WO2009072661A1 - Procédé et appareil de pliage par robot - Google Patents

Procédé et appareil de pliage par robot Download PDF

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Publication number
WO2009072661A1
WO2009072661A1 PCT/JP2008/072362 JP2008072362W WO2009072661A1 WO 2009072661 A1 WO2009072661 A1 WO 2009072661A1 JP 2008072362 W JP2008072362 W JP 2008072362W WO 2009072661 A1 WO2009072661 A1 WO 2009072661A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
robot
gripper
bending
ram
Prior art date
Application number
PCT/JP2008/072362
Other languages
English (en)
Japanese (ja)
Inventor
Ichio Akami
Takayuki Aoki
Original Assignee
Amada Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2008305754A external-priority patent/JP5196566B2/ja
Application filed by Amada Co., Ltd. filed Critical Amada Co., Ltd.
Publication of WO2009072661A1 publication Critical patent/WO2009072661A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Definitions

  • the present invention relates to a bending method using a mouth bot and an apparatus therefor in an automatic machining system in which a bending machine equipped with a punch and a die and a robot are combined.
  • the workpiece W that has been bent is taken out by the robot.
  • the gripper G of the robot is positioned at the target angle (eg 90 °) and the workpiece W is gripped.
  • the workpiece W is considered to be springback, and is at an angular position of 88 °, for example, smaller than the target angle.
  • the workpiece W and the gripper G are at different angular positions, and when the gripper G grips the workpiece W in this state, the workpiece W is folded back as shown in the figure.
  • FIG. 10 shows a case where the workpiece W is a thin plate (for example, 1 mm)
  • FIG. 11 shows a case where the workpiece W is a thick plate (for example, 6 mm).
  • the gripper G (Fig. 10 (A)) is open and positioned at the target angle of 90 °. As described above, the cake W is bent to 88 ° by considering the springback.
  • the workpiece W is being pressed (at this time, the bending angle of the workpiece W is 8
  • first means FIGS. 12 to 13
  • second means FIGS. 14 to 15
  • the bending angle of the workpiece W is 88 ° at this time
  • the latter is after the unloading of the workpiece W (the workpiece W is This means that the workpiece W is gripped by the gripper G at an angular position of 88 °.
  • a Work W is a thin plate (Fig. 12).
  • the workpiece W When the workpiece W is a thin plate, the workpiece W is similarly positioned at the angle of 88 ° with the gripper G (Fig. 12 (A)) open at the end of machining. It is bent at 88 ° by taking into account
  • the hook W is the same as the direction of the gripper G, as shown in the figure, so that the workpiece W is a thin plate. However, the workpiece W does not break.
  • the workpiece W returned to 90 ° (Fig. 12 (G)) is gripped by the gripper G positioned at an angular position of 88 °. If breakage occurs and processing continues, defective products will be generated.
  • One B Work W is a thick plate (Fig. 13).
  • the workpiece W is a thick plate
  • the workpiece W is similarly positioned at the position of 88 ° with the gripper G (Fig. 13 (A)) open at the end of machining. It is bent at 88 ° by taking into account the springback.
  • the workpiece W that has returned to 90 ° (Fig. 13 (G)) is a thick plate and does not bend as shown in the figure.
  • the gripper G is overloaded, and the entire gripper G Will be distorted and may eventually be damaged.
  • the first means (FIGS. 12 to 13) is not appropriate as a means for solving the problem.
  • gripper G (Fig. 14 (A)) is open and positioned at an angular position of 88 ° at the end of machining. In consideration, it is bent at 88 °.
  • the workpiece W returned to 90 ° (Fig. 14 (G)) is gripped by the gripper G positioned at an angular position of 88 °. If breakage occurs and processing continues, defective products will be generated.
  • the workpiece W is a thick plate
  • the workpiece W is similarly positioned at the position of 88 ° with the gripper G (Fig. 15 (A)) open at the end of machining. It is bent at 88 ° by taking into account the springback.
  • the workpiece W that has returned to 90 ° (Fig. 15 (G)) is not thick because it is a thick plate, as shown in the figure.
  • the gripper G is overloaded, and the entire gripper G It will be distorted and may eventually be damaged.
  • the second means (FIGS. 14 to 15) is not suitable as a means for solving the problem, as the first means (FIGS. 12 to 13).
  • An object of the present invention is to eliminate a positioning error between a robot gripper and a workpiece.
  • the present invention provides a bending method and apparatus using a mouth pot that eliminates the occurrence of defective products due to workpiece folding and prevents damage due to overloading of the robot gripper.
