JPH07214174A - Hand of plate material treating robot for plate material bending machine - Google Patents

Abstract

PURPOSE:To remove the interference with a working machine regardless of the posture of a hand by arranging a driving source for a rotary shaft of the robot hand arranged in the crossing direction at the right angle to the tip arm shaft and in the parallel direction to the plate material surface to the parallel to the tip arm shaft. CONSTITUTION:A motor 8 as the drive source for the rotary shaft 1 arranged in the crossing direction at the right angle to the arm A9 shaft and in the parallel direction to the surface of the supported plate material is arranged in the inner part of the arm A9. By this constitution, the projecting part is made to be small by arranging the drive source along the seventh rotary shaft 1 direction of the robot and the interfering chance with a press brake side and at the time of working is not generated. Further, as the motor 8 is arranged at the tip arm A9 side, the inertia moment to each rotary shaft of the robot is restrained to be small, and the treating speed of the plate material can be quickened.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention supplies a plate material to be bent, such as a press brake, with a plate material to be bent and supports it during processing. When the bending process is completed, the plate material is moved to a predetermined position. In a plate material handling robot for a plate material bending machine used for carrying out, the present invention relates to a hand for supporting the plate material.

[0002]

2. Description of the Related Art The inventor of the present invention has previously proposed a plate material handling robot for a bending machine as Japanese Patent Application No. 5-144366. This robot, as shown in FIGS. 5 and 6, extends the arm A9 on the tip side of a known 6-axis robot, and a rotary shaft S7 serving as a seventh axis is provided at the tip of this arm A9. The degree of freedom of movement of the hand H, which is the support means for the plate material W, is increased, and thereby the supported plate material W is supplied to the processing portion of the press brake PB in a desired posture without changing the holding of the plate material W, The movement of the plate material W during discharging, loading / unloading, or bending is made to follow.

In FIGS. 5 and 6, R is a well-known 6-axis robot, MB is its base, and A1 to A8 are the robot's axes.
The components mainly consisting of frames, etc., S1 to S6 are the respective components A1 to A8
According to the invention previously filed, the arm A9 is extended to the arm A8 on the tip side of the existing robot R via the rotary shaft S6, and the extension is provided. The arm A9 is used as an arm on the front end side, and a hand H which is a plate material supporting means is attached to the tip of the arm A9 via a rotary shaft S7 which is orthogonal to the axis S6 and parallel to the surface of the plate material W. In S7, a drive source P composed of a motor and a speed reducer is provided as its drive source.

However, when the drive source P is provided on the seventh rotating shaft S7, the rear end side Pe of the motor constituting the drive source P projects along the shaft S7, and therefore It has been found that depending on the gripping posture of the plate material W, the overhanging portion may interfere with the constituent members of the press brake PB on the main body F side, as shown in FIG. In FIG. 4, SF is a plate material supporting frame provided with a suction pad BP, BL1 and BL2 are brackets for connecting the arm A9 and the frame SF via a rotary shaft S7, A rotary shaft S7 and a drive source P are attached.

[0005]

SUMMARY OF THE INVENTION In view of the above points, the present invention provides a hand of a plate handling robot equipped with a seventh rotary shaft capable of eliminating the need to change the holding of the plate even if the posture of the hand is changed. However, it is an object of the present invention to provide a plate material handling robot hand that does not interfere with the bending machine side such as a press brake at all.

[0006]

The structure of the robot hand of the present invention made for the purpose of solving the above problems is as follows.
The tip of the arm on the tip side in the plate handling robot, which supports and supplies the plate to the plate bending machine, supports the plate during bending, and takes out the plate from the processing machine after bending. To rotate about an axis of rotation of the arm through an axis of rotation orthogonal to or substantially orthogonal to the axis of the arm and parallel or substantially parallel to the surface of the supporting plate material. In the hand of the plate material handling robot provided as above, a drive source for applying a rotational force to the rotary shaft is provided parallel to or substantially parallel to the distal end side arm.

[0007]

The rotation axis of the robot hand provided at the tip of the arm on the tip side of the robot is provided so as to be orthogonal to the axis of the arm and parallel to the surface of the supporting plate member, and the rotation is performed. A drive source for rotating the shaft is provided in a direction parallel to the axis of the arm on the distal end side so that the drive source does not project to the length side of the rotary shaft.

