JP2007237191A - Bending unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily convey a work to a work table even when the work is small in a bending unit which has: the work table on which the work is placed; a manipulator with which this placed work is properly moved and positioned; a bending machine with which bending is applied to the moved and positioned work; a safety fence with which the work table, the manipulator and the bending machine are enclosed; and a door which is provided in the safety fence. <P>SOLUTION: The bending unit has: the work table 3; the bending machine 5 with which the bending is applied to the work: the manipulator 7 with which the work is moved and positioned in order to work the work with the bending machine 5; the safety fence 9; and the door 11 which is provided toe freely opened/closed in the safety fence 9. The bending unit is configured so that the work W placed on the work table 3 is held with the manipulator 7 as it is. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a bending unit, and more particularly to a unit that moves and positions a work placed on a work table as appropriate using a manipulator and bends the work.

  Conventionally, a front table (work table) on which a workpiece is placed, a manipulator that appropriately moves and positions the placed workpiece, a bending machine that performs bending on the moved and positioned workpiece, the front table, and the manipulator A metal sheet panel manufacturing machine (bending unit) including a safety enclosure surrounding the bending machine is known (for example, see Patent Document 1).

  The manipulator of the conventional bending unit includes a “U” -shaped frame that can be moved and positioned in a direction approaching and moving away from the bending machine. The “U” -shaped frame includes an upper part, a lower part, and an intermediate part, and extends in a direction in which the upper part and the lower part approach and separate from each other. And the said intermediate part is extended | stretched to the up-down direction at the one end part (end part on the opposite side to the said bending machine) of the said upper site | part and the said lower site | part.

  The other end portion (the end portion on the bending machine side) of the upper portion of the “U” -shaped frame and the other end portion (the bending portion) of the lower portion of the “U” -shaped frame. A jaw for holding the workpiece is provided at an end portion on the processing machine side. By holding the workpiece with this jaw and moving and positioning the frame in the approaching / separating direction, the workpiece is moved and positioned as described above.

  The jaws are provided at a substantially central portion in the width direction of the work table (a horizontal direction orthogonal to the approaching / separating direction).

In order to carry a workpiece into and out of the work table on the side of the safety enclosure (the end of the safety enclosure in a horizontal direction perpendicular to the approaching / separating direction) The door is provided. The reason why the door is provided in such a position is that even if a door is provided at the end opposite to the bending machine of the safety enclosure, an intermediate part of the frame of the manipulator becomes an obstacle and the work is carried out. If it is difficult to enter, the pipe will be removed.
Japanese Patent Laid-Open No. 11-1209098

  In the conventional bending unit, an operator loads a work onto the work table from a direction (lateral direction of the safety enclosure) perpendicular to the moving direction of the frame of the manipulator with the door opened. The loaded work is held by the jaws.

  Therefore, the operator can not only carry the work onto the work table but also hold it with the jaws provided at the center in the width direction of the work table (the center in the width direction of the work table). ) Work must be installed.

  When the workpiece is large, it is easy to carry the workpiece onto the work table. However, when the workpiece is small, the operator must get on the work table through the open door and carry the workpiece. In addition, there is a problem that it is difficult to carry the work into the work table.

  Note that the above-mentioned problem occurs similarly when a small work is carried out of the work table.

  The present invention has been made in view of the above problems, and a work table on which a workpiece is placed, a manipulator that appropriately moves and positions the placed workpiece, and bending work on the moved and positioned workpiece. In a bending unit having a bending machine to be applied, a safety enclosure surrounding the work table, the manipulator and the bending machine, and a door provided in the safety enclosure, the workpiece can be obtained even when the workpiece is small. It is an object of the present invention to provide a bending unit that can easily carry a workpiece into a table.

  The invention according to claim 1 is placed on the work table, a work table for placing the work, a bending machine provided on one side of the work table and bending the work, and the work table. A manipulator that holds a workpiece and moves and positions the workpiece to be processed by the bending machine, a safety enclosure that surrounds a portion that operates when bending by the bending machine, and the workpiece is carried into the work table. Therefore, it has a door that can be freely opened and closed provided in the safety enclosure, and is configured so that a work placed on the work table in the vicinity of the door can be held by the manipulator as it is. Bending unit.

  Invention of Claim 2 is mounted in the work table which mounts a workpiece | work, the bending machine provided in one side of the said work table, and bending the said workpiece | work, and the said work table A manipulator that holds a workpiece and moves and positions the workpiece to be processed by the bending machine, a safety enclosure that surrounds a portion that operates when bending by the bending machine, and the workpiece is carried into the work table. Therefore, an openable / closable door provided in the safety enclosure, and a work transfer means for transferring a work placed on the work table in the vicinity of the door to a position where the work can be held by the manipulator. It is a bending unit having.

  According to a third aspect of the present invention, in the bending unit according to the second aspect of the present invention, the bending unit has a workpiece positioning means for positioning the workpiece placed on the workpiece table at a predetermined position before being held by the manipulator. Bending unit.