  • the present invention provides a robot that activates a ram composed of the upper table 20 or the lower table 21 and cooperates with the punch P and the die D as described in claim 1.
  • 1 3 Gripper 1 4 In the method of bending work W gripped by 4
  • the robot gripper 1 4 is made to follow the jumping motion of the workpiece W, and when the robot gripper 1 4 reaches the target angular position, it stops there and waits.
  • the robot gripper 14 During bending, with the robot gripper 14 released with the workpiece W released, the workpiece jumping up will follow the re-movement and wait for the target angle (90 ° M) (Fig. 5 (B)). It is characterized by having a mouth pot controller 1 (Fig. 1) that causes the workpiece W with zero load to be gripped by the robot grip 14 (see Fig. 6 (B)) that has been held at the target angular position (90 ° M). Yes A means of bending with a pot is taken. According to the configuration of the present invention described above, if the robot gripper 14 is made to wait in advance at a position of 90 ° which is the target angular position (FIGS. 4A to 4C), for example, an upper portion which is a ram.
  • the bending angle at that time is expected to be springback.
  • the load of the workpiece W becomes zero, and the bending angle of the workpiece W becomes 90 ° at that moment, so it was waiting in advance at the target angular position (90 °).
  • the robot gripper 14 and the workpiece W are positioned at the same angular position, and there is no positioning error between them (Fig. 4 (C)). Therefore, the conventional gripper (Figs. 9 to 11) The work W is not broken, so the occurrence of defective products is eliminated. Damage to the mouth bot gripper is prevented.
  • the above operation is performed by the robot controller 1 (FIG. 1) constituting the robot bending apparatus according to the present invention, and the robot controller 1 (the workpiece W is (FIG. 5 (B))) during the bending process.
  • the robot gripper 14 is released at the target angle position (90 °) by following the movement of the robot with the robot gripper 14 released with the workpiece W released.
  • work W (Fig. 6 (B)) is unloaded and the load is zero, so it returns to 90 ° (target angle) based on the springback).
  • FIG. 1 is an overall view of the present invention.
  • FIG. 2 is a view showing a robot gripper 14 according to the present invention.
  • FIG. 3 is an operation diagram according to the present invention (first half).
  • FIG. 4 is an operation diagram (second half) according to the present invention.
  • FIG. 5 is a detailed explanatory diagram of FIG. 4 (at the time of pressurization).
  • FIG. 6 is a detailed explanatory diagram of FIG. 4 (when unloading).
  • FIG. 7 is a flowchart for explaining the overall operation of the present invention.
  • FIG. 8 is a flowchart for explaining the bending operation according to the present invention.
  • FIG. 9 is a diagram for explaining the problems of the prior art.
  • FIG. 10 is a detailed explanatory diagram of FIG. 9 (in the case of a thin plate).
  • FIG. 11 is a detailed explanatory view of FIG. 9 (in the case of a thick plate).
  • FIG. 12 is an explanatory diagram (in the case of a thin plate) of the first means for solving the problem.
  • FIG. 13 is an explanatory diagram (in the case of a thick plate) of the first means for solving the problem.
  • FIG. 14 is an explanatory diagram (in the case of a thin plate) of the second means for solving the problem.
  • FIG. 15 is an explanatory view (in the case of a thick plate) of the second means for solving the problem.
  • FIG. 1 is an overall view of the present invention.
  • CAD information such as product information J is input from the NC device 1 0 of the bending device 1 1 to calculate the bending order, mold P, D, mold layout, etc., and for each process (bending order). Then, after calculating the locus of the workpiece following movement of Robot 3 13 (Step 101 to Step 103 in Fig. 7), the actual bending is performed (Step 104 and Fig. 8 in Fig. 7).
  • the bending apparatus 11 (FIG. 1) includes a press brake, and as is well known, has a punch P mounted on the upper table 20 and a die D mounted on the lower table 21. is doing.
  • a back gauge is disposed behind the lower table 21, and the back gauge abutment 23 is attached to a slider 24.
  • the slider 24 slides on a stretch 25 extending in the left-right direction (perpendicular to the paper surface). Are connected.
  • each side plate is provided with a ram drive source composed of a hydraulic cylinder 7 and the like.
  • a ram drive source composed of a hydraulic cylinder 7 and the like.
  • a mouth pot 13 is installed in front of the lower table 21.
