After temporarily holding the robot vertically (
The arm (19) by the suction member (41).
The other side of the work (W) is completely sucked and the work
(W) is turned over and transported to the following device (9)
A plate material bending apparatus characterized by having a configuration .