JPH0739450Y2 - Press brake work stand - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> This invention relates to a work stand of a press brake, and more specifically, for temporarily supporting the work when the work is not bent by the press brake. Regarding the work table.

<Prior arts and problems to be solved by the invention> Conventionally, a press brake has been provided for bending a peripheral edge of a work made of a flat plate material at a predetermined angle, and moreover, carrying in a work to the press brake, A press brake robot system has been proposed in which unloading is performed by a robot (see Japanese Patent Laid-Open No. 59-175968).

As shown in FIG. 8, the press brake robot system comprises a press brake (70) and a press brake work handling robot (71).

The press brake (70) includes an upper mold (73) fixed at a predetermined position and a lower mold (72) capable of coming into contact with and separating from the upper mold (73).
And the work support (74) located above the upper die (73)
And a drive mechanism (75) for vertically rotating the work support base (74) by a predetermined angle, and a suction pad (76) for adsorbing the work (77) on the work support base (74).

The work brake handling robot (71) for the press brake has a plurality of operating arms (79) and a rotating shaft (80) for the upper part of the support base (78) installed on the side of the press brake (70). A gripping member (81) having a plurality of suction heads (82) is provided therebetween. Further, even when the work (77) is bent by raising the lower die (72) of the press brake, the rotating shaft (80) is operated so that the gripping member (81) follows the work (77). I am trying.

Therefore, by operating the rotating shaft (80), the gripping member (81) can be moved to the uppermost surface of the works (77) stacked on each other. By operating a plurality of suction heads (82) of the gripping member (81) in this state, the uppermost work (77) can be sucked. After that, the suction state is maintained and the above operation is repeated. By operating the moving shaft (80), only one work (77) can be brought into contact with the lower surface of the upper die (73) of the press brake (70). After that, the lower die (72) is raised and the work (77) is pinched by the upper die (73) and the lower die (72), whereby a predetermined portion of the work (77) can be bent at a predetermined angle.

In addition, when it is necessary to perform the bending work in the opposite direction to the other part of the work (77) on which one bending work is performed,
Alternatively, when the works (77) that have been bent are stacked in opposite directions, the relative position of the gripping member (81) with respect to the works (77) must be reversed. To support such demands, work supports (74)
A drive mechanism (75) and a suction pad (76) are provided, and the work (77) is sucked onto the suction pad (76) while the work support (74) is rotated downward by the drive mechanism (75). A) That is, the work (77) is adsorbed in a substantially upright state. Then, the suction of the work (77) by the suction pad (82) of the gripping member (81) is released, and the work support base (74) is released.
The workpiece (77) is brought into a horizontal state by rotating the workpiece (77) upward, and the workpiece (77) is gripped from below the workpiece (77) by the gripping member (81).

As described above, since the direction of the work (77) gripped by the gripping member (81) can be reversed, thereafter, the work similar to the first bending work is performed so that the work (77) is turned in the opposite direction. Can perform folding work.

By adopting the above configuration, the desired bending work can be performed without enlarging the operation area of the robot.

However, in the press brake robot system configured as described above, the work support (74) is attached to the press brake body.
Therefore, not only is there a problem that the size is increased as a whole, but the work support base (74) must be rotated up and down while the work (77) is adsorbed, so the drive mechanism ( 75) also has the problem of becoming larger.

Further, since the work (77) is attracted while the work support (74) is being rotated downward, the work support (74) must be installed at the upper position of the press brake (70). There is also a problem that maintenance and inspection work becomes difficult.

<Purpose of Invention> This invention was made in view of the above problems,
It is possible to prevent the equipment from becoming large, and to maintain and
It is an object of the present invention to provide a work stand for a press brake that can facilitate inspection work.

<Means for Solving the Problems> In order to achieve the above object, the work stand of the press brake of the present invention is provided with a plurality of work support arms at a predetermined position not higher than the upper die of the front surface of the press brake. In addition, there is a rotation mechanism that rotates the work support arm in a horizontal plane.In addition, the distance between the work support arms in the work support state passes through the gripping member of the press brake work handling robot in the vertical direction. Is set to be wider than that of the gripping member.

However, it is preferable that each work supporting arm has a suction pad protruding upward by a predetermined distance.

Further, it is more preferable that an elevating mechanism for interlocking and elevating all the work supporting arms is further provided.

<Operation> In the case of the work stand of the press brake configured as described above, the gripping member of the press brake conveys the work onto the work support arm while gripping the work from the upper surface, and in this state, the gripping of the work by the gripping member is released. . Then, by freely moving the gripping member, the gripping member is positioned below the work, and by gripping the work in this state, the direction of the work can be turned upside down.

Also, when it is not necessary to use the work support arm, that is, when it is not necessary to reverse the direction of the work, the work support arm is horizontally rotated by the rotating mechanism and is moved along the front surface of the press brake. The front of the press brake can be opened widely.