  • This robot 13 has a gripper 14 at the tip of an arm 19, and the gripper 14 includes an upper gripper 14 A that can move up and down and a fixed lower gripper 14 B as shown in FIG. It grips the workpiece W to be bent.
  • the robot 13 (FIG. 1) is a bending robot, and receives a workpiece as a material from a loading / unloading pot (not shown) installed on the side of the bending hole pot M 3.
  • a loading / unloading pot (not shown) installed on the side of the bending hole pot M 3.
  • a pressure sensor 2 is installed in the hydraulic cylinder 7, and it is possible to know whether or not the load of W per unit is zero using the pressure sensor 2 (step 104J in FIG. 8).
  • the workpiece W is bent to 88 ° in anticipation of springback. At this time, the workpiece W receives a predetermined load from the machine body side, and the machine body side receives the workpiece W force and the reaction force, so that the pressure sensor 2 has a predetermined value.
  • the present invention by eliminating the positioning error between the robot gripper and the workpiece, it is possible to eliminate the occurrence of defective products based on the workpiece folding, and to prevent damage due to overload on the robot gripper. Providing a method of bending with a pot is effective.
  • the bending device 11 (Fig. 1) is provided with a stroke sensor 3 and a ram 20 Is detected (step 104F in FIG. 8).
  • the bending apparatus 11 (FIG. 1) is provided with an oil pressure pump 4 for supplying hydraulic oil to the hydraulic cylinder 7, and a servo amplifier 6 and a servo motor 5 are connected by a bending control unit 10G described later. Controlled through.
  • the press brake having the above configuration (FIG. 1) has an NC device 10 that controls the press brake and the robot 13 described above through the robot controller 1.
  • the NC device 10 includes a CPU 1 OA, an input / output unit 1 OB, a storage unit 1 OC, a machining information calculation unit 10D, a sensor control unit 10E, a knock gauge control unit 1 OF, and a bending process control unit.
  • Has 10 G is a CPU 1 OA, an input / output unit 1 OB, a storage unit 1 OC, a machining information calculation unit 10D, a sensor control unit 10E, a knock gauge control unit 1 OF, and a bending process control unit.
  • Has 10 G has 10 G.
  • the CPU 1 OA performs overall control of the entire apparatus shown in FIG. 1, such as the machining information calculation unit 1 OD, the sensor control unit 1 OE, and the back gauge control unit 10 F.
  • the input / output unit 10B is, for example, an operation panel (not shown) provided on the upper table 20, and should be processed by the processing information calculation unit 1OD by inputting product information J consisting of CAD information. Calculate the bending order (process) of the workpiece W and the die used for each bending order (Step 101 to Step 103 in Fig. 7).
  • the input / output unit 10B exchanges the bidirectional signal S2 with the robot controller 1 to change the state of the robot 13 described above (for example, FIGS. 3 to 4). It has become possible to always monitor.
  • the storage unit 10C stores CAD information input via the input / output unit 10B, and stores a machining program according to the present invention (for example, corresponding to FIGS. 7 to 8).
  • the machining information calculation unit 10D (Fig. 1), based on the CAD information (step 101 in Fig. 7) input via the input / output unit 10B, as described above, bending order, mold, mold Calculate the layout etc. (step 102 in Fig. 7) and follow the workpiece of the robot 13 for each process (bending order).
  • Information necessary for bending the workpiece W such as calculating the trajectory of the motion (step 103 in Fig. 7), is calculated.
  • trajectory F (following trajectory F) of the workpiece following operation of the robot 13 (FIG. 3C) is calculated based on the workpiece posture state diagram (process diagram).
  • the machining information calculation unit 10D uses the CAD information to determine the workpiece posture shape consisting of the posture at the time of positioning of the workpiece W (Fig. 3 (A)) and the posture at the time of jumping up (Fig. 3 (C)).
  • a state diagram is created, and the following locus F of the robot 13 is calculated based on the created workpiece posture state diagram.
  • the sensor control unit 10E (Fig. 1) controls the pressure sensor 2 and the stroke sensor 3 described above, and notifies the CPU1 OA of the values presented by each sensor.
  • the CPU 1 OA assumes that the load of the workpiece W is zero when the value of the pressure sensor 2 is zero (YES in step 104J in FIG. 8), and the mouth pot gripper that is waiting in advance at the target angular position.
  • the workpiece W is gripped by 14 (step 104K in Fig. 8, Fig. 4 (C)).
  • the CPU1 OA performs spring back when the value of the stroke sensor 3 reaches a predetermined stroke value (YES in step 104F in FIG. 8).
