JPH06335728A - Work follow-up device for press brake - Google Patents

Abstract

PURPOSE:To reduce errors in follow-up operation and a cost, to facilitate mainte nance, to contrive tack-up, and further, to enable a follow-up device of a work for a press brake to post-weld a support arm. CONSTITUTION:The support arm 21 holding the work W while following up a bending angle of the work W is provided on the lower table 9 of a press brake 1, plural suction pads 23A which suck the work and can move freely back and forth and vertically are provided on the base side of this support arm 21 and plural suction pads 23B which can move freely in the vertical direction through an elastic member 47 is provided on the front end side of the support arm 21. Further, a drive motor 59 to turn the support arm 21 is provided, A numerical controller 63 to control the drive motor 59 to turn the support arm 21 through a signal of a detector 61 to detect the movement amt. of the lower table 9 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press brake work follower having a support arm for electrically following the bending of a work during machining.

[0002]

2. Description of the Related Art Conventionally, when a work is bent by a press brake, the bending work is manually performed by an operator. Further, as a follow-up device for a support arm for heavy workpieces, a type equipped with a large hydraulic drive device is known. Further, a device using a robot is adopted, and the robot supports the work by loading and bending the work with the robot, that is, synchronizing the bending with the press brake, and unloading the product. Has been.

[0003]

By the way, when the work is bent by the above-mentioned conventional press brake, in order for the support arm to follow the bending angle of the work, a manual operation of the worker involves a risk. There is a problem that it is difficult to follow the processing speed with a model that employs a large hydraulic drive.

In the robot-following system, many processes such as work loading, bending angle follow-up, and product unloading are performed by the robot, which complicates the robot operation program and further increases the tact time. was there.

In order to solve the above problems, the object of the present invention is to reduce the following error, reduce the cost, facilitate the maintenance and maintenance, and improve the tact time, and further attach the support arm. An object is to provide a work following device for a press brake.

[0006]

In order to achieve the above object, the present invention provides a lower table of a press brake with a support arm for holding a work by following a bending angle of the work, and the base side of the support arm. A plurality of suction pads that adsorb a workpiece and are movable in the front-rear direction and the vertical direction are provided, and a plurality of suction pads that are movable in the vertical direction are provided on the tip end side of the support arm via an elastic member. A press brake is provided by providing a drive motor for rotating the lower table, and providing a control device for controlling the drive motor by a signal of a detector for detecting the amount of movement of the lower table to cause the support arm to follow the bending of the work. The work follower of

[0007]

By adopting the work following device of the press brake of the present invention, the carried work is sucked and held by the suction pad provided on the base side of the support arm. Then, the suction of the suction pad on the base side is released, and the work is suction-held by the suction pad provided on the tip side.

When the bending work is started from this state and the lower table of the press brake is raised, the signal transmitted from the detector for detecting the movement amount of the lower table is input to the control device, and the support arm is rotated by the control device. The drive motor to be moved is rotated by a predetermined amount. Thus, the support arm is rotated following the bending of the work.

[0009]

Embodiments of the present invention will be described in detail below with reference to the drawings. The press brake and the articulated robot used in this embodiment have already-known configurations, so detailed illustration and description thereof will be omitted.

In order to facilitate understanding, the overall structure of a press brake equipped with an articulated robot will first be outlined.

Referring to FIG. 6, an articulated robot 3 is provided on the front surface of the press brake 1, and the articulated robot 3 carries in and out the work W.

The press brake 1 includes an upper table 7 on a machine body 5 and a lower table 9,
A punch 11, which is an upper die, is detachably attached to the upper table 7. A lower die 13 is mounted on the lower table 9.

As is well known, in the press brake 1 having the above structure, the upper table 7 and the lower table 9 are provided.
The work W interposed between the punch 11 and the die 13 is bent by raising and lowering one of them and engaging the punch 11 and the die 13.

Although not shown in detail, in the present embodiment, the lower table 9 is configured to move up and down.

Further, the press brake 1 is provided with a back gauge 15 for positioning the work W in the Y-axis direction (left and right direction in FIG. 6) so as to be movable and positionable in the Y-axis direction. Work W
An abutment sensor 15A for detecting the abutment is provided. A shaft 19 is inserted into a bracket 17 provided on the upper surface of the lower table 9, and a support arm 21 fixed to the shaft 19 is rotatably provided. The support arm 21 is provided with a plurality of suction pads 23 for sucking and holding the work W.

