JPH07314044A - Material handling robot hand for metal sheet bending machine - Google Patents

Abstract

PURPOSE:To provide a robot hand which is not influenced by the size or thickness of the back and forth width of a metal plate, which can hold the metal plate without gripping the bent side, further which is able to hold the metal plate even if bending is advanced and the gripping tolerance is made small. CONSTITUTION:This is a top end arm 6 of an articulated robot R, at the top end of the arm formed freely moving back and forth against) a working part of a bending machine PB, supporting frames 1L, 1R, 5L, 5R expanding and contracting to right and left in an almost horizontal attitude in the normal state facing orthogonally crossing to the axis R6 of the top end arm 6 are installed, clamping arms 7L, 7R facing almost orthogonally crossing to the longitudinal direction of the frame are installed at both out end parts of the frame 5L, 5R at the same time, and clamping means 8L, 8R of the metal plate W facing mutually inward are installed at the top end parts of both arms.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate (also called a work) gripping hand mounted on a material handling robot for a plate bending machine such as a press brake.

[0002]

2. Description of the Related Art Recently, in the bending process of a plate material by a bending machine, the plate material is set on a processing machine while being supported by a clamp or the like from the beginning of bending to the completion of bending, and the plate material is processed during bending. A number of robots have been proposed, which are capable of following the displacement of the plate material that receives a load and, when bending is completed, replacing the plate material with a transport section or arranging it, some of which are practical. It is also served.

However, the proposed robot, or
The robot hand still has some problems to be solved. That is, as an example of a robot hand for supporting a plate material that has been conventionally proposed, a side parallel to the bending side of the plate material to be bent is attached to the wrist of the arm end of a 5-axis to 6-axis vertical articulated robot. It is known that a clamp type gripping device for gripping a plurality of points is provided, but it has the following problems.

That is, the robot hand H illustrated in FIG.
Is a type in which the side Wh parallel to the bent side Wb of the plate material W is grasped, and therefore, when the plate material W has a large front-rear width and a small plate thickness as shown in FIG. However, it is extremely difficult or virtually impossible to control the follow-up motion at the time of bending on the robot hand H side. Therefore, the plate material W that can be gripped by enabling the follow-up control has a limited front-back width. This is one of the problems. Note that Hf is a gripping piece of the clamp in the hand H. (See Figure 13)

Further, since the conventional hand has a structure for gripping the front side in the front-rear width of the plate material W, when the side Wb which has been bent is located on the front side (gripping side), the cross-sectional shape of the bending work is formed. Depending on the case, it may not be possible to grasp the bent side Wb. (See Figure 14)

Further, if the front-back width (depth amount) of the side Wb subjected to bending due to the progress of processing becomes small, not only does it become difficult to grip with the hand H, but also when the side Wb is gripped and positioned by the hand H, The gripping piece Hf of the hand H interferes with the lower mold D, and when the plate material W is displaced during processing, it interferes with the upper mold P, and in reality, the plate material W cannot be processed while being gripped by the hand H. There is a problem. (See Figure 12)

[0007]

SUMMARY OF THE INVENTION In view of the problems of the conventional robot hand as described above, the present invention is not affected by the size and thickness of the front and rear width of the plate material and grasps the bent side. It is an object of the present invention to provide a robot hand that can grip a plate material without using the plate material, and further can grip a plate material that has been bent more and has a smaller grip margin.

[0008]

The structure of the robot hand of the present invention made for the purpose of solving the above problems is as follows.
A tip arm of an articulated robot, which is in a normal state at a tip of an arm formed so as to be capable of advancing and retracting with respect to a working portion of a bending machine, in a direction orthogonal to the axis of the tip arm. A supporting frame that expands and contracts to the left and right in a substantially horizontal posture is provided, and gripping arms are provided at both outer ends of the frame in a direction substantially orthogonal to the length direction of the frame. It is characterized in that plate members gripping means facing each other are provided at the front ends of the arms.