  • the hydraulic cylinder 7 is controlled via the bending control unit 1 OG (Fig. 1) to stop the ram 20 ( Step 104G in Figure 8).
  • the back gauge control unit 1 OF (Fig. 1) positions the previously described back gauge abutment 23 at a predetermined position in advance, and the bending process control unit 10G is connected to the hydraulic pump 4 via the servo amplifier 6 and the servo motor 5.
  • the upper table 20 (Fig. 2) is moved up and down by controlling the rotation of the hydraulic cylinder 7 and the direction of the hydraulic oil supplied to the hydraulic cylinder 7. The gripped work W is bent.
  • step 101 of FIG. 7 CAD information is input.
  • step 102 the bending order, mold, mold layout, etc. are calculated.
  • step 103 the robot 13 performs the work following operation for each process (bending order). Calculate the trajectory.
  • the CPU 10A detects that CAD information has been input via the input / output unit 10B (FIG. 1), it controls the machining information calculation unit 10D to control the bending order, mold, mold layout, and D Information necessary for bending work W such as value and L value is calculated, and following trajectory F (Fig. 3 (C)) of robot 13 is calculated for each process.
  • step 104 of FIG. 7 a bending operation is performed, the details of which are shown in FIG.
  • the workpiece 13 is loaded by the robot 13 (step 104A in FIG. 8), and after positioning the workpiece W (step 104B in FIG. 8), the ram 20 is lowered (step 104C in FIG. 8), and the punch P is pinched. It is determined whether or not the point has been reached (step 104D in FIG. 8).
  • the CPU 1 OA detects that the machining information calculation unit 1 OD has calculated the following locus F of the robot 13 in step 103 of FIG. 8, the robot controller 1 via the input / output unit 10B. And control the robot 13 to cause the gripper 14 to grip the workpiece W (Fig. 3 (A)), insert the workpiece W from between the punch P and the die D and carry it into the press brake.
  • the ram 20 (Fig. 2) is lowered through the bending control section 10G (Fig. 1) and the punch P (Fig. 3 (B)) is pinched. It is determined whether the point has been reached, in other words, whether the punch P has contacted the workpiece W on the die D.
  • mouth pot gripper 14 is at the target angle Operation until waiting at the position (90 °).
  • the gripper 14 of the robot 13 After the punch P reaches the pinching point, the gripper 14 of the robot 13 performs an operation unique to the present invention.
  • step 104M when punch P reaches the pinching point (YES in step 104D in Fig. 8), robot gritsno 14 releases the workpiece W (step 104L in Fig. 8), and then the jumping up of workpiece W follows the re-motion (Fig. 8).
  • Step 104M when the angle of the robot gripper 14 reaches the target angle position, for example, 90 ° (YES in Step 104N in FIG. 8), the robot gripper 14 is stopped at the 90 ° position. Then, it is made to wait (step 104P of FIG. 8).
  • the ram 20 continues to descend (Fig. 3 (C)), and even after the workpiece W is bent to the target angle of 90 ° (Fig. 4 (A)), it further descends ( When the workpiece W is bent to 88 ° by the punch P reaching the D value and the ram 20 reaching a predetermined stroke, the ram 20 stops. After that, the ram 20 was raised (Fig. 4 (C)), the load of the workpiece W became zero, and it was considered that the spring knock had occurred, and the bending angle force ⁇ 88 ° force, 90 °
  • the robot gripper 14 that has been waiting at the target angle position grips the workpiece W.
  • the robot bending apparatus according to the present invention used directly for carrying out the bending method by the robot according to the present invention, specifically, the robot controller 1 (Fig. During the bending process (Fig. 5 (B)), the robot controller 1 causes the workpiece bottling to follow the re-movement while the mouth bot gripper 14 is released and the target angle is reached. Wait at the position (90 °), and after bending is finished (Fig. 6 (B)), hold the workpiece W with zero load on the robot gripper 14 held at the target angle position (90 °;). .
  • the workpiece W that has been unloaded and the load has become zero and the bending angle has returned to the target angle of 90 ° (FIG. 6 (B)) is obtained. Since the robot gripper 14 that has been waiting for When the workpiece W is a thick plate, the robot gripper 14 is no longer overloaded.
  • the robot controller 1 (FIG. 1) is connected to an NC device 10, which has a machining information calculation unit 10 D, a bending control unit 10 G, and a sensor control unit 10 E, The mouth bot controller 1 cooperates with the machining information calculation unit 10D and the like.