  According to a fourth aspect of the present invention, in the bending unit according to the third aspect, the work positioning means is configured to hold the end of the work and move and position the work while pulling the work. It is a bending unit.

  According to a fifth aspect of the present invention, in the bending unit according to any one of the first to fourth aspects, the manipulator is erected on both sides of the work table, and the respective struts. A gate-shaped frame having beams connected to each other at the upper ends thereof, a lower holder for placing the work placed on the work table, and the work placed on the work table. An upper holder provided on the gate-shaped frame for cooperating and holding with the lower holder, and the gate-shaped frame, the upper holder, and the lower holder are synchronized with each other and the workpiece The workpiece can be moved and positioned in the extending direction of the upper surface of the table, and the workpiece held by the upper holder and the lower holder is centered on the axis extending in the vertical direction. A bending unit which is configured to be indexed positioning.

  According to a sixth aspect of the present invention, in the bending unit according to any one of the first to fifth aspects, the work enclosure, the bending machine and the manipulator when the safety enclosure is viewed in plan. A part of the safety enclosure is provided with a notch that opens upward, and the door has the notch provided with the notch. The bending unit is provided so as to be movable up and down, and closes the notch at the rising end and opens the notch at the falling end.

The invention according to claim 7 is provided with a work table having an upper surface extending in the horizontal direction, the upper surface being formed in a rectangular shape in plan view, and one end side in the longitudinal direction of the work table. A bending machine for bending a plate-shaped workpiece, a work table groove extending in the longitudinal direction of the work table at a substantially central portion in the width direction of the work table, A frame movable in the longitudinal direction; an upper holder provided on the frame so as to be movable in the vertical direction above the work table; and provided movable in the longitudinal direction of the work table in the work table groove. A lower holder, and the lower holder is a plane on which the work is placed and is substantially the same as the lower surface of the work placed on the work table. The upper holder is provided with a plane opposite to the plane of the lower holder at the lower portion, and the frame and the lower holder are moved and positioned over almost the entire length of the work table in synchronization with each other. A freely configured manipulator;
In plan view, a safety enclosure formed in a “B” shape so as to surround all of the work table, the bending machine and the manipulator, and the bending machine in the longitudinal direction of the work table It is a bending unit characterized by having an openable and closable door provided in the safety enclosure on the opposite side.

  The invention according to claim 8 is provided with a work table having an upper surface extending in the horizontal direction, the upper surface being formed in a rectangular shape in plan view, and one end portion side in the longitudinal direction of the work table. A bending machine for bending a plate-shaped workpiece, a work table groove extending in the longitudinal direction of the work table at a substantially central portion in the width direction of the work table, A frame movable in the longitudinal direction; an upper holder provided on the frame so as to be movable in the vertical direction above the work table; and provided movable in the longitudinal direction of the work table in the work table groove. A lower holder, and the lower holder is a plane on which the work is placed and is substantially the same as the lower surface of the work placed on the work table. The upper holder is provided with a plane opposite the plane of the lower holder at the lower part, and the frame and the lower holder are synchronized with each other so that the bending in the longitudinal direction of the work table is performed. A manipulator that can be moved and positioned between an end portion on the machine side or the vicinity thereof and an intermediate portion in the longitudinal direction of the work table, and a work support that is movable in the longitudinal direction of the work table in the work table groove A workpiece transfer means for transferring a workpiece placed on the workpiece table in the vicinity of the door to a position where the workpiece can be held by the manipulator, and the workpiece table and the bending process in plan view. Machine, the workpiece transfer means, and the manipulator so as to surround all of them. And safety enclosure and, above said bending machine in the longitudinal direction of the work table on the opposite side, a bending unit and a closable door provided in the safety enclosure.

  According to a ninth aspect of the present invention, in the bending unit according to the seventh or eighth aspect, the work placed on the work table is positioned at a predetermined position before being held by the manipulator. A bending unit having positioning means.

  A tenth aspect of the present invention is the bending unit according to any one of the seventh to ninth aspects, wherein the frame of the manipulator stands on both sides in the width direction of the work table. The upper holder is a bending unit that is movable up and down with respect to the beam.

  The invention according to claim 11 is the first illumination provided in any one of claims 1 to 10 so as to illuminate an outer lower portion of the safety enclosure at a lower portion of the cutout of the safety enclosure. A bending unit having an apparatus.

  A twelfth aspect of the present invention according to any one of the first to eleventh aspects, wherein the safety enclosure is provided so as to illuminate the inside and the outside of the safety enclosure on both the left and right sides of the notch of the safety enclosure. 2 is a bending unit having two illumination devices.

  According to the present invention, a work table for placing a workpiece, a manipulator for appropriately moving and positioning the placed workpiece, a bending machine for bending the moved and positioned workpiece, and the work table, In a bending unit having a safety enclosure that surrounds the manipulator and the bending machine and a door provided in the safety enclosure, even when the workpiece is small, the workpiece can be easily carried into the work table. There is an effect that can be.

