JP5173378B2 - Work transfer robot - Google Patents

Work transfer robot Download PDF

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Publication number
JP5173378B2
JP5173378B2 JP2007307906A JP2007307906A JP5173378B2 JP 5173378 B2 JP5173378 B2 JP 5173378B2 JP 2007307906 A JP2007307906 A JP 2007307906A JP 2007307906 A JP2007307906 A JP 2007307906A JP 5173378 B2 JP5173378 B2 JP 5173378B2
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Prior art keywords
workpiece
holding
work
axis
transfer robot
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JP2007307906A
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JP2009131910A (en
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一男 赤見
博仁 長橋
藤田  明
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株式会社アマダ
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The present invention, for example, relates to a workpiece transfer robot for performing loading and unloading of the plate-shaped workpiece relative to the plate material folded such as such as a press brake bending machine, more particularly, the workpiece holding means having a function of adsorbing a workpiece And a workpiece holding means having a function of clamping the workpiece, the workpiece can be transferred between both workpiece holding means, and the workpiece is held by one workpiece holding means by the other workpiece holding means. The present invention relates to a workpiece transfer robot that can move relatively.
  Conventionally, workpiece transfer robots that carry plate workpieces into and out of a plate material bending machine such as a press brake, for example, use a vacuum cup or an electromagnet to attract and hold workpieces and one side of the workpiece. There is a type in which the side is clamped and clamped by a work clamp. In the work loading / unloading robot, in the type in which the work holding part that holds the work is sucked and held as described above, the work may not be held if a hole or the like is processed in the work holding part. is there. Also, in the case of a type that clamps and holds the workpiece, if the workpiece is molded, etc., it may be deformed, so the workpiece is clamped and held. You may not be able to.
In view of this, a workpiece transfer robot including both a workpiece holding portion having a suction holding function and a workpiece holding portion having a clamping function has also been proposed (see, for example, Patent Documents 1 and 2).
JP-A-6-254627 JP 2001-269737 A
  The configuration described in Patent Document 1 includes a first workpiece holding unit having a function of sucking and holding a plate-like workpiece and a second workpiece holding unit having a function of clamping and holding the workpiece adjacent to each other. However, the first workpiece holding means and the second workpiece holding means are used individually to hold the workpiece.
  Therefore, in the configuration described in Patent Document 1, there is a problem that the work cannot be simultaneously held by the first work holding means and the second work holding means.
  The configuration described in Patent Document 2 is a configuration that integrally includes a first workpiece holding unit having a function of holding and holding a workpiece and a second workpiece holding unit having a function of clamping and holding the workpiece. Although the workpiece can be simultaneously held by the first workpiece holding means and the second workpiece holding means, for example, the workpiece is held by the second workpiece holding means and the workpiece is moved relative to the first workpiece holding means. There is a problem that can not be.
  Therefore, in the conventional configuration described in Patent Documents 1 and 2, when a plate-shaped workpiece is supplied to a plate bending machine and the workpiece is bent, the workpiece holding means interferes with the plate bending machine. If there is a possibility that the workpiece is held by the first workpiece holding means, the workpiece holding position of the second workpiece holding means cannot be changed. There is a problem in improving work efficiency because it is necessary to temporarily place the work on the table and change the holding position of the work.
The present invention has been made in view of the above-described problems, and supplies a plate-shaped workpiece pre- positioned to a workpiece positioning unit to a plate bending machine, and the bending is performed in the plate bending machine. A workpiece transfer robot that transfers a processed product to a product storage unit, and a robot head that is movable in the X, Y, and Z directions on the workpiece transfer robot is rotatably provided with a main rotation axis in the Z-axis direction. together, X perpendicular to the axis of the main rotating shaft, integrally includes a rotation frame with a workpiece support surface in the Y-axis direction at an end portion of said main rotating shaft, the workpiece supporting surface of the rotating frame the first workpiece holding means freely grip freely or suction holds the one side end of the X-axis direction of the supported work together provided on the rotating frame, crossing the adjacent and the one side to said one side of said workpiece Y With the direction of the second workpiece holding means of a universal gripper or freely sucking and holding the other side of the workpiece to the rotating frame, one of the first workpiece holding means or the second workpiece holding means, X-axis, the Y-axis direction It is configured to be movable.
