JPS5997722A - Automatic bending device of plate-shaped body - Google Patents

Abstract

PURPOSE:To operate bending work with a plate-shaped body gripped by a gripper by arranging the gripper at the front of a bending machine and controlling the position of the gripper by making it follow the jump of the body caused by the bending work. CONSTITUTION:A robot sliding bed 11 is engaged with the bed 5 of a bending machine 1, and a conveyor 55 on which a plate-shaped body 100 is positioned is raised to the position of an alternately long and two short dashes line, then a robot arm 23 is turned to said position to grip the prescribed position of the body 100 by a gripper 27. Further, the body 100 is positioned with respect to a lower die 7a and an upper die 7b by moving a holder 17 and turning the arm 23 to the horizontal position. Next, the body 100 is bent to jump up in the 75 direction by lowering a ram 9, and the position of the gripper 27 is controlled successively basing on the informations of the descending position of the die 7b to make it follow the displacement of the body 100. Thus the bending work is continued with the body 100 gripped at its fixed position by the gripper 27.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an automatic plate-shaped object folding device, and more specifically, the present invention relates to an automatic plate-shaped object folding device, and more specifically, a plate-shaped object such as an iron plate is supplied to a press brake type folding machine, and the iron plate or the like is bent and carried out. The bending of plate-like bodies was carried out, but all of this was controlled by hand. Therefore, the work efficiency was very low and many workers were required.

Therefore, the present applicant has previously proposed an automatic folding device that is equipped with a robot that cooperates with a press brake type folding machine and can thereby automatically fold a plate-shaped body. Such a proposed automatic folding device is disclosed in, for example, Japanese Patent Application Laid-open No. 130463/1983 published on October 9, 1979,
80) Japanese Patent Application Laid-open No. 55-484 published on April 7th
No. 25, to JP-A-55-54215, published on April 21, 1980, and JP-A No. 5, published on October 30, 1980.
No. 5-139121. In particular, Japanese Patent Application Laid-open No. 139121/1983 illustrates a concrete control of a robot.

In all of these conventional automatic folding devices, when positioning a workpiece or a plate-shaped body with respect to a folding machine, the plate-shaped body is gripped and positioned by a gripper. However, as the upper mold is lowered, the ends of the plate-shaped body spring up from the horizontal state, and therefore, it is impossible to perform the bending operation while holding the plate-shaped body with the gripper.

Therefore, conventionally, the plate-shaped body is positioned and gripped by a gripper until the upper mold comes into contact with the plate-shaped body, and then the gripper is released and the upper mold is further lowered to bend the plate-shaped body. Then, after bending, the plate-shaped body is gripped again at an appropriate position with a gripper, and the upper die is raised. The gripper then positions it for further folding or releases it once the folding is complete.

In such conventional methods, it is necessary to release the gripper from the plate-like object or to change the grip to another position. However, depending on the type of plate-shaped object, plastic deformation or bending occurs during the bending operation, and therefore the position where the plate-like object is gripped again by the gripper becomes unclear and deviates from the initially gripped position. This will result in a product with an incorrectly folded shape, so it is preferable not to twist or hold the gripper in the middle of the process.

OBJECTS OF THE INVENTION Therefore, an object of the present invention is to provide an improved automatic folding device for a plate-like object, which is capable of bending a plate-like object while being gripped by a gripper.

Summary of the Invention: In the automatic folding device according to the present invention, the gripper is configured to be positionable within a vertical plane in the front-rear direction of the folding machine and around a horizontal axis perpendicular to the vertical plane. . As the upper mold descends, the plate-shaped capital is displaced (jumps up). In order to make the gripper follow the displacement, the position of the gripper is sequentially controlled based on the lowering position information of the upper die. □ Effects of the Invention According to the present invention, there is no need to release or change the gripper's grip on the plate-shaped body during the bending operation, and the plate-shaped body can be gripped at a fixed position, so that the folded shape of the plate-shaped body can be easily adjusted. It can be done accurately.

The above objects and other objects and features of the invention will become more apparent from the following detailed description with reference to the drawings.

DESCRIPTION OF THE EMBODIMENTS FIG. 1 does not show the detailed structure of an embodiment of the present invention; ! ! FIG. Figure 2 shows the line IF- in Figure 1.
1 is a plan view seen from [. Here, FIGS. 1 and 2
The configuration of this example will be explained with reference to the drawings. The press brake type bending machine 11 has columns 3a and 3b at both ends in the width direction, and these columns 3a and 3
b are connected by a bed 5. Hi's bed 5
A lower mold 7a is mounted on top with its mold groove facing upward.

An upper mold 7b having a cutting edge facing the mold groove of this T-shape 7a is attached to the ram 9. The raising and lowering of this ram 9 is controlled by a control (not shown); OHΔ. Note that a small number of lower molds 7a and upper molds 7b each having a different mold groove or cutting edge shape are attached,
It may be configured such that any lower mold and upper mold can be selected as necessary.

On the front end surface of the press brake type folding machine 1 (left screen in FIG. 1), there is an engaging protrusion 5 extending in the axial direction of the bed 5.
a is formed. The robot sliding base 1 is attached to the engaging protrusion 5a.
The four engaging parts formed in 1 engage with each other. Therefore, the robot 1-sliding stand 11 is movable in the width direction (direction of arrow 13 in FIG. 2) with respect to the bending member 1. That is, a rack 6 extending in the width direction of the bend nl is formed on the front end surface of the bed 5, and the robot sliding table 11 is provided with a pinion 8 that meshes with this rack 6, and this pinion 8 is connected to a hydraulic motor 10. There is.

