JPH0538521A - Device for handling work in press brake system - Google Patents

Abstract

PURPOSE:To improve tact time and to improve folding efficiency by holding up a work with a work handling part to keep this to almost vertical condition, and then, holding the work with a work handling robot to the necessary surface of work. CONSTITUTION:By holding the flat plate-like work 5 with the work handling robot 2, this is carried to a press brake, and the folded work 3 is carried out with the work handling robot 2. The work handling robot 2 is set as approaching to a work piling part 4 for piling the plural works to be the folding object. The most upper position of work 3 is held up with a swing arm 52 and made to almost vertical condition and delivered to a work holding member 53 opened at center part, and under this condition, the work 3 is held from the desired side with the work treating robot 2. By this method, turning-over work to the front and the back is made to unnecessary and the folding efficiency to the work can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work handling device in a press brake system, and more specifically, it lifts the uppermost work in a state where a plurality of flat plate-shaped works are stacked and carries it into a press brake. Then
The present invention relates to a work handling device that carries out a bent work from a press brake.

[0002]

2. Description of the Related Art Conventionally, there has been provided a press brake system including a press brake for bending a flat plate-like work and a work handling robot for loading and unloading the work with respect to the press brake, and used in various fields. There is. FIG. 11 is a perspective view schematically showing the structure of a conventional press brake system, which includes an upper mold 71a and a lower mold 7.
1b, back gauge 71c, work support 71d, and the like.
And a work handling robot 73 including at least one rotating arm in a predetermined positional relationship with the press brake 71 and the work stacking base 72. ing.

Therefore, the work gripping portion 73a is moved by operating each axis of the work handling robot 73 to grip the uppermost work 74 on the work stacking base 72, and then each axis of the work handling robot 73 is moved. The work 74 can be carried into the press brake 71 by operating it, and the predetermined position of the work 74 can be bent by operating the press brake 71. After that, by operating each axis of the work handling robot 73, the work 7
4 can be carried out from the press brake 71.

[0004]

In the press brake system having the above structure, a single work is lifted from the work stacking base 72 and carried into the press brake 71, and after bending, the work 74 is carried out from the press brake 71. Since all of the above operations are performed by the work handling robot, there is a disadvantage that the tact time is compressed and the work bending efficiency is reduced as a whole.

Explaining in more detail, the work stacking base 7
Depending on whether the work 74 is on the front side or the back side of the work 74, the work handling robot 73 cannot grip the uppermost work 74 and immediately carry the work 74 into the press brake 71, so that the work 74 is temporarily supported on the work support 71d. Since the work handling robot 73 has to change the holding position, it takes a considerably long time to carry the work 74 into the press brake 71.

Further, since the works 74 stacked on the work stacking base 72 are not generally aligned with high precision, after the work handling robot 73 grips the works 74, the press brake 71 is operated. Back gauge 71c,
Since it is necessary to press the work 74 against a side gauge (not shown) for positioning, it takes a long time before the press brake 71 can be bent.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and improves the work bending efficiency of the entire press brake system by releasing the work handling robot from the work of lifting the work from the work stacking base. It is an object of the present invention to provide a new work handling device that can be used.

[0008]

In order to achieve the above-mentioned object, a work handling apparatus according to a first aspect of the present invention is provided in the vicinity of a work stacking portion for stacking a plurality of works to be bent. It includes a work processing unit that lifts and holds the uppermost work in a substantially vertical state and allows the work handling robot to grip a desired surface of the work.

According to the second aspect of the present invention, there is provided the work handling apparatus, wherein the work processing section rotates the work control section so that it grips the end edge of the uppermost work stacked on the work control section to be in a substantially vertical state. is there. In the work handling device according to claim 3, the work processing unit includes an arm for rotating the work, a first link whose one end is rotatably connected to a base end of the arm, and an arm of the arm. A second link whose one end is rotatably connected to a predetermined position near the base end, and the other end of the one link is rotatably connected to a predetermined fixed portion and the other link The other end of the link is connected to the rotary drive source, and the relative positions of the other end of each link with respect to the connecting position with respect to the arm are set to be opposite to each other.

In the work handling apparatus of the fourth aspect, the work processing section includes a side gauge for positioning the work in a substantially vertical state.

