JPS59175968A - Material treating robot for press brake - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention]

The present invention relates to a press brake material handling robot, and more specifically to a press brake material handling robot F that has a long operating arm along the horizontal axis and is capable of continuously holding the material being processed.
Regarding. Conventionally, when applying thin plate materials such as metal plates with large areas to press brakes, it has often been extremely difficult for workers to handle them manually due to their shape instability and weight, and this problem continues. Not only does the work easily increase the fatigue level of the worker, but also the worker's inaccurate material handling behavior due to fatigue reduces the product yield, and there is also the risk of causing an industrial accident. Moreover, the speed of work done manually was not at all fast. Therefore, it was natural to think of using various devices to replace the workers. For example, an initial attempt was made to install a tilting table in front of the press brake to facilitate the loading and unloading of materials using power. However, in this case, although the tilting table has the effect of reducing the burden on the worker, it is difficult to adjust the bending angle, and the ability to follow the movement of the plate material during the bending process is poor.
However, the work itself was incomplete, as the work of bringing in and taking out materials had to be carried out by workers. Next, the use of general-purpose robots was considered. Brenu brakes are originally suitable for sheet metal processing, such as sheet metal processing, which involves manufacturing small-lot, high-mix products, such as bending, punching, hemming, and riveting of various plate materials, so the adoption of robots was highly expected for its effectiveness. It is. Therefore, for example, it has been considered to apply a 5-axis or 6-axis indirect arm type robot, which is the most common among general-purpose robots and robots. However, these conventional articulated arm robots had a relatively small operating range, so in order to feed and remove plates to and from the press brake, the robot's support stand was installed in front of the press brake and close to the press brake. There was a drawback that had to be done. This problem could be solved by supporting the robot from the ceiling, but it is difficult to support the board more strongly than the bottom surface of the ceiling-supporting robot. Moreover, various difficult problems arise in terms of wiring and other maintenance work, so it could not be easily adopted from the point of view of economy and practicality. In addition, when feeding and removing plate materials to a press brake, the feeding and removal operations must be performed in a direction perpendicular to the long axis of the upper and lower molds, whereas conventional general-purpose roto-soto-wo press brakes In this case, it was difficult to align the direction of the feeding and removal operations of the plate material with the direction perpendicular to the long axis of the upper and lower molds of the press brake. In other words, general-purpose robots are mainly polar coordinate type, so for this purpose,
Horizontal circumferential movement within the rotating box of 90° to 180° is inevitable at the front of the press brake, and the vertical long axis (bending axis) is required to support the plate material during bending work.
It was difficult to smoothly rotate the plate material around Z (as viewed from the side). Therefore, the present inventors pursued a robot that could easily perform linear motion in a direction parallel to and perpendicular to the long axis of the upper and lower press brakes, and rotational motion down the long sleeve as an axis. , we have completed the present invention. The purpose of the present invention is to allow the support stand to be placed on the side of the press brake, thereby securing a work space in front of the press brake, and furthermore, to allow plate material feeding and removal operations to be carried out on the long axis of the press brake's upper and lower molds. The object of the present invention is to provide a material handling robot for a press brake that can perform construction work with linear motion in a right-angled direction. Another object of the present invention is that during the bending operation, when the long axis of the upper and lower molds is bent in a plane perpendicular to the long axis of the upper and lower molds, The object of the present invention is to provide a material handling robot for a press brake that can provide a temporary phase with a smooth rotational movement downward from the center and strongly support it. According to the present invention, a plate-shaped material is gripped by a material gripper having one or more horizontal rotation axes and a right-angled rotation axis, which is aligned with the orthogonal rotation axis, and the plate-shaped material is carried in or out of the press brake. In the material handling robot for the press brake, which has the function of
One of the horizontal rotation axes is substantially aligned with the extended axis of the upper die and/or lower die long axis of the press brake, and the material is continuously held and obtained even during press brake operation. A material handling robot for a press brake is provided. The present invention will be described in detail below by way of examples. FIG. 1 is a perspective view of an embodiment of the present invention. The press brake 20 is of a type in which an elevating die 22 moves up and down with respect to a fixed upper die 21, and the lower die 22'fr' is raised by hydraulic pressure while inserting the end of the plate material ]3 between the upper and lower dies. Totoyo

