JPH05293552A - Device for clamping plate-like work - Google Patents

Abstract

PURPOSE:To provide a work clamping device by which a metal plate is clamped without crushing the bending part when an industrial robot is arranged in front of a press brake and the bending of the metal plate is performed. CONSTITUTION:In order to clamp the work W without crushing its bending part, a work holding part 205 is provided on the tip end side of a working hand frame 207 that is mounted on the industrial robot; and in order to avoid the bending part of the work and to fix with pressure the work W on the work holding part 205, a pressurizing arm 215 which is L-shaped at the tip end part is mounted in a vertically drivable state on the working hand frame 207.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work gripping device capable of gripping the work by avoiding a bending part of a work bent by a plate bending machine tool such as a press brake. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, when a relatively small plate material is bent using a machine tool such as a press brake, a plate-shaped work is supported by an operator.

[0003]

When a plate material is bent by a press brake, for example, a part of a rectangular plate material is bent into a V shape, or both end portions of the plate material are bent. In such a case, automation and labor saving of the plate bending process are desired, and when an ordinary industrial robot is arranged on the front side for automation etc., the plate material is gripped by the gripping device of the industrial robot. At this time, the bent part may be crushed.

[0004]

In view of the conventional problems as described above, the present invention provides a work supporting portion on the tip side of a work hand frame mounted on an industrial robot to avoid a work bending portion. Then, a pressing arm having an L-shaped tip is attached to the work hand frame so as to be vertically movable so as to press and fix the work to the work supporting portion.

[0005]

With the above construction, when the plate material is gripped by the work gripping device provided in the industrial robot, the pressing arm is L-shaped and can be gripped while avoiding the bent portion of the plate material. It does not crush the bent part.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION In order to facilitate understanding of the present invention, an overall structure of an apparatus to which the present invention can be applied and its related apparatus will be briefly described with reference to FIG. ..

As shown in FIG. 1, an industrial robot 3, a machine tool 5, a work supply device 7, a work positioner 9, a work gripping change device 11, a mold rack 13 serving as a mold supporting device, and a gripping device are mounted on a base 1. A hand rack 15, which is a unit support device, is fixed. Outside the base 1, a control device 17,
Also, a work table 19 is provided.

As shown in FIGS. 2 and 3, the industrial robot 3 includes an elevating part 21, a swiveling part 22, a telescopic part 23, and a head rotating part 2.
5, a swinging portion 27, and a mounting plate rotating portion 29.

As shown in FIG. 4, the elevating part 21 includes an elevating part outer cylinder 33 standing on an elevating part base 31, and an elevating part outer cylinder 33.
An opening 33a is formed on one side surface along the elevating part outer cylinder 33 (see FIG. 5). An elevating section screw shaft 35 rotatably supported by the elevating section base 31 is provided at the center of the elevating section outer cylinder 33. A lifting nut 37 is screwed onto the lifting screw shaft 35.

On the other hand, the elevating inner cylinder 3 is provided inside the elevating part outer cylinder 33.
9 is provided so as to be able to move up and down. A substantially disk-shaped lifting inner cylinder mounting plate 41 is integrally bridged inside the lower part of the lifting inner cylinder 39, and the lifting inner cylinder mounting plate 41 is screwed to the lifting portion nut 37. Inside the lifting inner cylinder 39, a pair of lifting unit guide blocks 43 that are erected on the lifting unit base 31 are fitted.

The outer side 43a of the elevating part guide block 43 is formed corresponding to the elevating inner cylinder 39 as shown in FIG.
3b is formed corresponding to the lifting inner cylinder mounting plate 41.
An elevating inner cylinder guide groove 39a is provided on the outer surface of the elevating inner cylinder 39, and a convex portion 33b projecting inside the elevating part outer cylinder 33 is fitted in the elevating inner cylinder guide groove 39a. An elevation pulse motor 45 is supported on the elevation base 31, and a drive shaft 45a of the elevation pulse motor 45 and the elevation screw shaft 35 are linked by a timing belt 47. 49 is a damper.

Therefore, the forward / reverse drive of the pulse motor 45 causes the ascending / descending portion screw shaft 35 to rotate in the forward / reverse direction via the ascending drive shaft 45a and the timing belt 47. By this forward / reverse rotation, the ascending / descending portion nut 37 moves to the ascending / descending portion screw shaft 35. Move up and down along the
Moves up and down. When the elevating inner cylinder 39 moves up and down, the elevating part guide block 43 and the convex portion 33b guide and support the elevating inner cylinder 39 from inside and outside.

