JP3295254B2 - Panel vendor work handling method and work handling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work handling method and a work handling apparatus for a panel vendor.

[0002]

2. Description of the Related Art As a work handling device of a panel vendor performing box bending and the like, as shown in FIG.
A work W is loaded into the front work table 3 from a front work table 3 arranged in front of the panel vendor body 1 and a centering table (loading table) 5 arranged on one side of the front work table 3. A linear gripper type work loading / unloading means 9 for carrying out the work W from the work table 3 to the unloading table 7 arranged on the other side of the work table 3.
And a manipulator 11 disposed in front of the panel bender body 1 so as to be able to move forward and backward with respect to the panel bender body 1, and having a manipulator 11 for gripping and moving the work W on the front work table 3. Are known.

In this work handling device,
A work origin setting pin 13 movable between an operation position projecting on the work path line and a retracted position not projecting on the work path line is provided on the front work table 3, and the front work table 3 serves as a work origin setting table. The work W carried in from the centering table 5 onto the front work table 3 by the work carry-in / out means 9 abuts on the work origin setting pin 13 located at the operation position, thereby performing the origin setting. After the completion, the workpiece W is gripped by the manipulator 11 to move the workpiece, and the panel bender body 1 performs a bending process. After the bending process is completed, the work W is transferred from the front work table 3 to the unloading table 7 by the work loading / unloading means 9. A series of sequence operations to carry out It is carried out.

[0006] As a work handling device of another panel vendor, a work origin setting table 15 having a work origin setting pin 13 is provided separately from the front work table 3 as shown in FIG. The work W is loaded on the setting table 15, the work W origin setting pin 13 completes the work W origin setting on the work origin setting table 15, and the work W is transferred to the front work table 3 by the manipulator 11 and bent. There is known a type in which the work W is carried out from the front work table 3 by the work take-out means after the machining is completed.

[0005]

In a work handling apparatus in which the front work table 3 also serves as a work origin setting table, a separate work origin setting table is not required, so that the machine installation space is reduced. During the bending of one work W, the work W cannot be carried into the front work table 3 of the next work W in advance or the origin of the next work W cannot be set.
Therefore, the operation time of the panel bender body 1 is stopped until the bending of one work W is completed and the bending of the next work W is started. In the work processing, the processing time required for the whole becomes long due to the loss time due to the work handling.

On the other hand, in a work handling apparatus in which the front work table 3 and the work origin setting table 15 are different from each other, it is possible to set the origin of the next work W in advance while bending one work W. You can,
However, since the front work table 1 and the work origin setting table 15 each having a size corresponding to the maximum size of the work W are required, the machine installation space is increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and does not require a large installation space for a machine. It is an object of the present invention to provide a panel vendor's work handling method and work handling apparatus, which can be carried on a table and can set the origin of the next work, and can shorten the overall machining time when machining a large number of works. And

[0008]

In order to achieve the above-mentioned object, a panel vendor work handling method according to the present invention provides a method of loading a work to a front work table arranged in front of a panel vendor body by a work loading means. Then, the work on the front work table is gripped by a C-type manipulator capable of moving forward and backward with respect to the panel bender body, and the work is positioned and moved. The work is unloaded from the front work table by the provided work unloading means, and the area of the C-shaped portion of the manipulator under the processing of one piece of work is compared with the size of the work to be subsequently transferred. Is larger than the size of the workpiece to be loaded next, It is characterized in that to start the loading of the next work than loading means for said front work table.

In the work handling method of the panel bender, the work carried on the front work table is further abutted against a work origin setting pin projected on a work path line so as to be retractable in front of the panel bender body. By setting the origin of the work, it is determined whether or not the work origin setting pin interferes with the work being processed even if the work origin setting pin is projected above the work path line under processing of one work. If there is no interference, the work origin setting pin is projected, and the next work carried into the front work table is brought into contact with the work origin setting pin to set the origin of the next work. Features.

