JP3504289B2 - Work follower for press brake - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work following device in a press brake having a support arm that mechanically follows the bending of a work during processing. 2. Description of the Related Art Conventionally, when a work is bent by a press brake, as a work follower that makes a support arm for supporting the work follow the bending angle of the work, an encoder or the like is used to electrically connect the support arm. Mainly, the support arm is rotated in synchronization. [0003] Further, a device using a robot is employed, and the robot performs work loading and bending work, that is, press brakes support the work in synchronism with the bending work, and unload the product. Loading is taking place. [0004] By the way, when the work is bent by the above-described conventional press brake, the support arm follows the bending angle of the work. With the work follower that can be taken, reliable follow-up cannot be performed, cost is high, and maintenance and maintenance must be performed by a specialist on the manufacturer side.
In addition, there is a problem that reverse bending cannot be performed. [0005] In a work following device using a robot, since many steps of loading a work, following a bending angle, and unloading a product are performed by a robot, there is a problem that a robot operation program becomes complicated and tact time is increased. SUMMARY OF THE INVENTION An object of the present invention is to reduce the following error, reduce the cost, and maintain
An object of the present invention is to provide a press-brake work follow-up device that facilitates maintenance, improves operability, and improves tact time. In order to achieve the above object, a work follower for a press brake according to the present invention is provided.
The upper table has a punch at the lower end
The lower tape which can attach and detach the die corresponding to the punch
And the bending position of the work behind the upper and lower tables.
Press brake with back gauge for positioning
The bending of the work on the front side of the lower table.
Turn the support arm that holds the work following the corner.
Movably provided on the base side of the support arm.
Up and down multiple suction pads that can hold air
And move the suction pad back and forth to
The workpiece can be positioned in contact with the back gauge.
And an elastic member on the tip side of the support arm.
And movably in the vertical direction through
A plurality of suction pads movably provided in the lower part,
First oil that can freely rotate the support arm on the table
A pressure cylinder and a lower end of the upper table.
Second hydraulic system having a piston rod that operates in contact with
A second hydraulic cylinder and the first hydraulic cylinder;
In the middle of the flow path connecting the cylinders in series, the second hydraulic
Hydraulic cylinder that communicates with the
The first hydraulic cylinder is provided in parallel with the cylinder.
A fixed hydraulic cylinder that communicates with the
A cylinder is provided so as to be able to approach and separate from the fixed cylinder side,
To the moving hydraulic cylinder and the piston rod of the fixed cylinder
A rotatable bar that comes into contact with the engaged push-up bar
Is provided, and the fixed hydraulic cylinder is
The aim is to convert the amount of oil spilled to a constant
There is . By adopting the work following device of the press brake according to the present invention, the work carried in is sucked and held by the suction pad provided on the base side of the support arm, and abuts against the back gauge. Perform positioning. Then, the suction of the suction pad on the base side is released, and the work is suction-held by the suction pad provided on the tip side. From this state, a bending operation is started. That is, for example, the lower table of the press brake is raised, and the cylinder provided on the lower table is pressed. When this cylinder is pressed, the non-compressed fluid filled therein flows into the moving cylinder of the adjuster device, and the piston rod pushes up the rising bar. According to the lever principle, the other end of the bar goes down and presses the piston rod of the fixed cylinder, and sends the filled non-compressed fluid to the cylinder that drives the rotation device that rotates the support arm. The support arm is rotated via the rotation device. Thus, the support arm rotates following the bending of the work. The support arm can be retrofitted to the lower table. Embodiments of the present invention will be described below in detail with reference to the drawings. The press brake and the articulated robot employed in the present embodiment have a known configuration, and therefore detailed illustration and description are omitted. For easy understanding, first, the overall configuration of a press brake provided with an articulated robot will be schematically described. Referring to FIG. 6, an articulated robot 3 is provided on the front of the press brake 1, and the work W is loaded and unloaded by the articulated robot 3. The press brake 1 has an upper table 7 on the body 5 and a lower table 9.
On the upper table 7, an upper punch 11 is detachably mounted. Also, a lower die 9 is mounted on the lower table 9. As is known, in the press brake 1 having the above structure, the upper table 7 and the lower table 9 are provided.