Further, in the work transfer robot, the first work holding means includes a suction means capable of sucking a support surface of the work, and the second work holding means includes a work clamp capable of clamping the work, the X axis, Y and it is characterized in that it comprises to be retracted in the Z axis direction with respect to the workpiece support surface of the movable and the rotating frame in the axial direction.
  In the workpiece transfer robot, the workpiece clamp can be turned in a reverse direction so as to be directed to the opposite side of the workpiece.
  In the workpiece transfer robot, the workpiece held by the first workpiece holding means is gripped by the second workpiece holding means, and the holding of the first workpiece holding means is released and then the first workpiece holding means is released. The workpiece is configured to be relatively movable.
  According to the present invention, the workpiece can be simultaneously held by the first workpiece holding means that can hold the workpiece by suction and the second workpiece holding means that can clamp and hold the workpiece and can be held by the first workpiece holding means. The work gripping position of the second work holding means can be changed with respect to the work that is being performed. Therefore, when the workpiece is bent by the plate bending machine, the first and second workpiece holding positions can be easily changed, and the plate bending machine and the first and second workpieces can be changed. Interference with the holding means can be easily avoided.
  That is, according to the present invention, the work holding position by the second work holding means can be changed in a state where the work is held by the first work holding means. Therefore, there is no need to temporarily place the workpiece on the gripping table, the holding position of the workpiece holding means can be changed efficiently, and the efficiency of bending a plate-like workpiece can be improved. is there.
  Referring to FIG. 1, a workpiece transfer robot 1 according to an embodiment of the present invention is disposed on the front side of a press brake 3 as an example of a plate material bending machine for bending a plate-like workpiece W. . The workpiece transfer robot 1 is supported so as to be movable in the left-right direction along a guide member 5 that is long in the left-right direction (X-axis direction) on the front side of the press brake 3. The workpiece transfer robot 1 includes an X slider 7 supported by the guide member 5 and movable in the left-right direction. On the X slider 7, a swivel base 9 that can pivot about a vertical axis is provided. ing.
  The swivel base 9 supports a first swing arm 11 that is swingable in the vertical direction around a horizontal axis, and the first swing arm 11 is supported at the tip of the first swing arm 11. On the other hand, a second swing arm 13 swingable about a horizontal axis is supported. The second swing arm 13 is provided so as to be rotatable about the longitudinal axis of the second swing arm 13. A robot head 15 (see FIG. 2) is provided that can swing around an axis in a direction (Y-axis direction in FIG. 2) perpendicular to the axis of the moving arm 13 in the longitudinal direction. The robot head 15 is rotatably supported by a main rotation shaft 17 in a direction perpendicular to the pivot axis of the robot head 15 (Z-axis direction in FIG. 2). A plate-like attachment member 19 having a plane orthogonal to the axis of the main rotation shaft 17 is integrally attached to the rotation shaft 17.
  Since the workpiece transfer robot 1 having the above-described configuration is a well-known configuration as an articulated industrial robot, a detailed description of the configuration and operation of the workpiece transfer robot 1 is omitted. As already understood, the robot head 15 provided in the workpiece transfer robot 1 is movable in the left-right direction (X-axis direction), the front-rear direction (Y-axis direction), and the up-down direction (Z-axis direction), and is horizontal. It can be swung around a central axis.
  A rectangular frame body 21 is integrally attached to the attachment member 19. The frame body 21 and the mounting member 19 constitute a rotating frame 23 having a work support surface for supporting the work W. The rotating frame 23 includes a rectangular plate supported by the rotating frame 23. A first work holding means 27 provided with a plurality of electromagnets or vacuum cups or the like for holding the one side WA of the W-shaped work W in a row in the Y-axis direction is provided.
  Further, a second workpiece that can be gripped by clamping the other side WB of the workpiece W in the direction adjacent to the one side WA of the workpiece W and perpendicular to (intersect) the one side WA from above and below is provided on the rotating frame 23. Holding means 29 is provided. More specifically, the frame body frame 21 of the rotating frame 23 has an X-axis guide member 31 orthogonal to the row direction of the plurality of vacuum cups 25 provided in the first work holding means 27 (see FIG. 3) is integrally attached, and an L-shaped slider 33 is movably supported by the guide member 31.