The articulated robot 3 has a well-known structure, and is provided with a column 27 movable on the bed 25 in the X-axis direction (direction orthogonal to the drawing in FIG. 6). The column 27 is vertically movable. The support 27 is configured to be expandable and contractible and rotatable, and the strut 27 is provided with a first joint 29, a second joint 31, and a wrist portion 33 for gripping the work W at the tip of the second joint 31. Work W with this articulated robot 3
Are carried in and out of the press brake 1.

Next, the support arm 21, which is one member of the main part of this embodiment, will be described in more detail.

Referring to FIG. 2, a plurality of brackets 17 are erected on the upper surface of the lower table 9, and the brackets 1
7, a shaft 19 integrally provided on the base of the support arm 21
And the support arm 21 is rotatably provided.

A fluid pressure cylinder 35 is provided on the base side of the rotatable support arm 21, and a support plate 39 is provided at the tip of a piston rod 37 of the cylinder 35.
The suction surfaces of the plurality of suction pads 23A are erected so as to face upward. The support plate 39 is slidable on a plate member 41 having a sliding surface provided on the upper surface of the support arm 21.

Further, on the tip side of the support arm 21, a plurality of suction pads 23B are erected on a bracket 45 guided by the slot 43 so that the suction surface is upward. Then, for example, a coil spring 47 is provided as an elastic member above and below the suction pad 23B as the bracket 45.
It is wrapped around.

With the above structure, the work W is carried in by the above-mentioned articulated robot 3 and transferred onto the suction pads 23A and 23B. When the work W is placed on the suction pads 23A and 23B, the suction pad 23A is activated by a vacuum pressure generating source provided outside the machine to bring the suction pad 23A into a vacuum state to suction-hold the work W. Note that the suction pad 23B is opened without being in a vacuum state, that is, the suction pad 23B is in a state of supporting the work W.

From the above-mentioned state, the cylinder 35 is operated to advance the work W adsorbed and held by the adsorption pad 23A, and when the abutting sensor 15A of the back gauge 15 is brought into contact with the abutting sensor 15A, the cylinder 35 is actuated. After stopping the operation of and stopping the advance of the work W,
The vacuum state of the suction pad 23A is released, and although not shown in the figure, the suction pad 23A is slightly lowered by the operation of a cylinder or the like and separated from the lower surface of the work W. When the suction pad 23B is brought into a vacuum state and the work W is suction-held, the work W is supported by the die 13 and the suction pad 23B.

The support arm 21 is a lower table 9.
The side plate 9 is integrally attached to the side surface of the lower table 9 as shown in detail in FIG.
A is provided. Support arm 2 on this side plate 9A
A bracket 9B that supports a rectangular support member 21A that supports 1 is fixed by tightening bolts or the like, and the support member 21A rides on the bracket 9B, and a support plate 49 provided on the upper surface of the support member 21A is attached. Slotted hole 49
It is fixed integrally on the bracket 9B by a tightening bolt 49B via A.

The bracket 17 is erected on the upper surface of the support plate 49, and the shaft 19 provided integrally with the support arm 21 is fitted into the bracket 17 so that the support arm 21 is rotatable. Has become. Further, on the upper surface of the support plate 49, a drive motor for rotating a support arm 21 described later is provided.

With the above structure, the support arm 21 can be assembled and disassembled on the lower table 9 with the tightening bolts 49B, so that it can be retrofitted.

Rotating device 51 of the support arm 21
As shown in detail in FIG. 3, the shaft 19 integrally fixed to the support arm 21 is rotatably supported by the bracket 17, and the coupling 53 is attached to the shaft 19 on one side. On the other hand, a bracket 57 erected on the support plate 55 is equipped with, for example, a servomotor with a speed reducer as a drive motor 59, and the output shaft of the drive motor 59 is fitted to the coupling 53. In addition, the support plate 5
5 is integrally provided on the support member 21A similarly to the support plate 49 described above, and has an elongated hole 49A formed therein.
9B is mounted on the lower table 9.

Next, the control system that follows and controls the support arm 21 during bending of the work W, which is a part of the main part of this embodiment, will be described in more detail.