[0009]

The left and right support frames, which can be expanded and contracted in the left-right direction, are provided at the front end of the tip arm of the articulated robot, and the left and right outer ends of the frame are provided with gripping arms that are directed forward. Since the arm is provided and the gripping means such as inward clamps are provided at the tips of the arms, the left and right sides of the plate material to be bent can be gripped from the outside.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 shows a press blade having a plate material handling robot equipped with an example of the hand of the present invention and a plate material holding device.
4 is a plan view of the key, FIG. 2 is a side view of the press brake in FIG. 1 seen from the left side, FIG. 3 is a left side view of the holding device, and FIG.
4 is a plan view of the main part of the robot hand of the present invention, FIG. 5 is an enlarged front view of the main part of FIG. 4, FIG. 6 is an enlarged plan view of the right gripping means of the robot hand of the present invention of FIG. 4, and FIG. FIG. 8 is a right side view of FIG. 7, FIG. 9 is a front view showing one mode of an operating state of the gripping means shown in FIG. 7, and FIG. 10 is a tip arm connecting structure in an articulated robot. FIG. 11 is a side sectional view showing a state in which a plate material being processed that cannot be grasped by a conventional hand is grasped by the grasping means of the hand of the present invention, and FIG. 12 illustrates a bent state that cannot be grasped by a conventional hand. Side views, FIG. 13 and FIG. 14 are side views illustrating the problems in the gripping mode of the plate material in the conventional hand.

1 and 2, the press brake PB
A robot R is installed to face the front of the robot. This robot R has joint members A1 to A6 composed of frames and arms.
Is a vertical articulated robot connected by six axes R1 to R6. In the embodiment of the present invention, the hand H for holding the plate material according to the present invention is attached to the sixth axis R6 of the tip arm A6 of the robot R. The robot R to which the robot hand of the present invention is applied has a machining center of the plate W and a sixth axis R6.
In the case of machining in which the numbers coincide with each other, a 5-axis robot (not shown) without the fourth axis R4 may be used. Illustrated robot R
Is at a position within the operating range that does not interfere with bending,
A holding device HC for changing the position of the plate material W being gripped is attached.

The holding device HC illustrated in FIG. 3 has a plate material W.
It is used to change the gripping side of the frame. A horizontal rotating shaft Cs is installed on a cradle-shaped frame Cf via a bearing Cb, and the shaft Cs has a side L-shaped work. It is equipped with a receiving lever Cl fixed at multiple points. Further, a swing lever L is fixed to the end of the shaft Cs, an air cylinder Ca is swingably connected to the swing lever L, and a wobble lever L is connected depending on a direction of air supply to the air cylinder Ca. -Receiver lever
Cl can take two positions, upper and lower. In FIG. 3, the plate material W is placed horizontally at a fixed position above the work receiving lever Cl that extends the cylinder Ca.
Is contracted and the work receiving lever Cl is fixed to the lower position, and then the holding of the plate W is changed to change the holding side.

In the robot hand H of the present invention, as shown in FIG. 4, an extension arm EX is connected to a tip arm A6 which serves as a wrist of the robot R of this embodiment. Extension arm EX
Support frames 1L and 1R extending to the left and right in a direction orthogonal to the rotation axis R6 are attached to the tip end of the through a mounting plate 2 in the middle. Air cylinders 3L, 1L, 1R are installed on the upper surfaces of the support frames 1L, 1R in a direction symmetrical to the extension arm EX.
3R is attached, and the tips of the rods 31L, 31R are connected to the second support frames 5L, 5R with the connecting members 4L, 4R interposed. The left and right second support frames 5L and 5R are both frame 5 by the expansion and contraction mechanism by the air cylinders 3L and 3R, respectively.
L and 5R are opened and closed in the left-right direction. The guide mechanism for opening and closing will be described later with reference to FIG.