The swivel part 22 has a swivel part housing 51 attached to the elevating inner cylinder 39 of the elevating part 21. A swivel pulse motor 53 is attached to the lower end of the swivel housing 51.
The drive shaft 53a of the above is projectingly provided in the turning housing 51. On the other hand, on the inner circumference of the swivel unit housing 51, a swivel block 55 is provided with a drive shaft 5 through a cross roller bearing 57.
The swing block 55 is rotatably supported around 3a, and the swing block 55 is interlocked with the drive shaft 53a via a reduction gear 59.

A swivel plate 61 is fixed to the swivel block 55. Therefore, when the swivel portion pulse motor 53 is driven, the swivel plate 61 swivels around the axis of the drive shaft 53a via the drive shaft 53a, the speed reducer 59, and the swivel block 55.

The expanding / contracting part 23 is fixed to the rotating plate 61 of the rotating part 22 as shown in FIGS.
Have three. An elastic part nut 67 is fixed to the elastic part base 63 via an elastic part bracket 65. A telescopic portion screw shaft 69 having an axial center in a substantially horizontal direction is screwed into the telescopic portion nut 67, and the telescopic portion screw shaft 69 is rotatably supported in a telescopic portion outer cylinder 71 arranged substantially horizontally. .. The expansion / contraction part outer cylinder 71 is slidably supported on the expansion / contraction part bracket 65.

A telescopic portion pulse motor 73 is attached to one end of the telescopic portion outer cylinder 71, and a drive shaft 73a of the telescopic portion pulse motor 73 and the telescopic portion screw shaft 69 are linked by a timing belt 75. ing. Therefore, when the expansion / contraction part pulse motor 73 is driven in the forward / reverse direction, the expansion / contraction part screw shaft 69 is rotated in the forward / reverse direction via the drive shaft 73a and the timing belt 75, and the expansion / contraction part screw shaft 69 is moved in the left-right direction in FIG. Expand and contract. By the expansion / contraction movement of the expansion / contraction part screw shaft 69, the expansion / contraction part outer cylinder 71 is expanded / contracted integrally in the same direction.

The head rotating part 25 has a head rotating part base 77 fixed to the expansion / contraction part outer cylinder 71 as shown in FIG. The head rotating part base 77 is formed in a hollow shape, and a hollow head rotating shaft 79 is rotatably supported inside. On the other hand, a hollow head rotating cylinder 81 is rotatably supported in the front end side of the head rotating portion base 77, and a head rotating plate 83 is attached to the front end of the head rotating cylinder 81. The head rotating cylinder 81 is configured to interlock with the head rotating shaft 79 via a speed reducer 85.

A head rotating portion pulse motor 87 is attached to the expanding / contracting portion outer cylinder 71, and a drive shaft 87a of the head rotating portion pulse motor 87 and the head rotating shaft 79 are linked by a timing belt 89. It is configured. Therefore, the drive shaft 8 is driven by the forward / reverse driving of the head rotating portion pulse motor 87.
7a, a timing belt 89, a head rotating shaft 79, a speed reducer 85, a head rotating cylinder 81, and a head rotating plate 83.
Rotates forward and backward.

The oscillating portion 27 has an oscillating portion base 91 attached to the head rotating plate 83 as shown in FIG. A swing center shaft 93 that is substantially orthogonal to the center of rotation of the head rotation plate 83 is rotatably supported by the swing unit base 91, and concentric with the swing center shaft 93 at both ends of the swing center shaft 93. Swinging block 95
A and 95b are rotatably supported.

The swing block 95a is a swing center shaft 93.
The speed reduction device 97 is used to interlock. A swing arm 99 is fixed to the swing blocks 95a and 95b, and a swing plate 101 is fixed to the tip of the swing arm 99. On the other hand, the head rotating unit 25
The tip end side of the swing drive shaft 103 penetrating the head rotating portion 25 is rotatably supported by the shaft center of the head rotating cylinder 81.
A base end side of the swing drive shaft 103 is rotatably supported by the expansion / contraction part outer cylinder 71.

The tip end side of the swing drive shaft 103 is interlocked with the swing center shaft 93 via a bevel gear 105. At the base end side of the swing drive shaft 103, the expansion / contraction part outer cylinder 7
1, a swing pulse motor 107 is attached,
The drive shaft 107a of the swing pulse motor 107 and the swing drive shaft 103 are linked by a timing belt 109.

Therefore, the drive shaft 107a, the timing belt 109, the swing drive shaft 103, the bevel gear 105, and the swing center shaft 9 are driven by the forward and reverse drive of the swing pulse motor 107.
3, the speed reducer 97 and the swing block 95a cause the swing arm 99 to swing about the swing center axis 93 in a direction orthogonal to the paper surface of FIG. Move in the same direction.

The mounting plate rotating portion 29 has a hollow mounting plate base 111 fixed to the swing plate 101 as shown in FIG. A mounting plate rotating shaft 113 is rotatably supported on the base side of the mounting plate base 111, and a concentric mounting plate rotating cylinder 115 is rotatably supported on the tip side.

