WO2012063710A1 - Main de robot destinée à plier un matériau long, et système de pliage de matériau long - Google Patents

Main de robot destinée à plier un matériau long, et système de pliage de matériau long Download PDF

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Publication number
WO2012063710A1
WO2012063710A1 PCT/JP2011/075328 JP2011075328W WO2012063710A1 WO 2012063710 A1 WO2012063710 A1 WO 2012063710A1 JP 2011075328 W JP2011075328 W JP 2011075328W WO 2012063710 A1 WO2012063710 A1 WO 2012063710A1
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WO
WIPO (PCT)
Prior art keywords
workpiece
bending
robot hand
movable
fixed upper
Prior art date
Application number
PCT/JP2011/075328
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English (en)
Japanese (ja)
Inventor
赤見　一男
典久 小泉
二見　富士彦
Original Assignee
株式会社 アマダ
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Publication date
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Publication of WO2012063710A1 publication Critical patent/WO2012063710A1/fr

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    • 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
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors

Definitions

  • the present invention relates to a robot hand and system for bending a long material.
  • a long plate material is processed by a press brake (bending machine).
  • 47 (a) and 47 (b) show an intermediate process of sash bending.
  • the workpiece W is supplied between the upper mold 101 and the lower mold 102 of the bending machine while being held by the vacuum pad 103.
  • the next machining position is positioned between the upper mold 101 and the lower mold 102, and the upper mold 101 is lowered to the upper surface of the work W, The upper mold 101 is stopped at the contact position (pinching position).
  • a plate material gripping device provided with a suction holder [suction holder] and a gripping tool is employed (for example, Patent Document 1 below).
  • Patent Document 1 discloses a plate material gripping device.
  • the plate material gripping device supplies a narrow plate material to a bending machine such as a press brake without using an intermediate platform or an inverter, and processes it with the bending machine. Take out the finished product. More specifically, as shown in FIG. 49, the plate material gripping device 100 is attached to the tip of a third arm 105 of an articulated robot [articulated robot] via a left / right reversing mechanism 106, and a left / right reversing mechanism is provided.
  • a main shaft 107 is driven inversion by 106.
  • a square bar-shaped base 108 is provided at the tip of the main shaft 107 so as to be rotatable in a plane parallel to the third arm 105.
  • a pair of suction bars 109, a pair of front edge grip bars 110, and a pair of side edge grip bars 111 are provided in order from the inside to the outside, symmetrically with respect to the center C4 of the main shaft 107. It has been.
  • the suction bar 109 is telescopically provided by a drive cylinder 112 provided on the rear surface of the base 108.
  • a vacuum pad (suction holder) 114 is swingably provided.
  • the leading edge grip bar 110 is provided so as to be advanced and retracted by a drive cylinder 115.
  • a leading edge gripper 116 is provided at the tip of the leading edge grip bar 110.
  • the side edge grip bar 111 is provided so as to be able to advance and retreat by a drive cylinder 117.
  • Side edge grips 118 are provided at the front ends of the side edge grip bars 111 so as to face each other.
  • a drive motor 119 is also provided for rotating the plate material around the long axis CK in a state where the plate material is held by the side edge gripper 118.
  • the vacuum pad 114 is used until one plate material is adsorbed and lifted from the laminated plate materials. Thereafter, the plate material is gripped by the leading edge gripping tool 116, and the leading edge gripping tool 116 is used until bending, workpiece reversal, reworking and product removal. As a result, since it is not necessary to use an intermediate stand or an inverter, production tact can be shortened.
  • the plate material gripping device 100 has various problems in sash bending processing of long materials, and there is a problem that the practical applicable range is narrow. That is, products manufactured by sash bending of a long material have a small gripping allowance, and the side edge gripping tool 118 interferes, so that it is often necessary to change the workpiece. Similarly, when bending a long material with a small bending dimension of the flange, the side edge gripper 118 and the mold interfere with each other. Further, the side edge gripper 118 can be moved back and forth in the front-rear direction, but cannot move in the longitudinal direction of the plate material, so that plate materials having different longitudinal dimensions cannot be processed.
  • an object of the present invention is to provide a long material bending robot hand capable of gripping a long workpiece with a small gripping allowance or a long workpiece having a partially different longitudinal dimension, and a long length using the robot hand. It is to provide a material bending system.