In FIG. 4, the left and right second support frames 5
Left and right grips GL, GR are attached to the outer ends of L, 5R via mounting brackets 6L, 6R. Mounting of the brackets 6L, 6R on the frames 5L, 5R The position is
The second support frames 5L and 5R can be changed to arbitrary positions in the longitudinal direction, and can be changed manually according to the length of the plate material W. The gripping portions GL and GR are composed of gripping arms 7L and 7R horizontally mounted in a direction orthogonal to the frames 5L and 5R, and clamp members 8L and 8R serving as gripping means. Will be described with reference to FIGS. The plate material W shown in FIG.
Is a clamp member to be described later from the outside of the short sides Ws on both sides.
Fingers (which will be described later) forming the gripping pieces 8F of 8L and 8R are inserted and clamped and gripped. In addition,
In the plate material W of FIG. 4, W _L is the long side of the plate material W, and the bending process is performed on the long side.

At the center of the robot hand H of the present invention, two support frames, each having a suction pad 10 attached to the tip thereof, are provided.
The 9M and 9R are mounted as sub-arms that can be opened and closed. When the support frames 9L and 9R are positioned at the positions in the closing direction (positions that have advanced toward the plate material W), the suction pads 10, 10 cause the suction plate 10, 10 to bring the plate material W near the center, here from the bottom surface. To support. On the other hand, the positions where the support frames 9L and 9R are angularly rotated and opened (retracted position)
Then, the suction pads 10 and 10 are retracted so as not to interfere with the plate W.

FIG. 5 is an enlarged view of the central portion of the hand H of FIG. 4 as seen from the front, and the second support frame described with reference to FIG.
The guide mechanism for 5L and 5R opening / closing operations is formed symmetrically with respect to the mounting plate 2. That is, the mounting plate 2 has a right rod 11
The R fixing member 12R and the left rod 11L fixing member 12L are attached, and the left and right support frames 1L and 1R have front, left, and
The right rods 13L and 13R and their fixing members 14L and 14R are attached. Further, the rods 11L and 11R are fixed to the fixing members 12L and 12R of the rods 11L and 11R, respectively.
Rods 13L and 13R are fixed to the fixing members 14L and 14R. On the other hand, a pair of left and right guide members 15L and 15R are slidably inserted into the rods 11L and 11R.
L and 15R are fixed to the second support frames 5L and 5R. Further, a pair of guide members 16L, 16R are slidably inserted into the rods 13L, 13R so that the pair of guide members 16L, 16R can move the left and right second support frames 5L, 5L, respectively. It is fixed to the bottom surface of 5R.

When the rods 31L and 31R of the left and right air cylinders 3L and 3R are extended, the left and right second supporting frames are extended.
The frames 5L and 5R are slid to the left and right on the rods 11L and 11R and the rods 13L and 13R via the left and right guide members 15L, 15R, 16L and 16R, respectively. Below the supporting frames 1L and 1R,
A pair of left and right support arms 9L and 9R are mounted so as to be swingable via a bearing member (not shown). The two support arms 9L and 9R are connected to each other at the rod end 17a and the head end 17b of one air cylinder 17 by the rotating substrates 9a and 9a, respectively. From this, the support arms 9L and 9R
Is closed to the support position of the work (plate material W) in FIG. 4 by the contraction operation of the air cylinder 17, and opened to the retracted position by the expansion operation of the cylinder 17. Adsorption pads 10, 10 are attached to the tips of the left and right support arms 9L, 9R at a height capable of adsorbing the lower surface of the work W.

