JPH08117863A - Apparatus for work handling in press brake robot system - Google Patents

Abstract

PURPOSE: To make the width of a work able to be held as small as possible by adopting a press brake robot system of executing the positioning of the work by holding the work with vacuum suction force. CONSTITUTION: Plural vacuum suction head parts 18 provided in a work holding part 1 are arranged in comb-teeth shape and plural work supporting parts 33 in a work laying table provided at a prescribed position with respect to the press brake are arranged in comb-teeth shape. A slide block 14 for supporting a rotary block 17 provided with the vacuum suction head parts 18 so as to be possible to rotate or to stop rotation is slidably arranged in a fitting part 11 of the press brake robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work handling device in a press brake robot system, and more particularly, to a work for making a position, a posture, etc. of a work that can be bent by using a press brake suitable for bending. For handling devices.

[0002]

2. Description of the Related Art Conventionally, a press brake robot that employs a vacuum suction head as a work gripping head is generally used for a work (panel material) that is bent on four sides in bending a work using a press brake. A press brake robot that employs a gripper hand as a work gripping head is generally adopted for a work (sash material) that is bent on two sides.

Of these, the latter press brake robot holds the work in a cantilevered manner, so that when the work becomes large, the deflection of the work itself cannot be ignored, and the work of inserting into the mold cannot be performed. However, the deflection is too large to handle the work, or the gripping allowance must be increased in order to enable handling, so only small work that does not cause such inconvenience is required. It will be handled. In addition, in the case of bending a plurality of times to form a box shape, there is a high possibility that the workpiece cannot be gripped during the second and subsequent bending.
The applicable range is greatly restricted.

On the other hand, in the former press brake robot, the position of the work can be arbitrarily gripped (sucked and gripped), so that the above-mentioned inconvenience can be prevented from appearing remarkably. It seems that the range of can be expanded.

[0005]

However, in the latter system using the press brake robot, the work W gripped by the press brake robot must be pressed against the back gauge 91 in order to position the work. Since the lower die 93 is inevitably interposed between the back gauge 91 and the vacuum suction head 92 (see FIG. 11), the size of the workable work piece cannot be made too small (accurately, in the work insertion direction). The length (hereinafter referred to as the width) cannot be made too small}. Since a plurality of back gauges 91 are usually provided, the suction force of the vacuum suction head 92 is weakened to allow the work W to slip and one side of the work W is used by utilizing this slip. All back gauges 91 are pressed to achieve positioning. In this case, the minimum width of the work W that can be handled is increased by the slip margin S.

Further, in order to reverse the front and back of the work W,
Due to the fact that a pair of work stand arms 94 are provided at a predetermined position on the front surface or the rear surface of the press brake, and a suction pad 95 for a stand is provided on the top surface of the tip of the work stand arm 94.
The length (length in the direction orthogonal to the width direction) of the work gripping portion 96 of the press brake robot is set to be a pair of table arms 9.
It must be smaller than the gap between the four (Fig. 12
(See middle A and B), overhang length of work W (Fig. 1
2L in 2A) becomes long. In this case, since the vacuum suction heads 92 grip the work W before or after reversing the front and back, the vacuum suction heads 92 at both ends must have suction forces commensurate with the weight of the overhang. Therefore, the individual vacuum suction heads 92 cannot be downsized too much. As a result, the minimum width of the work W that can be handled is restricted because the vacuum suction head 92 cannot be downsized. In connection with this inconvenience, it is conceivable to make the interval of the work stand arms 94 variable and employ a work gripping part 96 of a size corresponding to the interval, but with the number of types of the work gripping part 96 being significantly increased, There is a new inconvenience that a complicated mechanism is required to change the distance between the work stand arms 94.

Further, when inserting the work into the press brake, a method of holding the upper surface of the work by the work holding portion has been proposed, but there is a restriction due to the bending shape of the work, the flange length, etc., and depending on the work, The minimum width that can be handled cannot be made sufficiently small.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and is intended to expand the minimum width of a work that can be handled to a narrow side when gripping a work by vacuum suction and inserting the work into a press brake. It is an object of the present invention to provide a work handling device in a press brake robot system that can hold a work reliably regardless of its size.

