JPH0747154Y2 - Material gripping mechanism for robots - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a material gripping mechanism for a robot that grips a plate-shaped material and carries the plate-shaped material into a press brake, continuously follows and holds it, and carries it out. More specifically, the present invention relates to a robot material gripping mechanism capable of adjusting a depth or an angle.

(Prior Art) Conventionally, a press brake material handling robot (hereinafter referred to as a robot) 1 as shown in FIG. 5 grips a plate-shaped material such as a metal plate having a small plate thickness and a large area, and press brakes. On the other hand, the plate-shaped material was carried in, continuously held and carried out.

The present inventors have proposed such a robot and its improved type (Japanese Patent Application No. 58-49507 and Japanese Application No. 63-109).
2, actual application 63-63015).

The material gripping mechanism 4 used in such a robot (see FIG.
Is a type that can hold plate-shaped materials of various sizes and load them into the press brake, and keep them in a continuous follow-up as well as carry-out, allowing smooth rotation around the upper and lower mold engagement axes during bending work. A large one was used that could strongly support the material so that it could exercise.

(Problems to be solved by the invention) However, when the plate-shaped material to be bent has a narrow size, when the large material holding mechanism 4 as described above is used,
There has been a problem that the robot tip arm interferes with the lower mold or the press brake lower table, and the material cannot be inserted between the upper and lower molds.

FIG. 4 is a partial front view showing a conventional large material gripping mechanism 4.

FIG. 3 is a side sectional view showing the state of interference of the robot tip arm when the material is inserted into the press brake using the conventional material gripping mechanism 4.

In FIG. 3, the height y of the lower die 21 and the distance x from the center line of the lower die to the tip of the lower table 22 of the press brake have certain restrictions in terms of mechanical strength. That is, if y is increased, buckling of the lower die is caused during pressing, and if x is decreased, the stress distribution in the lower table 22 becomes non-uniform and the lower table 22 is deformed. For this reason, in bending work in a press brake, it is usual to make y as small as possible, while making x considerably large.

Therefore, for example, when the robot tip arm 2 is brought close to the lower die 21 in order to insert the small size material 10 in the shape of a narrow rectangular plate having a width of about 400 mm or less between the upper and lower dies, the robot tip arm is marked with a mark shown in FIG. There was a problem of colliding with the lower table 22 as shown in. Therefore, in order to obtain the state shown in FIGS. 3a to 3b, it was necessary to change the material 10 by some means.

That is, the gripping mechanism 4 is once retracted to a position where it does not interfere with the press brake, the material 10 is placed on a preliminarily provided holding table composed of a pair of cantilevered arms, and is released, and the gripping mechanism 4 is moved to the opposite position. After supporting the material 10 again by suction with the suction pad, it was necessary to rotate 180 degrees about the vertical rotation axis and insert the unfolded end of the material 10 between the upper and lower molds 20 and 21.

(Object of the Invention) Even when handling such a narrow material, the object of the present invention is to avoid the interference between the robot tip and the press brake, and to omit the troublesome process such as changing the material. Is.

(Means for Solving the Problems) According to the present invention, in a material gripping mechanism of a robot that grips a plate-shaped material and carries the plate-shaped material into a press brake, continuously follows and holds it, and carries it out, in the longitudinal direction of the press brake mold. Has a suction support portion that is slidable in a direction substantially at a right angle to the robot, and the suction support portion is pivotally attached to the robot tip arm so as to be rotatable about 180 degrees about a vertical rotation axis. There is provided a robot material gripping mechanism characterized in that there is no interference between the robot tip arm and the press brake even when handling the above, and no material holding process is required.

The present invention will be described in detail below with reference to examples.

(Embodiment) FIG. 1 is a perspective view showing an embodiment of a robot material holding mechanism of the present invention 1.

In FIG. 1, the material gripping mechanism 4 is provided for moving the suction support part 5, the turning table 31, a turning table rotation drive motor (not shown), the suction pads 6, 6, 6, 6 and the suction support part 5. It consists of a sliding mechanism 32.