Therefore, by rotationally driving the hydraulic motor 10, the pinion 8 can be rotated, and the robot sliding table 11 can be slid along the bed 5 in the direction of the arrow 13.

A guide 15 is supported horizontally at the upper end of the robot slide table 11, and this guide 15 extends beyond the bed 5 of the folding II to the rear of the folding machine 1. An arm boulder or a sliding body 17 is supported by the guide 15 so as to be slidable in the rearward direction of the folding machine 1, that is, in the direction of the arrow 19 in FIG. One end of a t7-mem 23 is supported by a shaft 21 on the single moving body 1.7. Therefore, this arm 23 can be turned around the erection 21 in the direction indicated by the arrow 25 in FIG. A gripper 27 is provided at the other end of the arm 23. This gripper 27 is powered by a hydraulic motor 29
rotated by. The sliding motion of the 111.71 body or the arm boulder 17 is controlled by the hydraulic motor 31, and the rotation of the arm 23 is controlled by the hydraulic motor 33, respectively.

The gripper will now be described in detail with reference to FIGS. 3 and 4. Fixed claw 2 forming the gripper 27
7a and the movable claw 27b are housed in a box 37 fixed to the shaft 35 of the hydraulic motor 29.
is provided with an opening 37a, through which the tips of the two claws 27a and 27b protrude outward.

A guide 39 is provided within the box 37, and a slider 41 is supported by the guide 39 so as to be slidable in its length direction. The slider 41 has one end connected to an actuator 43 connected to the front inner wall of the box 37, and a fixing claw 27a is fixed onto the slider 41. A shaft 45 that rotatably supports the movable claw 27b is attached to the upper end surface of the fixed claw 27a. One end of the actuator 47 is connected to the lower end of the fixed claw 27a, and the other end of the actuator 47 is connected to the movable claw 27.
It is connected to the rear end of b. By actuating the actuator 43, the fixed claws 27a and 27b, that is, the gripper 27 is moved through the opening 37a of the box 37 in the direction indicated by the arrow 4.
It can appear in 9 directions.

Furthermore, by operating the actuator 47,
The movable claw 27b can be rotated in the direction of the arrow 51, and therefore the listening angle relative to the fixed claw 27a can be controlled.

Returning again to FIGS. 1 and 2, a carry-in conveyor 53 and a waiting conveyor 55 are provided in front of the press brake type folding station 1. The first suction conveyor 53 carries the plate-shaped body to the flashing conveyor 55. The standby conveyor 55 is
It is supported by a pantograph 57, which is bent and extended by an actuator 59.

A stopper 61 is provided at one end of the holding conveyor 55 for positioning the plate-like object by abutting against it. Also,
Features Supporters 63 are provided on both sides of the upper end of the conveyor 55 to hold the portion of the plate-shaped body held on the conveyor 55 that protrudes from the top of the conveyor 55. This supporter 63 is normally located at a position not shown by the actual line in FIGS. 1 and 5, but if necessary, the supporter 63 is moved to the position shown by the two-dot chain line in FIGS. It will be done.

In the example shown in Fig. 1 J and Fig. 2, a delivery conveyor, 6
．． 7 J3 and 1n output conveyors 69 are provided. The delivery conveyor 67 has a pantograph 73 which is bent and extended by an actuator 71 in the same manner as the waiting scale conveyor 55.
Supported by

Now, referring to FIGS. 6 to 10, the outline of the folding work performed on this self-help folding machine will be explained. First, a plate-like object or a workpiece 100 is carried onto the e-conveyor 55 by the carry-in conveyor 53, and then the workpiece 100 is carried by the conveyor 55.
0, the workpiece 100 is brought into contact with the stopper 61.

Therefore, the workpiece or plate-shaped body 100 is positioned and held on the holding conveyor 55.

The actuator 59 (FIG. 1) is actuated to extend the nozzle graph 57. Accordingly, the waiting condition l<755 is
It rises as shown by the two-dot chain line in FIG.

Then, the oil f motor 33 (Fig. 2) is operated, and the gripper provided at the tip of the arm 23 is moved up to the holding conveyor 55, as shown by the two-point chain in Fig. 6.
''The second workpiece 100 is rotated as far as possible. The hydraulic motor 31 is controlled as necessary to guide the arm holder lr' L/ffl moving object 17 to the guide 1.
5 to control the position of the gripper 27 relative to the workpiece (1) and the plate-shaped body 100. This state is shown in FIG. 47 is activated to grip a predetermined position of the workpiece 100 with the grip 1 knopper 27 (eighth position).

In this state, as shown in FIG.
is bent and positioned relative to the lower mold 7a and upper mold 7b of nl. That is, the hydraulic motor 33 (FIG. 2) is operated, and the workpiece 100 is placed on the lower mold 7a,
The arm 23 is positioned so as to be horizontal. At the same time, the hydraulic motor 31 is controlled to hold the arm holder 1.
Move 7. At this time, if necessary, the hydraulic motor 29 (FIG. 3) may be activated to rotate the gripper 270 from control 1 to roll. In this way, the workpiece 100 is positioned relative to the lower die 7a and the upper die 71+.

Thereafter, the ram 9 in the bending shadow 1 is lowered, and the workpiece 100 is bent by the upper die 7t+ and the lower die 7a as shown in FIG. At this time, workpiece 10
0 jumps up in the direction shown by the arrow 75 in FIG. 10 in response to the lowering of the upper die 7b. The feature of this invention is that the gripper 27 prevents the plate-shaped body 100 from jumping up during such a bending operation.
The grippers 27 can be used to bend the workpiece 100 one piece at a time. A series of folding operations as described above (Yo,
All are controlled by a microcontroller or microcomputer.