In FIGS. 6 and 7, the gripping arm 7R includes:
A guide member 18 having a bracket shape is attached to the lower surface of the tip. The guide member 18 has two sliding rods 19.
It is fully inserted and the retaining nuts 19 are attached to both ends of the rod 19.
a and 19b are attached. On the left side of the rods 19 and 19 in FIG. 7, a mounting base 20 of a finger (described later) that serves as a gripping means 8F of the clamp member 8R is provided.
It is fixed via 1, 21. The mounting base 20 of the clamp member 8R and the guide member 18 are separated from each other by two compression springs 21 and 21 which are penetrated by rods 19 and 19. Each of the compression springs 21 is a reaction force of the abutting BG when positioning the plate W, and the finger mounting base 20 of the clamp member 8R guides the finger mounting base 20.
It tries to push back the movement approaching the side of 18 with spring force. An air cylinder 22 is attached downward to the attachment base 20, and a wedge member 22b is connected to the tip of a rod 22a thereof. On the other hand, the guide member 18 is provided with a wedge member 18a against which the wedge member 22b is pressed by the action of the cylinder 22.

Finger mounting base on the clamp member 8R
A lower finger 20a, which is inserted into the short side of the plate material W and performs a clamping operation, is fixed to the upper end upper surface of the base 20 of the base 20. A shaft 20b is rotatably inserted in a bearing hole of a bearing bracket 20c formed on the upper surface of the base 20. A contact plate 20d made of an elastic material such as rubber is attached to the finger 20a at the contact portion with the plate material W. On the other hand, the shaft 20b has a bracket 20 formed on the finger mounting base 20 of the clamp member 8R.
The mounting member 23 of the upper finger 23a is fixed with the bearing portion of c interposed therebetween. At the tip of the shaft 20b, the upper finger 2
A swing lever 24 for rotating the mounting member 23 of 3a is fixed. An upper finger 23a that clamps the plate material W is attached downward to the tip end side of the attachment member 23.
A tip chip 23b made of an elastic material such as rubber is attached to a portion of the upper finger 23a that comes into contact with the plate material W.

The swing lever 24 is connected to the tip of a rod 25a of an air cylinder 25 whose base is rotatably fixed to the guide member 18. This air cylinder 25 rod 25a
The upper finger 23a rotates the swing lever 24 so as to clamp the plate material W against the lower finger 20a, and the contraction of the rod 25a opens the upper finger 23a to release the plate material W. The rocking lever 24 is rotated. In the embodiment of FIG. 7, since the cylinder 25 is a single-acting type in which the rod 25a is always pressed in the expanding and contracting direction, the contracting direction of the rod 25a is returned by the tension spring 26, but the cylinder 25 can be pressed in both directions. You may use a double-acting type
In that case, the spring 26 becomes unnecessary. Although the above description of FIGS. 6 and 7 is for the right grip arm 7R and the clamp member 8R, the left grip arm 7L and the clamp member 7R are described.
8L has the same members symmetrically.

Next, the operation of the present invention will be described in contrast with each operation of actual product processing. Carry-in operation (see FIGS. 4 to 7) The robot R moves the plate material W from the plate material supply device (not shown).
When the preparation completion signal is received, the left and right short sides Ws of the plate W positioned by the supply device are grasped by the gripping parts GL, GR.
The hand H of the present invention is moved to a position surrounded by. At this time,
In the left and right grips GL and GR, the tips of the fingers 23a are moved to the long side W of the plate W by the contraction operation of the air cylinders 3L and 3R.
It is located away from the outside of _L. Here, in the finger 23a, the air cylinder 25 is not pressurized,
It is opened by the contraction motion of the tension spring 26.

Thereafter, when the hand H is moved to approach the plate material W, the air cylinder 17 of FIG. 5 is contracted, and by this operation, the left and right suction pads 10, 10 can be supported directly below the plate material W. Left and right support frames 9L, 9R
Is deployed. When the hand H moves to a position where the plate W can be gripped and is completed, the plate W is sucked by the suction pads 10 and 10, and the left and right grips GL and GR are moved by the extension operation of the air cylinders 3L and 3R. The upper and lower fingers 23a and 20a are brought close to the short side Ws of W and are inserted so as to sandwich the front and back surfaces of the plate material W. When the plate material W is inserted between the fingers 23a, 20a, the upper finger 23a is pressed against the plate material W by the expansion operation of the air cylinder 25, and the plate material W is clamped. At this time, the air cylinder 22 is extended, the wedge member 22b at the lower end of the rod 22a presses the wedge member 18a, and the relative positions of the finger mounting base 20 and the guide member 18 in the clamp members 8L and 8R are fixed. When the plate material W is clamped and held in this manner, the plate material W is moved by the robot R to the standby position before insertion with respect to the press brake PB.