[) Perform the bending process. At this time, the upper mold long axis 21A is of course stationary, and the lower mold long axis 22A moves. In some cases, the lower mold is fixed and the upper mold is moved up and down. It is also possible to move the upper and lower molds in opposite directions. The robot of the present invention is fixedly supported on the floor by a support 2), and the output shaft (horizontal rotating shaft) 3A of a motor 3 with a reducer fixed to the upper part of the support 2 is the upper mold length of the press brake. It is arranged so as to coincide with the axis 21A. If the lower mold is fixed, align it with the long axis of the lower mold. Next, a right-angle operating arm 4 extending perpendicularly to the shafts 3A and 21A is attached to the output shaft 3A, and a right-angle operating arm 6 is fixed to the tip of the right-angle operating arm 4. It is attached to the output shaft (horizontal rotating shaft) of the attached motor 5. A motor with a reducer 7 is fixed to the tip of the right-angle operating arm 6, and the output shaft of the motor with a reducer 7 (horizontal rotational axis - third axis) is connected to the upper mold length ]/2 A horizontal working arm 8 in the form of a somewhat extended shape is attached, and the right angle and parallel working arms can be rotated to any angle by respective motors. Next, a motor 9 with a reducer is fixed to the tip of the parallel operating arm 8 at right angles to the axis of the operating arm 8, and an output shaft 10 of the motor 9 has suction for gripping 12 plate materials. head 1
] is fixed and can be rotated freely. In addition to the mechanical parts described above, the robot of the present invention has a control box 15 containing a computer, which are electrically connected to each other, and power is supplied to the control box. FIG. 2 is a block diagram showing the control system of Embodiment 0 of the present invention. The computer section 30 performs arithmetic processing and stores data on work conditions (number of sheets to be processed, number of sheets to be loaded, etc.) and robot operation data (speed movement amount, etc.). The input/output section 31 processes signals sent to the outside of the computer section 30 and processes signals sent from the outside to the computer section 30. The motor drive units 33, 35, 37, and 39 receive output signals from the computer unit 30 and drive the motors 3 with reducers for each axis.
, 5.7', 9'Y Please convert the power so that you can move it. The teaching box 32 is used to move the robot by manual operation, and while the robot is made to perform the required movements by manual operation, data such as the amount of movement is stored in the computer section 30. The press brake control device 40 controls the operation of the press brake 12. Next, the functions and effects of the robot of the present invention will be explained. FIG. 3, FIG. 4, FIG. 5, FIG. 6, and FIG. 7 are operation process diagrams of the embodiment of the present invention viewed from the side. First, in FIG. 3, from the stack of plate materials 13, the plate materials 13
Pick up one sheet using the suction head 1]. Next, as shown in Fig. 4, the suction head 11 rotates 180° while rising.
The plate material 13 is firmly supported from below, and the end portion of the plate material is inserted between the upper and lower molds of the press brake. Then, as shown in FIG. 5, the operating arm 4 rotates counterclockwise to follow the bending process of the press brake. In other words, it is important to ensure that the plate material is supported accurately during processing. When the bending process using the press brake is completed, the space between the upper and lower dies of the press brake is opened, and the actuating arm of the robot is activated to carry out the products 14 from the press brake and stack them in a stack. One cycle is completed at t. FIG. 7 is a side sectional view of the main parts of the press brake and the suction head, showing the support state of the plate material during the bending process of the press brake, which is a feature of the effects of the present invention. As shown in FIG. 4 <1. As the upper and lower molds 21 and 22 approach, the horizontal plate 13 inserted between the upper and lower molds rotates and moves down in the direction of the arrow about the upper mold shaft 21A. At this time, the robot of the present invention can continuously support most of the plate material from below using the suction head 1. In other words, it is possible to follow and support the rotational movement of the plate material just in time. By carrying out the present invention as described above, all of the above objectives are achieved. Since the movement of the suction head of the robot coincides with the movement of the plate-shaped material during the bending operation, the gripping operation of the plate-shaped material becomes smooth and unnecessary deformation can be prevented. In addition, in the bending process, which is the most difficult step in robot teaching, only two points, the beginning and end of bending +1, are required, and circular interpolation control between the two points is not required.
) Program creation and teaching tasks become extremely easy. Furthermore, since the robot support stand can be placed on the side of the press brake, the space in front of the press brake can be used effectively. Therefore, it is very convenient for exchanging press brake molds, loading materials, and unloading products. The robot of the present invention can also be effectively used for other tasks such as transporting and loading parts.

[Brief explanation of drawings]

Figure 1 is a perspective view of an embodiment of the present invention, Figure 2 is a block diagram of the control system, Figures 3, 4, 5, and 6 are operation process diagrams, and Figure 7 is during bending processing. FIG. 1...Robot, 20...Press brake, 21A, 22A...Upper and lower type long shaft, 13...Plate material, 14...Product . 11 Figure 2/) Figure 2 1311I- 7th evil

Claims (4)

[Claims] (1) A material gripper having one or more horizontal rotation axes and a right-angle rotation axis, and fixed to the right-angle rotation axes, grips the plate-shaped material and holds the plate-shaped material against the press brake. In a material handling robot for a press brake that has a function of loading and unloading, one of the horizontal rotation axes is substantially aligned with the extended axis of the long axis of the upper die and/or lower die of the press brake, and even during press brake operation. Made it possible to maintain the material continuously! Features and descending press brake for material handling robot. (2) The robot according to claim 1, wherein the number of horizontal rotation axes and right angle rotation axes is four and one, respectively, and the press brake is a press brake for bending metal plates. (3) Any one of claims 1 to 2, wherein the length of the horizontal operating arm fixed to the third axis of the horizontal rotating shaft is about 1/2 of the length of the upper mold or lower mold of the press brake. The robot described in paragraph 1. (4) The robot according to any one of claims 1 to 3, wherein the control mechanism is of a playback type.