JPH0744473Y2 - Work handling robot - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a work handling robot having a multi-axis structure for loading and unloading a work with respect to a press brake.

[0002]

2. Description of the Related Art Conventionally, a press brake has been used to bend a predetermined position of a flat plate-shaped work at a predetermined angle, and a work handling robot for loading and unloading the work is arranged on the press brake. (See Japanese Patent Laid-Open Nos. 2-595983 and 2-65978).

The work handling robot reciprocates in the direction of contact with and away from the press brake, a reciprocating arm that revolves in a vertical plane, and rotates about an axis orthogonal to the vertical revolving arm. A work holding part having a horizontal rotation arm and a vertical rotation arm that rotates about an axis orthogonal to the axis of the horizontal rotation arm, and further, a plurality of suction pads are arranged at target positions at the tip of the vertical rotation arm. have. The vertical rotation arm, horizontal rotation arm, and vertical rotation arm are shortened as much as possible to reduce the mass of them as a whole, and the material gripping part when the drive source is driven is improved to improve workability. Can be achieved.

[0004]

However, in performing the bending of the work a plurality of times using the work handling robot and the press brake, it is necessary to change the posture of the work with respect to the press brake and / or invert the front and back of the work. It is indispensable, and it is necessary to eliminate the interference between the work gripping part and the press brake both before and after changing the posture of the work, inverting the front and back, and inevitably gripping the work. This involves the operation of the work gripping portion for changing the position.

In the operation of the work gripping portion, a plurality of suction pads are arranged symmetrically with respect to the rotation center of the work gripping portion, and the suction pad is arranged only on one side of the work gripping portion. , The inversion of the work gripper by operating the horizontal rotation arm and the vertical rotation arm, the movement of the work gripper to the lower part of the work by operating the horizontal rotation arm and the vertical rotation arm, and temporarily moving the work. The motion of supporting the work supporting member is included as an essential motion. And
Since these operations are essentially required every time the bending direction of the bending process for the work changes, the time for performing the reversing operation and the moving operation of the work gripping part with respect to the time required to actually bend the work is The proportion has increased,
There is an inconvenience that it takes a long time to bend the work as a whole. Further, since the work gripping portion sucks the lower surface of the work, the work gripping portion as a whole must be positioned below the work. However, various parts typified by work supporting members are provided on the lower front surface of the press brake. Due to the existence of the mechanism, there is also a disadvantage that the work gripper moved to the lower side of the work is likely to interfere with at least a part of these mechanisms. Especially when a press brake that moves the lower die to bend the work is adopted, not only the mechanism existing under the front surface of the press brake is complicated but also the type of the mechanism is increased. The disadvantage becomes more remarkable.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and can significantly reduce the number of times the work needs to be held with respect to the number of times the work is bent. It is an object of the present invention to provide a work handling robot capable of reliably preventing interference with a grip portion.

[0007]

In order to achieve the above object, the work handling robot according to claim 1 has a predetermined position deviated from the center of a robot hand whose position and attitude are controlled by controlling each axis. Adsorption pads are provided on both sides of the. The workpiece handling robot according to claim 2 is a robot
The hand is formed in a T shape, and the robot
A plurality of suction pads are provided on both sides of the wide tip of the hand.

[0008]

In the work handling robot according to claim 1, the robot handling the respective axes of the multi-axis work handling robot
It is possible to control the position and posture of the hand, and grasp the work by the suction pads provided on both sides of the predetermined position deviated from the center of the robot hand to insert and remove the work with respect to the press brake. In this case, since the suction pad is located at a predetermined position deviated from the center of the robot hand, it is possible to easily prevent interference with the press brake main body and various mechanisms mounted on the press brake main body. When taking out the work from the brake body, the work can be sucked by the suction pad provided on the desired side in consideration of the next bending, so the number of times of holding the work by the work gripping part can be greatly reduced. As a result, the work bending efficiency as a whole can be significantly improved.