A mounting plate rotating portion pulse motor 117 is mounted on the swinging plate 101 at the base end side of the mounting plate rotating shaft 113. The driving shaft 117a of the mounting plate rotating portion pulse motor 117 and the mounting plate rotating shaft 113 are connected to each other. Are linked by a timing belt 119. The mounting plate rotating shaft 113 and the mounting plate rotating cylinder 115 are configured to interlock with each other via a speed reducer 121. A mounting plate 123 is mounted on the tip side of the mounting plate rotary cylinder 115.

Therefore, the drive shaft 117a, the timing belt 119, the mounting plate rotating shaft 113, and the reduction gear 1 are driven by the forward and reverse driving of the mounting plate rotating portion pulse motor 117.
21. The mounting plate 123 rotates forward and backward through the mounting plate rotating cylinder 115.

13 to 16 show a chuck 125 attached to the attachment plate 123 of the industrial robot 3. The chuck 125 has a chuck hole 127 in the center thereof, and pressure chambers 129 are formed above and below the chuck hole 127, respectively. The pressure chamber 129 is partitioned by the piston 131 into an expansion side pressure chamber 129a and a contraction side pressure chamber 129b, and is connected to a fluid supply / discharge device (not shown) via hoses 133a and 133b, respectively. A compression portion 135 is provided on the chuck hole 127 side of the piston 131, and is slidably supported in a slide hole 137 communicating with the chuck hole 127.

Therefore, from the fluid supply / drainage device to the hose 133a.
When the fluid is supplied to the extension side pressure chamber 129a via the piston, the piston 131 slides to the chuck hole 127 side, and the pressing portion 13
5 projects into the chuck hole 127 as shown in FIG. On the contrary, when the fluid is supplied from the fluid supply / discharge device to the contraction side pressure chamber 129b through the hose 133b, the constriction portion 135 is sunk into the sliding hole 137 by the opposite action. A valve hole 143 is opened in the mounting surface 141 of the chuck 125, and the valve hole 143 is connected to a fluid supply / discharge device (not shown) via a hose 145.

A check ball 147 is brought into contact with the valve hole 143 from the inside of the chuck 125.
7 is urged toward the valve hole 143 by the spring 149. In the valve hole 143, a slider 151 having an axial groove on its periphery is fitted in contact with the check ball 147. 153 is a gasket and 155 is a positioning hole.

17 to 20 show a lower die hand 157 which is selectively attached to and detached from the chuck 125. The lower die hand 157 has a lower die hand housing 159. The lower die hand housing 159 is provided in the lower die hand housing 159 in the width direction, and is provided with a pair of hand support shafts 161 provided side by side in the extension / contraction front-rear direction of the industrial robot 3. There is. The hand support shaft 151 has a pair of gripping hands 163 each having a tip portion projecting from the tip side of the lower die hand housing 159.
9 is slidably supported in the width direction.

One of the holding hands 163 (left side in FIG. 18)
On the other side (right side in FIG. 18) of the spring bearing 16
5a is integrally provided, and the other holding hand 163 (right side in FIG. 18) is integrally provided with a spring bearing 165b which is erected on one side (left side in FIG. 18). A coil spring 167 is provided between the spring receivers 165a and 165b.

Therefore, when the two holding hands 163 slide in the directions away from each other, the coil springs 167 urge the two holding hands 163 toward each other.

A gripping protrusion 169 is provided on the surface of the gripping hand 163 facing the front end. A cam 171 is projectingly provided on a surface of the holding hand 163 facing the inside of the housing. Cam 1
Reference numeral 71 is formed so that the facing surfaces are inclined downward so as to be separated from each other.

On the other hand, a hand cylinder 173 is provided in the lower part of the lower die hand housing 159, and the hand cylinder 173 has a hand piston 175 which can be retracted and retracted. A frame-shaped support body 177 is attached to the tip of the hand piston 175, and a roller 179 abutting between the cams 171 is rotatably supported at an intermediate portion of the support body 177.

A top hand 183 is attached to the top of the support body 177 via a long bolt 181, and the top hand 183 is extended so as to project to the tip side of the lower die hand housing 159. A top hand guide shaft 185 is vertically provided at an intermediate portion of the top hand 183, and the top hand guide shaft 185 is slidably supported by a guide boss 187 provided in the lower die hand housing 159.

Therefore, as the hand piston 175 rises, both cams 171 move in a direction in which they are separated from each other against the coil spring 167 via the support body 177 and the wheel 179, and the holding hands 163 are separated from each other. At the same time, the top hand 183 rises via the support 177 and the long bolt 181.

On the contrary, as the hand piston 175 descends, the holding hand 163 approaches and the top hand 183 descends. The chuck 1 is provided on the base end side of the lower die hand housing 159.
Mounting pieces 189 supported by the 25 chuck holes 127 are provided in a protruding manner.