When each work supporting arm has a suction pad that protrudes upward by a predetermined distance, when the work that has been once bent is supported, the bent portion is the upper surface of the suction pad. It can be accommodated between the upper surface of the work supporting arm and the flat plate portion can be surely sucked by the suction pad. In addition, if a lifting mechanism for moving all the workpiece support arms in conjunction with each other is further provided, the workpieces should be moved up and down corresponding to the state in which the gripping members are upside down. Therefore, the interference with the work can be eliminated without lengthening the robot arm.

<Examples> Hereinafter, detailed description will be given with reference to the accompanying drawings illustrating examples.

FIG. 1 is a schematic front view showing a state in which an embodiment of a work stand of the present invention is mounted on a press brake, and FIG. 2 is a side view of the same, showing a lower mold (11) fixed at a predetermined position and a vertically movable structure. A work stand (2) is provided at a predetermined position on the front surface of the press brake (1) having a large upper die (12). The work table (2) is composed of a pair of work support arms (21) (21) provided on the press brake (1) via an elevating mechanism (3) and a rotating mechanism (4).

Explaining in more detail with reference to FIGS. 3 to 5, the lifting mechanism (3) is a guide supported by a pair of frame bodies (31) fixed to the front surface of the press brake (1). A shaft (32), a moving frame (33) engaged with each guide shaft (32) so as to be vertically movable, and a cylinder device (3) fixed at a predetermined position of the press brake (1).
4), the piston shaft of the cylinder device (34) and each moving frame (3
It is composed of a link member (35) for connecting the moving frame (3) and the link member (3), and both moving frames (33) can be simultaneously moved up and down by following the operation of the cylinder device (34). The rotation mechanism (4) includes a rotation support part (41) for rotatably supporting the base part of the work support arm (21) and a driving part for giving a rotation force to the work support arm (21). (42) and a rotation restricting portion (4 that restricts the rotation range of the work supporting arm (21).
3) and, by operating the driving part (42), the work bearing is supported in a range along the front surface of the press brake (1) and in a state of protruding at a right angle from the front surface of the press brake (1). The arm (21) can be rotated. The two drive parts (42) are synchronized with each other so that they operate in equal amounts in opposite directions. Further, the work supporting arm (21) is set to a length capable of stably supporting the maximum size work to be bent, and a plurality of suction pads (22) are provided at predetermined intervals. Has been. The suction pad (22) has a predetermined length between the upper surface of the work supporting arm (21) and the suction surface so as to form a space capable of accommodating the edge of the work that has already been bent. Is set to.

FIG. 6 is a plan view schematically showing an example of a press brake robot system, in which two press brakes (1) are arranged laterally apart from each other by a predetermined distance and a press brake work handling robot. (5) (hereinafter, simply abbreviated as a robot (5)) is arranged at a predetermined position that does not face the front and side surfaces of both press brakes (1). Then, an unprocessed work (6) is placed directly below the work stand (2) of one of the press brakes (1), and the work (6) is processed at a predetermined position apart from the press brake (1) to some extent. 6) is put.

The robot (5) includes a first shaft (51) that reciprocally guides in a direction perpendicular to the press brake (1) and a second shaft (52) that is horizontally rotatable with respect to the first shaft (51). ) And a third shaft (53) connected to the second shaft (52) so as to be vertically rotatable.
A fourth shaft (54) vertically rotatably connected to the third shaft (53), and a fifth shaft (55) horizontally rotatably connected to the fourth shaft (54). And a gripping member (56) having a plurality of suction pads (57) at the tip of the fifth shaft (55).

The operation of the press brake robot system having the above configuration is as follows.

First, by operating each axis of the robot (5), the suction pad (57) is brought into contact with the upper surface of the unprocessed workpiece (6) located on the uppermost surface (see FIG. 7A), and the suction pad (5
The work (6) is inserted into the press brake (1) by operating each axis after operating 7) (Fig. 7B).
reference). At this point, the work support arm (21)
Since the upper surface of the lower die (11) and the upper surface of the suction pad (22) are flush with each other by raising the (21), the work piece (6) is moved by operating the suction pad (22). Positioning is performed and the grip of the work (6) by the suction pad (57) is released. Then, the gripping member (56) is moved to the lower side of the work (6) by operating each axis (see FIG. 7C).

Then, the upper die (12) is processed to bend the peripheral edge of the work (6). However, the gripping state by the suction pad (22) is automatically released following the movement of the work (6) accompanying the bending work, and the gripping member (56) is in the non-grasping state by operating each axis. And almost follows the work (6) (see FIG. 7D). Then, when the bending work is completed, the suction pad (57) is operated to grip the work (6).

Therefore, when the bending work needs to be performed only once, the gripped works (6) can be moved to a predetermined position and stacked.

On the contrary, if you need to bend more than once,
If the bending directions are the same, the direction of the work (6) can be changed by operating each axis of the robot (5) and set on the same press brake (1) or another press brake (1). Of course, the second and subsequent bending operations can be performed in the same manner as the first bending operation.