In the panel vendor's work handling method according to the present invention, the manipulator operates based on work positioning data generated from a product machining program, calculates the foot area from the work positioning data, and then carries in the manipulator. The size of the work can be obtained from the work data described in the product processing program of the next work.

Further, in the panel vendor's work handling method according to the present invention, the product processing program for the next work can be specified by the processing schedule data defining the execution order of the product processing program.

According to another aspect of the present invention, there is provided a panel vendor work handling apparatus according to the present invention, comprising: a front work table disposed in front of a panel vendor main body; Means, a C-type manipulator disposed in front of the panel vendor body so as to be able to move forward and backward with respect to the panel vendor body, gripping a workpiece on the front work table and performing positioning movement, and a panel from the workpiece loading means. A work unloading means which is provided offset to the vendor main body side and unloads the work from the front work table; and a size of a foot area of a C-shaped portion of the manipulator under machining of one work and a size of a work to be subsequently transferred. And the area is the size of the work to be imported next. If large is characterized in that a control means for instructing the pre-loading the start of the next work against the front work table from the workpiece loading means.

This work handling apparatus further comprises:
At the front position of the panel bender main body, a movable position is provided between an operation position protruding on the work path line and a retracted position not protruding on the work path line, and the origin of the work is set by being hit against the work. It has a work origin setting pin, and the control means determines whether or not the work origin setting pin interferes with the work under processing even when the work origin setting pin is positioned at the operation position under processing of one work. If there is no interference, the work origin setting pin is positioned at the operating position, the next work previously loaded into the front work table is abutted against the work origin setting pin, and the origin of the next work is set. It is another feature to direct things.

In the work handling apparatus according to the present invention, the control device has an operation sequence and an operation sequence / positioning data generation unit for generating an operation sequence from a product processing program and work positioning data for manipulator control. It is also possible to calculate the above-mentioned area and obtain the size of the work to be carried in next from the work data described in the product machining program of the next work.

Further, in the work handling apparatus according to the present invention, the control device has a machining schedule management unit for managing the execution order of the product machining program and the number of machining based on the inputted machining schedule data. The product processing program may be configured to be specified by the processing schedule data.

[0016]

According to the above construction, the manipulator C
If the area of the shape section is larger than the size of the next work to be loaded, the next work is loaded into the front work table in advance by the work loading means during the processing of one work, and further processing of one work If the work origin setting pin does not interfere with the work being machined even if the work origin setting pin is located at the operating position below, move the work origin setting pin to the operating position and move the next work loaded into the front work table. Origin is set in advance by abutting the workpiece on the work origin setting pin.

[0017]

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

FIGS. 1 and 2 show an embodiment of a work handling apparatus for a panel vendor according to the present invention. In these figures, reference numeral 21 denotes a panel bender body, and the panel bender body 21 performs bending along a bending line Lb extending in the X-axis direction.

In front of the panel bender main body 21, belt conveyors 23, 25 for carrying out the workpiece are arranged in parallel to the bending line Lb, in other words, in a line in the X-axis direction. The belt conveyors 23 and 25 for carrying out the work are provided so as to be movable up and down, respectively, and fall below the work path line at the time of bending, and rise only at the time of the work carrying out operation to lift the work onto the work path line and carry out the work. Belt conveyor 2
5, the unprocessed work is unloaded to the unloading table 27 disposed on the right side in FIG. 1 along the unloading reference line Lo extending in the X-axis direction.

Slat tables 29, 3 for setting the work origin are provided in front of the belt conveyors 23, 25 for carrying out the work.
1 is arranged.

The slat tables 29, 31 have the same structure as each other, and respectively support LM guides 33, 35 for supporting pins so as to be movable in the left-right direction (X-axis direction) in FIG. The pin supporting LM guides 33 and 35 extend in the Y-axis direction, respectively.
It is supported so as to be movable in the axial direction and to be vertically movable between an operation position protruding above the work path line and a retreat position retreating below the work path line by a fluid pressure cylinder device (not shown).