A communication hole 191 communicating with the pressure chamber (not shown) of the hand cylinder 173 is formed on the base side of the lower hand housing 159, and the communication hole 191 can communicate with the inside and outside of the communication hole 191. In this state, the hollow communication pin 193 is attached.

One end of the communication pin 193 is projectingly provided on the base end side of the lower die hand housing 159, and when the mounting piece 189 is mounted in the chuck hole 127 of the chuck 125, the slider on the chuck 125 side. 151 is spring 1
The check ball 147 is pressed against the valve hole 14 against the valve hole 14
3, the hose 145, the valve hole 143, the communication hole 1
The fluid supply / discharge device (not shown) and the pressure chamber of the hand cylinder 173 of the lower die hand 157 are made to communicate with each other via 91.

Reference numeral 195 is a positioning hole 5 on the chuck 125 side.
Positioning pin that fits in 5. A plurality of hand support pins 197 for supporting the hand rack 15 are provided on both sides of the lower hand housing 159 in the width direction.

FIG. 21 shows an upper mold hand 199, which has substantially the same structure as the lower mold hand 157, but has a structure that is substantially upside down from the lower mold hand 157. A lower hand 201 is provided instead of the top hand 183 of the lower die hand 157. The same components as those of the lower die hand 157 are designated by the same reference numerals and the description thereof will be omitted.

22 to 25 show a work hand 20 as a work holding device which is selectively attached to and detached from the chuck 125.
3 is shown. The work hand 203 has a work hand frame 207 having a work supporting portion 205 on the tip side.

On the work hand frame 207, guide rods 209 extending from the front end side to the base end side are juxtaposed in the width direction. A sliding bracket 211 is slidably attached to the guide rod 209, and a lower end of an intermediate link 213 is rotatably supported on an upper portion of the sliding bracket 211.

On the other hand, the work hand frame 207 is shown in FIG.
As will be understood, in order to support the work W while avoiding the crushed portion of the work W from being crushed, the front end is bent into an L-shape, and the front end is supported by the work supporting portion 205.
A pressing arm 215 is rotatably supported at an intermediate portion of the pressing arm 215 so that the pressing arm 215 approaches and separates from the pressing arm 215.

The upper end of the intermediate link 213 is rotatably supported on both sides of the base end of the pressing arm 215. A work hand cylinder device 217 is attached to the lower end of the sliding bracket 211.

A flange portion 219 is provided at the tip of the piston rod 217a of the work hand cylinder device 217, and the flange portion 219 abuts against the contact walls 223a, 2a of the reaction force block 221 fixed to the tip end side of the work hand frame 207.
It is located between 23b. Abutment walls 223a, 223b
Is for abutting the flange portion 219 to regulate the movement.

In the work hand, the same components as those of the lower die hand are designated by the same reference numerals and the description thereof will be omitted. The work hand 203 is the work hand cylinder device 2
When the piston rod 217a of No. 17 extends, the flange portion 2
19 abuts against the abutment wall 223a on the tip end side, and after the abutment, the work hand cylinder device 217 itself moves to the base end side by a reaction force.

By this movement, the sliding bracket 211 moves toward the base end side along the guide rod 209, and the intermediate link 21
The proximal end side of the pressing arm 215 is pushed up via the 3. Therefore, the pressing arm 215 rotates clockwise in FIG. 23, and approaches so that the tip end abuts the work supporting portion 205 side. When the piston rod 217a is contracted from this state, the flange portion 219 abuts the abutment wall 223b on the base end side as shown by the chain line in FIG.
17 itself is moved to the tip side.

Therefore, contrary to the above, the pressing arm 215 rotates so that its tip is separated from the work supporting portion 205. Therefore, the work is held between the work support 205 and the pressing arm 215 or between the contact wall 223a and the flange 209.

The machine tool 5 includes a lower die 225 and an upper die 227.
It is a bending machine that bends a plate-shaped work (described later) between and.

The work supply device 7 is shown in FIGS.
And as shown in FIG. 28, the work supply device base 229
It has a work supply device outer cylinder 231 installed upright. The work supply device outer cylinder 231 supports a work supply device inner cylinder 233, the tip of which projects from the top of the work supply device outer cylinder 231, so that the work supply device inner cylinder 233 can move up and down.

To the lower end of the work supply device inner cylinder 233, the supply device piston rod 237 of the supply device cylinder 235 provided in the work supply device outer cylinder 231 is connected. The expansion side pressure chamber (not shown) and the contraction side pressure chamber (not shown) of the supply device cylinder 235 are provided with a hose 239a,
It is connected to the fluid supply / drainage device via 239b. An arm support shaft 241 is erected on the top of the work supply device inner cylinder 233, and a supply arm 243 is supported on the arm support shaft 241 so as to be rotatable in the horizontal direction.