Of the work W interposed between the punch 11 and the die 13 is bent by engaging the punch 11 and the die 13 with each other. Although not shown in detail, in the present embodiment, the lower table is configured to move up and down. Further, the press brake 1 is provided with a back gauge 15 for positioning the work W in the front-rear direction (left-right direction in FIG. 6) so as to be movable in the front-rear direction. Further, a shaft 19 is inserted into a bracket 17 provided on the upper surface of the lower table 9, and a support arm 21 fixed to the shaft 19 is rotatably provided. The support arm 21 is provided with a plurality of suction pads 23 for holding the work W by suction. The articulated robot 3 has a well-known structure, and a column 27 movable on a bed 25 in a direction perpendicular to the drawing in FIG. 6 is provided. The column 27 is vertically expandable and contractable. The wrist 33 is provided on the support column 27 so as to grip the work W at the distal end of the first joint 29, the second joint 31, and the second joint 31. The work W is carried into and out of the press brake 1 by the articulated robot 3. Next, the support arm 21, which is a main part of the present embodiment, will be described in more detail. Referring to FIG. 1, a plurality of brackets 17 are erected on the upper surface of the lower table 9.
7 is a shaft 1 integrally provided at the base of the support arm 21.
The support arm 21 is rotatably provided. More specifically, as shown in FIG. 2, a hydraulically operated cylinder 35 is provided on the base side of the rotatable support arm 21, and a support plate is provided at the tip of a piston rod 37 of the cylinder 35. The plurality of suction pads 23A are provided upright so that the suction surfaces of the plurality of suction pads 23A face upward. The support plate 39 is slidable on a plate member 41 having a sliding surface provided on the upper surface of the support arm 21. Further, a plurality of suction pads 23B are provided upright on the front end side of the support arm 21 on a bracket 45 guided by the slot 43 so that the suction surface is directed upward. For example, a coil spring 47 is provided as an elastic member above and below the suction pad 23B.
It is wound around. With the above configuration, the work W is carried in by the above-described articulated robot 3 and transferred onto the suction pads 23A and 23B. When the work W rides on the suction pads 23A and 23B, the suction pad 23A is not shown, but a vacuum pressure source provided outside the apparatus is operated to make the suction pad 23A in a vacuum state to suck and hold the work W. Note that the suction pad 23B is opened without being in a vacuum state, that is,
The suction pad 23B supports the work W. In the above-described state, the cylinder 35 is operated to advance the work W sucked and held by the suction pad 23A, and when the work W comes into contact with the back gauge 15, the cylinder 35
Is stopped to release the vacuum state of the suction pad 23A,
Although not shown, it is lowered slightly by operation of a cylinder or the like to separate it from the lower surface of the work W. Then, the suction pad 23B
When the workpiece W is sucked and held in a vacuum state, the workpiece W
Is supported by the die 13 and the suction pad 23B. The support arm 21 is attached to the lower table 9
The mounting structure is shown in detail in FIG. 3, and the side plate 9 is integrally formed on the side surface of the lower table 9.
A is provided. The support arm 2 is attached to the side plate 9A.
A bracket 9B for supporting a rectangular support member 21A for supporting the support member 1 is fixed by a fastening bolt or the like. Long hole 48 formed
A is integrally fixed on the bracket 9B by the tightening bolt 48B via A. The bracket 17 is erected on the upper surface of the support plate 48, and a shaft 19 provided integrally with the support arm 21 is inserted into the bracket 17 so that the support arm 21 is rotatable. Has become. On the upper surface of the support plate 48, a cylinder which is operated by a non-compressed fluid described later is provided upright. With the above configuration, the support arm 21 can be assembled and disassembled on the lower table 9 with the fastening bolt 48B, so that it can be retrofitted. The turning device 49 of the support arm 21
Referring to FIG. 1 again, a pinion 51 is provided on a shaft 19 on one side of a shaft 19 provided on the base of the support arm 21, and a rack 53 is engaged with the pinion 51. The rack 53 is provided on a sliding plate 55 movable in the front-rear direction. The sliding plate 55 engages with a rail 59 provided on the upper surface of a support plate 57 integrally assembled on the lower table 9. ing. The support plate 57 is provided on the opposite side of the support arm 21 shown in FIG. 1 with reference to FIG.
And the support plate 57 includes the support member 2.