[0011]

According to the work handling apparatus of claim 1, when the work handling robot grips a flat work and carries it into the press brake, and when the bent work is carried out by the work handling robot, the bending treatment is performed. Multiple target works are stacked on the work stacking part, and in this state, the topmost work is lifted by the work processing part and held in a substantially vertical state, by the work handling robot for the desired surface of the work. Since gripping is allowed, it is sufficient to hold the work in a substantially vertical state by the work processing unit and then hold the work by the work handling robot, and the work handling robot can be applied only to loading and unloading the work with respect to the press brake. The tact time can be improved to improve the work bending work efficiency as a whole. Also, the gripping surface of the workpiece by the workpiece handling robot can be easily selected simply by controlling each axis of the workpiece handling robot, and the work of reversing the front and back of the workpiece lifted from the work stacking part is not necessary, so this aspect also As a result, the work bending efficiency can be improved.

In the work handling device of the second aspect, the work processing unit grips the edge of the uppermost work stacked on the work control unit and rotates the work processing unit so as to be in a substantially vertical state. Since it is a thing, it is possible to lift only the topmost work, and it is possible to greatly reduce the possibility of lifting two or more works at the same time. According to the work handling apparatus of claim 3, when the rotary drive source is operated while the work is being gripped for lifting, the corresponding link is rotated, and the arm follows the rotation of the corresponding link. The turning power is given to it. However, in this case, since the other link is rotated, the position and direction of the arm are determined based on the relative position of one end of both links, and the arm does not rotate easily. It will be moving. In this rotation operation, when the arm is almost horizontal, the arm hardly rotates and moves very slowly in the vertical direction, so that a significantly large reduction ratio with respect to the rotation drive source is achieved. it can. That is, the torque required for the rotary drive source can be significantly reduced. Also, after the arm has moved to some extent,
Since the arm hardly moves in the vertical direction and rotates at a considerably high speed, it is possible to achieve a very small reduction ratio with respect to the rotary drive source. That is, the torque required for the rotary drive source becomes considerably large. However, the larger the rotation angle, the smaller the torque required to lift the work, and therefore the torque required for the rotary drive source can be reduced.
As a result, the torque required for the rotary drive source can be reduced over a wide range and can be made substantially constant. Therefore, it is not necessary to use a rotary drive source having a larger torque than necessary.

According to the fourth aspect of the present invention, since the work processing unit includes the side gauge for positioning the work in a substantially vertical state, the work is handled before being gripped by the work handling robot. Can be achieved, and the work bending efficiency as a whole can be improved, and highly accurate bending can be achieved.

[0014]

Embodiments will now be described in detail with reference to the accompanying drawings showing embodiments. FIG. 5 is a schematic view showing an example of a press brake system in which the work handling device of the present invention is incorporated, and a work loading pallet 4 for stacking flat plate-shaped works at a predetermined position substantially facing the front of the press brake 1 is shown. The work transfer pallet 4 is arranged so that it can be moved.
Work 3 at a predetermined position farther from the press brake 1 than
A work processing unit 5 is arranged to lift only one sheet and to stand in a substantially vertical state.
The workpiece handling robot 2 is arranged at a predetermined position that does not face the front and side surfaces of the workpiece handling robot 2. In addition, 11 is an upper mold and 12 is a lower mold. A pair of back gauges 13 is mounted on the inner side of the lower die 12 so that the press brake body can be positionally adjusted, and a side gauge 14 is mounted in contact with one end surface of the upper die 11. ..

As shown in FIG. 6, the work handling robot 2 is provided on a reciprocating arm 22 supported by a base 21 having a predetermined length so as to reciprocate, and on the upper end of the reciprocating arm 22. The first vertical rotation shaft 23 and the first vertical rotation shaft 2
3 and a first horizontal rotation shaft 25 provided at the tip of a first arm 24 extending in a direction perpendicular to the first arm 24 and a second arm 26 provided at a tip of a second arm 26 extending in a direction perpendicular to the first horizontal rotation shaft 25. Two
In the extension direction of the horizontal rotation shaft 27, the second vertical rotation shaft 29 provided at the tip of the third arm 28 extending in the extension direction of the second horizontal rotation shaft 27, and the extension direction of the second vertical rotation shaft 29. 4th extension
It has a work grip portion 31 provided at the tip of the arm 30. The work grip 31 is provided with a plurality of suction pads 32, which communicate with a vacuum source (not shown). Then, the suction force adjustment unit (not shown) changes the suction force. An example of this suction force adjusting unit is one that changes the number of suction pads that communicate with the vacuum source, but it may be one that changes the suction force by the vacuum source.