  The slider 33 is configured in an L shape by including a horizontal portion 33B that is long in a direction away from the frame body 21 at a lower portion of a vertical portion 33A that is movably supported by the guide member 31. In order to reciprocate the slider 33 along the guide member 31, an actuator for reciprocating the slider is mounted on the rotary frame 23. That is, a servo motor 35 (see FIG. 4) is mounted on the frame body 21 of the rotating frame 23, and a pulley 37 that is rotated by the servo motor 35 and a pulley 37 that is rotatably supported by the frame body 21. Further, an endless timing belt 39 parallel to the guide member 31 is hung. A part of the timing belt 39 and the slider 33 are connected via a connecting tool 41.
  With the configuration described above, the slider 33 can be moved in the direction of arrow A along the guide member 31 and the slider 33 can be positioned at a desired position of the guide member 31 by appropriately rotating the servo motor 35. That is, the slider 33 can be moved and positioned in a direction along the other side WB of the work W and in a direction approaching and separating from the first work holding means 27. The configuration for moving the slider 33 along the guide member 31 is not limited to the configuration as described above, and for example, a rack and pinion mechanism or a fluid pressure mechanism such as an air cylinder is adopted as an actuator. Various configurations such as a configuration can be employed.
  The horizontal portion 33B of the slider 33 is provided with a guide member 43 in the Y-axis direction parallel to the column direction of the vacuum cup (suction means) 25, and the slide bracket 45 is movably movable on the guide member 43. It is supported. As an example of an actuator for moving the slide bracket 45 along the guide member 43, a servo motor 47 is mounted on the slide bracket 45, and a pinion 49 rotated by the servo motor 47 It meshes with a rack 51 provided in parallel with the guide member 43.
  With the configuration described above, the slide bracket 45 can be moved and positioned along the guide member 43 in the direction of the arrow B approaching and moving away from the rotary frame 23 by appropriately rotating the servo motor 47. .
  An elevating bracket 55 that is moved up and down in the direction of arrow C by an elevating actuator 53 such as an air cylinder mounted on the slide bracket 45 is supported on the slide bracket 45 so as to be movable up and down. The rotary shaft 57 that is long in the vertical direction is rotatably supported. In order to rotate the rotary shaft 57 around the axis in the direction of arrow D, a driven gear 59 is integrally attached to the rotary shaft 57, and the driven gear 59 is attached to the elevating bracket 55. A drive gear 63 rotated by a rotation actuator 61 such as a servomotor is engaged.
  Therefore, by rotating the drive gear 63 by the rotation actuator 61, the rotation shaft 57 can be rotated around the axis.
  A work clamp 65 constituting the second work holding means 29 that can clamp the work W from above and below is mounted on the rotating shaft 57. More specifically, the rotating shaft 57 is configured as a hollow shaft as shown in FIG. 5, and a fluid pressure such as an air cylinder is provided in the hollow portion of the rotating shaft 57 as an example of an actuator for clamping. A piston rod or cylinder in the mechanism is provided as a vertically moving member 67 so as to be vertically movable.
  In the present embodiment, a cylinder 67 in the fluid pressure mechanism is provided as a vertically moving member that moves up and down, and a piston 69 having an upper end portion that is a piston 69 that partitions the inside of the cylinder 67 into an upper chamber 67U and a lower chamber 67L. A rod 69R is fixed in the rotary shaft 57.
  Accordingly, when the working fluid is supplied to the upper chamber 67U, the cylinder as the vertical movement member 67 is raised, and when the working fluid is supplied to the lower chamber 67L, the vertical movement member 67 is lowered. In addition, although the case where a cylinder moves up and down as an up-and-down moving member 67 is illustrated, it can also be set as the structure which comprises a cylinder in the rotating shaft 57 and a piston rod moves up and down.
