JPH0747132Y2 - Mobile material handling robot - Google Patents

Description

[Detailed Description of the Invention] [Industrial application] The present invention relates to a mobile material handling robot, and more particularly to a mobile material handling robot for automating the handling of metal sheets when processing metal sheets with a press brake. Regarding

[Prior Art and Problems] Conventionally, in the automatic bending work of a plate-shaped material by a robot with a press brake, a plate brake is installed by installing a press brake robot 20 on a press brake with an automatic control device 10 as shown in FIG. The materials are picked up one by one and inserted for a predetermined length between the upper mold 2 and the lower mold 3 of the press brake 1, and the plate-shaped material is linked to the upper mold 2 and the lower mold 3 in cooperation with the press brake automatic control device 10.
Bending work was performed by applying pressure (Japanese Patent Laid-Open No. 59-17596).
8).

However, in general, press brakes with an automatic control device are not widely used, and in reality, there are many foot-operated press brakes operated by workers. Interlocking operation was necessary.

On the other hand, if the press brake robot 20 is fixedly installed, it may take a long time to replace and adjust the press brake mold, and the press brake robot may be idle.

In addition, since the conventional material handling robot for press brakes is a fixed type, it is not possible to easily move between press brakes of different sizes, so a few expensive robots can be applied efficiently to many press brakes. Press brake work cannot be performed, and since the head, which is the material gripping part provided at the tip of the robot, is a fixed type, the range of application of automatic bending by the robot is limited and it is not possible to handle high-mix low-volume production. was there.

[Object of the Invention] An object of the present invention is to provide a mobile material handling robot in which the operation of the press brake is linked with the sequence control of the robot body by using the operation pedal as a contact.

Another object of the present invention is to provide a mobile material handling robot that allows a foot operation pedal of a press brake to be operated according to the control of a robot body and has a robot body mounted on a trolley.

[Structure of the Invention] The present inventors have a pedal operation device that performs the same operation as an operator's stepping operation by mounting the robot main body and related devices on one moving carriage so that the entire robot device can be moved. It has been found that the above problems can be solved by providing a robot with a material gripper exchanging mechanism, and has completed the present invention.

According to the present invention, in a material handling robot having a function of gripping a plate-shaped material by the material gripping part, loading the plate-shaped material into the press brake, and continuously holding and discharging the material, the robot body and the robot controller are mounted on a carriage. In addition to being installed and movable, a pedal operation device for operating the operation pedal of the press brake is provided at the end of the trolley, and the robot control device operates the operation pedal of the press brake via the pedal operation device to handle materials. Provided is a mobile material handling robot characterized in that the robot is made to operate synchronously with a press brake. [Examples] The present invention will be described in detail below with reference to examples and drawings.

FIG. 1 is a perspective view showing an embodiment of the present invention.

As shown in FIG. 1, the mobile material handling robot according to the present invention is provided with a robot body 20, a robot control panel 10, and a foot pedal operating device 43 on a mobile carriage 41.

The robot body 20 can rotate in a horizontal plane with the center of the gantry 21 as a rotation axis, and the first axis drive motor 22 causes the first arm 23 to rotate.
In the direction of the arrow by the second axis drive motor 24, the second arm 25, the third axis drive motor 26, the third axis arm 27, and the fourth axis drive motor 28 (see FIG. 3). To drive. The head 30 is provided with a vacuum pad 31 for adsorbing the material to be bent.

FIG. 2 is a perspective view when the robot according to the present invention is arranged at an appropriate position so as to cooperate with the press brake 1.

In FIG. 2, the pedal operating device 43 is an operating pedal 4 of the press brake 1 linked to the sequence control of the robot.
It is located in the position to move.

The pedal operating device 43 is composed of a pedal operating rod drive device 44 and a pedal operating robot 45 (not shown in FIG. 2, but shown in FIG. 1), and a conventional operator depresses the operating pedal 4 of the press brake 1. Robot control panel instead of operating
The pedal operating rod 45 can be moved up and down by a command from 10 to operate the operating pedal 4.

In the press brake, the lower die 3 of the press brake 1 is raised by lowering the operation pedal 4, and the gap amount between the upper die 2 and the lower die 3 is inversely proportional to the amount of depression of the operation pedal 4. .

The trolley in which the robot body 20 and the robot control panel 10 are installed is a structure having rigidity and weight, such as a steel frame structure. This is because it is necessary to keep balance in the rapid movement of the robot arm and the movement of the entire center of gravity when gripping a heavy load material.

The wheels of the dolly are the robot body 20 and the robot control panel 10.
And, it is strong enough to withstand the load of the truck main body 41.

In order to move the dolly, the floor is positioned with respect to the press brake 1, and the flatness is accurately maintained by concrete laying or laying an iron plate to facilitate the dolly movement. Further, in order to accurately position the carriage, it is necessary to provide an anchor bolt or the like on the floor and fix the carriage during work. Alternatively, if rails are laid on the floor and a positioning stopper is attached on the rails, more accurate positioning is possible, and stable carriage movement work is possible.

Further, as a method of fixing the dolly to the floor surface, it is possible to attach telescopic legs to four places around the dolly and to lift and fix the whole dolly with four legs when the robot operates.