The supply arm 2 is attached to the tip of the supply arm 243.
A suction arm support shaft 245 is rotatably supported by 43, and a plurality of suction arms 247 extending in the radial direction are fixed to the lower end of the suction arm support shaft 245.
A suction member 249 is provided at the tip of each suction arm 247. Each of the suction portions 249 is connected to a suction device by a hose 251, and sucks and supports a plate-shaped work (described later) by suction of the suction device.

On the other hand, a sprocket 253 having the same diameter is fixed to the arm support shaft 241 and the suction arm support shaft 245,
A chain 255 is wound around both sprockets 253. The chain 255 is provided with a swing drive cylinder device 257 fixed to the supply arm 243. The swing drive cylinder device 257 has pressure chambers formed on both sides of a swing drive piston (not shown) provided therein.

The swivel drive piston rods 259 and 261 fixed to both sides of the swivel drive piston are connected to the ends of the chain 255, respectively. 263 is a chain 25
5 is a tension adjusting device for adjusting the tension.

Therefore, the hose 239 is extended from the fluid supply device to the expansion side pressure chamber or the contraction side pressure chamber of the supply device cylinder 235.
When the fluid is supplied or discharged through a or 239b, the supply arm 243 is moved up and down via the supply device piston rod 237, the work supply device inner cylinder 233, and the arm support shaft 241.

Further, by supplying and discharging the fluid to and from both pressure chambers of the swing drive cylinder device 257, the swing drive piston rod 25
9, 261 appear and disappear alternately, and the supply arm 243 is connected to the arm support shaft 24 via the chain 255 and the sprocket 253.
1, and the suction arm 247 rotates forward and backward in the opposite direction to the supply arm 243 around the suction arm support shaft 245. At this time, the rotation angle of the supply arm 243 and the rotation angle of the suction arm 247 are substantially the same.

The work positioner 9 is shown in FIGS.
As shown in FIG. 30, a substantially square-shaped position table 267 is provided on the position base 265. A support frame 269 is attached to the position base 265 at a position lower than the position table 267.

On the other hand, position rollers 270a and 270b are provided at one corner of the position table 267 along one side edge of the position table 267. The position rollers 270a and 270b are provided so as to slightly project from the table surface of the position table 267, and one side of the work on the position table 267 is positioned at the position table 2
It guides along one side edge of 67.

One of the position rollers 270a is rotatably supported by the first adjusting block 271. The first adjusting block 271 is screwed to the first adjusting screw 273 attached to the supporting frame 269 side.

Therefore, the position of one position roller 270a can be moved toward and away from one side edge of the position table 267 through the first adjustment block 271 by the rotation adjustment of the first adjustment screw 273. The other position roller 270b is also similarly operated by the second adjustment block 27.
The second adjustment block 275 is rotatably supported by the motor 5, and is screwed to the second adjustment screw 277 attached to the support frame 269 side.

Therefore, the other position roller 270b can also be moved in the same direction as the one position roller 270a. Positioning protrusions 279 for receiving the work guided by the position rollers 270a and 270b are provided on the other side edge orthogonal to one side edge of the position table 267.
0a and 270b are arranged at substantially the same height and have a predetermined distance from the other side edge of the position table 267. The positioning protrusion 279 is attached to the third adjustment block 281 and screwed with the third adjustment screw 283.

Therefore, the positioning protrusion 279 can be moved in the direction of approaching or separating from the other side edge of the position table 267 in substantially the same manner as the position rollers 270a and 270b.

The positioning cylinder device 2 is provided on the support frame 269 at one corner of the position table 267.
85 is provided. The positioning cylinder device 285 is fixed to a cylinder support arm 287 which is rotatably supported in a substantially horizontal direction on a support frame 269, and is positioned between the position rollers 270a and 270b and the positioning protrusion 279 in a substantially diagonal direction of the position table 267. Is directed.

A spring receiving pin 289 is hung on the cylinder supporting arm 287, and a positioning cylinder is provided between the spring receiving pin 289 and the fourth adjusting screw 291 mounted on the supporting frame 269 side via the cylinder supporting arm 287. A spring 29 for biasing the device 285 in the substantially diagonal direction.
3 is installed. The piston rod 2 of the positioning cylinder device 285 is provided above the positioning cylinder device 285.
A movable plate 297 connected to 95 is provided.

Both sides of the movable plate 297 are guide rollers 299 attached to the cylinder support arm 297 as shown in FIG.
Supported by. The lower part of the constriction cylinder device 301 is supported on the movable plate 297 so as to be rotatable in the expansion / contraction direction of the piston rod 295. The base of a lower compression arm 303 is integrally attached to the rotation support portion of the compression cylinder device 301, and the lower compression arm 303 is attached.
A leg 305a of the upper clamping arm 305 is rotatably supported at an intermediate portion of the. Reference numeral 307 is a stopper that restricts the rotation of the leg 305a.