The left and right work origin setting pins 37 and 39 are
The slat tables 29 and 31 are each not shown X
It is individually moved in the X-axis direction by the axis driving means, and the pin support L is moved by the individual Y-axis driving means (not shown).
By being guided by the M guides 33 and 35 and moving in the Y-axis direction, they are respectively located at arbitrary X and Y coordinate positions.

Left and right front work tables 41, 43 are arranged in front of the slat tables 29, 31.

A work carrying carriage 45 is provided between the slat tables 29, 31 and the front work tables 41, 43 so as to be able to move linearly in the X-axis direction across the whole thereof in the X-axis direction. Work loading carriage 4
5, a work gripper 47 having an abutting positioning portion in the X-axis direction is vertically moved between an operation position where the work gripper 47 projects above a work path line by a fluid pressure cylinder device (not shown) and a retract position where the work gripper 47 retreats below the work path line. It is provided movably.

The work gripper 47 grips the leading edge of the work on the center table 49 arranged on the right side of the slat table 29 and the front work table 41 in FIG. 1, and the work carry-in carriage 45 by driving means (not shown). 1, the work is carried from the center table 49 onto the slat tables 29, 31 and the front work tables 41, 43 along the work carrying reference line Li extending in the X-axis direction.

The work carrying reference line Li by the work carrying carriage 45 and the work carrying belt conveyor 23,
25, the work unloading reference line Lo extends straight across the slat tables 29, 31 in front and back.
Work unloading reference line Lo is work loading reference line Li
The slat tables 29 and 31 are offset from the panel bender 21 by the dimension in the Y-axis direction.

Upper arms 51, 53 extend horizontally above the front work tables 41, 43, respectively. At the tips of the upper arms 51, 53, suction-type attracting pads 55, 57 are provided as driving means (not shown). The actuator is provided so as to be vertically movable and horizontally movable by a fluid pressure cylinder device (not shown) for setting an origin.

A C-type manipulator 61 is provided between the front work tables 41 and 43. The manipulator 61 has a gap between the left and right front work tables 41 and 43 and the slat tables 29 and 3 as a whole.
1 can be moved in the Y-axis direction, that is, in the direction moving forward and backward with respect to the panel bender 21 by a driving means (not shown), and is rotatably movable by a fixed lower clamp arm 63 and a pivot 65. Side upper clamp arm 6
7, a toggle link 69, and a clamp driving device 71, and a C-shaped portion 73 is formed on the front work tables 41 and 43 by the arrangement of the lower clamp arm 63 and the pivot 65 and the upper clamp arm 67. ing.

At the distal ends of the lower clamp arm 63 and the upper clamp arm 67, turntables 75 and 77 serving as work gripping portions which are driven to rotate around a vertical axis by driving means (not shown) are provided concentrically with each other. I have.

In the work handling apparatus having the above structure, first, the work on the center table 49 is gripped by the work gripper 47 located at the operating position, and the work carry-in carriage 45 is moved from the left side in FIG. The work is moved to the right on the work carry-in reference line Li, and the work is carried on the slat tables 29 and 31 and the front work tables 41 and 43.

When the loading of the workpiece is completed, the gripping of the workpiece by the workpiece gripper 47 is released, and the workpiece gripper 47 is lowered to the retracted position and returned to the home position on the center table 49 side.

Next, the left and right work origin setting pins 37 and 39 are moved in the X-axis direction and the Y-axis direction according to the size of the work, and are raised to the operation position at a predetermined work origin setting position. In this state, the work on the slat tables 29 and 31 and the front work tables 41 and 43 is sucked by the pulling pads 55 and 57, and the work is horizontally moved by a fluid pressure cylinder device for setting an origin (not shown). It hits the origin setting pins 37 and 39. Thereby, the origin of the work is set.

