JPS632688B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device that grips and positions a plate-shaped body from the left and right sides using a grip, and automatically folds it into multiple pieces as desired using a press brake type folding machine.

Conventionally, when arbitrarily bending both ends of a plate-shaped object such as a steel plate, the plate-shaped object is manually turned around the left-right axis, or the front and back sides are left as is, and the front and back directions are changed, and then the bending machine is used. It is positioned against and bent. Therefore, especially when the plate-like object is large and heavy, a plurality of workers are required for one bending machine, and the work efficiency is extremely low.

This invention has been made in view of the above-mentioned circumstances, and examples will be described in detail below. For the sake of explanation, the first,
In Figure 2, the left side will be referred to as the front of the press brake type bending machine, and the right side will be referred to as the rear thereof.

1...A known press brake type bending machine,
1a is a fixed mold on the lower side, and 1b is a vertically sliding mold on the upper side.

A: A plate-like object positioning robot placed in front of the bending machine 1, and in this embodiment, the robots are placed facing each other on the left and right sides. The configuration of this robot A will be explained below: 2. It is a base that is installed on the floor and has a guide 2a in the left and right direction.

3, 4: Main bodies supported on the base 2 and guided by the guide 2a, each of which is configured to be fixable to the base 2 at an arbitrary position.

5, 6... Supported by each main body 3, 4, driving source 7,
8 are moving bodies that move in the front and rear directions.

9, 10: First members (elevating bodies) supported by the movable bodies 5, 6 and movable in the vertical direction by drive sources 11, 12 (12 not shown).

13, 14...These are second members (moving members) that are supported by each of the elevating bodies 9, 10 and closer to the bending machine 1 side, and can be moved in and out of the left and right directions by a known drive source (not shown).

15, 16... Supported by each moving member 13, 14 and closer to the bending machine 1 side, drive source 17, 18
It is a rotating body that can be rotated around axes 19 and 20 in the left and right directions.

21, 22... Grip devices attached to each rotating body 15, 16. 21a and 22a are rotating bodies 1
5 and 16, and its tip portions are formed as first claws 21b and 22b. 21c and 22c are grip bodies 21a and 2
The actuator 21 is supported by
It can be rotated by e and 22e, and has a claw 21 at the tip.
b, 22b are the second gripping surfaces having a right angle direction.
It is a rotating member equipped with claws 21f and 22f. 21
g, 22g are supported by rotating members 21c, 22c, and are rotatable by actuators 21i, 22i around axes 21h, 22h that are perpendicular to the axes 19, 20 and 21d, 22d, and are rotatable by actuators 21i, 22i.
This is a third claw having a gripping surface parallel to 22f.
Then, the first grip G ₁ ,
G ₁ ′ is also connected to the claws 21f, 22f and the claws 21g, 22
g constitute second grips G ₂ and G ₂ ', respectively.

The device A is configured by the configurations 2 to 22 above.

23...This is a left-right rail installed on the floor behind the bending machine 1, along which the trolley 24 carrying the plate-shaped body W can run.

25...This is a conveyor device in the front and back direction arranged between the folding machine 1 and the rail 23, and is divided into left and right sides as shown in FIG. 25a is a driving source for the device 25.

26...This is a single plate-like object picking device which is disposed between the rail 23 and the conveyor device 25 and is designed to transfer the plate-like objects W on the trolley 24 onto the conveyor device 25 one by one. This embodiment device 26 is supported by an upper swing link 26b' of a known parallelogram link mechanism 26b which is rotated by an actuator 26a, and includes a member 26d which is moved up and down by an actuator 26c, and a member 26d suspended from this member 26d. It includes a plurality of downward suction cups 26e.

27... A plate-shaped body positioning means attached to the left and right ends of the front part of the conveyor device 25, which includes a left and right guide 27a for the plate-shaped body W conveyed by the conveyor device 25, and a front end locking piece of the plate-shaped body W. 27b.

28...This is a conveyance device which is arranged between the folding machine 1 and the conveyor device 25 and conveys the plate-shaped body W on the conveyor device 25 positioned by the means 27 to the vicinity of the rear of the mold 1a. This embodiment device 28
The upper swing link 2 of a known parallelogram link mechanism 28b is rotated by an actuator 28a.
A horizontal table 28c is fixed to 8b'.