The tip of the upper clamping arm 305 faces the lower clamping arm 303, and the rear end of the upper clamping arm 305 faces the piston rod 301a of the clamping cylinder device 301. 309a and 309b are first adjustment blocks 271,
The sensor is supported by the second adjustment block 275.

Therefore, the work is the position table 26.
7 and the one side of the position roller 270a
, 270b, one side of the work is positioned on the lower holding arm 303 and the sensor 309a senses the work. When the sensor 309a senses the piston rod 301a of the pressure cylinder device 301, the piston rod 301a extends to raise the rear end of the upper pressure arm 305.

Therefore, one side of the work is supported by the upper and lower clamping arms 303, 305 by the clamping force. Then, the piston rod 295 of the positioning cylinder device 285 extends and the work is pulled via the upper and lower clamping arms 303 and 305. By this pulling of the work, one side of the work is pressed by the position rollers 270a and 270b, and a component force in the direction along the position rollers 270a and 270b acts on the work. By this component force, the workpiece is positioned by the positioning protrusion 2
The position moved to the 79 side and brought into contact with the positioning protrusion 279 is determined.

When the work is moved, the positioning cylinder device 285 causes the spring 29 of the cylinder support arm 287 to move.
It moves in the moving direction of the work through the rotation against 3.
When the position of the work is determined, the sensor 309b detects it,
The piston rod 301a of the compression cylinder device 301 is retracted, and the upper compression arm 305 rotates so as to lower the rear end portion.

By this rotation, the lower part of the leg 305a of the upper clamping arm 305 is moved to the stopper 3 as shown by the chain line in FIG.
Move away from 07. Therefore, the upper and lower clamping force arms 303, 3
Cylinder device 3 so that 05 is lowered as a unit
01 Cylinder device 30 centering on the rotation support part
1. The upper and lower clamping force arms 303 and 305 rotate.

This rotation is caused by the leg 30 of the upper clamping arm 305.
5a is regulated by abutting on the stopper 307. Therefore, the upper surface of the tip of the lower clamping arm 303 is positioned slightly below the table surface of the position table 267, and the upper and lower clamping arms 303 and 305 can be used to support the clamping of the next workpiece. Clamping support is released.

When the work piece is supported by clamping, the upper clamping arm 305 is positioned in contact with the stopper 307, and the lower clamping arm 303 is rotated upward so as to clamp the workpiece. Therefore, the work does not bend. When the clamping support of the work is released, the positioning cylinder device 285 moves to the position shown in FIG.
Restore to state 9.

As shown in FIGS. 32 and 33, the work gripping change device 11 has a gripping change housing 313 on a grip change base 311. Re-grasping housing 3
An intermediate portion of the gripping change arm 315 facing vertically is supported by 13 so as to be rotatable in a direction toward and away from each other. A tip end side of the grip change arm 315 is projected to the outside of the grip change housing 313, and a grip pressure portion 315a is provided on the opposite side to the tip.

One end of a curved intermediate arm 317 is rotatably connected to the proximal end side of the gripping change arm 315, and the other end of the intermediate arm 317 is rotatably connected to a pin 319. The both ends of the pin 319 are re-gripped housing 31
A slide body 321 slidably supported in the inside of the unit 3 is attached. The pin 319 has a connecting bracket 323.
Is installed.

On the other hand, a grip change cylinder device 315 supported by a grip change housing 313 is provided between the grip change arms 315. The piston rod 325 a of the gripping cylinder device 325 is screwed to the connecting bracket 323.

Accordingly, the extension of the piston rod 325a causes the pin 319 to move to the position shown by the chain line in FIG. 28 while being guided by the sliding body 321 through the connecting bracket 323. This movement of the pin 319 causes the intermediate arm 317 to rotate around the pin 319 as shown by the chain line in FIG.

By this rotation of the intermediate arm 317, the base end sides of the two gripping change arms 315 are pulled toward the facing side,
The grip-changing arm 313 rotates and the grip-changing arm 315 rotates.
The gripping and depressing portions 315a are separated from each other. On the contrary, when the piston rod 325a contracts, the gripping and compressing portion 315a abuts each other by the opposite action.

As shown in FIGS. 34 and 35, the mold rack 13 has the rack housing 3 on the rack base 327.
Have 29. Two extraction openings 331 are formed on the front surface of the rack housing 329. A lower mold rack 333 and an upper mold rack 335 are provided on the rack base 327 in a rack housing 329.

The lower mold rack 333 and the upper mold rack 335 are
It has a substantially cylindrical shape, and the driven shafts 333a and 335a are fixed to the lower end. The driven shafts 333a and 335a are rotatably supported by the rack base 327.