FIG. 11 is a schematic block diagram showing an electric circuit according to an embodiment of the present invention. The CPU 81 connects to the RAM via the bus 83.
85 and ROM 87. RAM85 is C
It is used to store data necessary for calculations in the PU81 (Td) and @control, and is stored in the ROM 87 (CP).
tJ 81 (J) Program the calculation procedure and store necessary fixed information such as information regarding the bending tool 1 and the workpiece. A console 89 is connected to the bus 83. This console 89 is used for remotely controlling the press brake type folding machine 1, the conveyors 55 and 67, etc., or for teaching the automatic folding machine, and includes a keyboard 91.This keyboard 91 is used in English. It includes numeric keys and function keys of various categories. Information or data inputted through the keyboard 91 is stored in the RAM 85 through the bus 83 and is also given to the CPLJ 81. The eight consoles have a display 93. data entered from the keyboard 91 and other CPL, i8
Display all the necessary information from 1. The console 89 has a cassette deck 95 so that external memory, such as magnetic data 7, can be used.
may be stored. A series of information on the bending, cropping, and destruction of the @species is recorded in the magnetic data 7, and the necessary data is read from there by the cassette deck 95, and the necessary data is stored on the magnetic tape. The cassette de C))
A press brake type bending device 1 is further connected to the bus 83 connected to the LJ 81, and the elevation of the upper die 7a, that is, the ram 9 is controlled. This folding ■1 contains information (described later) according to the elevation of the ram 9.
The encoder 1a which outputs the signal h) is connected to flG, and the information from this encoder 1a is given to the CPU 81 and RAM 85 through the bus 83'. Bus 83 has
Additionally, a hydraulic motor 10 and an actuator 43.4
7.59.65 and 71 are each connected through 3h appropriate interfaces. Therefore, these devices 10, 43.47, 59.65 and 71 also
81.

Hydraulic motors included in the robot 29.3'l and 33
respective positioning [1 & 97.99 and 10
1 is also coupled to bus 83. Positioning device R97, 9
9JffJ: and 101 are angles β and α, respectively, which will be described later.
and position xj.

Here, the information taught by using the console 89 41 will be explained using FIG. 12 as an example. 12th
In one example shown in the figure, ■, ■, ■, and ■ are respectively folded. Therefore, the positional information of each of these points Q:~■ is taught in the X-Y coordinate system. At the same time, for the sake of positioning, the positions 1n of points (2) and (2) at both ends of the workpiece 100 are also taught.

If there are multiple bending points, the bending order must be taught quantitatively. In the example of FIG. 12, the bending order is bending point C], ■
, ■ and ■. From the console 89, information about the workpiece 100, such as the thickness t of the workpiece 100, the slope (R1, and the slope material!1 (for example, pig iron, aluminum, etc.)) is also displayed. The board thickness t is especially necessary for the control that will be described later.Furthermore, if mold intersection n is required, enter the required mold F gff and its value. 4. The order of use is first input. Then, during the bending work, the mold suitable for automatic bending will be selected.

Figure 13 1 Mako's invention F! ! FIG. 3 is a diagram showing a model of the bending process that forms the theoretical basis. The tip of the upper mold 7b has a radius (
ru). Lower mold 7al
The top part of the side part that contacts the workpiece 100 is formed into an arc shape having a radius (rd>).The distance from the center of curvature of this top part to the center of the mold groove is Let the distance be (Sv). Let the plate ♀ of the workpiece 100 existing between the lower die 7a and the upper die 7FJ be (1),
A predetermined radius of curvature according to the lowering of the workpiece i o or i upper mold 71).

(R), which is bent into an arc shape.

The distance or height between the center of curvature at the tip of the upper mold 7b and the center of curvature at the top of the lower mold 7a is defined as (h). This height 1
Information regarding 1) is sent from the encoder 1a shown in 11-th to 19. As the upper mold 7b is lowered, that is, as the height 11) becomes smaller, the workpiece 100
jumps up from the horizontal state, and the angle at which it jumps up is (
θ).

Assuming such a model, the following equation (1) is obtained,
By transforming equation (1), equation (2) is obtained.

(R++1-ru) 2+w 2- (R-++-t +
rd) 2...(1) R2+ 2R(h -ru) +(r+ -ru) 2
+w 2-R2+2R(t +rd) + (t +r
d) 2...(2) On the other hand, from equations (3) and J: and equations (4) and (2), as shown in equation (5), the upward angle (θ) of the workpiece 100 is is expressed as a flash of height h) of the upper die 7b.

(R + t + rd) sin θ-sv ・
(3) (R+t +rti) cosθ−(R+l+
-ru) =-(4)θ =ta11-' (
VJ / (R-1-11-i”Ll)
)...(5) In the practical example of QT of this invention, taking into consideration the homology between the spring-up angle (θ) and the height of the upper die (h),
The following printing portion of the clipper 27 is made 11 by using the rebound angle (θ). For this reason, the above formula (5) J5
and the required data (ru, t.

rd, etc.) are stored as a table in the ROM 85 (FIG. 11).

Here, heat the image shown in Fig. 14 and adjust the following 1l of the gripper 27.
Find the position data (xi, yi) for iJ t2il.