  In order to clamp the workpiece W from below, a lower clamp jaw 71 on the base side is integrally attached to the rotating shaft 57, and a U-shaped connecting member 73 is interposed in the lower clamp jaw 71. Thus, the lower clamp jaw 71A on the distal end side is integrally connected in a separated state. That is, a gap 75 is formed between the lower clamp jaw 71 on the base side and the lower clamp jaw 71A on the distal end side. Therefore, when the falling part is formed in the edge part of the workpiece | work W, the workpiece | work W can be positioned without any problem by positioning the said falling part in the said space | gap 75. FIG.
  In order to clamp the workpiece W in cooperation with the lower clamp jaws 71 and 71A, upper clamp jaws 77 and 77A facing the lower clamp jaws 71 and 71A are attached to the vertical movement member 67. More specifically, a base-side upper clamp jaw 77 is integrally attached to the vertical movement member 67 so as to face the lower clamp jaw 71, and the tip-side upper clamp jaw 77A facing the lower clamp jaw 71A The upper clamp jaw 77 is connected via an inverted U-shaped connecting member 79. A gap 81 is formed between the upper clamp jaws 77 and 77A. Therefore, even if the rising portion is formed at the edge of the workpiece W, the workpiece W can be clamped without any problem.
  With the above-described configuration, the workpiece W is relatively positioned on the lower clamp jaws 71 and 71A in the vertically opened state, and then the cylinder (vertical moving member) 67 in the clamping actuator is lowered, whereby the workpiece clamp 65 The workpiece W can be clamped and gripped in the vertical direction by the upper and lower clamp jaws 77, 77A; 71, 71A. Then, in a state where the workpiece W is clamped by the workpiece clamp 65, the slider 33 is moved along the guide member 31 and the slide bracket 45 is moved along the guide member 43, whereby the workpiece clamp 65 is moved to X, The workpiece W can be moved in the Y direction, and the workpiece W gripped by the workpiece clamp 65 can be moved in the X and Y directions on the rotating frame 23.
  Therefore, after the work W is conveyed (supplied) to the plate bending machine 3 in a state where the work W is held by the first work holding means 27, the work W is held by the first work holding means 27. When the position is changed, the holding position can be changed by moving the workpiece W in the X and Y directions with respect to the first workpiece holding means 27 on the rotating frame 23, thereby easily changing the holding position. It is possible to improve work efficiency.
  As already understood, the work W on the rotating frame 23 is a quadrangular work W having four sides WA, WB, WC, WD by forming a middle window WM as shown in FIG. As shown in FIG. 2, one side WA of the workpiece W is sucked and held by the first workpiece holding means 27 having a plurality of vacuum cups 25, and the other side WB orthogonal to the one side WA is clamped by the workpiece clamp 65. The workpiece W can be reliably held and conveyed by being gripped by the second workpiece holding means 29 having the above.
  Therefore, even when the workpiece W is thin and weak, the workpiece W is held in the direction orthogonal to the X and Y axis directions, and the occurrence of bending or the like that tends to occur in the workpiece W is suppressed. The workpiece W can be conveyed (supplied) to the plate bending machine 3.
  When the workpiece W is bent by supplying the workpiece W to the plate bending machine 3 as described above, there is a possibility that the workpiece clamp 65 or the like may interfere with a part of the plate bending machine 3. After releasing the workpiece W clamp by the workpiece clamp 65, the slide bracket 45 is moved along the guide member 43 in a direction away from the rotary frame 23. Then, after the work clamp 65 is separated from the work W, the lifting bracket 55 is lowered, so that the work clamp 65 is immersed from the work holding surface of the rotating frame 23 to interfere with the plate bending machine 3. It can be avoided.
  In order to avoid interference between the plate bending machine 3 and the work clamp 65, the operation of retracting and retracting the work clamp 65 from the surface of the work W is performed after the work clamp 65 is moved away from the work W. Then, the rotary shaft 61 is rotated 180 ° by the rotation actuator 61, and the workpiece clamp 65 turns in a reverse direction from the state in which the workpiece clamp 65 is oriented in the direction of the workpiece W (the state shown in FIG. 3) to the opposite side of the workpiece W. . After that, when the lifting bracket 55 is lowered and the work clamp 65 is immersed from the surface of the work W and the slide bracket 45 is returned to the original position, the work clamp 65 is directed in the opposite direction of the work W as shown in FIG. In addition, the state is immersed from the surface of the workpiece W. The position shown in FIG. 6 is a retracted position of the work clamp 65.
