JPH0929365A - Work attracting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To utilize an inexpensive and small permanent magnet without using an expensive large-diameter electromagnet as an auxiliary means, in a work- attracting device for feeding a material to a press brake 1 for example, and to make a situation manageable in which an attracting margin of a work W is so small that a vacuum pad alone is not capable of copeing. SOLUTION: The device is provided with a plural vacuum pads 4 and a permanent magnets 5 are each arranged in lines, and also with an air cylinder 9 for moving each permanent magnet 5 vertically and a bumping stopper 6 having a passline W0 height of work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work suction device in a sheet metal working machine such as a press brake device.

[0002]

2. Description of the Related Art Conventionally, for example, in a press brake device of this kind, a sheet metal work (material) is processed by a bending robot or a work handling robot.
The vacuum pad is used for loading, unloading, or bending, but if the workpiece is a holed product and there is a portion that cannot be attracted by the vacuum pad, use an electromagnetic magnet to attach these parts. Was compensating for.

[0003]

However, in the case where the above-mentioned electromagnetic magnet is used to assist the attraction, the part for attracting the work depends on the required space for the transfer and the required space occupied by the sensor or the like for measuring the work. However, when only a small amount was left, there were the following problems. That is, the size of the conventional electromagnetic magnet is about 15 mmφ at the minimum, and it cannot be used for a work adsorption capacity smaller than this.

Further, when the stacked works are attracted by the electromagnetic magnet, there is a possibility that the next work is attracted, which may cause "two-sheet realignment".

Further, in general, when the vacuum pad 11 is used for bending, as shown in the schematic view of the main part in FIG. 7, the working range of the work W by the punch P and the die D is secured as wide as possible. Therefore, the vacuum pad 1
In most cases, 1 has no choice but to have a relatively narrow end area of the work W.

Further, in order to perform suction, loading, unloading, bending, etc., of the work end portion by suction pads arranged in a straight line on the narrow end area as described above, FIG.
As shown in FIG. 7, the weight W of the work W causes the center of gravity C. G. FIG. On the other hand, since the bending moment M acts on the vacuum pad 11 part, the offset amount is limited.

The present invention has been made in view of the above problems in the prior art. For example, vacuum pads 11 of about 15 mmφ are arranged in a straight line and are offset from the center of the work to be sucked. In this case, as a method of compensating for the insufficient attraction force due to the bending moment or the like due to bending, a simple vertical movement mechanism and an auxiliary means using an inexpensive permanent magnet are used together instead of the attraction assistance by the expensive electromagnetic magnet as described above. Accordingly, it is an object of the present invention to provide a work suction means capable of handling a work having a larger weight or a larger size with a suction amount in a small space area.

[0008]

For this reason, in the present invention, a plurality of vacuum pads and a plurality of permanent magnets for adsorbing the work of the sheet metal working machine are arranged in a row, and each of the permanent magnets is arranged. The above object can be achieved by a work suction device including reciprocating means for attracting or peeling the work, and stopper means in proximity to the permanent magnet and in contact with the peeling side of the work. It is what

[0009]

With the configuration of the present invention as described above, it is possible to cope with a case where the suction area of the work is relatively short, and a work having a weight that is insufficient with the suction force of only the vacuum pad.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. FIG. 1 shows an example of an overall side view showing a state in which a known 6-axis articulated work handling robot having a work suction device according to the present invention is close to a press brake.

In FIG. 1, 1 is a frame of a press brake, 2 is a back gauge, P / D is a punch / die of a mold, R is the robot, and 3 is the tip of the manipulator arm of the robot R. 1 is an embodiment of a work suction device according to the present invention that is freely mounted. W indicates a work piece that is gripped by suction.

[0012]

2 (a) and 2 (b) show a detailed front view and a side view of an embodiment of the work suction device 3, respectively. In FIG. 2, the work suction device 3 mainly includes a plurality of bellows-type vacuum pads 4 arranged substantially linearly on both sides of the base frame 7 in the longitudinal direction. On a mounting plate 8 fixed to the end of the piston rod 9a of a small air cylinder 9 disposed in the central recessed portion, a plurality of 10 mmφ permanent magnets 5 are substantially at the same height as the four rows of vacuum pads. Are mounted on the same straight line, and can be simultaneously displaced in the vertical direction by the air cylinder 9, and each permanent magnet 5 is lifted or lowered to the pass line W ₀ surface of the work W to generate a magnetic force. The work W can be peeled off by killing.

In this embodiment, the magnets 5 on the both outer sides of the permanent magnets 5 are in contact with the work path line W ₀ between the innermost pads 4 of the vacuum pads 4 on both sides. One of the features is that each abutting stopper 6 having the above is provided.