In FIG. 14, the distance f0 between the center of curvature of the damaged part of the lower die 7a and the center of rotation of the gripper 27 is defined as (see). 1st
As shown in FIG. 4, when the workpiece 100 is bent by an upward angle (θ), point A moves to A'. From this FIG. 14, the position of the center of rotation of the gripper 27 (xi
, yi) is expressed by formula (6)% formula% (6) By substituting formula (5) into formula (6), this number n (x
It is clear that i, yi) can be respectively expressed as a function of the height of the upper mold 7b ("(h) (FIG. 12)).

In this invention, the position of the center of rotation of the gripper 27 is sequentially calculated according to changes in the height of the upper mold 7b, and the necessary angle and position of the control axis are calculated based on the calculated position information. It is possible to control hydraulic motors such as 29, 31 and 33, thereby allowing the gripper to hold the workpiece while performing the bending operation. It is something to do.

FIG. 15 is a model showing how the rotation center position rfl (xi, yi) of the gripper in the embodiment shown in FIGS. 1 and 2 is expressed. In FIG. 15, the length of the arm, that is, the distance from the center of rotation of the arm 23 (FIG. 1), ie, @21, to the center of rotation of the gripper 27 is (L). Then, in order to rest the center of the gripper 27 at position Fl (xi, yi), it is necessary to move the arm holder 17 zero along the guide 15 (Fig. 1).゛Let the position of 17 be (xj). The distance C between the rotation center of the arm 23 in the Ya direction and the origin is (yO).

From Fig. '15, the following formula (7) holds true, and therefore the position (Xj) of the arm holder 17 in the
It can be seen that it is expressed by the formula.

(xj-xi) 2+ (yi-yo> 2=12=
(7) xj=±r1-- (yi-yo)' +x
*...(8) From the above formula (8), arm holder 1
7 x 1iil! The digit 1i'ff1 (Xj) in the h direction is 2
Although there are several types, it is assumed here that one can be selected depending on the direction of the arm 23 relative to the Y-axis direction.

Further, the rotation center of the gripper 27 is set at a predetermined position (Xi,
yi) In order to sequentially control the position, the arm boulder 17
In addition to controlling the position (xj) of the arm 23, the angle (α) of the arm 23 and the angle of the gripper 27 relative to the arm (β
) must be controlled.

From FIG. 15, these angles (α) and (β) are obtained by the following equations (9) and (10).

tan a= (yi-yo) 7 (Xj-xi),
゛, α-tan-1(yi-yo) /(Xj-X
i)...(9)θ-tan-1yi/xi,°, β=θ-α=(tan ”yi/xi)-α...(1
0) From the above equations (8), (9) □ and (10), the position N (xi, yi) of the center of rotation of the gripper 27 is set to the position side gll? by following the upward movement of the workpiece. It can be seen that in order to obtain the angle j', the position (xj) of the arm holder 17, the angle (α) of the arm 23, and the angle (β) of the main body of the glial bar relative to the arm need to be determined. these(
xj), (α) and (β) are controlled by hydraulic motors 31, 33 and 29, respectively, in the embodiment shown in FIGS. 1 and 2.

16A-J3 and FIG. 168 are flowcharts for explaining the operation of the embodiment shown in FIGS. 1 and 2, that is, FIG. 14. In the first step 5101, C
PLI81 (FIG. 11) uses a robot to position the workpiece relative to the folding OS (press brake). The situation is shown and illustrated in FIG. Specifically, the CPU 81 controls the hydraulic motors 10, 29, 31, and 33! ! Based on the taught bending point information, the workpiece is positioned between the lower die 7a and the upper die 7b. Subsequently, in step 5103, the CPLJ 81 sets the contents k of the flag and counter provided in an appropriate area of the RAM 85, and the 4-fold flag is set according to the symbol (+) or -) in the equation (8). Set. For example, step 5101
When the arm 23 is positioned at , this flag is set to "1" and LtrOJ is set depending on whether the arm 23 is clockwise or counterclockwise with respect to the vertical i direction (the position shown in FIG. 1). In addition, the upper mold 7b is placed on the counter.
represent successive points to be positioned, and the upper mold 7b is successively positioned at each positioning point and finally lowered to a position corresponding to the required bending angle, etc. Initially, set to=1.

In the following step 5105, CP LJ 811;
! , the upper mold 7b is lowered to a position Yk corresponding to the value of INk set by the counter.
A command is given to the press brake-type folding (pu n1) through 3. In response, the press brake 1t lowers the ram 9 (Fig. 1), and therefore the upper mold 7b lowers. Ite, encoder 1a
(Fig. 11) h) Height of upper mold 7b h) (13th
Import the ↑5 reports corresponding to Figure). Then, at this height, it is determined whether the opening force 1 can be applied to the model explained in Fig. 14 (at A).
yoh≦ru+'t+"Judge whether or not d. (h) is (
ru+t+rd) means that the upper die 7b has not yet come into contact with the workpiece 100, and the above model cannot be applied, so the process jumps directly to step 5127. If h) is within the applicable 5 books, in the next step 5111, cp
uai expresses the position (xi, yi) of the center of rotation of the gripper 27 to be followed using equation (6). At this time, the jump angle (θ) is used, but this (θ
), the information (rU) required for equation (5),
(rd), (t) and (W) are each pre-programmed into ROM 87 by console 89. Also, (h) is obtained from the encoder 1a, and (fL)t, t, is already known when positioning the workpiece in step 5101. In the following step 5113, the CPLJ 81 determines that the flag is “
Check whether it is set to 1. This is (8
This is to select the symbol (+) or -) of the ) expression.

If the flag is set to "1", in the following steps S'11'5 and 5117, the symbol (+
) and calculate (xj) and (α) using equations (8) and (9), respectively.