29...This is a conveyor device in the front-rear direction that is placed in front of the folding machine 1 and between the left and right robots A, and is divided into left and right parts as shown in FIG.

30...Disposed between the folding machine 1 and the conveyor device 29, the table 30 is moved by a drive source (not shown).
This is an elevating device that can raise and lower a. 30b is a guide member for the table 30a. Note that the table 30a
The upper end stop position is at a position where its upper surface is approximately at the same height as the upper end of the mold 1a, and the lower end stop position is at
The upper surfaces thereof are set at positions below the upper surface of the conveyor device 29, respectively.

31...A well-known general-purpose computer, including a bending machine 1,
Robot A, devices 25, 26, 28, 29, 30
can be controlled.

Further, the operation of this embodiment will be explained. In this embodiment, the explanation will be given assuming that the plate-like body W is bent into a square shape.

It is now assumed that each component exists at the solid line position in FIGS. 1 to 4. When the computer 31 is operated, the actuator 26c first extends and the suction cup 26
e descends to the position indicated by the two-dot chain line 26e' in FIG. Then, the uppermost plate-shaped body W is sucked by the suction cup 26e.

Next, the actuator 26c contracts, and after lifting the adsorbed plate-like object W, the actuator 26a contracts, and the device 26 rotates to the position 26' shown in two-dot chain line in FIG. 1, and then the actuator 26c extends. , the adsorbed plate-shaped body W is placed on the rear upper surface of the conveyor device 25. And the plate-shaped body W by the suction cup 26e
After that, the device 26 is returned to the position shown by the solid line in FIG.

Next, the conveyor device 25 is driven by the drive source 25a, and the plate-shaped body W is conveyed forward. Then, during this conveyance, the plate-shaped body W is guided by the guide 27a on the left and right sides, and the front end finally comes into contact with the locking piece 27b. That is, in the front part of the conveyor device 25, the left and right, front and back positions of the plate-shaped body W with respect to the conveyor device 25 are determined as shown by solid lines in FIG. After that, the drive source 25a is stopped.

Actuator 28a then extends and device 28
is rotated to the position indicated by the two-dot chain line in FIG. At this time, the plate-shaped body W positioned on the conveyor device 25 is transferred to the table 28c.

Next, each drive source 7, 8, 11, 1 of robot A
2, 17, 18, etc., the grip device 2
1 and 22 are positioned on the left and right sides of the front end of the plate-like body W as shown in FIGS. 6 and 7.

Next, the actuators 21e and 22e are contracted to rotate the members 21c and 22c counterclockwise in FIG. 4, so that the grips G ₂ and G ₂ ' are positioned at the two-dot chain lines in FIG. Moreover, the actuator 21i,
22i contracts and rotates the claws 21g and 22g to the two-dot chain line position in FIG. That is, each grip G ₁ ,
G ₁ ′, G ₂ , and G ₂ ′ are all open.

Next, a drive source (not shown) causes the members 13 and 14 to protrude and move toward each other in the left-right direction as shown in FIG. At this time, the left and right portions of the front end of the plate-shaped body W exist between the claws 21f, 22f and the claws 21g, 22g.

Next, the actuators 21i and 22i extend to move the plate-shaped body W between the claws 21f and 22f and the claws 21g and 22g.
Seize by. That is, the plate-like body W is gripped by the grips G ₂ and G ₂ '. Thereafter, the actuators 21e and 22e extend to return the grips G ₂ and G ₂ ' to their original positions shown by the solid lines in FIGS. 3 and 4. Then the ninth
As shown in the figure, the front end of the plate-shaped body W has claws 21b and 22b.
The grip position of the plate W by the grips G ₂ and G ₂ ' is determined. That is, the position of the plate-like object W with respect to the conveyor device 25 was once determined by the means 27, but when it is transferred to the table 28c, the plate-like object W is not necessarily placed at a fixed position on the table 28c. ₂ ,
If the plate-shaped body W is only grabbed with G ₂ ′, the gripping position is inaccurate. Therefore, by using the claws 21b and 22b as back gauges, the gripping position can be accurately determined.