  • a first feature of the present invention is a robot hand that can be mounted on a robot hand mounting portion of a robot, and is capable of approaching / separating from a suction holding tool that sucks and holds one surface of a long workpiece, A pair of gripping tools for gripping both ends in the longitudinal direction of the workpiece held by the suction holding tool, and the suction holding tool is arranged along the surface of the workpiece gripped by the pair of the gripping tools, A long material bending robot hand configured to be movable in a direction orthogonal to a longitudinal direction is provided.
  • the long material bending robot hand having the first feature described above, it is possible to grip a long workpiece having a small gripping allowance or a long workpiece having partially different longitudinal dimensions.
  • the robot hand since the robot hand includes a suction holder configured to be movable in a direction orthogonal to the longitudinal direction of the workpiece along the surface of the long workpiece gripped by the pair of gripping tools, It is possible to suck and hold and handle only one workpiece from the stacked plate workpieces, which cannot be performed with only the gripping tool.
  • the thickness of the fixed upper jaw in the opening / closing direction is made thinner than the thickness of the movable lower jaw in the opening / closing direction, interference between the gripping tool and the mold can be suppressed during bending.
  • the second feature of the present invention is a long material bending system, which is a bending machine for bending a long workpiece into a product, a material station for placing the workpiece, and mounting the product.
  • a product station to be placed and a replaceable robot hand can be mounted, the workpiece is supplied from the material station to the bending machine by the robot hand, and processed by the bending machine by the robot hand.
  • a pair of gripping tools that grip both ends of the workpiece held in the longitudinal direction, and the suction tool is orthogonal to the longitudinal direction along the surface of the workpiece gripped by the pair of gripping tools Provided is a long material bending system configured to be movable in a direction.
  • the grip changing device is provided in the bending machine.
  • the suction holding tool has a vacuum pad holding body extending in the longitudinal direction, and a plurality of vacuum pads provided at intervals on the vacuum pad holding body, and the vacuum A pad holding body is provided to be movable in the orthogonal direction by a drive cylinder, and the pair of gripping tools each have a fixed upper jaw and a movable lower jaw movable with respect to the fixed upper jaw; and It is preferable that the movable lower jaw is opened and closed by the movement of the movable lower jaw with respect to the fixed upper jaw, and the thickness of the fixed upper jaw in the opening and closing direction is made thinner than the thickness of the movable lower jaw in the opening and closing direction.
  • the thickness of the fixed upper jaw in the opening / closing direction is made thinner than the thickness of the movable lower jaw in the opening / closing direction, interference between the gripping tool and the mold can be suppressed during bending.
  • FIG. 3 It is a perspective view of the processing system provided with the robot which has the robot hand in an embodiment. It is a partially omitted side view of a robot having a robot hand.
  • A) is a top view of the robot hand with the suction holder in the retracted position, and (b) is a plan view of the robot hand with the suction holder in the forward position.
  • A) is a plan view of the robot hand with the gripping tool in the approach position, and (b) is a plan view of the robot hand with the gripping tool in the separation position.
  • A) is a cross-sectional view taken along line VA-VA in FIG. 3 (a), and (b) is a cross-sectional view taken along line VB-VB in FIG. 3 (b).
  • FIG. 8 is a development view of the product shown in FIG. 7. It is a side view which shows a bending process (1). It is a side view which shows a bending process (2). It is a side view which shows a bending process (3). It is a side view which shows a bending process (4). It is a side view which shows a bending process (5).
  • FIG. 1 It is a perspective view which shows the example which provided the re-gripping apparatus in the press brake main body.
  • A is a perspective view showing a state where a gripping device is used to grip a workpiece using a gripping tool, and (b) is a state where a robot hand is rotated 180 degrees in a vertical plane and the workpiece is gripped. It is a perspective view shown.
  • (A) is a side view (pinching state) when supplying a workpiece to a conventional bending machine, and (b) is a side view (non-pinching state) when supplying the workpiece.