When the origin setting is completed, the toggle link 69 is driven by the clamp driving device 71 to rotate the upper clamp arm 67 in the descending direction, and the turntable 75,
The work is clamped by 77 so as to sandwich the work from above and below.

When the clamping is completed, the work origin setting pins 37 and 39 are lowered to the retracted position.

Thereafter, the turntables 75, 77 are set so that the bent side of the work faces the panel bender body 21.
The workpiece is rotated horizontally, and the entire manipulator 61 is moved forward in the Y-axis direction so that the bent side of the workpiece is positioned on the bending line Lb of the panel bender body 21. Do.

When the processing of a single work is completed, the upper clamp arm 67 is rotated in the ascending direction to release the work clamps by the turntables 75 and 77, and the work conveyor belt conveyors 23 and 25 are moved upward. , Processed workpieces are transferred to workpiece conveyor belt conveyors 23 and 25.
1 moves along the work unloading reference line Lo to the right as viewed in FIG. 1 and is unloaded onto the unloading table 27.

FIG. 3 shows a control system of the work handling apparatus of the panel vendor according to the present invention. The computer 101 inputs various parameters, a product processing program, a processing schedule, and the like from the keyboard 105 under the screen display on the display 103, and stores them in the storage device 107.

The computer 101 has a processing schedule management unit 109, an operation sequence / positioning data generation unit 111, a work loading determination unit 113, and an origin setting determination unit 1115.

The processing schedule management unit 109 inputs the processing result data (processing completed number data) from the NC unit 117, and executes the execution order of the product processing program based on the processing schedule data stored in the storage device 107.
The number of processed sheets is managed, that is, how many product processing programs are used and how many sheets are processed.

Operation sequence / positioning data generator 1
Reference numeral 11 denotes an operation sequence, a work positioning data for manipulator control, and work origin setting pins 37 and 39 which are generated from a material dimension, a bent shape, a flange height, a bottom dimension, and the like and stored in the storage device 107. , And outputs these data to the NC unit 117.

The work carry-in judging section 113 acquires the work positioning data from the operation sequence / positioning data generating section 109, calculates the area of the C-shaped foot portion 71 under machining of one work from the work positioning data,
The size of the work to be carried in next is obtained from the work data described in the product machining program of the next work, and C
The area of the shaping portion 71 is compared with the size of the work to be carried in next. If the size of the space is larger than the size of the work to be carried in next, a work pre-loading start command is output to the NC device 117.

In the work carry-in judging section 113, a product machining program for the next work necessary for acquiring the size of the work to be carried in next is based on the machining schedule data when machining of a predetermined number is completed. Specified.

The origin setting judging section 115 acquires the positioning data of the work origin setting pins 37 and 39 and the positioning data of the work currently being processed from the operation sequence / positioning data generating section 111, and compares the two data to obtain the work. Even if the origin setting pins 37, 39 are positioned at the operation position, it is determined whether or not the workpiece origin setting pins 37, 39 interfere with the work currently being machined. In the operating position, the slat tables 29 and 31 and the front work table 4
The next work previously carried into the first and third workpieces 43 is brought into contact with the work origin setting pins 41 and 43, and a command for setting the next work origin is output to the NC device 117.

The NC device 117 interprets various commands from the computer 101 and outputs drive signals to the panel vent main body 21 and the machine control unit 119 of the above-described work handling device.

Next, work loading / origin setting control performed using the above-described control system will be described with reference to the flowchart of FIG.

First, processing schedule data is read (step 10), and a product processing program for the next processing specified by the processing schedule data is read (step 20).

An operation sequence, work positioning data for manipulator control, and positioning data for the origin setting pins 37 and 39 are generated from the read product processing program (step 30).

Next, the area of the C-shaped foot 71 under machining of one work is calculated from the work positioning data for manipulator control (step 40), and the size of the work to be carried in next is determined by the product of the next work. Acquired from the work data described in the machining program (Step 5
0), The area of the C-shaped foot 71 is compared with the size of the work to be carried in next (step 60).