On the other hand, a rack pulse motor 339 is supported on the rack base 327 via a motor bracket 337, and a drive shaft 339a of the rack pulse motor 339 is supported.
And the driven shafts 333a, 33 of the racks 333, 335.
5a and 5a are interlocked with a belt 341 as shown in FIG. Therefore, by driving the rack pulse motor 339, the drive shaft 339a, the belt 341, the driven shaft 333a,
Lower mold rack 333, upper mold rack 335 via 335a
Rotates.

As shown in FIG. 38, a plurality of rack portions 343 are arranged on the outer periphery of the lower die rack 333, and a plurality of types of small die 225 are detachably supported.
As shown in FIG. 39, a plurality of rack portions 345 are also arranged on the outer periphery of the upper die rack 335, and a plurality of types of small die 227 are detachably supported.

As shown in FIGS. 40 and 41, the hand rack 15 has a plurality of hand supporting portions 349 on a hand rack base 347. The hand support portion 349 has a pair of support walls 351 opposed to each other, and an intermediate portion of a pair of locking pieces 353 is rotatable on the upper side of each support wall 351 in a direction along the support wall 351. Supported by. The locking piece 353 has a bell crank shape, and is configured to rotate in a direction in which the tip end side is erected as shown in FIG. The lower end side of the locking piece 353 is provided with a support wall 35 via a spring 355 in the vertical direction.
It is connected to 1.

Therefore, for example, if the hand supporting pin 197 of the lower die hand 157 is applied to the tip of the locking piece 353 and pushed in as it is, the locking piece 353 opens against the spring 355 and the hand supporting pin 197 is fixed to the locking piece 353. Be locked.
The lower die hand 157 is supported by the hand support portion 349 as shown in FIG. The upper die hand 199 and the work hand 203 are also similarly supported.

The control device 17 automatically controls the industrial robot 3, the machine tool 5, the work supply device 7, the work positioner 9, the work gripping change device 11, and the die rack 13 according to a predetermined program. Further, the control device 1
It is also possible to operate each separately by 7. The work mounting table 19 is disposed adjacent to the work supply device 7, and a plurality of plate-shaped works W are mounted thereon. In FIG. 1, reference numeral 357 denotes a mat switch, which turns off the power when an operator rides on the mat switch, and 359 denotes a harness cover (not shown) of the industrial robot 3.

Next, the processing steps will be described.

When a command is issued by operating the control device 17, the supply arm 243 of the work supply device 7 first rotates based on a preset program to rotate the suction arm 24.
7 is located on the work W of the work mounting table 19. At this position, the work supply device inner cylinder 233 descends and the suction arm 2
The work W is adsorbed to the work piece 47, and then the work supply device inner cylinder 233 rises again, and the supply arm 243 rotates toward the work positioner 9 to move the work W to the position table 2.
Supply to 67.

In this case, since the suction arm 247 rotates at the same angle in the opposite direction to the rotation direction of the supply arm 243 as the supply arm 243 rotates, the work W moves from the work mounting table 19 to the position table 267. It will be as if it was translated. Positioning is performed on the position table 267 by the position rollers 270a and 270b and the positioning protrusion 279.

When the work W is positioned, the industrial robot 3 moves the elevating part 21, the turning part 22, the expanding and contracting part 23, the swinging part 27, the head rotating part 25, and the mounting plate rotating part 29.
Is selectively moved to hold the edge of the work W protruding from the position table 267 toward the positioning projection 279 between the work supporting portion 205 of the work hand 203 supported by the chuck 125 and the pressing arm 215.

The industrial robot 3 again selectively moves the elevating part 21, the turning part 22 and the like to place the work W between the lower die 225 and the upper die 227 of the machine tool 5. When the work W is arranged in this way, the work W is bent by the lower die 225 and the upper die 227.

Then, the work W is moved by the movement of the industrial robot 3 so that the work W is gripped by the gripping change arm 315 of the work gripping changer 11.
It is arranged in between and is held by the gripping arm 315. With respect to the work W held between the gripping change arms 315, the work hand 203 is gripped and changed to a predetermined position different from the above by the movement of the industrial robot 3.

The workpiece W that has been gripped and changed is moved by the industrial robot 3 to move the lower die 225 and the upper die 2 of the machine tool 5.
It is arranged between 27 and the work W is bent at a portion different from the above. The work W that has been processed is placed on the wagon of the processed product receiving portion (not shown) by the movement of the industrial robot 3.

As described above, when the work W is gripped again, since the tip end of the pressing arm 215 of the work hand 203 is L-shaped, the work W is gripped without crushing the bent portion of the work W. Can be changed.