According to the work handling robot of claim 2,
With a simple structure, the robot hand supporting position of the work handling robot and the suction pad can be sufficiently separated.
Interference between the robot hand holding the work, the press brake main body, and various mechanisms mounted on the press brake main body can be prevented more reliably, and the same operation as in claim 1 can be achieved.

[0010]

Embodiments will be described in detail below with reference to the accompanying drawings showing embodiments. FIG. 2 is a schematic perspective view showing a state in which the work handling robot of the present invention is arranged with respect to the press brake, and the work handling robot 2 is arranged at a predetermined position which does not directly face either the front surface or the side surface of the press brake 1. Has been done. In addition, 11 is an upper die, 12 is a lower die, and 1
Reference numeral 3 denotes a work supporting portion for temporarily supporting the work carried into the press brake 1 in a suction state. And
Although not shown, a back gauge for restricting the bending allowance is attached to the press brake 1 so that the bending allowance can be adjusted based on a set input value from the outside.

FIG. 1 is a perspective view showing an embodiment of a work handling robot according to the present invention. The reciprocating arm 22 is reciprocally supported by a base 21 having a predetermined length, and the reciprocating arm 22. First vertical rotation shaft 23 provided at the upper end
A first horizontal rotation shaft 25 provided at the tip of a first arm 24 extending in a direction perpendicular to the first vertical rotation shaft 23;
A second horizontal rotation shaft 27 provided at the tip of a second arm 26 extending in a direction perpendicular to the horizontal rotation shaft 25 and a tip of a third arm 28 extending in the extension direction of the second horizontal rotation shaft 27. The second vertical rotation shaft 29 provided, the work holding part 31 provided at the tip part of the fourth arm 30 extending in the extension direction of the second vertical rotation shaft 29, and the work holding part 31 provided at the tip part of the work holding part 31. And a plurality of suction pads 32 are provided.

The tip end of the first arm 24 is set to a length such that it can directly face the center of the front surface of the press brake 1. In addition, the second arm 26 and the third arm 28 described above.
The fourth arm 30 is set to a minimum length that can suppress a large increase in the moving speed of the reciprocating arm 22 required to maintain a predetermined moving speed of the workpiece 3.

The work gripping portion 31 is a T-shaped member having a wide tip end, and the narrow base portion is integrally connected to the tip end portion of the fourth arm 30 and has a wide tip end. A plurality of suction pads 32 are provided on the upper surface and the lower surface of the part, respectively. The suction pad 32 provided on the upper surface and the suction pad 32 provided on the lower surface are controlled independently of each other.

The operation of the press brake system having the above configuration is as follows. A large number of works 3 are stacked on a work support base 4 which is provided directly in front of the press brake 1 and is separated by a predetermined distance. In this state, the reciprocating arm 22 is moved to a position substantially facing the work support base 4, and the first horizontal rotation shaft 2 is moved.
5, the second horizontal rotation shaft 27 and the second vertical rotation shaft 29 are respectively operated to bring the plurality of suction pads 32 on the lower surface of the work gripping portion 31 into contact with the uppermost work 3. Next, the work 3 is sucked by the suction pad 32,
Only one work 3 can be lifted by operating the shafts 25, 27, 29 in opposite directions.

After the work 3 is lifted in this way,
The reciprocating arm 22 is moved toward the press brake 1, the work 3 is carried into the press brake 1 so that the bending position of the work 3 is located between the upper mold 11 and the lower mold 12, and then the upper mold 11 is lowered. Thereby, the work 3 is bent. In this case, the portion of the work 3 that is sucked by the suction pad 32 is bent by bending the press brake 1
However, since the connecting portion between the fourth arm 30 and the work gripping portion 31 is located at a position distant from the work 3, both the fourth arm 30 and the work gripping portion 31 are press brakes. It is possible to achieve good bending of the work 3 without interfering with 1. Further, since the suction of the work 3 by the suction pad 32 is stopped while the work 3 is bent, the bending angle of the work 3 can be accurately controlled by controlling the descending distance of the upper mold 11. Can be set. Then, while the above-described bending operation is being performed, the operation of the first horizontal rotating shaft 25 and the second horizontal rotating shaft 27 is controlled to control the work gripping portion 31.
Can be made to substantially follow the planned suction position of the work 3 that rises at a high speed with bending. However, the followability in this case does not have to be so high because the suction operation is not actually performed, but since the mass of the portion near the tip of the first horizontal rotation shaft 25 is smaller, the followability is quite accurate. After the bending operation is completed, the suction operation by the suction pad 32 can be performed with almost no time delay.