  • the side view which shows the interference state of the flange and vacuum pad in the conventional bending machine. It is a perspective view of the conventional board
  • an articulated [multi-articulated type] industrial robot [industrial robot] 5 is provided in front of a press brake (plate bending machine) 3. It has been.
  • the robot 5 can move in the X-axis direction parallel to the longitudinal direction of the mold mounted on the press brake 3 and can be fixed at an arbitrary position.
  • a raw material station 7 on which a long material (work W) used for bending is loaded, and a product station 11 on which the processed product P is placed are provided in front of the robot 5.
  • one side of the robot 5 receives a workpiece W held by a robot hand 15 (described later) of the robot 5 and temporarily holds it.
  • a device 13 is provided on one side of the press brake 3.
  • a control device 21 that controls the processing system 1 including the press brake 3 is provided.
  • an exchange station 19 including hand platforms 17a and 17b for holding a plurality of types of robot hands 15a to 15f is provided on the other side of the press brake 3 (right side in FIG. 1).
  • a base 23 extending in the X-axis direction is provided in front of the press brake 3 and the exchange station 19, a base 23 extending in the X-axis direction is provided.
  • An X-axis carriage base 27 integrally provided at the lower part of the robot 5 is slidably installed on a pair of X-axis guide rails 25 parallel to the X-axis on the base 23.
  • the X-axis carriage base 27 can be moved in the X-axis direction by an X-axis drive motor (not shown) controlled by the control device 21 and can be fixed at an arbitrary position. Therefore, as described above, the robot 5 can move in the X-axis direction and can be fixed at an arbitrary position.
  • the robot 5 is, for example, a six-axis controlled multi-joint industrial robot having a main shaft 29 erected on the X-axis carriage base 27 in the Z-axis direction. is doing.
  • the main shaft 29 can rotate about 360 degrees around the Z-axis and can be fixed at an arbitrary position.
  • a first arm J ⁇ b> 1 that can swing around a horizontal axis O ⁇ b> 1 (not shown) parallel to the X axis is provided on the main shaft 29.
  • a second arm J2 that can swing around a horizontal axis O2 (not shown) parallel to the horizontal axis O1 is provided at the tip of the first arm J1. Further, as shown in FIG.
  • a third arm J3 that can swing around a horizontal axis O3 parallel to the horizontal axis O2 is provided at the tip of the second arm J2. Furthermore, a fourth arm J4 is provided at the distal end of the third arm J3. The fourth arm J4 can swing around the horizontal axis O4 and can rotate about the central axis of the third arm J3.
  • a robot hand mounting portion [robot hand adaptor] 30 (for example, a mounting portion described in Japanese Patent Laid-Open No. 7-290389) is attached to the tip of the fourth arm J4.
  • a robot hand 15 can be mounted on the robot hand mounting unit 30, and the robot hand 15 can be automatically replaced.
  • the robot hand 15 is provided with a suction holder [suction holder] 31 and a pair of grippers [pair of grippers] 51 (51l, 51r).
  • a vacuum pad 37 that sucks and holds one surface of the workpiece W is provided on the suction holder 31 so as to be lifted and lowered.
  • the pair of gripping tools 51l and 51r can grip both ends of the workpiece W sucked by the suction holding tool 31 in the longitudinal direction (left and right direction in FIG. 3) and can approach / separate each other.
  • the robot hand 15 has a flat hand body 33.
  • a vacuum pad support [vacuum pad support frame] 35 extending in the left-right direction is provided at the front of the hand body 33.
  • a plurality of vacuum pads 37 are provided on both side surfaces of the vacuum pad support 35 at intervals.
  • a pair of guide bars 39 a and 39 b orthogonal to the vacuum pad support 35 are fixed to the vacuum pad support 35.
  • the guide bars 39a and 39b are slidably guided by guide members [guide members] 40 (see FIGS. 5A and 5B: linear motion bearings) provided on the upper surface of the hand main body 33.
  • the hand main body 33 is provided with a pair of cylinders 41 a and 41 b that are operated pneumatically or hydraulically in a direction orthogonal to the vacuum pad support 35.
  • the tips of the piston rods 43 of the cylinders 41 a and 41 b are connected to the vacuum pad support 35.
  • a gripper support body [gripper support frame] 53 extending in the left-right direction is provided at the front portion of the hand main body 33 and slightly below the vacuum pad support body 35.
  • the gripping tool support 53 is fixed to the hand main body 33.
  • a pair of guide rails 55 extending in the left-right direction are provided in the vicinity of both ends of the front surface of the gripping tool support 53 (see FIGS. 5A and 5B).
  • Guide members [guide members] 59 are slidably attached to the pair of guide rails 55, respectively.
  • a gripper carriage 57 having grippers 51r and 51l is attached to the guide member 59, respectively.