Referring to FIG. 1, the press gauge 1 includes a back gauge 1 having the above-described abutment sensor 15A.
5 and a detector 61 for detecting the amount of movement of the lower table 9 in the vertical direction. The detector 61 is, for example, an encoder, and a configuration for operating the encoder is already known, so a detailed illustration and description thereof will be omitted. However, for example, a rack and a pinion are used to replace the vertical motion of the lower table 9 with a rotary motion. The encoder to rotate.

The output signal of the abutment sensor 15A and the output signal of the detector 61 are input to the NC device 63, and NC
A drive motor 59 for rotating the support arm 21 from the device 63, and a suction pad 23 provided on the support arm 21.
The cylinder 35 for A transfer is controlled.

With the above-described structure, as its function, the multi-joint robot 3 or the operator carries in the work W and places it on the suction pads 23A and 23B. And
The work W is sucked by the suction pad 23A, the cylinder 35 is operated to move the work W forward, and the work W is pressed against the back gauge 15 until the butting sensor 15A of the back gauge 15 is turned on.

The ON signal of the butting sensor 15 releases the suction of the suction pad 23A by the NC device 63, slightly lowers the suction pad 23A by a cylinder or the like (not shown), and the suction pad 23A by the operation of the cylinder 35. Return to the old position. Then, the work W is suction-held by the suction operation of the suction pad 23B.

In this state, the bending work is started. That is, the lower table 9 is raised. When the lower table 9 rises, the detector 61, which is an encoder, rotates, and when an output signal is input to the NC device 63, the NC device 63 causes the pinching point P ₁ (the work W and the punch 11 and the die 11) shown in FIG. The drive motor 59 does not operate up to the point where the support arm 21 is moved, and the support arm 21 is moved by operating the drive motor 59 when moving from the pinching point P ₁ to the position P ₂ .

Then, the V width of the die 13, the plate thickness of the work W, and the bending angle are given as data to the NC device 63, whereby the movement of the press brake 1 and the support arm 21.
The movement of can be controlled in real time.

As shown in FIG. 2, two coil springs 47 are attached to the suction pad 23B. The coil springs 47 have a bending angle of the work W when the support arm 21 is bent. When following, it absorbs the subtle deviation of following, and enables reverse bending work.

With the above-described structure and operation, the support arm 21 is made to electrically follow the bending of the work W, and the error of the following is small and the structure is simple, so that the cost is reduced and the maintenance and maintenance are facilitated. By combining the multi-joint robot 3, labor is saved, the robot program is simplified, the tact time is improved, and the support arm 21 can be retrofitted.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes. For example, although the lower table 9 of the press brake 1 is lifted and lowered in this embodiment, the upper table 7 can be lifted and lowered.

[0037]

As can be understood from the above description of the embodiments, according to the present invention, since the constitution is as described in the claims, the support arm is attached to the press brake, The drive motor for rotating the support arm is controlled via the NC device by the detection signal of the detector that detects the movement of the lower table of the press brake.

Thus, the support arm can be made to electrically follow the bending angle of the work, the following error can be made small, and the cost can be reduced, maintenance can be facilitated, and tact time can be improved.

[Brief description of drawings]

FIG. 1 is a side view showing a main part of the present invention and showing a follow-up control mechanism of a support arm.

FIG. 2 is an enlarged side view of a support arm in the II arrow part in FIG.

FIG. 3 is a perspective explanatory view showing a turning device of a support arm.

FIG. 4 is an exploded perspective view illustrating an IV arrow portion in FIG.

FIG. 5 is an explanatory view of the operation of the present invention.

FIG. 6 is a side view showing a schematic configuration of a press brake equipped with an articulated robot according to an embodiment of the present invention.

[Explanation of symbols]

 1 Press Brake 3 Articulated Robot 9 Lower Table 15 Back Gauge 15A Abutting Sensor 21 Support Arm 23A, 23B Adsorption Pad 47 Coil Spring (Elastic Member) 59 Drive Motor 61 Detector 63 NC Device

Claims (1)

[Claims] 1. A lower table of a press brake is provided with a support arm for holding a work by following a bending angle of the work, and a plurality of a plurality of movable arms which adsorb the work on the base side of the support arm and can be moved back and forth and up and down. A suction pad is provided, and a plurality of suction pads that are vertically movable via elastic members are provided on the tip side of the support arm, and a drive motor for rotating the support arm is provided on the lower table. A work follow-up device for a press brake, comprising a control device for controlling the drive motor according to a signal from a detector that detects a movement amount and causing the support arm to follow the bending of the work.