  In this state, the slide bracket 45 is held in the state of being close to the vertical portion 33A of the slider 33. Therefore, the slide bracket 45 is in a stable state as compared with the case where the slide bracket 45 is held at the front end side of the horizontal portion 33B. It is possible to suppress the occurrence of vibrations when the rotating frame 23 moves in the X, Y, and Z directions.
  In the above-described configuration, a workpiece that has been previously positioned at a reference position in the X-axis and Y-axis directions by a workpiece positioning portion 83 (see FIG. 1) that is disposed in the vicinity of the guide member 5 is pressed by the workpiece transfer robot 1. 6, the work clamp 65 in the second work holding means 29 is held in the retracted position from the work support surface of the rotary frame 23 to the retracted position as shown in FIG. 6. In other words, the work W is held by only the plurality of suction means (vacuum cups) 25 in the first work holding means 27.
  Next, the workpiece transfer robot 1 is appropriately moved along the guide member 5, the rotating frame 23 is positioned above the workpiece positioning portion 83, and the rotating frame 23 is turned upside down. That is, the suction means 25 is in a state of facing down. Then, the suction means 25 is brought into contact with the upper surface of the one side WA of the uppermost work W to be sucked. Thereafter, after lifting one side of the uppermost workpiece W away from the lower workpiece, the workpiece clamp 65 in the second workpiece holding means 29 returns to a position for clamping the other side WB in the workpiece W. The other side WB of the workpiece W is clamped by the workpiece clamp 65.
  As described above, one side of the uppermost work W is sucked and held by the suction means 25 in the first work holding means 27 and the other side of the uppermost work W is held by the work clamp 65 in the second work holding means 29. 2 is lifted up and turned upside down, the state shown in FIG. 2 is obtained. Thereafter, the workpiece W is supplied to the press brake 3 by the workpiece transfer robot 1 to bend the sides WC and WD of the workpiece W. When bending the side WA of the workpiece W, the workpiece W is moved in the X and Y axis directions with respect to the first workpiece holding unit 27 by the second workpiece holding unit 29, and the side WA of the workpiece W is moved. Is held in a state of largely protruding from the work holding means 27. Then, the rotary frame 23 is rotated so that the side WA of the workpiece W corresponds to the press brake 3, and the workpiece W is supplied to the press brake 3 to bend the side WA.
  After bending the three sides WA, WC, and WD of the workpiece W, when performing the bending processing of the side WB of the workpiece W, the workpiece W is temporarily held on the replacement table 85 (see FIG. 1). Then, the workpiece W is gripped and the side WB of the workpiece W is continuously bent.
  As described above, when the four sides WA to WD of the workpiece W are bent, the workpiece W is reinforced by the bent portion. In some cases, the bent portion may be deformed by the work clamp 65 in the second work holding means 29. Therefore, the work W is supported by the suction means 25 in the first work holding means 27 and bent during the final bending process of the work W. The workpiece (product) at the end of machining is sucked and held by the suction means 25 and conveyed to the product storage section 87.
  The part where the workpiece W is bent is positioned in the gap 75 between the lower clamp jaws 71 and 71A or the gap 81 between the upper clamp jaws 77 and 77A in the work clamp 65. When the product is bent while holding W, the product is transferred to the first work holding means 27, and the work clamp 65 is positioned at the retracted position shown in FIG. Thereafter, the product is conveyed to the product storage unit 87.
  As described above, after holding the product by the first work holding means 27 and transporting the product to the product storage section 87, when releasing the holding of the product, the rotating frame 23 is turned upside down, that is, the first work is taken. The holding means 27 releases the product by holding the suction means 25 downward. Thus, when the product is held by the first work holding means 27 and released to the product storage portion 87, the work clamp 65 in the second work holding means 29 is in the state of being retracted to the retracted position. And the product does not interfere with each other, and the product can be easily released to the product storage unit 87.