The work carrying-in pallet 4 and the work processing section 5 will be described in more detail with reference to FIGS. 1 and 2. The work carrying-in pallet 4 is a trolley having a roller on its lower surface, and in a state where a large number of works 3 are stacked on the trolley, the work pallet 4 is moved to a position almost directly facing the front of the press brake 1 to lift the work 3 for press work. In preparation for this, when all the works 3 are lifted, they are moved to the work supply position and a new large number of works 3 are stacked.

The work processing section 5 includes a swing arm 52 which is vertically rotatable with respect to a base 51, and a work 3.
Is held in a substantially vertical state, and side gauges 54a and 54b are provided at predetermined positions of the work holding member 53. The swing arm 52 has a plurality of suction pads 52a for sucking and holding the work 3 at the tip thereof, and the swing pad 52a is placed in the uppermost position of the work loading pallet 4 by the suction pad 52a in a state of being rotated in a substantially horizontal state. The work 3 is transferred to the work holding member 53 by sucking and holding the edge portion of the work 3, rotating the work 3 to a substantially vertical state while holding the work 3 by suction, and stopping suction by the suction pad 52a. The work holding member 53 is formed by arranging a pair of support plates 53a and 53b which are erected in a substantially vertical state and are separated from each other by a predetermined distance (at least a distance at which the swing arm 52 can pass). Lower flanges 53c and 53d for supporting the work 3 are provided at the lower end portions of both support plates 53a and 53b. Then, at least the upper half portions of both work support plates 53a and 53b are notched to allow the work gripping portion 31 of the work handling robot 2 to pass therethrough.
The side gauges 54a and 54b are the support plates 53.
a, 53b, and support plates 53a, 5b.
The centering of the work 3 is achieved by pressing both ends of the work 3 which are held in a substantially vertical state by 3b and which are supported by the lower flanges 53c and 53d.

The operation of the press brake system having the above structure is as follows. In a state where the work loading pallet 4 in which a large number of works 3 are stacked is moved to a predetermined position, the swing arm 52 is first rotated to a substantially horizontal state to bring the suction pad 52a into contact with the uppermost work 3.
The suction pad 52a sucks and holds the edge portion of the work 3 (see FIG. 2). Next, the swing arm 52 is rotated so as to be in a substantially vertical state, and the suction holding by the suction pad 52a is stopped to transfer the work 3 to the pair of support plates 53a and 53b. The work 3 is a support plate 53a,
It moves downward by its own weight along the support surface of 53b, and is supported by the lower flanges 53c and 53d to achieve vertical positioning (see FIG. 3). After that, side gauge 5
Positioning of the workpiece in the horizontal direction is achieved by operating 4a and 54b. The swing arm 52 is
While the positioning by the side gauges 54a, 54b is being performed, or after the positioning by the side gauges 54a, 54b is completed, the workpiece is moved in a direction away from the work loading pallet 4 so that the operation of the work handling robot 2 is not hindered. (See Figure 4).

Therefore, thereafter, by controlling each axis of the workpiece handling robot 2, the desired surface of the workpiece 3 is grasped by the workpiece grasping portion 31, and the workpiece 3 is carried into the press brake 1 as it is to perform the bending operation. The bending of the work 3 to a desired side can be achieved without performing any holding operation of the work 3. Further, since the next work 3 can be positioned by the work processing unit 5 while performing the necessary bending operation or work unloading operation using the work handling robot 2, it is stacked. The work handling robot 2 can be released from the work of lifting the existing work, and the takt time of the entire system can be improved.

Further, in the conventional press brake system, there is a possibility that it is necessary to reverse the front and back of the work immediately after lifting the work. In this case, the takt time was further pressed. Since the desired surface of the work 3 can be gripped in (1), the tact time can be further improved because it is not necessary to perform the front / back reversing work. Furthermore, the workpiece handling robot 2
Since the positioning work due to can be significantly reduced,
The tact time can be further improved.