If the flag is set to "0", step 511
9t3. and 8121, select the symbol (-) and use equations (8) and (9) to calculate (xj) and (α), respectively. If the flag is "1" or "
In either case, after calculating (xj) and (α), in the following step 5123, (β) is calculated using equation (10). And 1. In the next step 5125, the position of the arm holder 17 is determined (XJ
), a command is given to the drive circuit of the positioning device [l1ff99], a command is given to the drive circuit of the positioning device Fff101 to rotate the arm 23 at an angle (α), and the angle of the gripper body is changed to (β). ) A command is given to the drive 8@path of the positioning device 97 so that the positioning device 97 rotates. In this way, by causing the gripper 27 to follow the gripping point of the workpiece 100 as the upper die 7b descends, the workpiece can be bent while the gripper 27 grips the workpiece.

Thereafter, in step 5127, cpuai determines whether the upper die 7b has reached the eye position flYk. This can be determined by looking at the information from the servo system included in the bending tll. If, Y
If the k position has not been reached, the process returns to step 8107.

In the next step 5129, the CPU 81 controls the upper mold 7b.
It is determined whether or not it has reached the final target position Y. This can be determined by checking whether the content k of the counter provided in the RAM 85 is the number required for one bending operation.

If the upper die 7b has not yet reached the Dnth orange position EY, in step 5131, the CPLJ81 is stored in the RAM8
Increment the counter k in 5. Then, the process returns to step 8105.

If the upper die 7b has reached the final target position ffi'Y,
In the subsequent step 78133, the CPLI 81 gives a command to the servo system of the press brake 1, and the ram 9, that is, the 4
The lowering of the upper die 7b is stopped. When detecting that the upper mold 7b has stopped at the stencil 5135, the CPU 81 executes the following steps 8137, 5139, 5141j3 and 5143, and returns the upper mold 7b to its initial position δ, that is, the home position. In this way, tracking control of the center of rotation of the gripper 27 in the embodiment shown in FIGS. 1 and 2 is achieved.

FIG. 17 is a partially cutaway side view showing the main parts of another embodiment of the present invention, and particularly corresponds to FIG. 1. In this embodiment, another vertical guide 16 is supported on the guide 15 so as to be movable in the direction of an arrow 103, and the vertical guide 1
A moving body 28 provided with a gripper 27 is indicated by an arrow 10 at 6.
It is supported movably in five directions. Note that the gripper 27 attached to the moving body 28 is rotatable in the direction of the arrow 107. The positioning of the vertical guide 16 with respect to the guide 15 is controlled by a hydraulic motor 31.
The positioning of the movable body 28, that is, the gripper 27, relative to the gripper 27 is controlled by a hydraulic motor 333', and the rotation of the gripper 27 is II, 111 by a hydraulic motor 29 (FIG. 3), as in the previous embodiment. Zunawara, this 17th
In the illustrated example of a physical store, positioning and 97.9
Hydraulic motor 29.31J for 9 and 101 respectively:?
and 33' are included.

Figure 18 is a model representing the embodiment of Figure 1n17,
In this 11th example, the rotation center position R (Xl
The position of guide 1G with respect to node 15 (xJ) and guide 1
The position 1n (Vj) of the gripper 27 with respect to 6 and the rotation angle (β) of the gripper 27 are calculated as follows (11) and (
12) J: Calculated using equation (13).

xj=xi...(11)y
j=yi...(12)β-
90-〇 ...(13) Furthermore, (xi
), (yi) tJ3J: and (θ) are obtained from equations (6) and (5) in the same way as in the previous example.

FIG. 19 shows the control i! corresponding to the embodiment shown in FIGS. 17 and 18. 11 is a flow diagram for explaining the ll operation. FIG.

In the first step 5201, the CPU 81 (11th
(Fig. 3) are hydraulic motors 29 (Fig. 3), 31 and 33'.
The workpiece (plate) is positioned relative to the press brake by the robot. Next step 52
At 03, the counter k of the RAM 85 is set to 1. In step 5205, cpuai issues a command to the servo system (not shown) included in the bending 111 to lower the ram 9, that is, the upper die 7b.

Steps 5207, 5209 and 5211 are the same as those shown in FIG.
It is the same as 11. In this embodiment, the vertical guide 16 remains vertical and cannot be rotated, so there is no need to use a flag. Therefore, (xi) and (yi) obtained in step 5211 remain (xj),
(yj). Further, in the subsequent step 5213, the CPU 81 calculates (β) according to equation (13). In step 5215, the CPLJ 81 moves the positioning device 9 to move the vertical guide 16 to (xj).
A command is given to the drive circuit of the positioning device 101 to vertically move the moving body 28 in (yj), and a command is given to the drive circuit of the positioning device 101 to rotate the gripper angle to (β). gives commands to the drive circuit.

In this manner, also in the embodiment shown in FIG. 17, the point at which the gripper 27 is moving the workpiece 100 can be made to follow the bounce of the workpiece that occurs in response to the lowering of the upper die 7b. Therefore, the workpiece 100 can be bent while being bent by the gripper 27.

Note that step 8217゜521 in this FIG.
9.8221.8223.8225.32'27.82
29.8231tj (FS233 is the first
Steps 8127, 5129, 8131. shown in Figure 6B.
5133.8135.8137.5139. 'S'14
1J3J: Corresponds to 5143.

20th: The figure does not show the main part of a partially cutaway side view of still another embodiment of the present invention. In this embodiment, guide 15'
is supported at a predetermined position above the bed 5 of the folded vAl by a shaft 14 so as to be rotatable in the direction of the arrow 109. In addition, this @14 is the robot interface body 11.
It can be installed in A direct movable body 28' is supported by the guide 15' so as to be movable in the direction of arrow 111.