  In the above description, the first work holding means 27 is described as having a structure including the suction means 25, and the second work holding means 29 is described as having a structure including a work clamp 65. Both the holding means 27 and 29 may be configured to include the suction means 25 or may be configured to include the work clamp 65. Further, the suction means 25 provided in the first work holding means 27 can be configured to be movable in the X and Y directions and to be repositionable to a position that avoids the hole and the forming portion provided in the work W. is there.
  FIG. 7 shows a second embodiment of a portion for holding a workpiece in the workpiece transfer robot 1, and the overall configuration of the workpiece transfer robot 1 is omitted. In the second embodiment, components having the same functions as those described above are denoted by the same reference numerals, and redundant description is omitted.
  In the second embodiment, a beam member 89 that is long in the X-axis direction is integrally attached to the rotary frame 23, and the side surface of the beam member 89 in the Y-axis direction that is opposite to the main rotary shaft 17. A plurality of attracting means 25 such as an electromagnet or a vacuum cup capable of attracting the workpiece W are attached at appropriate intervals in the longitudinal direction of the beam member 89. That is, the first workpiece holding means 27 provided with a plurality of the suction means 25 at appropriate intervals is provided on one side surface of the beam member 89 in the Y axis direction.
  The workpiece adsorbing means 25 can adjust the position in the X-axis direction in accordance with the length of the long workpiece LW and in correspondence with the position of a hole or the like previously machined in the long workpiece LW. It is attached to the member 89. Accordingly, the plurality of workpiece adsorbing means 25 can be adjusted with respect to each other, and can be adjusted in position corresponding to the desired position of the workpiece W. In the second embodiment, the surface that supports the workpiece W in the plurality of workpiece suction means 25 constitutes the workpiece support surface.
  Left and right guide members 91L and 91R that are long in the left-right direction (X-axis direction) are provided on the other side surface of the beam member 89 in the Y-axis direction, that is, on the side surface on the main rotating shaft 17 side, on both left and right sides of the rotating frame 23. Left and right second work holding means 29L and 29R are supported by the left and right guide members 91L and 91R so as to be movable in the left and right directions. Since the left and right second work holding means 29L and 29R have the same configuration as the second work holding means 29 described above, detailed description of the second work holding means 29L and 29R will be omitted.
  In order to move the second work holding means 29L, 29R in the left-right direction along the guide members 91L, 91R, pulleys 93L, 93R are rotatably provided at the left and right ends of the beam member 89, respectively. Endless timing belts 95 that are long in the left-right direction are wound around the left and right pulleys 93L, 93R. The slider 33 in the left second work holding means 29L is connected to the upper side of the timing belt 95, and the slider 33 in the right second work holding means 29R is connected to the lower side of the timing belt 95.
  Therefore, when the timing belt 95 is rotated by a belt rotating actuator (not shown) such as a motor, the left and right second work holding means 29L and 29R move in a direction approaching and separating from each other in synchronization. The left and right second workpiece holding means 29L and 29R are not necessarily close to and away from each other, and the left and right second workpiece holding means 29L and 29R are independently moved in the left and right directions. You can also. That is, the left and right second workpiece holding means 29L and 29R can be configured to be individually movable in the left and right directions, and can be configured to have individual actuators for moving individually.
  In the second embodiment as well, the long work LW can be simultaneously held by the first work holding means 27 and the left and right second work holding means 29L and 29R, and the first work holding means 27 can be used as a work piece. When the holding of the LW is in a released state, the workpiece LW is held by an appropriate one of the left and right second workpiece holding means 29L and 29R and moved in the X-axis direction, whereby the first workpiece holding means 27 is moved. The workpiece LW can be moved in the X-axis direction. That is, the holding position of the workpiece LW in the X-axis direction by the first workpiece holding means 27 can be changed to an appropriate position.
  In addition, when the work bracket LW is held by the left and right second work holding means 29L, 29R, the slide bracket 45 is moved in the Y-axis direction (front-rear direction), whereby the first work holding means 27 holds the Y-axis direction. Can be changed to an appropriate position.
  Further, when the first work holding means 27 is in the state of holding the work LW, the left and right second work holding means 29L, 29R can release the work LW and move in the left-right direction. That is, the holding position of the work LW in the X-axis direction (left-right direction) by the left and right second work holding means 29L, 29R can be changed to an appropriate position.