[0008]

Embodiments of the present invention will now be described with reference to the drawings. 1 is a plan view in which a part of the hand of the present invention is cut away, FIG. 2 is a right side view of the hand of FIG. 1, and FIG. 3 is a front view of the hand of FIG.

1 to 3, A9 is a front end arm of a plate material handling robot similar to the robot R shown in FIGS. 5 and 6, and the robot hand H of the present invention is a conventional robot hand H. Similarly to the above, the arm A9 is rotatably attached to the tip of the arm A9 via a rotary shaft 1 that is orthogonal to the axis of the arm A9 and parallel to the surface of the supporting plate W. The hand of the present invention is not limited to the robot R illustrated in FIGS. 5 and 6, and may be any type and structure of robot as long as it is a robot used for handling a plate material for a plate bending machine. Applicable.

Reference numeral 2 denotes a plate member supporting frame 11 to which plate member holding means such as a suction pad, which will be described later, is attached, and a float member 3 for detachably attaching the plate member supporting frame 11 via a cylinder 4. Here, a fixed member having a substantially rectangular shape in plan view is provided, and a rotary shaft 1 integrated with this member 2 is provided on a shaft bracket 2a having a substantially L shape on the front surface. The planar shape of the fixing member 2 may be a rectangle, a circle, or another polygon. Further, the plate material holding means may be a magnet or a clamp-shaped grip in addition to the suction pad.

Reference numeral 5 denotes a plane substantially Γ provided at the tip of the arm A9.
It is a mounting member having a shape, and the shaft 1 is attached to one surface 5a of the member 5.
There is provided a speed reducer 6 whose output side is connected to and an input bevel gear 7 provided on an input shaft of the speed reducer 6. On the other hand, on the other surface 5b of the mounting member 5, the rear surface side is the arm A9.
Is connected and coupled to the front end surface of the motor, and a motor 8 housed inside the arm A9 is attached to the rear surface thereof.
A bevel gear 9 meshing with the bevel gear 7 is attached to the output shaft of the motor 8 on the front surface of the other surface 5b.

The float member 3 is in the shape of a shallow box which allows the fixing member 2 to be housed in a loose manner.
Is connected by an air cylinder (not shown) parallel to the surface of the supporting plate W and an air cylinder 4 oriented orthogonal to the plane of the supporting plate W, so that In the advancing / retreating direction of the cylinder rod, it is formed so as to be supported by selecting either the positioning fixed state or the floating state with respect to the fixed member 2. The plane shape of the float member 3 corresponds to the plane shape of the fixing member 2.

Reference numeral 10 is a support bracket for a plate material support frame 11 provided at the four corners of the float member 3. A plate material supporting frame 11 detachably attached to the bracket 10 via bolts b or the like is a frame member 11a which can be fitted onto the float member 3 and which is substantially rectangular in plan view in the illustrated example. And a supporting member 11b provided on the left and right sides of the frame member 11a to which suction pads 12 serving as plate material holding means are attached. The planar shape of the support frame 11 is not only a square but also a rectangle and a circle (including an oval).
Alternatively, it may have another polygonal shape. Also, the suction pad 12
The number of installations is not limited to the example shown in the figure, and a desired number can be provided.

In the above embodiment, the drive source for rotating the rotary shaft 1 is not limited to the rotary drive source like the motor 8 including the speed reducer 6. For example, even in the case of an actuator whose output end makes a stroke motion, such as a pneumatic or hydraulic cylinder, it is sufficient as long as the motion direction can be converted into forward and reverse rotations of the rotary shaft 1. In this case, the bevel gears 7 and 9 of the above-mentioned embodiment replace the pinion and the rack as an example. Further, the rotation direction of the motor 8 in the above embodiment is not changed by the bevel gears 7 and 9, and the screw gear, worm,
Any transmission mechanism that can change the direction of rotation, such as a worm wheel, can be used.

In the above embodiment, the arm A9 of the robot R provided with the motor 8 has a hollow cylindrical body, and the motor 8 is provided inside the cylindrical body. Although the arm A9 is not necessarily formed by a hollow cylindrical body, it may be formed by a member having a groove-shaped cross section such as U-shape or H-shape. In this case, the drive source such as the motor 8 is mounted parallel to the axis of the member having the groove-shaped cross section, for example, in the groove. When a drive source such as the motor 8 is provided inside the arm A9 having a cylindrical cross section, a hole for cooling may be provided in the arm A9 or a cooling fan may be internally provided.