The gripper 27 attached to the moving body 28' is
It can be rotated in 3 directions. In such a practical example, the rotation of the guide 15' is controlled by a hydraulic motor 33'', the positioning of the movable body 28' relative to the guide 15' is controlled by a hydraulic motor 31', and the rotation of the gripper 27 is controlled by a hydraulic motor 31'. The rotation is controlled by a hydraulic motor 29 (FIG. 13). In this embodiment, therefore, the positioning devices 97.99 and 101 shown in FIG. will be included.

Fig. 21 is a model of the embodiment shown in Fig. 20.e In Fig. 21, the distance from the rotation center (fil114) of the guide 15' to the rotation center of the gripper 27 is (L), and the rotation of the guide 15' is Let the position 3 of the center of motion in the Y-axis direction with respect to the origin be (yO), the angle α of the guide 15' be (α), and the angle of the gripper 27 with respect to the 8rJJ body 28' be (β), then (α>, (L) OJ: and (β) are each (14
), (15), and (16).

[ana = (yt −yo) /xt, °,
α−Lal+ −+ (yt −yo) /xi・(1
4) O5U =, Xt/L, +, l = xi/cos a
−(15) β−θ−α ・・
- (16) Figures 22A and 22B are flowcharts for explaining the work of this third embodiment. At 8315 and 5317, (α), (L)jj and (β) are determined, respectively, and step 53
The value (α) was determined in 19.

(L) and β) (excluding the fact that the drive circuit is rapidly controlled) is almost the same as the flowchart shown in FIG. 16A and FIG. The explanation will be omitted.

No. 231 shows main parts of other embodiments of this invention 1 f
In FIG. 23, which is the parent diagram, only the lower die 7a, upper die 71+, and ram 9 provided on the press brake type folding plate 1 are shown. In this case, a pair of loading bolts are placed at both ends of the bend n'1 in the width direction, as in the previous actual opening example.
Kisaga is placed. In FIG. 23 □, the illustration of the three delivery-side robots stored behind the folding machine 1 is omitted, but it should be pointed out in advance that the robots on the delivery-side have the same configuration. In front of the bend tNl, a guide 215 is arranged that extends in the front-rear direction of the bend υ11, that is, in the direction of the arrow 115. A movable body 218 is supported by this guide 215 so as to be movable eight times in the direction of arrow 1'15. A gripper 227 is attached to this movable body 218, and a supporter 263 that can support a plate-like object or a workpiece is attached thereon. The position of this supporter 263 is controlled by a ζ actuator 265. It goes without saying that the actuator 265 is also attached to the i-moving body 218 so that it can move integrally therewith. The moving body 218 is controlled to move in the direction of arrow 115 by a hydraulic motor 231. In other words, although not shown in the figure, the hydraulic motor 231 has a pinion. i''g, this pinion meshes with a rack (not shown) (provided along the guide 215). Therefore, in accordance with the rotation of the hydraulic motor 231,
Guide 215 by rack and bunion (not shown)
A moving body 218 moves above in the X-axis direction. Furthermore, without extending the actuator 265, the supporter 263 is in the state shown in the figure, so that the plate-like body 1 is placed on the supporter 263.
00 can be supported. If actuator 26
If 5 is shortened, the supporter 263 is returned to its home position □. A borrowed supporter 264 similar to the supporter 263 is also provided near the rear end of the guide 215 . This supporter 264 is fixed in the X direction. The state or position of the supporter 264 is controlled by an actuator 266 provided between the supporter 264 and the guide 215.

A stopper 261 is provided at the rear end of the guide 215. This stopper 261 is attached to be rotatable in the direction of arrow 116 by @ (not shown). Then, rotate this stopper 261, and the stopper 261 and guide 2
It is controlled by an actuator 262 provided between 15 and 15. This actuator 262 is not controlled by a servo system.

A guide 205 is provided in front of the folding machine 1 in parallel with the width direction of the folding machine 1, and a rack 206 is arranged in parallel in relation to this guide 205.
06 is engaged with a binion 210, and this binion 2
10 is connected to the shaft of a hydraulic motor 210. This hydraulic motor 210 is fixed to a column 211. Therefore, this binion 210 is shown along arrow 1 along rack 206.
In response to the displacement in the 1 and 9 directions, the support column 211 is controlled to move in the direction of arrow 119, that is, in the Y-axis direction.

Further, an elevating body 212 is supported by the support column 211 so as to be movable up and down in the direction of arrow 121 (Z direction). This elevating body 21
2 is attached to the lower part of the bed 5 of the folding stand 1, for example, and is raised and lowered relative to the support column 211 by a hydraulic motor 214 via a known transmission line 39a (not shown).

At the upper end of the elevating body 212,! l'j1221
The guide 215 can be rotated in the direction of the arrow 117 by
I will support you. Two actuators 233 and 234 are connected between the guide 215 and the elevating body 212, so that the actuators 233 and 234 control the rotation of the guide 215 in the direction of arrow 117. The actuators 233 and 234
It is controlled by a hydraulic circuit as shown in Figure 7.

FIG. 27 is a diagram showing an example of a hydraulic circuit for rotating the guide 215. Pipe line 1 extending from oil tank 131
33 is a 4-point 1-2 position cut n via a hydraulic pump 135.
Connected to valves 137 and 139. Conduits 141 and 143 are connected to switching valves 137 and 139, respectively. A pipe line including a relief valve 144 is connected between the pipe lines 133 and 143. 4-bottom 2-position switching valves 137 and 139 are connected to cylinders 233a and 23, respectively.
4a, and the respective cylinders 233a and 2
Pistons 233b and 234b are provided within 34a. These pistons 233b and 234b have the same diameter. However, pistons 233b and 234b
The culms (strokes) are different.