Further, there is no need to specially provide the press brake 1 with a work supporting portion for temporarily holding the work when the work is turned upside down.
Since the work lifted from the work carry-in pallet 4 can be automatically positioned, the work carry-in pallet 4
All that is needed is to randomly stack the workpieces against. Furthermore, since the swing arm 52 grips the edge of the work 3 and lifts the work 3 upside down, the possibility that two or more works 3 are lifted simultaneously can be significantly reduced.

[0022]

[Embodiment 2] FIG. 7 is a diagram schematically showing a main part of another embodiment of the work handling apparatus according to the present invention, and FIG. 8 is a side view showing a rotary drive source. Instead of the swing arm 52, an arm 55, a first link 56 and a second
The only difference is that the link 57 is provided.

More specifically, the arm 55 will be described.
Has a plurality of suction pads 52a at its tip, and its base end is rotatably connected to one end of the first link 56. A predetermined position near the base end of the arm 55 is rotatably connected to one end of the second link 57. Further, the other end of the first link 56 has the arm 5
5 is rotatably connected to a predetermined fixing portion 56a below the connecting position of the first link 56 and near the tip of the arm 55. The other end of the second link 57 is connected to the rotary drive source 58 above the connecting position of the arm 55 and the second link 57 and on the base end side of the arm 55. Furthermore, the length of the first link 56 and the length of the second link 57 are such that the arcuate movement locus of one end of both links 56, 57 is the arcuate movement locus of the end of the other link and two predetermined points. Is set to a predetermined length so as to intersect at. The suction pad 52a is mounted on a base 52b having a substantially flat plate shape, and a predetermined position near one edge of the base 52b is rotatably connected to the tip of the arm 55, and this connection is also made. The biasing spring 52 is provided between a predetermined position closer to the edge than the position and the corresponding position of the arm 55.
c is inserted.

The rotary drive source 58 is a cylinder device 58.
a and a connecting rod member 58b that connects the piston rod of the cylinder device 58a and the other end of the second link 57 to each other.
Is to be rotated. The operation of the work handling device having the above configuration is as follows.

The arm 55 is substantially horizontal in a state where the uppermost work 3 is sucked by all the suction pads 52a. When the rotary drive source 58 is operated in a predetermined direction in this state, the connecting position of the second link 57 and the arm 55 moves clockwise on the operation locus indicated by R2 in FIG. The connecting position between the first link 56 and the arm 55 is constrained on the motion locus indicated by R1 in FIG. Therefore, the arm 55 is rotated and raised as the two connecting positions are constrained on the corresponding movement loci. The movement of this arm is based on the movement locus R1.
Since the rotation speed is remarkably small and the vertical movement speed is increased to some extent in a range inside the operation locus R2, the work 3 lifting force is sufficiently large even if the torque of the rotary drive source 58 is not so large. Can be obtained. Further, if the movement locus R1 is outside the movement locus R2, the rotation speed increases, so that the work 3 can be moved at high speed. As a result, a sufficiently large reduction ratio can be achieved while a large force is required to lift the work 3, and a small reduction ratio can be achieved when a small force is sufficient. At the initial stage of lifting the work 3, the base body 52b on which a plurality of suction pads 52a are mounted is attached.
Does not rise horizontally, but one edge side rises first. Therefore, the works 3 can be lifted up and the possibility of lifting two or more works 3 can be greatly reduced.

Further, the required torque corresponding to the angle of the second link 57 is as shown in FIG. 10 (A), and the range where the angle is smaller than the required torque in the above embodiment (see FIG. 10 (B)). Therefore, the torque characteristic required for the rotary drive source 58 can be made substantially flat in consideration of the fact that a special torque is required to separate the work 3 from the above. Rotary drive source 5
It is not necessary to increase the maximum torque of No. 8 too much. That is, for example, the cylinder device 58 that generates relatively small torque
a can be adopted. Further, since the range in which the arm 55 can be moved in the vertical direction can be secured to a large extent without almost rotating, the work suction position by the suction pad 52a can be set substantially depending on whether the stacked works 3 are large or small. The suction can be maintained constant, and reliable suction can be achieved by contacting all the suction pads 52a with the work 3 almost uniformly.