The support member 21A is integrally provided on the side of the lower table 9 with a fastening bolt or the like. Further, on the sliding plate 55, a cylinder 61 which is operated, for example, by hydraulic pressure as a non-compressed fluid is fixed, and the tip of a piston rod 63 mounted in a cylinder body 61A of the cylinder 61 is supported by the support plate 57. Is fixed to a bracket 65 fixed to the bracket 65. With the above configuration, when the oil is supplied to the cylinder 61, the piston rod 63 is fixed, so that the cylinder body 61A moves, and the sliding plate 55 to which the cylinder body 61A is fixed is guided by the rail 59 to move. At the same time, the rack 53 provided on the sliding plate 55 moves. The movement of the rack 53 causes the pinion 51 to rotate as shown by the arrow in FIG. Thus, the support arm 21 rotates. On the other hand, the lower table 9 of the press brake 1
A cylinder 67 which is operated by, for example, hydraulic pressure as a non-compressed fluid is provided via a support plate 48 above. The cylinder 67 is provided upright on the support plate 48 and is provided at a position where the tip of the piston rod 69 comes into contact with the upper frame 7. This cylinder 67 and the aforementioned cylinder 61
An adjuster device 73 is provided in the middle of a flow path 71 connecting the two. As shown in detail in FIG. 4, the adjuster device 73 has a movable cylinder 77 and a fixed cylinder 79 arranged in parallel on a support plate 75 (not shown) supported by an appropriate bracket or the like. Is provided. The moving cylinder 77 is provided on a base plate 81. The base plate 81 is provided movably in the left-right direction by engaging with a plurality of rail members 83 provided on the support plate 75 so as to extend in the left-right direction. ing. As a moving mechanism, a screw rod 87 is supported on a bracket 85 provided on one side of the support plate 75, and the screw rod 87 is screwed to a nut member (not shown) provided on the back surface of the base plate 81, and A handle 87 is attached to the rod 87. The moving cylinder 77 is fixed to the surface of the base plate 81, and the moving cylinder 7
7 is connected by a flow path 71 so as to be supplied with the hydraulic pressure for reducing the cylinder 67 described above. The distal end of the piston rod 91 of the moving cylinder 77 is engaged with a push-up rod 93,
Are held through a guide block 95 provided integrally with the base plate 81. A roller 97 is rotatably mounted on the tip of the push-up rod 93.
Reference numeral 7 abuts on a bar 99 which is swingably provided on the support plate 75 with a shaft 95 as a sliding fulcrum. On the other hand, the fixed cylinder 79 is provided integrally with the base plate 101 fixed to the support plate 75, and the tip of the piston rod 103 of the fixed cylinder 79 is engaged with the push-up rod 105. Base plate 1
The guide block 107 is provided so as to penetrate through a guide block 107 provided integrally with the guide block. And at the tip of the push-up rod 105,
The roller 97, which is the same as the roller 97 provided on the moving cylinder 77 described above, is rotatably mounted and abuts on the bar 99. In addition, the hydraulic pressure as the non-compressed fluid filled in the fixed cylinder 79 passes through the flow path 71 and the cylinder 6 described above.
Oil is sent to 1. With the above structure, the piston rod 91 is pushed up by the oil pressure flowing into the moving cylinder 77, and the push-up rod 93 is pushed up to move the bar 99 via the roller 97 from the position shown by the two-dot chain line in FIG. Swing to the position shown by the solid line. The fixed cylinder 7 is moved by the swing of the bar 99.
9 discharges a certain amount of oil via the roller 97, the push-up rod 105, and the piston rod 103. Further, the stroke of pressing the cylinder 67 differs depending on the V groove width of the die 13 and the thickness of the work W. Therefore, in order to maintain the rotation angle of the support arm 21 at 45 degrees, the moving cylinder 77 is operated by the handle 89 to rotate the screw rod 87 and move the moving cylinder 77 to an appropriate position, thereby fixing the moving cylinder 77 by leverage principle. The stroke of the cylinder 79 can be set constant. That is, FIG.
Can be constant. Further, the push-up bars 93 and 105 and guide blocks 95 and
The reason for providing 107 is that the unbalanced load is
This is for the purpose of protection so that it does not occur in 103. Furthermore, the length of the bar 99 is set so that the operation of the handle 89 is not erroneous and an excessive stroke is generated in the fixed cylinder 79. When an excessive stroke is generated, the bar 99 presses the fixed cylinder 79. It is made to come off more. According to the above-described structure, the lower table 9 is raised to perform the bending operation as shown in FIG. As the lower table 9 rises, the piston rod 69 of the cylinder 67 provided on the lower table 9 hits and is pressed against the upper table 7, and the oil filled in the cylinder 67 is pushed out and travels through the flow path 71 to move the cylinder of the adjuster device 73. Flow into 77. In addition,
The moving cylinder 77 is adjusted to a predetermined position, that is, the stroke of the fixed cylinder 79 is adjusted to an appropriate position. The piston rod 91 is pushed up by the oil that has entered the moving cylinder 77, and the bar 99 is swung to push down the piston rod 103 of the fixed cylinder 79.
