JPH071042A - Robot device for press brake - Google Patents

Abstract

PURPOSE:To make the shifting operation of a work unnecessary, and to shorten a cycle time by providing a rotatable sucking hand on a robot, and bending the four sides of a square work by the rotation of this sucking hand and the posture change of the robot. CONSTITUTION:By the posture control of a robot 20, the adjacent two sides of a square work W, are allowed to face a press brake 10, and these two sides are bent. Next, one side out of the remainder of the two sides, is allowed to face the press brake 10 by rotating a sucking pad 30 by 180 deg., and this one side is bent. Further, after this, one side of the remainder, is allowed to face the press brake 10 by the posture control of the robot 20, and is bent. Consequently, the shifting operation of the work, is unnecessary, and a cycle time can be shortened. A rotation mechanism part is simplified, and the shaft length of a tip arm, can be shortened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press brake robot apparatus having a suction hand having a simple rotating mechanism.

[0002]

2. Description of the Related Art In a press brake robot system, a work is gripped by a robot hand and the gripped work is interposed between a punch and a die in a press brake. The work is bent by pressing the work with a punch.

In such a press brake system, a clamp type hand is usually used as a robot hand.

When a rectangular work is bent using a clamp type hand, the short side is bent by lateral bending, the long side is bent by front bending, and the work is held by a holding table, and then the rest is left. The short side and the long side of each are bent laterally and bent in the front.

However, when this clamp-type hand is used, the side gripped by the robot hand cannot be bent, so that a changeover operation is required, and a structure therefor is required, leading to an increase in cost. However, there is a problem that the cycle time becomes long.

Therefore, the applicant of the present invention has filed Japanese Utility Model Application No. 4-1082.
In No. 2, 7-axis is added to the 6-axis robot, the 7-axis can be rotated 360 degrees by a motor, and a suction pad for adsorbing and holding the work is provided on the 7-axis to change the work We have already proposed a technology that eliminates the need for.

However, in this technique, the suction pad is
Since the suction pad can be rotated by using a motor that rotates 0 degrees, there are problems such as a complicated rotation mechanism section and an increase in the number of control axes. Also, with this technology, 6
Since the arm length from the shaft flange surface to the 7th axis needs to be at least half of the long side of the work, it is also disadvantageous in terms of load capacity.

The present invention has been made in view of such circumstances, and it is possible to shorten the cycle time by eliminating the work holding operation, and to simplify the rotating mechanism section.
Moreover, it is an object of the present invention to provide a press brake robot apparatus capable of shortening the axial length of the tip arm.

[0009]

According to the present invention, there is provided an articulated robot for supporting a work at the time of bending by a press brake, and for a press brake for bending a rectangular work using the robot. In robot equipment,
A suction hand that is provided at the tip of the robot arm and that holds a workpiece by suction, a rotation mechanism that rotates the suction hand by 180 °, and a square to be machined by switching the posture of the robot arm between two different postures. Attitude control means for respectively adjoining two adjacent sides of the work to the press brake, and, when machining the rectangular work, after controlling the attitude control means and the press brake to bend the two adjacent sides of the rectangular work, The rotation mechanism is driven to rotate the suction hand by 180 °, and then the attitude control means and the press brake are controlled so that the remaining 2
A control means for bending the side is provided.

[0010]

According to the present invention, by controlling the posture of the robot, the adjoining two sides of the rectangular work are opposed to the press brake, the two sides are bent, and then the suction pad is rotated by 180 °. One of the two sides is opposed to the press brake, and bending is performed on this one side, and then the remaining one side is opposed to the press brake and bent by the posture control of the robot.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

FIG. 2 shows an example of a press brake robot system, in which a press brake 10 lifts and lowers by supporting a fixed table 3 having a die 2 supported on an upper portion and a punch 1 at a lower portion. It has a movable table 4 and the like.

In this case, the robot 20 is assumed to be a 6-axis robot. That is, the robot 20 has a base 21 fixed to the work floor and an operation arm 22 composed of a plurality of arms, and a front end of the sixth shaft 23 of the operation arm 22 is extended forward with the arm 23 extended. An extension arm 24 extending toward is attached.

Further, a suction hand 30 for holding the work W is provided at the tip of the extension arm 24.

As shown in detail in FIG. 1, the suction hand 30 includes a frame 31 having a substantially H-shaped plane shape, four suction pads 32, ... Installed on the frame 31.
And the work W is formed by these suction pads 32 ,.
Is adsorbed and held.