[0009]

According to a first aspect of the present invention, there is provided a work handling device in a press brake robot system, wherein a work gripping portion provided on the press brake robot is in a plane parallel to a gripping surface and capable of advancing and retracting with respect to the press brake robot. At the predetermined position with respect to the press work brake, the work holding part has a work holding head that is formed so as to project in the forward direction at predetermined intervals. It has a work supporting portion formed to project in a direction parallel to the loading / unloading direction of the work with respect to the press brake at predetermined intervals so that the gripping head can be inserted.

[0010]

According to the work handling device of the press brake robot system of claim 1, the work gripping portion provided on the press brake robot can move back and forth with respect to the press flexure robot and swing in a plane parallel to the gripping surface. Since it is connected to, there is no need to allow the work to slip and press it against the back gauge.
The work gripping part has a work gripping head that is formed to project in the forward direction at predetermined intervals, and at a predetermined interval so that the work table provided at a predetermined position with respect to the press brake can allow the work gripping head to enter. Since it has a work supporting part that is formed to project in a direction parallel to the loading and unloading direction of the work to and from the press brake, it is possible to position the work gripping head and the work supporting part in a straight line, and to grip the work. The length of the portion (the length in the direction orthogonal to the advancing / retreating direction) can be increased. Therefore, the work overhang length can be shortened due to the increase in the length of the work gripping portion, and the work gripping head can be downsized. Since the work gripping head can be downsized and the work can be prevented from slipping, the minimum workable width of the work can be expanded to the narrow side. Of course, since the work gripping head can be downsized along with the shortening of the overhang length, reliable gripping of the work can be achieved.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings showing embodiments. FIG. 1 is a bottom view showing a work holding part attached to a press brake robot (not shown), FIG. 2 is a side view, and FIG. 3 is a rear view. As the press brake robot, various industrial robots such as a rectangular coordinate system robot and a cylindrical coordinate system robot can be applied.

The workpiece gripping portion 1 has a mounting portion 11 mounted on a press brake robot (not shown), a rail 12 and a bearing unit 1 with respect to the mounting portion 11.
3, a slide block 14 slidably connected in the arrow direction, and a long block rotatably supported at a predetermined position near the tip of the slide block 14 via a bearing 15, a rotary shaft member 16 and a connecting plate portion 16a. Rotation block 17, a vacuum suction head portion 18 (corresponding to a work gripping head) formed on the long surface of the rotation block 17 at predetermined intervals, and a pair of arm portions formed on the attachment portion 11. 19 provided between the rotary block 17 and the rotary block 17, and a pair of air cylinders 20 for selecting a state of allowing rotation and a state of blocking rotation, and a predetermined position of the slide block 14 (in this embodiment, an L-shape). The pad portion 21 provided at a predetermined position of the mounting portion 11 so that the member 14a) can contact. Reference numeral 22 is a connecting portion of the air pipe. The pad portion 21 is housed in a member 21a having an opening formed at a predetermined position on the side facing the L-shaped member 14a.

The air cylinder 20 blocks free rotation of the rotary block 17 when pressure air is supplied, and allows free rotation when pressure air is not supplied.
The pad portion 21 has the air cylinder 20 at the forward end,
This is for detecting that the work W is in a state in which it can be pressed against the back gauge 23 (see FIG. 6), and the L-shaped member 14a of the slide block 14 covers the opening of the member 21a for accommodating the pad portion 21. This member 21a
Since the degree of vacuum in the pad portion 21 and the air path connected to the pad portion 21 is increased by being pressed by the pressure sensor (not shown), the air cylinder 20 is at the forward end and the work W is It can be detected that the back gauge 23 can be pressed. Further, as is clear from the above, the stopper mechanism is constituted by the L-shaped member 14a and the member 21a.