Such a hydraulic circuit allows the actuators 233 and 234 to assume a total of four states or positions and to rotate the guide 215 through specific angles, such as 0°, 30', 456° and 60°. . Note that the relief valve 144 is set to such an extent that a force that pushes up the workpiece is applied to the workpiece.

Note that the gripper 227 attached to the moving body 218 is
It may be of the same configuration as shown in FIGS. 3 and 4, controlled by a hydraulic motor 29. Therefore, the gripper 227 is moved by the motor 29 (FIG. 3) by the arrow 1
It can be rotated in 23 directions.

Further in front of the robot, a plate-shaped body, that is, a workpiece 100 is placed in a filt layer on a trolley (not shown). Above this stacked plate-like body, a single-sheet picking means 12 is provided.
5 is provided. This one-piece picking means 125 is attached, for example, with a vacuum pad 125a facing downward, and the workpieces 100 are sucked by the vacuum pad 125a and taken out one by one. Although not shown, this one-sheet picking means 125 can move up and down in the direction of arrow 127, and can also move in the direction of arrow 129. Therefore, the single-piece picking means 125 moves in the direction of the arrow 129 while holding the plate-shaped body 100 on the vacuum pad 125a, and places the workpiece 100 on the supports 263 and 264 provided on the robot.

Next, referring to FIGS. 24 to 26, this
The outline of the bending operation in the illustrated embodiment will be explained.

When the plate-like object or workpiece 100 is placed on the supporter 263 and 264 as described above, the single-piece picking means 125 is returned to its original position, and then the guide 21
5 is rotated around the fulcrum 221 to the state shown in No. 24r21. Therefore, supporters 263 and 26
One end of the workpiece 100 placed on the stopper 261 contacts the stopper 261.

Subsequently, as shown in FIG. 25, the guide 215 is returned to the horizontal state, and the movable body 218 is moved by the motor 231. At the same time, the actuators 43 and 47 (FIG. 3) are controlled so that the gripper 23 grips the workpiece 1.
Drink 00. By controlling the positions of the movable body 218 and the elevating body 212, the workpiece 100 is moved to the lower die 7a and the upper die 7.
Position with respect to b. In addition, in this state, the stopper 261 is lowered by the actuator 262 and is in the R state.
(home position).

After that, the ram 9 of the bending ai is lowered, and the upper mold 7 is
b goes down. A bending load is applied to the positioned workpiece 100 by the upper mold 7b and the lower mold 7a, so that the workpiece 100 is moved from the horizontal position F,)
It rises (Figure 26).

Then, the center of rotation of the gripper 27 is sequentially positioned so as to follow the upward movement of the workpiece 100.

28A and 28B are models showing the embodiment of FIG. 23. FIG. 28B is an enlarged version of FIG. 28A. Let (θ) be the angle at which the workpiece 100 gripped by the gripper 27 jumps up in response to being bent and raised by the upper die 7a. Let (RO) be the distance between the rotation center of the gripper 227 and the rotation center 221 of the guide 215, and let (RX) be the distance between the rotation center of the gripper 227 and the rotation center 221 of the guide 215. The distance between the bending point and the rotation center 221 of the guide 215 (see 0)
The Y@force direction position of the rotation center 221 of the guide 215 is (VO) $3 and (Vj).

(yO) indicates the workpiece 1oot, that is, the 0 position where the guide 215 is in a horizontal state, and (yj) indicates the workpiece 1oot.
The position when 00 is folded is not shown.

In Fig. 28B, (y view) indicates the Y @ force direction distance of the workpiece 100 at 15Lta corresponding to the center of rotation of the guide 215, and (Vk) represents the difference between (yj> and (y view) (rx) indicates the distance from the bending point to the position corresponding to the rotation center 221 of the guide 215, and (rx
') reaches the flip-up angle (θ), and the guide 21 caused by the distance rByO between the guide 215 and the workpiece ioo
The longitudinal displacement M of 5 is shown.

From FIGS. 28A and 28B, it can be seen that the following equations (17), (18), and (19) hold true in the embodiment of FIG. 23, respectively.

,゛, RX =RO+ lo -rx+rx'
−(18)yj=V u−yk+yo
- (19) (17), (18) and (19) are arranged, the position of the rotation center 221 of the guide 215 in the Y1 direction is (yj), and the position of the movable body 218 in the X-axis direction is ( R
X) and (20) J3 J: and (21)
) is given by the formula.

yj= rbo tanθ−(yo/cosθ)+
y.

...(20> RX = RO+ io - (IJ, o 7 cos θ)
+yOjanθ (21) Note that, as is clear from the above equation (5), .(θ) is a function of the height 11) of the upper die 7b. Therefore, the control elements (yj) and (RX) can be determined by determining the jump angle (θ) based on the information on the height h).

In this embodiment, the bus 83 shown in FIG. 11 is connected to an actuator for rotating the guide 215, that is, a circuit for driving the cutoff valves 137 and 139 (FIG. 27). The circuit has c p u
A command is given from a' i. Further, a hydraulic motor 214 for controlling the position 1i (yj) of the elevating body 212 and a hydraulic motor 231 for controlling the position (Rx) of the movable body 218 are connected to positioning devices 99 and 97 (
(Fig. 11).