In step 50, the product processing program for the next work for acquiring the size of the work is specified from the processing schedule data when the processing of a predetermined number has been completed.

If the area of the C-shaped foot portion 71 is larger than the size of the work to be carried in next (step 60 affirmative), a work carry-in start command is output to the NC unit 117. As a result, the work to be processed next is the work gripper 4
7, the center table 49 preliminarily loads the slat tables 29 and 31 and the front work tables 41 and 43 of the C-shaped head 71 from the center table 49 (step 70).

On the other hand, if the area of the C-shaped contact portion 71 is smaller than the size of the work to be carried in next (step 60: No), the work carrying start command is not output to the NC unit 117. That is, the work is not pre-loaded (step 80).

If the work is loaded in advance, the positioning data of the work origin setting pins 37 and 39 and the positioning data of the work currently being processed are obtained (step 9).
0), the work origin setting pin 3
It is determined whether or not the work origin setting pins 37 and 39 interfere with the work currently being processed even if the work 7 and 39 are positioned at the operation position (step 100).

If there is no interference (Yes at step 100), the work origin setting pins 37 and 39 are moved to the operating positions, and the next work previously loaded on the slat tables 29 and 31 and the front work tables 41 and 43 is set. A command for setting the origin is output to the NC device 117. As a result, the work carried in beforehand is set to work origin setting pin 3
7 and 39, and the origin is set (step 110).

If there is interference (step 1
00 No), the work origin setting command is not output to the NC device 117. In this way, the work carried in advance is stored in the slat tables 29 and 31 and the front work table 4.
Wait on steps 1 and 43 (step 120).

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various embodiments can be made within the scope of the present invention. Some will be apparent to those skilled in the art.

[0056]

As can be understood from the above description, according to the panel vendor's work handling method and apparatus of the present invention, the work unloading reference line is offset from the work loading reference line on the panel vendor side. Thus, when the area of the cuff of the C-shaped portion of the manipulator is larger than the size of the work to be carried in next, during the processing of one work, the next work is carried out by the work carry-in means on the front work table of the work. Can be loaded in advance, so there is no need for a large work origin setting table the same size as the front work table, in other words, no large machine installation space is required, and one workpiece can be bent. During the work, the next work must be carried in to the front work table in advance. It can be.

The foot area of the C-shaped portion of the manipulator is calculated from work positioning data for manipulator control generated from the product processing program, and the size of the work to be carried in next is described in the product processing program for the next work. By obtaining the work data from the existing work data, the data of the area of the head and the size of the work to be carried in next can be obtained without requiring any special data or sensor.

The product machining program for the next work required for obtaining the data of the foot area is specified by the machining schedule data defining the execution order of the product machining program. Even if the product processing program to be executed next changes, the next work can be loaded in advance.

Further, if the work origin setting pin does not interfere with the work being processed even if the work origin setting pin is positioned at the operating position under processing of one work, the work origin setting pin is positioned at the operating position, and the front work table is set in advance. The origin setting for abutting the next loaded work on the work origin setting pin is also performed without requiring a large work origin setting table.

By pre-loading the work and setting the origin,
The operation rate of the panel bender is improved, and the overall machining time in machining a large number of workpieces is reduced.

[Brief description of the drawings]

FIG. 1 is a plan view showing an embodiment of a panel vendor work handling apparatus according to the present invention.

FIG. 2 is a side view showing an embodiment of a panel vendor work handling apparatus according to the present invention.

FIG. 3 is a block diagram showing one embodiment of a control system of the work handling apparatus of the panel vendor according to the present invention.

FIG. 4 is a flowchart of work loading / origin setting control in the panel vendor work handling method according to the present invention.

FIG. 5 is a layout diagram showing an example of a conventional panel vendor work handling apparatus.

FIG. 6 is a layout diagram showing another example of a conventional panel vendor work handling apparatus.