The present invention is not limited to the above-mentioned embodiment, and for example, the swing arm 52 can suck and hold the central portion of the work 3 and can lift it, and requires a very high bending accuracy. If not, the side gauges 54a and 54b can be omitted, and the second link 57 can be connected to the rotary drive source instead of the first link 56, and the work 3
It is possible to give vibrations to the works 3 and lift the works 3 piece by piece by reciprocally moving the rotary drive source after lifting the pieces. In addition, various design changes can be made within the range not changing the gist of the present invention. Can be applied.

[0028]

As described above, according to the first aspect of the present invention, it is sufficient that the work handling robot holds the work in a substantially vertical state and then the work handling robot grips the work. Since it can be applied only to loading and unloading, the tact time can be improved to improve the work bending efficiency as a whole, and the work gripping surface of the work handling robot can be easily selected by controlling each axis of the work handling robot. Since there is no need to reverse the front and back of the workpieces lifted from the workpiece stacking portion, this aspect also has the unique effect of improving the overall workpiece bending efficiency.

According to the second aspect of the invention, it is possible to lift only the uppermost work so as to be turned over, and it is possible to significantly reduce the possibility that two or more works can be lifted at the same time. According to the third aspect of the present invention, when the arm is almost horizontal, the arm hardly rotates, and the arm is moved very slowly in the vertical direction, and after the arm is moved to some extent, the arm is rotated at a considerably high speed. The torque required for the power source can be reduced over a wide range,
Moreover, it has a unique effect that it can be made almost constant.

According to the invention of claim 4, positioning of the work can be achieved before being gripped by the work handling robot, the work bending efficiency as a whole can be improved, and highly accurate bending can be achieved. ..

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a work handling device of the present invention.

FIG. 2 is a central vertical sectional view of FIG.

FIG. 3 is a central longitudinal sectional view showing a workpiece positioning state.

FIG. 4 is a central longitudinal cross-sectional view showing a state in which a work handling robot allows free gripping of a work.

FIG. 5 is a schematic view showing an example of a press brake system incorporating the work handling device of the present invention.

FIG. 6 is a perspective view showing a configuration of a work handling robot.

FIG. 7 is a view schematically showing a main part of another embodiment of the work handling device according to the present invention.

FIG. 8 is a side view showing a rotary drive source.

FIG. 9 is a diagram illustrating an operation locus of an arm.

FIG. 10 is a diagram showing torque characteristics in Example 2 and Example 1.

FIG. 11 is a perspective view schematically showing the configuration of a conventional press brake system.

[Explanation of symbols]

1 Press brake 2 Work handling robot 3
Flat work 4 Work loading pallet 5 Work processing part 54a, 54b Side gauge 55 Arm 5
6 1st link 57 2nd link 58 Rotational drive source

Claims (4)

[Claims] 1. A work handling robot (2) grips a flat plate-shaped work (3), carries it into a press brake (1), and carries out a bent work (3) by a work handling robot (2). In the press brake system, a plurality of works to be bent (3)
Workpiece handling robot (2) for the desired surface of the work (3) by lifting the uppermost work (3) in close proximity to the work stacking part (4)
A work handling device in a press brake system, which includes a work processing unit (5) that allows gripping by the. 2. The work processing section (5) rotates so as to grasp an end edge portion of the uppermost work (3) stacked on the work stacking section (4) to be in a substantially vertical state. The work handling device in the press brake system according to claim 1, wherein the work handling device is provided. 3. A work processing unit (5) has an arm (55) for rotating the work (3) and one end of which is rotatably connected to a base end of the arm (55). First
The link (56) includes a second link (57), one end of which is rotatably connected to a predetermined position near the base end of the arm (55), and the other end of the one link has a predetermined position. The link is rotatably connected to the fixed part and the other end of the other link is connected to the rotary drive source (58), and the other end of each link is relative to the connecting position with respect to the arm (55). 3. The positions are set to be opposite to each other.
A work handling device in the press brake system described in. 4. The work processing unit (5) according to claim 1, further comprising side gauges (54a) (54b) for positioning the work (3) in a substantially vertical state. Work handling device in the described press brake system.