  • machining information calculation unit 10D (Fig. 1), process (bending order), mold, mold layout At the same time (Step 10 02 in Fig. 7), for each process, the trajectory F (Fig. 3 (C)) of the robot's work following movement is calculated (Step 10 03 in Fig. 7). Stored in memory section 10C.
  • the robot controller 1 refers to the information stored in the storage unit 10G (FIG. 1) when the robot gripper 14 (FIG. 5) follows the workpiece jumping motion (step 104M in FIG. 8). To do.
  • the position of the robot gripper 14 in the left-right direction is the die layout of the process calculated by the machining information calculation unit 10D.
  • the machining information calculation unit 10D corresponds to the position of the molds P and D on the upper and lower tables 20 and 21.
  • the robot controller 1 guides the robot gripper 14 to the position of the mold layout ⁇ in the process, and stops there.
  • the position of the robot grid / ⁇ ° 14 in the front-rear direction and the vertical direction is the workpiece tracking operation of the robot in the process calculated by the machining information calculation unit 1 OD Corresponds to the following trajectory F (Fig. 3 (G)).
  • the robot controller 1 causes the mouth pot gripper 14 to follow the workpiece jumping motion along the follow-up trajectory F (Fig. 3 (C)) of the process, and the target angular position (90 °). When it reaches, stop there and wait (Fig. 5 (B)).
  • the bending process control unit 10G (FIG. 1) drives and controls the ram 20 so that the workpiece W is bent by a target angle (90 °).
  • the sensor control unit 1 ((Fig. 1) controls the drive of the pressure sensor 2 so that the pressure sensor 2 detects the load received by the workpiece W, or the stroke sensor 3 detects the stroke of the ram 2. So that the stroke sensor 3 is driven and controlled.
  • step 104 in FIG. 8 the robot controller 1 is making the robot gripper 14 (FIG. 5) follow the workpiece jumping operation.
  • step 104C in Fig. 8 After the lowering of the ram 20 by the bending control unit 1 OG (step 104C in Fig. 8), after the detection of the punch P pinching point by the sensor control unit 10E (YES in step 104 D in Fig. 8) .
  • the bending process control unit 10G controls the rotation of the hydraulic pump 4 via the servo amplifier 6 and the servo motor 5 (FIG. 1), and the working oil supplied to the hydraulic cylinder 7 which is a ram drive source.
  • the ram 20 is lowered by controlling the direction (step 104C in FIG. 8).
  • the punch P attached to the ram 20 comes into contact with the workpiece W on the die D, and the stroke sensor 3 detects the stroke of the ram 20 at this time.
  • the stroke sensor 3 By determining the value of the stroke sensor 3 through the sensor control unit 10E, it is determined that the punch P has reached the pinching point (YES in step 104D in FIG. 8).
  • the robot controller 1 (Fig. 1) notifies that the punch P has reached the pinching point (YES in step 104D of Fig. 8) through the sensor control unit 10E and (Fig. 1) input / output unit 10B. Therefore, after that (step 104L to step 104M in FIG. 8), the robot gripper 14 is made to follow the workpiece jumping motion as described above.
  • the robot controller 1 After the pinching point (YES in step 104D in FIG. 8), the robot controller 1 causes the robot gripper 14 to follow the workpiece jumping movement as described above, and the target angular position (90 ° When it reaches M, it stops there and waits (Step 104L to Step 104P in Fig. 8). Meanwhile, the bending control unit 10G and sensor control unit 10E are connected to the ram 20 (Fig. 1) and The following operations are performed by controlling the pressure sensor 2 and stroke sensor 3 (Fig. 8, 104E to 104J).
  • the bending control unit 10G similarly continues to lower the ram 20 (104E in FIG. 8), and that the ram 20 has reached a predetermined stroke (104F in FIG. 8). YES)
  • the sensor control unit 10E (Fig. 1) can be found by determining the value of the stroke sensor 3, so
  • the bend machining control unit 1 OG (Fig. 1) considers that the ram 20 has reached the limit position, stops the ram 20 (step 104G in Fig. 8), and at this point, the workpiece W becomes (Fig. 5). (B)), bent to 88 ° (limit angle) in anticipation of springback.
  • the bending control unit 1 OG raises the ram 20 (Step 104H in Fig. 8), and this causes the punch P to move away from the workpiece W (Fig. 6 (A)).
  • the workpiece W is unloaded and the load becomes zero. This can be understood by determining the value of the sensor control unit 10E force ⁇ (Fig. 1) pressure sensor 2 (step 104J in Fig. 8).