When the second bending operation is the reverse bending operation, the work (6) gripped by the gripping member (56) is moved to the work stand (2) to move the work support arm (2).
1) Place it on (21) (see Fig. 7E). However, in this case, the work stand (2) is the cylinder device (3
Link member (3
5) Rotate and move both moving frames (3) along the guide shaft (32).
Since 3) is lowered, the work support arm (21) is also lowered, and the interference between the work (6) and each axis can be reliably eliminated.

Then, by operating each axis of the robot (5), the suction pad (57) of the gripping member (56) is brought into contact with the lower surface of the work (6) and sucked (see FIG. 7F). However, in this case, the work stand (2) is the cylinder device (3
Link member (35) by pulling in piston shaft of 4)
Is rotated in the opposite direction to raise both moving frames (33) along the guide shaft (32), so that the workpiece support arm (21)
Since the gripping member (56) grips the workpiece (6), a sufficient space can be secured.

Therefore, thereafter, the work (6) is turned upside down by operating each axis of the robot (5), and the lower die (11) is moved.
Move up to. Then, similarly to the first bending work described above, the second bending work in the opposite direction can be performed, and the works (6) after bending can be stacked at a predetermined position.

Further, the works (6) on which the bending work has been performed can all be aligned in the same direction and stacked, but when it is necessary to reduce the stacking height, the works (6) after bending ( 6) is once placed on the work stand (2) and then the gripping surface is reversed by operating each axis of the robot (5), and the stacked works (6) are alternately turned upside down. can do.

Further, when it is not necessary to turn the gripping direction of the work (6) upside down, by operating the driving part (42),
The work supporting arm (21) can be arranged along the front surface of the press brake (1), and the degree of freedom for operating the gripping member (56) can be significantly improved.

Further, in the press brake robot system of FIG. 6, one robot (5) is in charge of two press brakes (1). Therefore, one of the press brakes (1) must perform the bending work. After the robot (5)
Thus, the work (6) can be conveyed to another press brake (1) to perform different bending work, and a series of bending work can be smoothly performed. further,
When the robot (5) is not needed, each axis is positioned on the base for the first axis (51) (6th axis).
It is possible to widely open the entire surface of each press brake (1) (see the chain double-dashed line in the figure).

The present invention is not limited to the above-described embodiment, and for example, it is possible to omit the elevating mechanism (3) for elevating the work table (2) by enlarging the operation area of the robot (5). In addition to the above, it is possible to achieve the same function by omitting the rotation restricting part (43) and controlling the movement amount of the driving part (42). It is possible to provide three or more,
Various design changes can be made within the scope of the invention.

<Effect of Device> As described above, in the first device, the work gripping state can be reversed up and down by simply supporting the work on the work supporting arm and moving the gripping member of the press brake. Since the work supporting arm does not need to change the direction of the work, the structure can be simplified and the work supporting arm can be horizontally rotated, so that the front surface of the press brake can be widely opened for work. Since it is provided at a relatively lower part of the press brake, it has a practicable peculiar practical effect that maintenance and inspection are easy.

In the second invention, the bent portion of the already bent work can be accommodated between the upper surface of the suction pad and the upper surface of the work supporting arm, and the flat plate portion can be reliably sucked by the suction pad. There is a unique practical effect.

A third aspect of the invention is capable of moving a work up and down in response to a state in which the gripping member reverses the gripping direction, can eliminate interference with the work without lengthening the robot arm, and in turn press brakes. The number of control axes of the workpiece handling robot can be reduced, and each motion axis can be shortened, which is a practical effect.

[Brief description of drawings]

FIG. 1 is a schematic front view showing a state in which a working table according to an embodiment of the present invention is attached to a press brake, FIG. 2 is a side view of the same as above, FIG. 3 is an enlarged front view of a working table, and FIG. Enlarged plan view, FIG. 5 is an enlarged side view of the same as above, FIG. 6 is a plan view schematically showing an example of a press brake robot system, FIG. 7 is a schematic side view for explaining bending work, and FIG. Schematic showing the press brake robot system of FIG. (1) …… Press brake, (2) …… Work stand,
(3) ...... Lifting mechanism, (4) ...... Rotating mechanism, (5) ......
Work robot for press brake, (6) …… Work, (21) …… Work support arm, (56) …… Gripping member

Claims (3)

[Scope of utility model registration request] 1. An upper die (12) for the front surface of the press brake (1).
Multiple work support arms (2
1) is provided and the work support arm (2
A rotating mechanism (4) for rotating the (1) in a horizontal plane is provided, and the distance between the work supporting arms (21) in the work supporting state is such that the gripping member (56) of the press brake work handling robot (1). ) Is set to a wider space than the gripping member (56) so as to allow the work piece to pass through in the vertical direction. 2. The work stand of the press brake according to claim 1, wherein each work supporting arm (21) has a suction pad (22) protruding upward by a predetermined distance. 3. The utility model registration claim 1 or 2 further comprising an elevating mechanism (3) for elevating all the work supporting arms (21) by interlocking with each other.
Work stand of the press brake described in the item.