Next, as shown by the solid line in Fig. 10, the grip device 21,
22 to determine the bending position of the plate-shaped body W with respect to the bending machine 1. At this time, since the plate-like body W is also supported by the table 30a, the plate-like body W does not bend due to its own weight, and the bending position is determined accurately.

Next, the mold 1b is lowered to the position indicated by the two-dot chain line in FIG. 10, and the plate-shaped body W is temporarily sandwiched between the molds 1a and 1b.

Next, the actuators 21i, 22i contract and the grips G ₂ , G ₂ ' open, and the grips G 2 , G _{2 '} open.
The grip of the plate-shaped body W by G ₂ ' is released. Thereafter, the members 13 and 14 are retracted and moved away from each other.

Next, as shown in FIG. 11, the mold 1b is lowered and the plate-shaped body W is bent. After that, the table 30a is lowered.

Next, position the grip devices 21 and 22 in the positions shown in FIG. 12, close the grips G ₂ and G ₂ ', and
G ₁ and G ₁ ' are opened, and the members 13 and 14 are moved to protrude toward each other, and the left and right sides of the plate-shaped body W are placed between the claws 21b and 22b, and the claws 21f and 22f and 21g and 22g. After making it exist, the grip
Grip the plate W with G ₁ and G ₁ ' closed.

Next, after raising the mold 1b, the grip device 2
1 and 22 are positioned at the solid line positions in FIG. 13, and the bending position of the plate-shaped body W with respect to the bending machine 1 is determined.

Next, the mold 1b is lowered to the position indicated by the two-dot chain line in FIG. 13, and the plate-shaped body W is sandwiched between the molds 1a and 1b.

Next, the grips G ₁ and G ₁ ' are opened to release the grip on the plate-like body W, and then both members 13 and 14 are retracted and moved in a direction away from each other. Then, as shown in FIG. 14, the mold 1b is lowered and the plate-shaped body W is bent.

Next, the grips 21 and 22 are placed in the position shown in FIG.
2b, claws 21f, 22f and 21g, 22g
exist between. Then, grip the plate W by closing the grips G ₁ and G ₁ '.

Next, after raising the mold 1b, the grip device 2
1 and 22 are positioned at the solid line positions in FIG. 16, and the bending position of the plate-shaped body W with respect to the bending machine 1 is determined.

Next, the mold 1b is lowered to the position indicated by the two-dot chain line in FIG. 16, and the plate-shaped body W is sandwiched between the molds 1a and 1b.

Next, the grips G ₁ and G ₁ ' are opened to release the grip on the plate-like body W, and then both members 13 and 14 are retracted and moved in a direction away from each other. Then, as shown in FIG. 17, the mold 1b is lowered and the plate-shaped body W is bent.

Next, the grip devices 21 and 22 are placed in the position shown in FIG.
b, 22b and claws 21f, 22f and 21g,
22g, then the grip G ₁ ,
Grasp the plate-shaped body W with G ₁ ' closed.

Next, as shown in FIG. 19, the mold 1b is raised and the table 30a is also raised. Then, the grip devices 21 and 22 are positioned as shown in FIG. 19, and the plate-like body W is placed on the table 30a.

Next, the grips G ₁ and G ₁ ' are opened to release the grip on the plate-like body W, and then both members 13 and 14 are retracted and moved in a direction away from each other. Then, as shown in FIG. 20, when the table 30a is lowered, the plate-shaped body W is placed on the conveyor device 29.
9 to be carried out to the outside.

In the above manner, the plate-shaped body W on the trolley 1 is
Each sheet is automatically folded into a square shape using a folding machine and transported outside.

Note that if the left-right dimension of the plate-shaped body W is changed,
The main bodies 3 and 4 may be moved along the guide 2a to correspond to the dimensions thereof.

The above description is an example, and for example, the first member 9,
10 may be positioned in a vertical plane in the front-rear direction using not only rectangular coordinates but also polar coordinates or cylindrical coordinates. Further, the main bodies 3 and 4 can be positioned with respect to the base 2 by a driving source, that is, the first members 9 and 1
0 may be positionable in three dimensions. It goes without saying that the technical scope of the present invention also includes the replacement of each component with equivalents.