In the above description, the work holding part 31 is made to follow the work 3 rising at a high speed with bending to some extent, but the work holding part 31 is not made to follow during the bending of the work 3, The work grip 31 may be moved to the planned suction position when the bending is completed.
Therefore, even if the upper die 11 is lifted thereafter, the work 3
Since it is securely gripped, there is no possibility that it will fall by itself, and the reciprocating arm 22 and each shaft 2
By moving 3, 25, 27, 29, the work 3 is moved to a position (not shown), and if the bending is not completed, the reciprocating arm 22 moves the work 3 into a posture suitable for the next bending. And each axis 23, 25, 27, 2
9 is operated to move the work 3 to the upper mold 11 of the press brake 1.
And the lower die 12, and the bending operation is performed again. On the contrary, if the bending is completed, the works 3 can be stacked by moving the works 3 to a predetermined position and then stopping the suction operation.

In particular, in the case of a conventional work handling robot, the work is temporarily supported by the work supporting portion in the period from performing one bending operation to performing the next bending operation in the opposite bending direction. However, the work gripping part has to be moved above the work and suction must be performed again, which requires a considerably long time for changing the work, and the bending work efficiency as a whole is lowered. In the workpiece handling robot of the embodiment, the suction pad 32 of the workpiece grip 31 and the connecting portion of the fourth arm 30 are sufficiently separated from each other, and the possibility of interference with the press brake 1 and peripheral devices can be significantly reduced. Therefore, there is no need to change the holding of the work 3, and the bending work efficiency as a whole can be improved.

Further, the work 3 is held by the work grip 31.
Since it can be inserted between the upper mold 11 and the lower mold 12 of the press brake 1 while holding the upper surface of the press brake 1 and the bending operation can be performed as it is, it interferes with various peripheral devices existing under the front surface of the press brake 1. However, in the prior art, it was only possible to bend the work 3 having a size capable of eliminating the interference with these, but in this embodiment, this restriction can be solved and the range of the work 3 that can be bent is limited. It can be expanded significantly.

Further, since it is not necessary to turn the work grip 31 upside down, the axis for turning the work grip 31 upside down can be omitted.

[0020]

As described above, according to the invention of claim 1, since the suction pad exists at a predetermined position deviated from the center of the robot hand, the press brake main body and various types mounted on the press brake main body. Interference with the mechanism can be easily prevented, and the work piece can be held by the suction pad provided on the desired side in consideration of the next bending when taking out the work piece from the press brake body. The practicable effect peculiar to the work is that the number of times of changing the work by the part can be greatly reduced and the work bending efficiency as a whole can be remarkably improved.

According to the second aspect of the invention, the robot hand is T-shaped.
Since it is formed in a letter shape, the supporting position of the robot hand by the work handling robot and the suction pad can be sufficiently separated with a simple configuration, and the same practical effect as in claim 1 can be obtained.

[Brief description of drawings]

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

FIG. 2 is a schematic perspective view showing a state in which the work handling robot of the present invention is arranged with respect to a press brake.

[Explanation of symbols]

1 Press brake 2 Work handling robot 3
Work 31 Work holding part 32 Suction pad

Claims (2)

[Scope of utility model registration request] 1. A workpiece handling robot (2) having a multi-axis configuration for loading and unloading a workpiece (3) with respect to a press brake (1), the position and orientation of which are controlled by controlling each axis. A work handling robot characterized in that suction pads (32) are provided on both surfaces at predetermined positions deviated from the center of the hand (31). 2. The robot hand (31) is formed in a T shape, and a plurality of suction pads (32) are provided on both sides of the wide end of the robot hand (31). The workpiece handling robot according to Item 1.