  • the holding tool carriage 57 is provided with guide holding members 61 that extend in the front-rear direction, and guide rails 63 of the guide holding member 61 (see FIGS. 5A and 5B).
  • the gripping tools 51r and 51l slide in the front-rear direction.
  • the suction holding tool 31 having the vacuum pad 37 is perpendicular to the longitudinal direction of the work W along the surface of the long work W gripped by the pair of gripping tools 51l and 51r (
  • the guide bars 39a and 39b can be moved in the extending direction).
  • a pair of cylinders 65l and 65r that are operated by air pressure, hydraulic pressure, electric power or the like are provided.
  • the left cylinder 65l operates to the left, and the right cylinder 65r operates to the right.
  • the piston rod 67 of the cylinder 65l is connected to the gripper carriage 57 of the gripper 51l, and the piston rod 67 of the cylinder 65r is connected to the gripper carriage 57 of the gripper 51r.
  • FIGS. 3 (a), 3 (b), 5 (a) and 5 (b) when the cylinders 41a and 41b are simultaneously operated, the suction holder 31 is moved to the position shown in FIG. 3 (a). And it moves from the retreat position shown in Drawing 5 (a) to the advance position shown in Drawing 3 (b) and Drawing 5 (b).
  • the forward movement position is located in front of the hand main body 33.
  • FIGS. 4A and 4B when the cylinders 65l and 65r are simultaneously operated, the gripping tools 51l and 51r are moved from the closed position shown in FIG. It is moved to the open position shown in (b).
  • each gripper 51l, 51r has a fixed upper jaw 71 and a movable lower jaw 69.
  • the movable lower jaw 69 is integrally provided on the upper portion of the drive cylinder 73.
  • a piston rod 75 protruding from the cylinder body 73 is connected to the fixed upper jaw 71.
  • the drive cylinder 73 By operating the drive cylinder 73, the movable lower jaw 69 can be opened and closed with respect to the fixed upper jaw 71 as shown in FIGS. 6 (a) and 6 (b).
  • the fixed upper jaw 71 By providing the fixed upper jaw 71 with a thickness in the opening / closing direction thinner than that of the movable lower jaw 69, the range in which the fixed upper jaw 71 and the upper mold interfere with each other during bending is reduced.
  • 6 (a) and 6 (b) show only the left gripper 51l, the right gripper 51r also operates symmetrically.
  • the grip changer 13 is provided with a holder 77 that receives and temporarily holds the workpiece W held by the robot hand 15.
  • work clampers 81 are provided at intervals along a horizontal rotation axis 79 parallel to the X-axis direction. Yes.
  • the holder 77 can be rotated 180 degrees clockwise or counterclockwise by rotating the rotation shaft 79 by a drive actuator (not shown). By rotating the rotary shaft 79 by 180 degrees, the held workpiece W can be reversed.
  • the work W is taken out from the raw material station 7 by the robot 5 to which the robot hand 15 having the suction holder 31 is attached, and the bending mold attached to the press brake 3 is used. Supplied in between.
  • the gripping device 13 can be used to change the gripping of the workpiece W from the gripper 51 to the suction holder 31 or from the suction holder 31 to the gripper 51.
  • the holding position by the suction holding tool 31 can be changed along the front-rear direction of the workpiece W by the cylinder 41 by using the grip changing device 13.
  • FIG. 45 shows an example in which the grip changing device 83 is provided on the front surface of the upper table 85 of the press brake 3, and the grip changing device 83 holds the workpiece W.
  • FIG. 46A shows a state where the workpiece W is also gripped by the gripper changing device 83 using the gripper 51 of the robot hand 15 gripping the workpiece W.
  • FIG. 46B shows a state in which the robot hand 15 is rotated 180 degrees in the vertical plane from the state shown in FIG. 46A and the workpiece W is gripped by the gripper 51.
  • the gripping device 83 is provided on the front surface of the upper table 85 of the press brake 3, the workpiece W is held in parallel with the upper table 85. Further, since the clamper 87 of the re-holding device 83 is directed downward, the plane of the workpiece W held by the clamper 87 becomes vertical, so that the deflection of the workpiece W in the vertical direction can be suppressed.
  • the re-grabbing device 83 can also perform re-gripping using the suction holder 31 of the robot hand 15. Further, since the re-gripping device 83 is provided on the front surface of the upper table 85, the moving distance can be reduced and the time for re-holding can be shortened.
  • FIG. 9 is a development view of the product P, and shows the workpiece W before bending.
  • the dimensions of both ends of the workpiece W are different, and the dimension of the right edge in the figure is a and the dimension of the left edge is b (b ⁇ a).
  • the workpiece W is gripped by the suction holding tool 31 of the robot hand 15, and the workpiece W has a punch (upper die) P and a die (lower die) mounted on the press brake 3 with the surface OS facing upward. It is conveyed to D (FIG. 10).