  That is, in the second embodiment, the row direction of the plurality of suction means 25 in the first work holding means 27 and the movement direction of the second work holding means 29L and 29R are the same direction, but the work LW can be freely changed. It can be done.
  In the configuration as described above, in the case of performing automation for automatically supplying the workpiece W to the press brake 3 by the workpiece transfer robot 1, it is desirable to do the following.
  That is, as shown in FIG. 8, when CAD information of a product is input to an automatic programming device, the automatic programming device determines the bending order of the product and the layout of the mold used for bending the workpiece ( Step S1). When the bending order of the product and the die layout are determined, the position of the work clamp 65 and / or the suction means 25 and the first work holding means 27 and / or the second work holding means 29 are used for each bending process. It is determined by simulation in a computer (step S2).
  As described above, when the use of the first work holding means 27 and / or the second work holding means 29 is determined by simulation and the support position (holding position) of the work is determined, the work transfer robot 1 and the press brake 3 are determined. An NC program for operating is created by the programming device, and bending is started according to the NC program (step S3). When machining is started, the workpiece W is taken out from the workpiece positioning portion 83 by the suction unit 25 in the first workpiece holding unit 27 (step S4), and the workpiece W is supplied to the press brake 3 (step S5).
  When the workpiece W is supplied to the press brake 3, the ram in the press brake 3 is lowered, and the workpiece W is bent by the upper and lower molds provided in the press brake 3 (step S6). If the workpiece W is bent, it is determined whether or not the suction support position of the workpiece W needs to be changed by the suction means 25 when the workpiece W is bent next (step S7). If YES, it is determined in step S8 whether or not to change the gripping means.
  If YES in step S8, a determination is made in step S9 as to whether or not the grip change base 85 is to be used. If NO, the workpiece W is sucked and supported by the suction means 25. Then, the work W is gripped by the work clamp 65 in the second work holding means 29 (step S10). In the case of YES in step S9, after the workpiece W is gripped and temporarily placed on the replacement base 85, the workpiece W is clamped by the workpiece clamp 65 (step S11).
  In the case of NO in step S8, it is determined in step S12 whether or not to use the gripper for changing the work gripping position. In the case of NO, in step S13, the suction means 25 performs suction. After the workpiece W held is clamped by the workpiece clamp 65, the suction support by the suction means 25 is released, and the workpiece W is moved in an appropriate direction in the X and Y axis directions with respect to the suction means 25, and the suction is performed. The suction position of the workpiece W by the means 25 is changed. Then, after the workpiece W is again sucked and supported by the suction means 25, the workpiece clamp 65 is released by the workpiece clamp 65, and the workpiece clamp 65 is positioned at the retracted position (step S14).
  If YES in step S12, the work W is temporarily placed on the grip change base 85 in step S15, and the suction position by the suction means 25 is changed.
  The process proceeds from Steps S10, S11, S14, and S15 to Step S16, and the supply and positioning of the work W with respect to the press brake 3 is performed, and the work W is bent (Step S17). Next, it is determined whether or not the bending process is the final bending process (step S18). If NO, the process returns to step S5, and the supply positioning of the workpiece W with respect to the press brake 3 is performed again. If YES in step S18, the process proceeds to step S19, and it is determined whether or not the work W is sucked and held by the suction means 25 in the first work holding means 27.
  If YES in step S19, the process proceeds to step S20. If NO, the process proceeds to step S21 to change to suction holding by the suction means 25, and then proceeds to step S20. In step S20, the product is transferred to the product storage unit 87. Thereafter, the process proceeds to step S21, where it is determined whether or not the product transferred to the product storage unit 87 is a final product. If YES, the bending process of the workpiece is terminated. If NO, step S4 is performed. Returning to step S2, the bending process for the next new workpiece W is continued.
  As can be understood from the above description, the workpiece W can be held by both the first workpiece holding means 27 and the second workpiece holding means 29, and the first and first workpieces can be held without using the grip changing base 85. Since the work holding position by the second work holding means 27 and 29 can be changed, the work W having a low waist can be reliably held and the work holding can be quickly changed, and the work efficiency can be improved. It is possible to improve.