Positioning Operation (See FIG. 9) The plate material W is inserted into the upper and lower molds of the press brake PB (see FIG. 2). The plate material W is attached to the positioning back gauge BG positioned at a predetermined position on the press brake PB.
Move so that the tip of is just in front. Before hitting the plate material W against the back gauge BG, the wedge member 22b is separated from the wedge member 18a by contracting the air cylinder 22. When the plate material W is abutted against the back gauge BG (see FIG. 9), the clamp members 8L, 8R receive an abutting reaction force. The magnitude of the reaction force at this time is mainly the force of the compression spring 21 that pushes the gripping means 8F toward the plate W, and the air cylinder that pushes up the swing lever 24 from below.
Since the balance of the extension force of 25 and the force of the tension spring 26 in the butting direction balances, the plate W is pressed against the back gauge BG by this force. The size variation of the plate material W, displacement of the gripping position, such as for positioning error of the robot R, the long side W _L of the tip position and back gate of the plate material W - if there is a deviation left, the distance right between the di BG There is. In this case, the mounting base of the clamps 8L and 8R at the time of butting
The contraction of the distance between the guide member 18 and the guide member 18 absorbs the lateral displacement, whereby the plate material W is positioned in a posture following the contact side of the back gauge BG.

Bending Operation After the plate material W is positioned as described above, when the upper mold P descends and the plate material W is gripped and fixed by the upper and lower molds P and D, the cylinder 25 and the spring 26. The upper finger 23a is opened by the action of, and bending is started in this state. Therefore,
The plate material W is bent by further lowering the upper mold P from the gripped state, and the plate material W on the gripping portions GL, GR side is displaced so as to jump up. At this time, the upper and lower fingers 23a, 20a of both grips GL, GR are held in an open state, and the plate W displaced during bending is located between the opened fingers 23a, 20a. In this way, the movement (displacement) of the plate W is controlled in accordance with the movement. When the bending operation is completed and the follow-up operation is completed, the upper finger 23a moves to the cylinder 25 and the spring 26.
Is closed by the action of and the plate W is again clamped by the clamp parts 8L, 8R.
Is gripped by.

Extraction operation After bending, when the upper die P rises, the air cylinder 22 expands and the wedge member 22b is pressed against the wedge member 18a, and the mounting base 20 and the guide member in the clamp members 8L and 8R. 18
The relative position of is fixed. After this, the processed plate material W is extracted from the die part of the press brake PB.

Reholding operation (see FIG. 3) In the above processing of the plate material W, the grips GL and GR of the robot R are held.
When processing the side on the side supported by, the plate W is once placed in the holding device HC and holding is performed. When the plate material W is placed on the work receiving lever Cl, the clamp part
The upper fingers 23a of 8L and 8R are opened, and the air cylinders 3L and 3R
R is retracted and both fingers 23a, 20a are pulled out from the short side Ws side of the plate material W. In this state, the work receiving lever Cl is rotated to the lower position by the contraction operation of the air cylinder Ca and positioned. Then, the plate W has the side that had been facing the wrist side of the robot R, that is, the long side W _L that was close to the grips GL and GR, set to the lower side, and the long side W of the side that was previously processed. It is rotated so that _L is up. Robot R
Moves the hand H from above the plate W so that the side on the processed side is close to the wrist side of the robot R, and then moves the upper and lower fingers 23a, 20a to the short side of the plate W. It is inserted from the left and right outer sides of the side Ws, and newly clamped and gripped in the same manner as described above.

Unloading operation When all the bending work for the plate material W is completed, the plate material W is moved to the unloading device (not shown), and when the plate material W is supported by the unloading device, the fingers 23a are opened, Left and right grips GL and GR by contracting cylinders 3L and 3R
Is separated from the plate material W.