FIG. 29Δ and FIG. 29B are first flow diagrams explaining the operation of the embodiment of FIG. 23. In this embodiment, in steps 5411, 5413 and 5415 shown in FIG. 29A, (θ), (Vj) and (RX) are obtained, respectively, and follow-up control is performed in step 5417. and almost similar to FIG. 16B, and here these steps 5
Only 411 to 5417 will be explained.

In step 5411, the jump angle (θ) of the workpiece is determined based on equation (5). And step 5413
Then, the position (yj) of the rotation center 221 of the guide 215 in the Y-axis direction is determined based on the determined (θ) and other data.

Then, in step 5415, the digit II (RX) of the mobile object 218 is determined. In step 5417, first, according to the angle to be bent (this has been taught in advance), the actuator 2 shown in FIG.
Select one of 33 and 2340 pairs and select the corresponding 4
A command is given to port 1 to switching valve 137 or 139.

In this case, the guide 215 is set at, for example, 0°, 30',
It is tilted or rotated either 45' or 6oo. Subsequently, cpusi gives a command to the drive circuit of the positioning device 97 in order to set the position of the elevating body 212 in the Y-axis direction to (yj) by 80 degrees. At the same time, the moving body 218
A command is given to the drive circuit of the positioning device 99 to move the position to (RX).

As described above, the workpiece or plate body jumps up depending on the height of the upper die during folding, but according to the present invention, the position of the gripper means can be controlled so as to follow such jump up. In order to do this, the workpiece is folded while being gripped by the gripper means.
I can do E. Therefore, there is no need to change the grip of the workpiece using the gripper means, and the control is simple. Moreover, since the workpiece remains gripped by the clipper means during the bending operation, the workpiece can be bent with great precision.

In each of the embodiments described above, the workpiece is gripped by the gripper means during each of the series of bending operations, that is, during the positioning and bending operations of the workpiece. However, the invention may be such that the workpiece can be gripped by gripper means at least during the folding operation. Therefore, for example, when a turntable is installed below the middle between the left and right guides 215 and a bending operation is performed in different bending line directions, the workpiece is folded along the bending line in the same direction, and then the gripper means is released and the workpiece is placed on the turntable. The apparatus may be such that the workpiece is placed in a position, rotated by a turntable, gripped and positioned by clipper means at a suitable position in the direction of another folding line, and then folded. The key point is that during the bending operation, the upper die applies a bending load to the workpiece! The gripper means grips the workpiece when
It is fine as long as it remains silent.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway side view showing an embodiment of the present invention. FIG. 2 is a plan view taken along line 11-1 in FIG. 1. FIGS. 3 and 4 are diagrams showing the gripper means in detail, with FIG. m3 showing a partially cutaway front view thereof and FIG. 4 showing a partially cutaway plan view thereof. FIG. 5 is a diagram illustrating the haiku of the supporters provided on the Samurai conveyor. 6, 7, and 8 are diagrams for explaining the operation of the gripper means gripping a workpiece in the embodiment shown in FIG. 1. FIG. 9 shows the positioning of the workpiece. Figure 10 shows folded phrases. FIG. 11 is a block diagram showing a practical example of the electric circuit of the present invention. FIG. 12 is a diagram showing an example of a workpiece to be bent. FIG. 13 is a model that does not show the relationship between the upper die, the lower die, and the workpiece during the bending operation. FIG. 14 is a model for determining the position of the gripper means to be controlled. FIG. 15 is a model for obtaining data necessary for controlling the embodiment shown in FIG. FIGS. 16A and 16B are flowcharts for explaining the operation of the embodiment shown in FIG. 1. Fig. w117 is a main part of a partially cutaway side view showing another embodiment of the present invention. FIG. 18 is a model for obtaining data necessary for controlling the embodiment shown in FIG. 17. FIG. 19 is a flow diagram for explaining the operation of the embodiment shown in FIG. 17. FIG. 20 is a partially cutaway side view showing the main part of still another example of the present invention. FIG. 21 is a model for obtaining necessary data in the control of the embodiment shown in FIG. 22AIffl and 22B are flowcharts for explaining the operation of the embodiment in FIG. 20. Fig. 231 is a perspective view showing the main part of another embodiment of the present invention. FIG. FIG. 27 shows an example of the hydraulic rotation Fδ of the actuator for rotating the guide. 28A and 28B are models for obtaining data necessary for control in the embodiment of FIG. 23. 29A and 298 are flowcharts for explaining the operation of the embodiment of FIG. 23. In the figure, 1 is press brake type bending n17a1
．． 1 lower mold, 7b upper mold, 27 gripper, 29°31.
33. 31', 33', 33'', 210 indicate oil 1 ■ mother - evening.

Claims (2)

[Claims] (1) A folding machine having a lower die and an upper die for folding a plate-shaped body, and a gripper disposed at least in front of the folding machine to grip the plate-shaped body, and the gripper is attached to the folding machine. Positioning is possible within a vertical plane in the front-rear direction and around a horizontal axis perpendicular to the vertical plane, and the portion of the plate-shaped body gripped by the gripper springs up as the upper die descends, and the plate-shaped body An automatic plate-shaped object folding device, comprising means for calculating a follow-up position of the gripper with respect to the springing up of the body, and means for controlling the position of the gripper according to the calculation result. (2) Means for generating information regarding the position of the upper mold;-4 The calculating means includes means for calculating the spring-up angle of the plate-like body from the information regarding the position of the upper mold, and the angle calculating means. From the calculated jump angle, the necessary control l element PI
An automatic plate-shaped body folding device according to claim 1, which includes means for counting by four.