1 is an explanatory perspective view schematically and conceptually showing an entire system using a press brake and a workpiece transfer robot. FIG. It is perspective explanatory drawing which shows the state holding the workpiece | work by the 1st, 2nd workpiece holding means. It is a perspective explanatory view showing the second work holding means. It is a perspective explanatory view showing the second work holding means. It is an isometric view explanatory drawing which shows the structure of a work clamp. It is a perspective explanatory view showing a state where the work clamp is retracted to the retracted position. It is a perspective explanatory view showing a 2nd embodiment. It is a flowchart. It is a flowchart.
Explanation of symbols
1 Work transfer robot 3 Press brake (plate material bending machine)
15 Robot Head 17 Main Rotating Shaft 21 Frame Frame 23 Rotating Frame 25 Vacuum Cup (Suction Unit)
27 First work holding means 29 Second work holding means 33 Slider 45 Slide bracket 53 Vertical movement actuator 55 Lift bracket 57 Rotating shaft 61 Rotation actuator 65 Work clamp 67 Cylinder (vertical movement member)
71 Base side lower clamp jaw 71A Tip side lower clamp jaw 75, 81 Air gap 77, 77A Upper clamp jaw

Claims (4)

  1. A workpiece transfer robot that supplies a plate-shaped workpiece that has been previously positioned to the workpiece positioning unit to a plate bending machine, and transfers the product bent by the plate bending machine to a product storage unit. In addition, a robot head provided in the workpiece transfer robot so as to be movable in the X, Y, and Z directions is provided with a main rotation axis in the Z-axis direction so as to be rotatable, and X and X orthogonal to the axis of the main rotation axis . A rotary frame having a work support surface in the Y-axis direction is integrally provided at an end of the main rotary shaft , and one side of the work supported by the work support surface of the rotary frame in the X-axis direction can be gripped. the first workpiece holding means freely sucked and held together provided in the rotating frame, the Y-axis direction crossing the adjacent and the one side to said one side of the workpiece the other side a gripping or freely sucked and held freely work The second work holding means provided on said rotating frame, said one of the first workpiece holding means or the second workpiece holding means, X-axis, the workpiece transfer robot, wherein you have movable in the Y-axis direction.
  2. 2. The workpiece transfer robot according to claim 1, wherein the first workpiece holding unit includes a suction unit capable of sucking a support surface of the workpiece, and the second workpiece holding unit includes a workpiece clamp capable of clamping the workpiece, X A workpiece transfer robot characterized in that it is movable in the direction of the axis and the Y-axis and can be immersed in the Z-axis direction with respect to the workpiece support surface of the rotating frame.
  3.   The workpiece transfer robot according to claim 2, wherein the workpiece clamp is capable of reversing and turning so as to be directed to the opposite side of the workpiece.
  4.   4. The workpiece transfer robot according to claim 1, wherein the workpiece held by the first workpiece holding unit is gripped by the second workpiece holding unit, and the holding of the first workpiece holding unit is released. A workpiece transfer robot characterized in that the workpiece can be moved relative to the first workpiece holding means.
JP2007307906A 2007-11-28 2007-11-28 Work transfer robot Expired - Fee Related JP5173378B2 (en)

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JP5173378B2 true JP5173378B2 (en) 2013-04-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019013977A (en) * 2017-07-11 2019-01-31 株式会社アマダホールディングス Workpiece supply device
WO2019056420A1 (en) * 2017-09-22 2019-03-28 晋城富泰华精密电子有限公司 Mechanical gripper

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012101317A (en) * 2010-11-10 2012-05-31 Amada Co Ltd Robot hand for bending long material and long material bending system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09388U (en) * 1997-01-20 1997-07-11 東洋鋼鈑株式会社 Plate material gripping device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019013977A (en) * 2017-07-11 2019-01-31 株式会社アマダホールディングス Workpiece supply device
WO2019056420A1 (en) * 2017-09-22 2019-03-28 晋城富泰华精密电子有限公司 Mechanical gripper

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JP2009131910A (en) 2009-06-18

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