In the present invention, when the bending work progresses and the rigidity of the plate material W increases depending on the sectional shape of the bending, the plate material W
In such a case, the support of the plate material W by the suction pads 10 is unnecessary because the deflection of the plate W is reduced. In this case, the suction by the pad 10 is stopped, the air cylinder 17 is extended, and the support frames 9L and 9R are held by the hand H.
Evacuate near the center of. In addition, when there is a risk of interference with other devices due to a holding operation or other handling operation, or when the rigidity of the plate material W has already been secured, or due to the processing cross-sectional shape, suction by the pad 10 becomes impossible. In the case of the loss, the support frames 9L and 9R are retracted.

Further, according to the present invention, the tip arm of the robot R is
Extension arm E provided as a mounting part for hand H on axis R6 of A6
As illustrated in FIG. 10, a spring (not shown) or pneumatic pressure is applied to the connecting portion of X by the axial direction Z and the swinging direction X in FIG.
It is preferable to provide a sliding portion that can expand and contract in both directions Z and X with the support force of 1. Further, a mechanism having a structure capable of fixing the sliding motion may be provided if necessary. FIG. 10 shows an example of this, in which a cylinder member 30 is attached to a tip arm A6 which is a wrist of the robot R, and a sliding chamber 32 in which a piston member 31 slides and a chamber 32 in which the piston member 31 slides. Plural plunger members 33 that push the piston 31 axially from the rear surface at a plurality of positions on the rear surface side of the communicating cylinder member 30.
And a sliding air chamber 34 for each plunger. The piston member 31 includes an outer member 31a having a cylindrical outer surface and a spherical inner surface, and an inner member 31b having a spherical outer surface slidable with the inner surface of the outer member 31a. The extension arm EX is connected to the tip end surface of the rod 35 of the piston member 31 via a joint 35a.

When the air pressure that pushes each plunger member 33 is increased, the piston 31 is strongly pressed against the front wall of the sliding chamber 32 and its position is fixed. On the other hand, the plunger member 33
When the air pressure that pushes is lowered, the piston 31 retracts with respect to a relatively weak force such as an abutting reaction force in the axial direction Z. In this case, the rotational movement is also performed by the spherical sliding movement of the inner members 31a and 31b of the piston. By giving such a structure and action to the robot side, a mechanism for absorbing the positioning reaction force of the grips GL and GR (guide member 18, rod 19, compression spring 21,
Cylinder 22, wedge members 18a, 22b, etc.) are not required,
The structure of the grips GL and GR is simplified, the weight of the hand is reduced, and the inertial load around the wrist when the work is reversed is reduced, so the workable weight of the work is increased. In the absorbing mechanism illustrated in FIG. 10, the supporting force of the plunger 33 for supporting the hand H and the plate material W cannot be increased, but when positioning a lightweight thin plate and reducing the abutting reaction force, The method illustrated in FIG. 10 is preferable. Further, the above example is an example, and the present invention is not limited to the above structure. For example, when a reaction force in the abutting direction is applied to the tip arm A6 (wrist) of the robot R, a mechanism capable of absorbing a shift due to the reaction force and a mechanism capable of fixing the absorption operation as necessary. I wish I had it.

[0031]

As described above, the present invention has the following effects. That is, by constructing the hand so that the plate material (work) can be gripped from both the left and right sides, it becomes possible to grip a plate material having a wider front-back width and a plate material processed into a complicated cross-sectional shape. Become. Further, by connecting the hand of the present invention to the rotary shaft of the tip arm of a robot having five or more axes, it is possible to perform left / right reversal of the plate material and front / back reversal without changing the hand, thereby reducing tact time. It is possible to improve the quality and prevent the misalignment caused by holding the product, so that the quality can be stabilized. Further, since the manipulator for handling the plate material is the separately placed robot, the manual machining space by the operator can be secured on the front side of the processing machine, and the operability is improved. Furthermore, the hand of the present invention is
By using the hand of the separately placed robot, it is possible to easily insert the plate material gripping portion to the rear of the mold, and the degree of freedom in bending the plate material is increased.