  • One end edge (left edge in FIG. 9) of the work W is brought into contact with the abutting member 91 of the back gauge device 89, and the bending line B1 is positioned at the bending center between the punch P and the die D (FIG. 11).
  • the tip of the punch P is brought into contact with the surface OS of the workpiece W, the workpiece W is pinched, and a reference position in the Z-axis direction is set (FIG. 12).
  • the thin fixed upper jaw 71 is disposed on the punch P side, and the workpiece W is clamped (FIG. 13). 13 to 20, 24, and 40 to 44, the difference in thickness between the fixed upper jaw 71 and the movable lower jaw 69 is not expressed.
  • the bending line B1 is bent (FIG. 14). By clamping in this way, the bending line B1 can be bent without interference between the fixed upper jaw 71 and the punch P.
  • the work W is reversed so that the back surface BS faces upward by reversing the gripper 51, the bending line B2 is positioned by the back gauge device 89, and the work W is moved to the punch P and It is pinched by the die D (FIG. 15).
  • the gripper 51 once releases the workpiece W, grips the workpiece W again after the robot arm 5 rotates 180 degrees, and the fixed upper jaw 71 is arranged on the punch P side (FIG. 16). Thereafter, bending of the bending line B2 is performed (FIG. 17).
  • the workpiece W is inverted so that the surface OS faces upward by reversing the gripper 51, the bending line B3 is positioned by the back gauge device 89, and the workpiece W is moved to the punch P and It is pinched by the die D (FIG. 18).
  • the gripper 51 once releases the workpiece W, grips the workpiece W again after the robot hand 15 rotates 180 degrees, and the fixed upper jaw 71 is arranged on the punch P side (FIG. 19). Thereafter, bending of the bending line B3 is performed (FIG. 20).
  • the direction of the bending lines B4 and B5 to be bent next is 90 degrees different from the direction of the bending lines B1 to B3. For this reason, in order to change the clamping direction of the workpiece W, as shown in FIGS. 21 and 22, the gripper changing device 13 is used to change the gripping tool 51 (FIG. 21) to the suction holding tool 31 (FIG. 22). Need to do. With reference to FIGS. 23 (a) to 25, further description will be given of re-grabbing from the gripping tool 51 to the suction holding tool 31 using the grip-changing device 13.
  • FIG. 23 (a) to 25 further description will be given of re-grabbing from the gripping tool 51 to the suction holding tool 31 using the grip-changing device 13.
  • the bending line B1 and the bending line B3 of the workpiece W held by the holding tool 51 by the holding tool 77 (work clamper 81) of the holding device 13 are changed. Is held between. Subsequently, the workpiece W is released from the gripper 51, and as shown in FIGS. 23B and 25, the workpiece clamper 81 is rotated 180 degrees around the rotation shaft 79, and the workpiece W is inverted up and down. The surface OS of the workpiece W is sucked by the suction holder 31 of the robot hand 15.
  • the workpiece W is bent along the bending line B4 (FIGS. 26 and 27), then rotated horizontally by 180 degrees, and further bent along the bending line B5. (FIGS. 28 and 29).
  • the direction of the bending lines B6 and B7 to be bent next is 90 degrees different from the direction of the bending lines B4 and B5. For this reason, in order to change the clamping direction of the workpiece W again, it is necessary to use the grip changer 13 to change the gripping holder 31 (FIG. 30) to the gripper 51 (FIG. 32).
  • a holding margin [holding margin] 91 (see FIGS. 31 and 32) for the holder 77 (work clamper 81) is ensured at the time of re-holding using the re-holding device 13. The securing of the holding allowance 91 for the work clamper 81 will be described with reference to FIGS.
  • the workpiece W held by the suction holder 31 is released from the workpiece clamper 81, and is clamped again by the workpiece clamper 81 after the robot hand 15 rotates 180 degrees (FIGS. 37 and 39). That is, the workpiece W is inverted up and down, and the holding allowance 91 described above is clamped by the workpiece clamper 81.
  • the suction holder 31 releases the workpiece W, and the workpiece W is gripped by the gripper 51 after the robot arm 5 is rotated 180 degrees (FIGS. 32, 38, and 40).
  • the gripper 51 grips between the bend line B1 and the bend line B3, and the fixed upper jaw 71 is disposed on the back surface RS side of the workpiece W. In this way, gripping from the suction holder 31 (FIG. 30) to the gripper 51 (FIG. 32) is performed.
  • the workpiece W is conveyed between the punch P and the die D with the back surface RS facing upward, and the bending line B6 is positioned by the back gauge device 89 (FIG. 41).
  • the fixed upper jaw 71 is disposed on the punch P side.
  • bending of the bending line B6 is performed (FIG. 42).
  • the bending line B7 is positioned by the back gauge device 89 (FIG. 43).
  • the fixed upper jaw 71 is arranged on the punch P side.
  • the bending line B7 is bent (FIG. 44). In this way, the bent product P shown in FIGS. 7 and 8 is manufactured.