The robot hand H of the present invention is shown in FIGS.
The tip arm A9 of the plate material handling robot R as illustrated in FIG.
In addition, since the plate material W is attached and used in the manner described with reference to FIGS. 1 to 3, the manner of handling the plate material W is not particularly different from that of the conventional robot hand H.

However, according to the present invention, a drive source of a rotary shaft S7 which is orthogonal to the arm A9 of the distal end of the robot R and is orthogonal to the axis of the arm A9 and is parallel to the surface of the supporting plate W. Narumo
Since the motor 8 is installed inside the arm A9, or is oriented parallel to the axis of the arm A9,
The number of protrusions due to the installation of the drive source is reduced, and therefore, FIG.
As in the conventional hand H shown in FIG. 1, the drive source P such as a motor is provided along the direction of the axis S7 provided as the seventh rotation axis of the robot R, so that the drive source supports the frame. The situation in which the drive source P greatly protrudes from the upper surface of the frame SF and thus interferes with the press brake PB side during operation does not occur at all or is extremely unlikely to occur.

In addition, since the motor 8 serving as a drive source is provided on the side of the arm A9 on the tip side of the robot R, when the hand H is operated by the robot R, the motor 8 is driven by the drive source motor 8. Since the inertial moment of the rotation axis of the robot R, especially the axes S4, S5, S6 can be suppressed smaller than that of the conventional arrangement shown in FIG.
The load due to inertia during operation on each of the rotating shafts S1 to S9 is reduced, which increases the operating speed of the plate material handling, or even the plate material having a heavier weight than the plate material for the conventional robot hand cannot be handled. Possible or easy.

[0019]

EFFECT OF THE INVENTION The robot hand for handling plate material of the present invention is as described above, and in comparison with the conventional robot hand, the handling range of the plate material for the plate bending machine or the handling mode can be expanded. If the plate material has the same weight, the handling operation can be performed at a speed faster than that of the conventional hand, and the plate material having a heavier weight than the conventional hand can be handled. Also, as long as it has the same ability as the conventional hand, it is possible to reduce the output power of the drive source such as the motor and the structural strength of the transmission system, and to reduce the manufacturing cost of the robot hand. The effect is obtained.

[Brief description of drawings]

FIG. 1 is a partially cutaway plan view of an example of a hand of the present invention.

FIG. 2 is a right side view of the hand of FIG.

FIG. 3 is a front view of the hand of FIG.

FIG. 4 is an enlarged front view showing an example of an interference state of a conventional robot hand.

FIG. 5 is a side view showing an example of a usage state of a conventional robot hand.

FIG. 6 is a plan view of the robot hand of FIG. 5 in use.

[Explanation of symbols] 1 rotating shaft 2 fixing member 3 float member 4 cylinder 5 mounting member 6 reducer 7 input bevel gear 8 motor 9 bevel gear 10 support bracket float member 11 plate support frame 11a frame Member 11b Supporting member 12 Suction pad A9 Robot R arm on the front side S1 to S6 Rotation axis R Robot PB Press brake W Plate material

Claims (4)

[Claims] 1. A front end side of a plate material handling robot configured to support and supply the plate material to a plate material bending machine, to support the plate material during the bending process, and to take out the plate material from the processing machine after the bending process. At the tip of the arm,
For handling plate materials provided through a rotary shaft that is orthogonal or substantially orthogonal to the axis of the frame and that is parallel or substantially parallel to the surface of the supporting plate material, and that rotates about the rotary shaft. In the robot hand, a drive source for applying a rotational force to the rotary shaft is provided in parallel or substantially parallel to the arm on the tip side, and the hand of the plate material handling robot. 2. The plate material handling robot according to claim 1, wherein the arm on the front end side of the plate material handling robot is formed by a member having either a tubular cross-sectional shape or a groove-shaped cross-sectional shape such as a substantially U-shaped or H-shaped. Robot hand. 3. The drive source is a motor for transmitting a rotary motion to a rotary shaft of a hand, or a stroke actuator for converting a stroke motion into a rotary motion and transmitting the rotary motion to a rotary shaft of the hand. A hand of the plate material handling robot according to claim 1 or 2. 4. The hand of the plate handling robot according to claim 2, wherein the drive source is installed inside the tubular cross section of the arm on the distal end side or inside the groove of the groove cross section.