The vacuum suction head portion 18 is composed of an L-shaped connecting plate 18a and a vacuum suction head 18b attached to a predetermined position of the connecting plate 18a. In addition, 1
Reference numeral 8c is a connecting portion for connecting to a vacuum source (not shown). The vacuum suction head 18b, as shown in FIG.
The vacuum suction head main body 18e is slidably supported on a mounting portion 18d for the connecting plate 18a, and a coil spring 18f is provided between the two. Therefore, the vacuum suction head body 18e slides against the coil spring 18f according to the external pressure. The pad portion is not shown in FIG.

Further, since the length of the vacuum suction head portion 17 can be set long, the overhang portion of the work W can be shortened, and as a result, the pad diameter of the vacuum suction head main body 18e can be reduced. FIG. 5 is a perspective view showing the structure of a work table provided at a predetermined position in front of a press brake (not shown).

The work stand 3 has a long support member 3 having a predetermined length on an upper portion of a stand member 31 having a predetermined width and a predetermined height.
2 has a plurality of work supporting portions 33 in a state of protruding toward the press brake with respect to the long supporting member 32. The space between the work supporting portions 33 is set to a space that can receive the vacuum suction head portion 18. Further, the work supporting portion 33 holds the work W on its upper surface.

As the press brake, any of those in which the upper die moves up and down and those in which the lower die moves up and down can be applied. Further, a back gauge for positioning the work W is provided on the inner side of the die. However, since the structure of the press brake is conventionally known, illustration and description thereof will be omitted. The operation of the work handling device having the above configuration is as follows.

Since there is no particular difference in the handling of the work W having a large width and length from the handling by the conventional work handling device, the description thereof will be omitted, and only the handling of the work W having a small width will be described. Further, in the following description, it is assumed that the upper die moves up and down as a press brake.
When bending the narrow work W, the plurality of vacuum suction heads 18 hold the lower surface of one edge of the work W, and the work W is passed through the space between the upper mold and the lower mold 24 of the press brake. Is inserted and pressed against the back gauge 23 (see FIG. 6). In this case, if the supply of the pressurized air to the air cylinder 20 is prohibited, even if the work W is initially pressed against only a part of the back gauge 23, the bearing 15 and the rotary shaft member 16 are provided. And the long rotation block 17 is rotated via the connecting plate portion 16a, and finally the work W is uniformly pressed against all the back gauges 23. Then, if the operation of the press brake robot is continued after that, the work W moves to the back gauge 2
Since the workpiece W is pressed by 3, it is possible to detect the positioning completion of the work W by a conventionally known detection mechanism (not shown). Therefore, thereafter, the work W can be bent by lowering the upper die of the press brake. Of course, when the work W is not positioned, the free rotation of the rotary block 17 can be prevented by supplying the compressed air to the air cylinder 20. Further, the pressure of the air supplied to the air cylinder 20 may be lowered instead of prohibiting the supply of the pressurized air when positioning the work W.

Next, when it is necessary to bend the work W by reversing the bending direction, as shown by A in FIG. 7, the work W is held downward by the work holding part 1 and the work placing table 3 is held. The work W is conveyed to the upper side, and the work holding part 1 releases the work W and the work placing table 3 holds the work W. Then, the work grip 1 is moved to the work W.
7 (see B in FIG. 7), and the work gripping portion 1 is raised to contact the lower surface of the work W. In this state, the work holding table 3 is released, the work holding part 1 is held, and the work holding part 1 is further raised. The front and back of W can be reversed. FIG. 8 is a plan view corresponding to B to C in FIG. 7, in which the vacuum suction head portion 18 is located in the gap between the workpiece support portions 3 and grips different positions on the same straight line. Therefore, even if the length of the work table 3 is short, the length of the work grip portion 1 can be made sufficiently long. If the length of the workpiece gripping portion 1 is increased, the length of the overhang portion of the workpiece W (see L in FIG. 8) can be shortened, so that the pad diameter of the vacuum suction head main body 18e can be reduced.