When replacing the lower mold 225 or the upper mold 227, the work hand 203 is first moved by the movement of the industrial robot 3 to the empty hand support 3 of the hand rack 15.
49 to support the work hand 20 from the chuck 125.
Release 3

Next, the lower robot hand 157 or the upper wafer hand 199 is supported on the chuck 125 by the movement of the industrial robot 3. When this support is completed, the industrial robot 3 moves to the machine tool 5 side, and either the lower die 225 or the upper die 227 of the machine tool 5 is moved to the machine tool 5 side as shown in FIG. 17 or corresponding to the supported lower die hand 157 or upper die hand 199. Grab as shown in FIG.

The lower mold 225 or the upper mold 227 thus gripped
Is inserted from one of the take-out openings 331 of the die rack 13 by the movement of the industrial robot 3, and the lower die rack 33
3 or the rack portion 343 of the upper rack 335.
Supported by 345. By this support, the lower mold 225 or the upper mold 227 is removed from the lower mold hand 157 or the upper mold hand 199, and the lower mold hand 15 is moved by the movement of the industrial robot 3.
7 or lower mold 225 for the purpose of replacing with upper mold hand 199
Alternatively, the upper die 227 is supported and, contrary to the above, is mounted on the machine tool 5. Then, the work hand 203 is again exchanged and supported by the chuck 125, and the bending work of the work W is performed in the same manner as described above.

[0096]

As will be understood from the above description of the embodiments, in short, the present invention is based on the fact that the work supporting portion 2 is provided on the front end side of the work hand frame 207 mounted on the industrial robot 3.
05, a pressing arm 215 having an L-shaped tip is attached to the work hand frame 207 in order to press and fix the work W to the work supporting portion 205 while avoiding the bent portion of the work W.
It is mounted so that it can be driven up and down.

Therefore, according to the present invention, even when the industrial robot 3 is adopted to automate the bending work of the plate material W and save labor, the gripping device does not crush the bent part of the plate material. It can be gripped with it.

[Brief description of drawings]

FIG. 1 is a perspective view showing an entire layout.

FIG. 2 is a side view of the industrial robot.

FIG. 3 is a plan view of the same.

FIG. 4 is an enlarged cross-sectional view of the lifting unit.

FIG. 5 is an enlarged plan view of the lifting unit.

FIG. 6 is a sectional view taken along the line VI-VI in FIG.

FIG. 7 is an enlarged sectional view of the swivel portion.

FIG. 8 is an enlarged plan view of the expandable portion.

FIG. 9 is an enlarged side view of the stretchable portion.

FIG. 10 is an enlarged sectional view of the head rotating unit.

FIG. 11 is an enlarged sectional view of the swing part.

FIG. 12 is an enlarged sectional view of the rotating portion of the mounting plate.

FIG. 13 is a sectional view of the chuck.

FIG. 14 is a front view of the same.

FIG. 15 is a rear view of the same.

FIG. 16 is a partially omitted sectional view taken along line XVI-XVI in FIG.

FIG. 17 is a sectional view of a lower die hand.

FIG. 18 is a front view of the same.

FIG. 19 is a rear view of the same.

FIG. 20 is a plan view of the same.

FIG. 21 is a sectional view of the upper hand.

FIG. 22 is a side view of the work hand.

FIG. 23 is a sectional view of the same.

FIG. 24 is a plan view of the same.

FIG. 25 is a rear view of the same.

FIG. 26 is a cross-sectional view of the work supply device.

FIG. 27 is a sectional view of the supply arm.

FIG. 28 is a plan view of the suction arm.

FIG. 29 is a plan view in which the work positioner is partially omitted and partially cut away.

FIG. 30 is a side view with the same portion omitted and partially cut away.

FIG. 31 is a partially omitted arrow view taken along the line XXXI-XXXI in FIG. 30.

FIG. 32 is a partially omitted sectional view of the work gripping change device.

FIG. 33 is a partially cutaway rear view with the same portion omitted.

FIG. 34 is a front view of the mold rack.

FIG. 35 is a cutaway plan view of the same portion.

FIG. 36 is a cross-sectional view of the upper rack.

FIG. 37 is a perspective view of a lower rack and an upper rack.

FIG. 38 is a partially enlarged cross-sectional view of the lower mold rack.

FIG. 39 is a partially enlarged sectional view of an upper rack.

FIG. 40 is a side view of the hand rack.

FIG. 41 is a rear view of the same.

[Explanation of symbols]

 3 Industrial Robot 5 Machine Tool 203 Work Hand 205 Work Support 207 Work Hand Frame 215 Press Arm

Claims (1)

[Claims] 1. A work supporting part 205 is provided on the front end side of a work hand frame 207 attached to an industrial robot 3, and a work W is pressed against and fixed to the work supporting part 205 while avoiding a bent part of the work W. Therefore, a plate-like work gripping device is characterized in that a pressing arm 215 having an L-shaped tip is mounted on the work hand frame 207 so as to be vertically movable.