The oil filled in the fixed cylinder 79 is pushed out by the pressing of the piston rod 103 and flows into the cylinder 61 through the flow path 71. When oil flows into the cylinder 61, the cylinder body 61A moves and the support arm 21 rotates via the rack 53 and the pinion 51 as described above. The cylinder 67 has a larger diameter than the cylinder 61, and the stroke of the cylinder 67 is usually about 2.6 mm to 6 mm. Therefore, it is necessary to increase the stroke of the cylinder 67 and increase the stroke so as to facilitate the processing. As shown in FIG. 2, two coil springs 47 are mounted on the suction pad 23B. The coil springs 47 are used by the support arm 21 to bend the work W when the work is bent. When following
It absorbs subtle irregularities in following, and allows reverse bending work. Further, the hydraulic pressure source of each cylinder employed effectively utilizes the hydraulic energy of the existing press brake 1. Since the support arm 21 mechanically follows the workpiece W, the following error is small and the structure is simple, so that the cost can be reduced and the maintenance and maintenance become easy. Further, by combining the articulated robot, labor saving is achieved, the robot program is simplified, the tact time is increased, and the support arm can be retrofitted. The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes. For example, in this embodiment, the lower table 9 of the press brake 1 is moved up and down, but the upper claim 7 may be moved up and down. According to the first aspect of the present invention, the support arm
A first hydraulic cylinder for driving the rotation of the system, and a lower table
In the middle of the flow path communicating with the second hydraulic cylinder provided in
Support for the change in die V width or workpiece thickness
Adjuster device that allows the arm to accurately follow the bending angle
To reduce the tracking error of the support arm
Can be . Also, the work position with respect to the back gauge
The support arm can also automatically perform the placement work
it can. Therefore, for example, a system using a robot
In the system, the work to follow and hold the work and the back gauge
The support arm can be used to position the workpiece with respect to
So the robot can load and unload the work
Only the handling operation such as
It is possible to separate the operation of the brake and the operation of the robot.
As a result, creating a program to operate the robot
It is simpler and the system is easier to maintain .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a main part of the present invention and showing a follow-up mechanism of a support arm. FIG. 2 is an enlarged side view of a support arm viewed from a direction indicated by an arrow II in FIG. 6; FIG. 3 is an exploded perspective view of a part viewed from the arrow III in FIG. 2; FIG. 4 is an enlarged explanatory view of an adjuster device viewed from an arrow IV in FIG. 1; FIG. 5 is an operation explanatory view of the present invention. FIG. 6 is an explanatory side view showing a schematic configuration of a press brake including an articulated robot according to an embodiment of the present invention; [Description of Signs] 1 Press brake 3 Articulated robot 9 Lower table 11 Punch 13 Die 21 Support arm 23A, 23B Suction pad 47 Coil spring (elastic member) 49 Rotating device 61 Cylinder 67 Cylinder 71 Flow path 73 Adjuster device 77 Movement Cylinder 79 Fixed cylinder 93 Push rod 99 Bar 105 Push rod

Claims (1)

(57) [Claims] [Claim 1] An upper tape which can be detachably attached to a lower end of a punch.
And a die corresponding to the punch at the upper end
Fold the work behind the lower table and the upper and lower tables.
A press equipped with a back gauge for positioning the bending position
In the brake, on the front side of the lower table,
Support for holding the workpiece by following the bending angle of the workpiece
An arm is provided rotatably, and is provided on the base side of the support arm.
A plurality of suction pads capable of sucking the work are vertically
The suction pad is movably provided, and the suction pad is
To position the workpiece in contact with the back gauge
Provide a possible cylinder, and on the tip side of the support arm
When supported vertically through an elastic member
A plurality of suction pads movably in the front-rear direction.
The support arm is driven to rotate on the lower table
A free first hydraulic cylinder is provided, and the upper
Equipped with a piston rod that operates in contact with the lower end of the bull
A second hydraulic cylinder, and the second hydraulic cylinder
In the middle of the flow path connecting the first hydraulic cylinder in series,
A moving hydraulic cylinder that communicates with the second hydraulic cylinder via a flow path
And, provided in parallel with the moving hydraulic cylinder,
Fixed hydraulic cylinder that communicates with the first hydraulic cylinder through a flow path
Approach the moving hydraulic cylinder to the fixed cylinder side
The movable hydraulic cylinder and the fixed cylinder
A rotation that engages with the push-up rod engaged with the piston rod
An adjuster device comprising a movable bar is provided,
Converting the amount of oil spilled from a constant hydraulic cylinder to a constant
A work follower for press brakes .