  • the bending angle of workpiece W (Fig. 6 (A)) has returned to 90 ° (target angle) based on the springback.
  • the robot controller 1 of the present invention the workpiece W that has been unloaded and the load has become zero and the bending angle has returned to the target angle of 90 ° (FIG. 6 (B)), Since the robot gripper 14 held at the target angular position (90 °;) holds the workpiece, the direction of the workpiece W and the robot gripper 14 is the same, there is no angle difference between them, and the workpiece W is a thin plate When the workpiece W is a thick plate, the robot gripper 14 is no longer overloaded.
  • the present invention eliminates the occurrence of defective products due to the broken back of the workpiece, and overloads the robot gripper. Used in robotic bending methods and equipment to prevent damage based on the above, and applied not only to lowering press brakes that lower the upper table 20 but also to rising press brakes that lower the lower table 21 during bending. Is extremely useful.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

La présente invention se rapporte à un procédé de pliage utilisant un robot, qui élimine une erreur de positionnement entre un élément de préhension du robot et une pièce de travail, pour créer ainsi un produit non défectueux, comme cela pourrait sinon se produire par le gauchissement de la pièce de travail, et pour empêcher les dégâts, comme cela pourrait sinon se produire par une surcharge sur l'élément de préhension du robot, et à un appareil pour réaliser le procédé. (1) Un vérin (20) est démarré pour amener un poinçon (P) en contact avec une pièce de travail (W) saisie par un élément de préhension (14) du robot, et la pièce de travail (W) est ensuite dégagée de l'élément de préhension (14) du robot. (2) L'élément de préhension (14) du robot est ensuite amené à suivre l'action de soulèvement de la pièce de travail (W) puis à se tenir dans une position d'angle cible, lorsque l'élément de préhension (14) du robot arrive dans la position d'angle cible. (3) Après cela, le vérin(20) arrive et s'arrête dans une position de limite, et l'opération de pliage à cette étape prend fin. Après cela, le vérin (20) démarre dans le sens inverse, de sorte que la charge sur la pièce de travail (W) soit nulle. En même temps, l'élément de préhension (14) du robot qui est resté dans cette position d'angle cible saisit la pièce de travail (W).
PCT/JP2008/072362 2007-12-05 2008-12-03 Procédé et appareil de pliage par robot WO2009072661A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007314366 2007-12-05
JP2007-314366 2007-12-05
JP2008305754A JP5196566B2 (ja) 2007-12-05 2008-11-29 ロボットによる曲げ加工方法及びその装置
JP2008-305754 2008-11-29

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011057312A1 (fr) * 2009-11-10 2011-05-19 Trumpf Maschinen Austria Gmbh & Co. Kg. Installation d'usinage, notamment pour le formage libre avec un manipulateur de pièce et d'outil intégré
CN107414422A (zh) * 2017-07-25 2017-12-01 南通小泉机电有限公司 一种大尺寸机器人躯干加工方法
CN113145695A (zh) * 2021-03-09 2021-07-23 全汉强 一种便于维护的航空零部件生产用弯曲装置

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Publication number Priority date Publication date Assignee Title
JPH06344032A (ja) * 1993-06-07 1994-12-20 Komatsu Ltd プレスブレーキロボットの制御装置
JP2000254729A (ja) * 1999-03-05 2000-09-19 Amada Co Ltd 曲げ加工方法及び曲げ加工システム
JP2001347320A (ja) * 2000-06-05 2001-12-18 Amada Co Ltd 曲げ加工方法及びその装置

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Publication number Priority date Publication date Assignee Title
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JP2000254729A (ja) * 1999-03-05 2000-09-19 Amada Co Ltd 曲げ加工方法及び曲げ加工システム
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WO2011057312A1 (fr) * 2009-11-10 2011-05-19 Trumpf Maschinen Austria Gmbh & Co. Kg. Installation d'usinage, notamment pour le formage libre avec un manipulateur de pièce et d'outil intégré
US9339860B2 (en) 2009-11-10 2016-05-17 Trumpf Maschinen Austria Gmbh & Co. Kg. Production system, in particular for free-form bending, having an integrated workpiece and tool manipulator
CN107414422A (zh) * 2017-07-25 2017-12-01 南通小泉机电有限公司 一种大尺寸机器人躯干加工方法
CN113145695A (zh) * 2021-03-09 2021-07-23 全汉强 一种便于维护的航空零部件生产用弯曲装置

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