The suction support 5 is moved by the sliding mechanism 32 in a direction perpendicular to the robot tip arm 2 which is normally arranged parallel to the longitudinal direction of the press brake mold, and serves to insert the material 10 into the press brake. .

The sliding mechanism 32 is driven by pneumatic pressure, a hydraulic cylinder, an electric motor and a rack and pinion, a solenoid or the like (not shown).

Further, the suction pads 6, 6, 6, 6 are made of a bending material 10 by means of a vacuum or an electromagnet under the control of the computer.
The material 10 can be released by grasping and after the bending work is completed.

Further, the suction support portion 5 can rotate about 180 degrees about the suction support rotation drive shaft 3 which is a vertical rotation shaft attached to the robot tip arm. Note that the material gripping mechanism needs to be lightweight in order to speed up the loading, continuous follow-up holding, and unloading of the material, and the suction support, swivel table, sliding mechanism, etc. use light metal such as aluminum alloy. Is preferred. It may also have a combined structure of copper-iron pipes. The operation of the embodiment of the present invention will be described below.

(Operation) FIGS. 2a, 2b, 2c and 2d are operation views of the embodiment.

In Fig. 2a, the rectangular plate material 10 is the upper and lower molds 2 of the press brake.
Supplied between 0 and 21. In FIG. 2b, the upper die 20 descends, and at the same time, the robot tip arm 2 follows the inclination of the material 10 that is bent in a dotted line. The suction support part 5 slides in Fig. 2c.
Slide along 32 to the other end. Then, the suction support rotation drive shaft 3 is rotated 180 degrees, and the other end (unfolded end) of the material 10 is again supplied between the upper and lower molds 20, 21 as shown in FIG. Add a bending process to.

(Effect of the Invention) By implementing the present invention, the robot tip arm 2 can follow a bending operation of inserting a small-sized material between the upper and lower molds without interfering with the lower table 22 and the lower mold 21. Is possible.

Also, after the work of bending one side, while holding the material in the material gripping mechanism, rotate the suction support part about 90 to 180 degrees around the suction support part rotation drive shaft, and similarly bend the other side of the material. This eliminates the need to change materials.

Furthermore, the four sides of the material can be continuously bent by rotating the suction support portion by about 90 degrees. The same applies to trapezoids, parallelograms and other polygons.

[Brief description of drawings]

FIG. 1 is a perspective view of the embodiment, FIG. 2a is an operation view of the embodiment, FIG. 2b is an operation view of the embodiment, FIG. 2c is an operation view of the embodiment, FIG. 2d is an operation view of the embodiment, and FIG. Sectional view, FIG. 3a is a side sectional view of a conventional example, FIG. 3b is a side sectional view of a conventional example, FIG. 4 is a partial front view of the conventional example, and FIG. 5 is a perspective view of a press brake material handling robot of the conventional example. is there. 1 ... Material handling robot for press brake, 2 ... Robot tip arm, 3 ... Rotation axis, 4 ... Material gripping mechanism, 6 ... Suction pad, 31 ... Revolving table, 32 ... Sliding mechanism

Continuation of the front page (72) Noboru Shimizu No. 1633 Nishi-Toyoi, Shimomatsu City, Yamaguchi Prefecture (56) References JP-A-59-175968 (JP, A) JP-A-49-42051 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. A material gripping mechanism of a robot for gripping a plate-shaped material and carrying in, continuously following and holding the plate-shaped material with respect to a press brake, and sliding in a direction substantially perpendicular to a longitudinal direction of a press brake mold. Even when handling a narrow plate-shaped material, it has a movable suction support part, and the suction support part is pivotally attached to the robot tip arm so as to be rotatable about 180 degrees about a vertical rotation axis. A material gripping mechanism for a robot, characterized in that there is no interference between the robot tip arm and the press brake, and a material holding process is not required.