That is, when the work W is loaded on, for example, the press brake 1 and is to be separated from the work suction device 3 in FIG. 3, the piston rod 9a of the air cylinder 9 is first lowered, but at this time, if If the abutting stopper 6 is not provided, as shown in an exaggerated manner in FIG. 4, particularly when the work W is a thin plate, it is extremely difficult to peel off due to bending due to the weight of the material, and a large stroke amount of the air cylinder is required. However, in this embodiment,
As shown in FIG. 3, due to the presence of the pair of left and right abutting stoppers 6, for example, in the case of the illustrated example, there is an effect that the work can be reliably separated with a stroke of about 5 mm.

In this embodiment, since the bellows type is adopted for each vacuum pad 4, as shown in FIG. 5, the bending moment M caused by the bending of the work W shown in FIG. 8 due to its own weight. It is possible to respond / follow extremely flexibly.

Further, the permanent magnet 5 can have a diameter smaller than that of the conventional electromagnetic magnet, for example, about 10 mmφ, and can be manufactured into a complicated shape if necessary. It is also easy to deform the target work into a round shape, a square cross section, a sheet shape, or the like.

Furthermore, as shown in FIG. 6, when there is a permanent magnet 5 adjacent to the vacuum pad 4, the hard surface of the permanent magnet 5 supports the work W and the sticking surface of the pad 4 peels off. It also has a function to prevent this.

Further, for example, in the case where the work is attracted only by the magnet, there is a possibility that the work W is easily displaced due to an inertial force such as a swinging motion of the work W.
The combined use with and is extremely effective for dealing with this deviation.

In this embodiment, each permanent magnet 5
Although the embodiment in which the suction and the separation of the work W are directly operated by using the small air cylinders 9 has been shown, the present invention is not limited to this, and various works such as via an appropriate link mechanism are possible. It goes without saying that it does not matter if the deformation mechanism is adopted.

In the above embodiment, the case where the plurality of vacuum pads 4 and the permanent magnets 5 are arranged substantially on the same straight line has been described. However, when the work attracting area is wide, Needless to say, the arrangement is not necessarily limited to the above linear shape.

(Operation / Effect of Embodiment) According to the work suction device 3 of this embodiment, 41 vacuum pads having a diameter of 10 mm have a suction force of about 0.1 kg, and a weight of 1
In order to adsorb a workpiece W of Kg and ascend vertically, a minimum of 10 pads 4 are required, and the required length is a minimum of 100.
mm will be required.

In consideration of inertial force, the normal operation of the work W requires a suction force of about 8 to 10 times the work weight. Therefore, the vacuum pad 4 alone has a suction force of 80 to 10.
Zero pieces are required, and therefore, the work W is required to have a length of 800 to 1000 mm in order to secure the suction surface.

On the other hand, one 10 mmφ permanent magnet 5 according to the present embodiment has an adsorbing power of about 0.8 kg, and therefore, together with this, for example, ten vacuum pads 4 and this permanent magnet are used. When 10 pieces of 5 are combined, (0.
1 × 10) + (0.8 × 10) = 9 kg, and the required occupied space length is 200 mm, which is extremely small.

Also by the above-mentioned example of the combination, there is an effect that the use of both of them can surely adsorb a work which is allowed only a small adsorption space. Further, since the hard permanent magnet 5 suppresses the swinging phenomenon of the attracting surface due to the moment, it becomes stronger against this kind of moment,
In particular, an effect can be expected at the time of adsorption in a linear one-row arrangement.

[0025]

As described above in detail with reference to the embodiments, according to the work suction device of the present invention, a plurality of vacuum pads and permanent magnets are used in combination, and the abutting member for peeling the permanent magnets is used. Since the stopper is provided, it is possible to effectively deal with a work having a relatively short suction area or a work having a weight that is insufficient with the suction force of only the vacuum pad.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an embodiment of the invention.

FIG. 2 is a front view and a side view of the embodiment.

FIG. 3 is a state diagram at the time of peeling a work according to an embodiment.

FIG. 4 is a view corresponding to FIG. 3 when there is no butting stopper.

FIG. 5 is an explanatory view of the moment tracking ability of the bellows type vacuum pad.

FIG. 6 is an explanatory diagram of an effect of preventing peeling of a vacuum pad of an adjacent permanent magnet.

FIG. 7 is a diagram showing an example of using a conventional vacuum pad.

FIG. 8 is an explanatory diagram of the moment load of the vacuum pad.

[Explanation of symbols]

 1 Press Brake Frame 2 Back Gauge 3 Work Adsorption Device 4 Bellows Type Vacuum Pad 5 Permanent Magnet 6 Stopper Stopper 7 Base Frame 8 Mounting Plate 9 Small Air Cylinder D Die P Punch W Work (Material)

Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display location B65G 59/04 B65G 59/04 B65H 5/14 B65H 5/14 B 5/22 5/22 B

Claims (1)

[Claims] 1. A plurality of vacuum pads for attracting a work of a sheet metal working machine and a plurality of permanent magnets are arranged in a row, and reciprocating means for attracting or peeling the work by each of the permanent magnets. And a stopper unit that is in close proximity to the permanent magnet and abuts on the peeling side of the workpiece.