After that, the work W is again processed in the same manner as above.
Can be bent. As is clear from the above description, the minimum width of the work W that can be handled can be expanded to the narrow side due to the fact that the pad diameter of the vacuum suction head main body 18e can be reduced. Further, since there is no slippage with the vacuum suction head main body 18e when positioning the work, it is not necessary to secure a slip allowance, and the minimum width of the workable work W is further expanded to the narrow side. can do.

FIG. 9 is a schematic view for explaining another work handling operation, and shows a case where the work W cannot be positioned with the work holding portion 1 kept horizontal. In FIG. 9, 41 is a back gauge, 42 is a lower mold, and 43 is an upper mold. In this case, as shown by A in FIG. 9, the vertical plate part of the work W is gripped by the vacuum suction head part 18 in a state where the work grip part 1 is vertical, and the work W is pressed against the back gauge 41 as it is. In this case, the vacuum suction head unit 18 includes a slidable vacuum suction head body 18e and a coil spring 18
Since it has f and (because it is supported in a floating manner), at least a part of the vacuum suction head main body 18e can slide as necessary to uniformly press the work W against all the back gauges 41.

9B shows the time when the bending of the work W positioned as described above is completed.
The posture of the workpiece gripping portion 1 in FIG. 9B is different from that in FIG. 9A because the posture for taking out is different from the posture during positioning. After that, if the upper die 43 rises, the work W can be taken out through the space between the two dies 42, 43.

As a result, bending of the work W having a complicated shape can be easily dealt with, and the applicable work W can be applied.
The range of can be significantly expanded. Although the case where the work table 3 is provided at a predetermined position in front of the press brake P (see the solid line in FIG. 10) has been described above, as shown by the broken line in FIG. The work table 3 may be provided on the side of the press brake P, as shown by the alternate long and short dash line in FIG. Further, in FIG. 10, PB indicates a press brake robot.

[0024]

As described above, according to the invention of claim 1, the length of the work gripping portion can be increased to shorten the overhang length of the work, the work gripping head can be downsized, and the work gripping head Due to the miniaturization and elimination of work slippage, the minimum width of a work that can be handled can be expanded to the narrow side, and moreover, the particular effect of achieving reliable gripping of the work can be achieved.

[Brief description of drawings]

FIG. 1 is a bottom view showing a work holding part.

FIG. 2 is a side view of the same.

FIG. 3 is a rear view of the same.

FIG. 4 is a perspective view showing a configuration of a vacuum suction head.

FIG. 5 is a perspective view showing a configuration of a work table.

FIG. 6 is a schematic side view showing a positioning state of a work.

FIG. 7 is a schematic side view illustrating a front / back inversion operation of a work.

8 is a plan view corresponding to B to C in FIG. 7. FIG.

FIG. 9 is a schematic diagram illustrating another work handling operation.

FIG. 10 is a schematic plan view showing the relative position of the work table with respect to the press brake.

FIG. 11 is a schematic side view illustrating a work positioning operation by a conventional press brake robot system.

FIG. 12 is a schematic view illustrating a work front / back reversal operation by a conventional press brake robot system.

[Explanation of symbols]

 1 Work gripping part 3 Work stand 18 Vacuum suction head part 33 Work support part P Press brake PB Press brake Robot W Work

Claims (1)

[Claims] 1. A device for handling a work (W) for controlling the position and posture of the work (W) with respect to the press brake (P), the work gripping portion (1) provided in a press brake robot (PB). Is connected to the press brake robot (PB) so as to be movable back and forth and swingable in a plane parallel to the gripping surface, and the work gripping part (1)
Has a work gripping head (18) formed to project in the forward direction at predetermined intervals, and the work stand (3) provided at a predetermined position with respect to the press brake (P) has a work gripping head (18). ) At predetermined intervals so that
Work handling in a press brake robot system, characterized in that it has a work support portion (33) projecting in a direction parallel to the direction in which the work (W) is loaded into and unloaded from the press brake (P). apparatus.