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

Abstract

Une main de robot (15) qui peut être montée sur une section monture de main de robot d'un robot est pourvue d'une ventouse (31), qui maintient une longue pièce grâce à l'aspiration d'une première surface de la pièce, et de deux outils de préhension (51l, 51r), qui peuvent se rapprocher et se séparer l'un de l'autre, et qui maintiennent tous les deux les extrémités de pièce dans la direction longitudinale de la pièce maintenue par la ventouse. La ventouse est configurée de sorte que, le long de la surface de la pièce saisie par les deux outils de préhension, la ventouse puisse se déplacer dans la direction coupant orthogonalement la direction longitudinale. Grâce à la main de robot, on peut saisir de longues pièces ayant de petites marges de préhension, et de longues pièces ayant des dimensions longitudinales partiellement différentes.
PCT/JP2011/075328 2010-11-10 2011-11-02 Main de robot destinée à plier un matériau long, et système de pliage de matériau long WO2012063710A1 (fr)

Applications Claiming Priority (2)

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JP2010-251883 2010-11-10
JP2010251883A JP2012101317A (ja) 2010-11-10 2010-11-10 長尺材曲げ加工用のロボットハンドおよび長尺材曲げ加工システム

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WO2012063710A1 true WO2012063710A1 (fr) 2012-05-18

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CN106180456A (zh) * 2016-08-27 2016-12-07 无锡微研股份有限公司 多工位冲压模具的模内传递机械手装置
US10427893B2 (en) * 2013-06-27 2019-10-01 Ras Reinhardt Maschinenbau Gmbh Handling device and bending installation and method for bending a part to be bent
CN110621441A (zh) * 2017-05-16 2019-12-27 豪迈股份公司 给料装置和给料方法
EP3763453A4 (fr) * 2018-03-09 2021-05-05 Kyowa Machine Technology Co., Ltd. Structure de serrage de manipulateur et procédé de cintrage de matériau en feuille l'utilisant
WO2022090258A1 (fr) 2020-10-28 2022-05-05 Concept & Forme Developpements Sa Cellule de pliage de toles entierement automatisee
JP2023005921A (ja) * 2021-06-29 2023-01-18 株式会社オーエイプロト パネル成形体のスプリングバック修正装置

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