Further, as shown in FIG. 1A, a rotating mechanism 33 for rotating the suction hand by 180 ° is provided at the tip of the extension arm 24. The rotation mechanism unit 33 includes an air cylinder 34, a rack 35 attached to a piston of the air cylinder 34, a pinion 36 that meshes with the rack 35 to rotate, and a belt transmission mechanism that transmits the rotation of the pinion 36. And 37. That is, the expansion of the air cylinder 34 is converted into rotational movement by the rack / pinion, and the pinion 36
Is transmitted to the rotary shaft 38 of the suction hand 30 by the belt transmission mechanism 37, so that the suction hand 30 is rotated by 180 °.

The procedure for box bending of the rectangular work W in such a structure will be described with reference to FIGS. 3 to 7, reference numeral 40 is a stacker for stacking unprocessed works, 50 is a carry-out table for mounting processed works, 60 is a backstop, and 70 is for controlling the press brake 10 and the robot 20. The controller.

First, as shown in FIG. 3 (a), the work W placed on the destacker 40 is sucked by the suction hand 30, and the side W of the work is brought into contact with the backstop 60 of the press brake. After positioning, the work is bent as shown in FIG. 3 (b).

Next, as shown in FIG. 4, the posture of the robot arm is changed so that the side b of the workpiece W faces the backstop 60, and then the workpiece w is b.
Bend the edges.

Next, as shown in FIG. 5, the rotation mechanism 33 is driven in the state of this arm posture to suck the suction hand 3.
Rotate 0 horizontally by 180 °. The 180 ° rotation of the suction hand 30 changes the posture of the work W so that the side c of the work faces the back stop 60. In this state, the press brake 10 is driven to bend the side c. Be seen.

Next, as shown in FIG. 6, after the robot arm is changed in posture as described above, the d side of the work W is positioned so as to face the back stop 60, and then the d side of the work w is bent. Perform processing.

Finally, as shown in FIG.
The work W is taken out of the press brake 10 and the processed work is placed on the carry-out table 50.

As described above, according to this embodiment, the side b and the side c
When the side is bent, the robot arm avoids bending to the side of the work as shown in FIG. 4 or 5, so that the robot arm is always positioned in front as shown in FIG. The length of the most advanced arm can be set shorter than the 360 ° rotation method that bends the sides. That is, according to the 360 ° rotation method, the arm length from the 6-axis flange surface to the 7-axis requires at least half of the long side of the work, but it is 4 by the posture change of the robot and the 180 ° rotation of the suction hand. According to the method of the present invention in which the side is bent, the arm length of the 7th axis can be shortened to about half of the short side of the work due to the reason described above.

[0024]

As described above, according to the present invention,
Since the robot is equipped with a suction hand that can rotate 180 ° and bending of the four sides of a rectangular work is performed by rotating the suction hand and changing the robot's posture, the work change operation is not required and the cycle time is shortened. In addition, the rotation mechanism can be simplified and the tip arm axial length can be shortened.

[Brief description of drawings]

FIG. 1 is a diagram showing a detailed configuration of a suction hand according to an embodiment of the present invention.

FIG. 2 is a diagram showing a press brake robot system.

FIG. 3 is a bending process diagram of a rectangular work.

FIG. 4 is a process drawing of bending a rectangular work.

FIG. 5 is a process drawing of bending a rectangular work.

FIG. 6 is a bending process drawing of a rectangular work.

FIG. 7 is a bending process diagram of a rectangular work.

[Explanation of symbols]

 10 ... Press brake 20 ... Robot 30 ... Suction hand 40 ... Destacker 50 ... Unloading table 60 ... Backstop 70 ... Controller

Claims (1)

[Claims] 1. A press brake robot apparatus having a multi-joint type robot for supporting a work at the time of bending work by a press brake, and performing bending work of a rectangular work using the robot, wherein an arm of the robot. A suction hand, which is provided at the tip and holds the work by suction, a rotation mechanism portion that rotates the suction hand by 180 °, and a rectangular work to be machined adjacent to each other by switching the posture of the robot arm between two different postures. Attitude control means for respectively facing two sides to a press brake, and when machining the rectangular work, the attitude control means and the press brake are controlled to bend two adjacent sides of the rectangular work, and then the rotation mechanism section. Drive the suction hand 1
A press brake robot apparatus comprising: a control means for rotating the posture by 80 degrees, and then controlling the posture control means and the press brake to perform bending processing on the remaining two sides.