As described above, the present invention has the following features: (1) the claws 21b, 22b, 21f, 22f;
Since two types of grips G ₁ , G ₁ ′ and G ₂ , G ₂ ′ are formed by three types of claws of 1 g and 22 g, the grip devices 21 and 22 can be made small and compact. First claws 21b, 22b and second claws 21f, 2
2f and the third claw 21g, 22g.
A second grip consisting of grips G ₁ , G ₁ ', second claws 21f, 22f and third claws 21g, 22g.
Although the plate-shaped object W can be gripped by either G ₂ or G ₂ ′, the reason why two sets of grips are provided in this way is when the plate-shaped object W is first placed on the bending machine 1. This is to accurately determine the gripping position.

That is, the second grips G ₂ and G ₂ '
The first claws 21b, 22b are used as back gauges by rotating this grip and bringing the plate-shaped body into contact with the gripping surfaces of the first claws 21b, 22b, and gripping the plate-shaped body W. The position can be determined accurately. Therefore, when the plate-like object W is placed on the bending machine 1, the bending is performed at an accurate position by a very compact mechanism.

(2) Since the grip devices 21 and 22 mentioned in (1) above are small and compact, both molds 1a and 22 of the bending machine 1 can be
Grip devices 21 and 2 are also provided in the left and right space portions of 1b.
2 can be positioned. That is, since the grip devices 21 and 22 can also be positioned behind the molds 1a and 1b, the robot A
By simply arranging the folding machine 1 only in front of the folding machine 1, the front and rear ends of the plate-shaped body W can be folded in multiple directions in different directions.

(3) The first members 9 and 10 support the second members 13 and 14 that appear and retract in the left and right direction, and the second members 13 and 1
4 supports rotating bodies 15 and 16 that rotate around left and right axes 19 and 20, and the rotating bodies 1
Since the aforementioned small and compact grip devices 21 and 22 are attached to the first members 9 and 10,
The rotating bodies 15, 16 are supported by the rotating bodies 15, 1.
The rotation diameter of the rotating bodies 15, 16 becomes smaller than that in the case where the second members 13, 14 are supported by the second members 13, 14 and the grip devices 21, 22 are attached to the second members 13, 14. Therefore, since the rotating bodies 15 and 16 can also be present in the left and right spaces of both the molds 1a and 1b, the grip devices 21 and 22 can be attached to the molds 1a and 1b.
When the rotating bodies 15 and 16 are positioned behind the folding machine 1, the rotating bodies 15 and 16 do not collide with the folding machine 1.

[Brief explanation of the drawing]

Each of the figures shows an embodiment of the present invention.
The figure is a schematic side view of the entire longitudinal section, and Figure 2 is the same as Figure 1.
A sectional view in the direction of arrows, FIG. 3 is an explanatory diagram of the grip device,
Figure 4 is a cross-sectional view taken along arrows 5 to 20 of Figure 3.
The figure is an explanatory diagram of the action. In the figure, 1...press brake type bending machine, A...plate positioning robot, 9, 10...
...First member, 13, 14... Second member, 15, 1
6... Rotating body, 19, 20... Axis, 21, 22...
...grip device, 21b, 22b...first claw, 2
1c, 22c... Rotating member, 21d, 22d...
1st shaft, 21f, 22f...2nd claw, 21g, 2
2g...Third claw, 21h, 22h...Shaft, G ₁ ,
G ₁ ′...first grip, G ₂ , G ₂ ′...second grip.

Claims (1)

[Claims] 1. A press brake type bending machine and a plate positioning robot disposed in front of the bending machine, and the positioning robot is configured to be positioned at least within a vertical plane in the front and back direction. a first member supported by the first member and capable of moving in and out in the left-right direction; a rotating body supported by the second member and capable of rotating around an axis in the left-right direction; a grip device attached to the rotating body, the grip device is supported by a first claw at the tip of the rotating body and is rotatable about a first axis perpendicular to the left-right direction; a rotating member having a second claw having a gripping surface perpendicular to the first claw at the distal end; and an axis supported by the rotating member and perpendicular to the left-right axis and the first axis. a third pawl that is rotatable about the second pawl and has a gripping surface parallel to the second pawl;
and a third pawl constitute a first grip, and the second pawl and the third pawl constitute a second grip, respectively. 2. The plate-like object automatic bending device according to claim 1, wherein the plate-like object positioning robots are arranged to face each other on the left and right sides.