[Brief description of drawings]

FIG. 1 is a plan view of a press brake in which a plate material handling robot including an example of the hand of the present invention and a plate material holding device are arranged.

FIG. 2 is a side view of the press brake in FIG. 1 viewed from the left side.

FIG. 3 is a left side view of the holding device.

FIG. 4 is a plan view of a main part of the robot hand of the present invention.

5 is an enlarged front view of the main part of FIG.

FIG. 6 is an enlarged plan view of the right holding means in the robot hand of the present invention in FIG.

7 is a front view of FIG.

8 is a right side view of FIG. 7.

9 is a front view showing one mode of an operating state of the gripping means shown in FIG. 7. FIG.

FIG. 10 is a plan cross-sectional view showing an example of a tip arm connection structure in an articulated robot.

FIG. 11 is a side view of a plate material being processed that cannot be gripped by a conventional hand, which is gripped by the gripping means of the hand of the present invention.

FIG. 12 is a side view illustrating a bent state that cannot be grasped by a conventional hand.

FIG. 13 is a side view illustrating a problem in a gripping mode of a plate material in a conventional hand.

FIG. 14 is a side view illustrating a problem in a gripping mode of a plate material in a conventional hand.

[Explanation of symbols]

 1L, 1R Support frame 2 Mounting plate 3L, 3R Air cylinder 4L, 4R Connection member 5L, 5R Second support frame 6L, 6R Bracket 7L, 7R Grip arm 8L, 8R Clamp member 8F Grip piece 9L, 9R Support frame 10 Adsorption pad 11L, 11R Rod 12L, 12R Fixing member 13L, 13R Rod 14L, 14R Fixing member 15L, 15R Guide member 16L, 16R Guide member 17 Air cylinder 18 Guide member 18a Wedge member 19 Rod 20 Finger Mounting base 20a Lower finger 21 Compression spring 22 Cylinder 22b Wedge member 23 Mounting member 23a Upper finger 24 Swing lever 25 Air cylinder 26 Tension spring 30 Cylinder member 31 Piston member 32 Sliding chamber 33 Plunger member 34 Sliding air Chambers A1 to A6 Joint components BG Back gauge Ca Cylinder Cb Bearing Cs Rotation axis Cl Work receiving lever L Swing lever GL, GR Grip R Robot H Robot hand R6 6th axis EX extension a PB Puresubure - key W plate material Ws short side

Claims (5)

[Claims] 1. A tip arm of an articulated robot, comprising:
At the tip of an arm formed so as to be able to move forward and backward with respect to the processing portion of the bending machine, in a direction orthogonal to the axis of the tip arm,
A support frame that expands and contracts left and right in a normal horizontal position.
A frame is provided, and the frame is attached to both outer ends of the frame.
A plate material bending machine characterized in that a gripping arm is provided in a direction substantially orthogonal to the longitudinal direction of the plate, and plate material gripping means facing inwardly are provided at the tips of both arms. Material handling robot hand. 2. The material handling robot hand for a plate bending machine according to claim 1, wherein the articulated robot has joints of five or more axes. 3. The support frame is provided with a sub-arm that is capable of advancing and retracting from the inside of the frame to the side of the supporting plate material.
The material handling robot hand for a plate bending machine according to claim 1 or 2, wherein a suction pad for supporting the plate is provided on the sub arm. 4. The plate material bending process according to claim 1, wherein the plate material gripping means provided at the tip of the gripping arm is provided so as to be able to recede and displace elastically with respect to the gripping arm. Material handling robot hand. 5. The plate material bending machine according to claim 1, wherein the tip arm of the articulated robot is connected to the arm to which the arm is connected so as to be displaceable with respect to the connecting shaft. Material handling robot hand.