FIG. 3 is a partial sectional view showing the detailed structure of the head 30. A head rotating shaft 32 is provided on the head 30, and a connecting plate 33 is provided at the tip thereof. A head drive motor 28 and a head drive mechanism 50 are attached to the tip of the third arm 27.
The driving force of the head drive motor 28 is transmitted to the connecting plate 55 through the shaft 51, the gears 52, 54 and the shaft 53. The connecting plates 33 and 55 are mechanically connected to each other by a frictional force or a gear mechanism, so that the head drive motor is
The rotation of 28 is transmitted to the head 30.

The head 30 and the head drive mechanism 50 are connected by a connection fitting 34, and the head 30 is replaceable. For replacement, the connection fitting 34 is removed and the head is selected according to the size of the plate-shaped material to be handled.

[Operation] The operation of the mobile material handling robot of the present invention will be described with reference to the drawings.

First, the mobile material handling robot of the present invention is set at the position shown in FIG. 4 in relation to the press brake. An anchor bolt 70 is provided on the floor surface, the carriage is fixed at a predetermined position, and the head 30 selected according to the size of the material is mounted. Next, as shown in FIG. 5 (1), the material placing table 60 on which the material 61 is loaded and the product placing table 62 on which the bent product 63 is loaded are arranged in front of the press brake.

5 (1) to (6) are schematic process diagrams from the material handling, bending, and product loading by the mobile handling robot of the present invention.

The robot follows the instructions of the computer programmed in advance, starting from the starting position shown in Fig. 5 (1), material removal (Fig. 2), material insertion (Fig. 3), material insertion (Fig. 3). (4)), bending ((5) in the same figure), product loading ((6) in the same figure), and returning to the start position ((1) in the same figure).

The bending process of FIG. 5 (5) will be described in more detail as follows (see FIG. 2).

When the robot body 20 inserts the plate-shaped material 61 between the upper mold 2 and the lower mold 3, the pedal operating device 43 is operated by the robot control panel 10.
Is transmitted to the pedal operating rod drive device 44 including an air cylinder or the like via the operation of the solenoid valve, and the pedal 4 is pushed down by a predetermined amount. By this operation, the lower mold 3 of the press brake 1 is raised and the material 61 is bent by the upper mold 3. At this time, the head 30 follows the movement of the material 61 at the time of bending so that the drive motor is driven by the signal from the control panel 10.
22, 24, 26 and 28 are adjusted and driven. In this way, the pedal is pushed down by the signal from the robot control panel via the pedal operating rod drive device to move the lower die, and when the plate material is bent, the robot head follows the movement of the material and supports it. The series of operations to be performed is called synchronous operation of the press brake and the material handling robot in the present invention.

When the bending work is completed, the robot control panel 10 outputs a signal to the pedal operating device 43, and by driving the air cylinder 44, the pedal operating rod 45 is raised, the press brake pedal 4 is returned, and the press brake upper and lower molds are sequentially separated. Done,
The robot body 20 takes out the product 63 from the press brake 1, places it on the product stand 62 (FIG. 5 (6)), returns to the start position, and prepares for the next bending operation of the material 61.

In the above description, the pedal operating device 43 is driven by the air cylinder 42, but an electric motor may be used.

[Effects of the Invention] By using the mobile material handling robot of the present invention, in bending processing by a press brake that is not equipped with an automatic control device, the plate-shaped material, the product handling, and the bending at the time when the operator conventionally performed A series of operations such as pedal operation can be automated.

Also, since this device is mobile, one robot can operate multiple press brakes, which makes effective use of existing press brakes.

For example, as shown in FIG. 6, for four conventional press brakes, the material handling can be automated with the first embodiment of the present invention.

In the above-mentioned embodiment, the bending work of the plate-like material by the press brake has been described, but the mobile material handling robot of the present invention uses various sheet materials (metal, wood, paper, plastics, glass, etc.) and various other articles. The same can be applied to the case of working with a machine such as a press. For example, it can be applied as a so-called processed article handling device in punching press work of sheet material, casting work and the like.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a front view showing an embodiment of arrangement of a movable material handling robot and a press brake, and FIG. 3 is a sectional view showing a head replacement mechanism. 4 and 5 are front views showing the operating state of the robot, and FIG.
FIG. 6 is a schematic view of bending work, FIG. 6 is a plan view showing a case where the first embodiment of the present invention is used for four press brakes, and FIG. 7 is a conventional press brake transfer device and press brake. It is a perspective view which shows arrangement. 1 ... Press brake, 4 ... Operation pedal, 10 ... Robot control panel, 20 ... Robot main body, 21 ... Stand, 30 ...
Head, 31 ... Vacuum pad, 41 ... Moving carriage, 43 ... Pedal operating device, 44 ... Pedal operating rod drive device, 45 ...
… Pedal operation rod, 50… Head drive mechanism, 60… Material stand, 62… Product stand, 70… Anchor bolt.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-50-31481 (JP, A) JP-A-59-175968 (JP, A) JP-A-61-63318 (JP, A) Actual development Sho-61- 49616 (JP, U)

Claims (1)

[Scope of utility model registration request] 1. A material handling robot having a function of gripping a plate-shaped material by a material gripping portion, carrying the plate-shaped material into a press brake, and continuously holding and discharging the material.
The robot body and the robot control device are installed on a dolly so as to be movable, and a pedal operation device for operating the operation pedal of the press brake is provided at the end of the trolley, and the robot control device presses the press brake through the pedal operation device. 2. A mobile material handling robot, characterized in that the material handling robot is operated in synchronization with the press brake by operating the operation pedal.