[Explanation of symbols]

 21 Panel Bender Body 23, 25 Work Conveyor Belt Conveyor 27 Unloading Table 29, 31 Slat Table 37, 39 Work Origin Setting Pin 41, 43 Front Work Table 45 Work Load Carry 47 Work Gripper 49 Center Table 55, 57 Pulling Pad 61 Manipulator 63 Lower clamp arm 67 Upper clamp arm 75, 77 Turntable 101 Computer 107 Storage device 109 Processing schedule management unit 111 Operation sequence / positioning data generation unit 113 Work loading determination unit 115 Origin setting determination unit

Claims (8)

(57) [Claims] 1. A C-shape wherein a work is carried into a front work table arranged in front of a panel bender body by a work carrying means, and the work on the front work table can be moved forward and backward with respect to the panel bender body. The work is positioned and moved by being gripped by the manipulator, and the work is unloaded from the front work table by the work unloading means provided offset to the panel bender body side from the work loading means, and the work piece is processed. And comparing the area of the C-shaped portion of the manipulator with the size of the work to be carried in next, and when the size of the space is larger than the size of the work to be carried in next, the work carrying means with respect to the front work table. Panel to start loading of the next work Workpiece handling method of the vendor. 2. An origin setting of the work carried by bringing the work carried in on the front work table into contact with a work origin setting pin projected on a work path line so as to be retractable in front of a panel bender body, It is determined whether the work origin setting pin interferes with the work being processed even if the work origin setting pin is projected above the work path line under the processing of a single work. 2. The panel vendor work according to claim 1, wherein an origin setting pin is protruded, and a next work carried into the front work table is abutted against the work origin setting pin to set the origin of the next work. Handling method. 3. The manipulator operates based on work positioning data generated from a product processing program, calculates the foot area from the work positioning data, and determines the size of a work to be carried in next to a product of the next work. 3. The work handling method of a panel vendor according to claim 1, wherein the work is obtained from work data described in a machining program. 4. The product machining program for the next work is specified by machining schedule data that defines the execution order of the product machining program and the number of pieces to be machined. Panel vendor's work handling method. 5. A front work table arranged in front of a panel bender body, a work loading means for loading a work into the front work table, and a forward / backward movement of the panel bender body in front of the panel bender body. A C-type manipulator that is disposed so as to be capable of gripping and positioning the work on the front work table, and is provided offset to the panel bender body side from the work loading means to unload the work from the front work table. Work unloading means, and C of the manipulator under machining of one work
A comparison is made between the foot area of the shape part and the size of the work to be carried in next, and if the foot area is larger than the size of the work to be carried in next, the work carrying means prepares the next work for the front work table with respect to the front work table. A work handling apparatus for a panel vendor, comprising: control means for instructing start of carry-in. 6. A work which is movably provided between an operation position which protrudes on a work path line at a position in front of the panel bender body and a retracted position which does not protrude on the work pass line. The work means has a work origin setting pin for setting the work origin, and even if the work origin setting pin is located at the operating position during the processing of one work piece, the work home setting pin and the work under processing are not affected by the work origin setting pin. It is determined whether or not there is interference, and if not, the work origin setting pin is positioned at the operating position, and the next work previously loaded on the front work table abuts against the work origin setting pin, and the next work is performed. 6. The panel vendor's work handling apparatus according to claim 5, wherein a command is issued to set the work origin. 7. The control means has an operation sequence / positioning data generation unit for generating an operation sequence and a work positioning data for manipulator control from a product processing program, and calculates the foot area from the work positioning data. 7. The panel vendor's work handling apparatus according to claim 5, wherein the size of the work to be carried in next is obtained from work data described in a product processing program of the next work. 8. An execution sequence of a product machining program based on inputted machining schedule data,
8. The panel vendor's work handling apparatus according to claim 5, further comprising a processing schedule management unit for managing the number of processed sheets, wherein a product processing program for the next work is specified by the processing schedule data.