[First Embodiment]
FIG. 1 is a perspective view showing a schematic configuration of the entire bending unit 1 according to the first embodiment of the present invention, and FIG. 2 shows a schematic configuration of a portion on the bending machine 5 side in the bending unit 1. FIG. 3 is a perspective view, and FIG. 3 is a side view showing a schematic configuration of the entire bending unit 1.

  In this specification, for convenience of explanation, one horizontal direction is defined as the X-axis direction, another horizontal direction perpendicular to the X-axis direction is defined as the Y-axis direction, and the vertical direction (vertical direction) is defined as Z. It may be axial.

  The bending unit 1 has a work table 3 on which a thin plate-like workpiece (for example, a metal workpiece) W is placed such that the thickness direction of the workpiece W is in the vertical direction.

  A flat surface is provided on the upper part of the work table 3, and the work W is directly placed on the flat surface (upper surface) by contacting the work W, but a brush is placed on the upper surface of the work table 3. An appropriate number of hair transplants or free bears (registered trademark) may be provided, and the work W may be placed indirectly by bringing the upper end of the brush or the upper end of the free bear into contact with the work W. The height position of the lower surface of the workpiece W when the workpiece W is placed directly or when the workpiece W is placed indirectly may be referred to as a “work pass line”.

  A bending machine 5 for bending the work W is provided on one side of the work table 3 in the longitudinal direction (Y-axis direction). Further, the bending unit 1 is provided with a manipulator 7 for holding the workpiece W placed on the workpiece table 3. The manipulator 7 moves and positions the workpiece W placed and held on the workpiece table 3 so as to be processed by the bending machine 5.

  The work table 3, the bending machine 5 and the manipulator 7 are covered with a safety enclosure 9. The safety enclosure 9 surrounds the entire work table 3, the entire bending machine 5, and the entire manipulator 7, but it does not necessarily have to cover the whole. That is, in order to ensure the safety of an operator or the like, at least a part that operates when bending is performed by the bending unit 15 (for example, a part that operates the bending machine 5, a part that operates the manipulator 7, a workpiece It only needs to surround the work W) placed on the table 3 and moved and positioned.

  The safety enclosure 9 is provided with a door 11 that can be opened and closed. When the door 11 is closed, the safety of the operator during the operation of the bending unit 1 is ensured. Further, the door 11 is provided for loading the work W into the work table 3 and placing it, and for unloading the work W placed on the work table 3 from the work table 3. That is, the work W is carried into the work table 3 through the opened door 11 and the work W is carried out from the work table 3. The door 11 is provided, for example, on the side opposite to the bending machine 5 in the longitudinal direction (Y-axis direction) of the work table 3.

  The bending unit 1 is provided with a workpiece transfer means 13 (see FIG. 4) and a workpiece positioning means 15 (see FIG. 4). The workpiece transfer means 13 transfers the workpiece W placed on the workpiece table 3 in the vicinity of the door 11 to a position where the workpiece W can be held by the manipulator 7 while being placed on the workpiece table 3.

  The work positioning means 15 can hold the work W placed on the work table 3 at a predetermined position (for example, the center of the work W by the manipulator 7) before being held by the manipulator 7 (immediately before). Position). It is assumed that the workpiece transfer means 13 and the workpiece positioning means 15 are surrounded by a safety enclosure 9.

  The bending unit 1 will be described in more detail with an example.

  The upper surface of the work table 3 is formed in a rectangular shape in plan view. As described above, the Y-axis direction is the longitudinal direction of the work table 3, and the X-axis direction is the width direction of the work table 3. ing. In addition, although it is a form of the upper surface of the work table 3, a square may be sufficient and the dimension (width) of the width direction may be larger or smaller than the dimension (length) of a longitudinal direction.

  The bending machine 5 is configured to perform a so-called ironing bending process on the workpiece W (for example, see Japanese Patent Application No. 2004-292172).

  That is, as shown in FIG. 3, the bending machine 5 includes a portal frame (for example, a portal frame provided integrally with the work table 3) 17, and the portal frame 17 extends in the X-axis direction. A ram drive source 19 (for example, a motor M and a ball screw / nut mechanism) is installed at both inner ends. With this configuration, when the ram drive source 19 is operated, the ram 21 guided by the frame 17 moves linearly in the vertical direction (Z-axis direction) and can be positioned at a predetermined position.

  A lower table 23 facing the ram 21 is disposed below the ram 21. The lower table 23 is provided integrally with the portal frame 17. A lower plate presser 25 is integrally provided at the upper end of the lower table 23. Note that the upper surface of the lower plate holder 25 is formed in an elongated rectangular shape having a predetermined width in the Y-axis direction and substantially the same length as the width of the work table 3 in the X-axis direction. It is located at almost the same height as the pass line.

  An upper plate presser 27 is integrally provided at the lower end of the ram 21. The lower surface of the upper plate holder 27 is formed in substantially the same shape as the upper surface of the lower plate holder 25 and faces the upper surface of the lower plate holder 25.

  As is well known, a bend beam 33 that moves in the vertical direction (Z-axis direction) and the front-rear direction (Y-axis direction) is located behind the lower table 25 via the D-axis 29 and the A-axis 31. The bend beam 33 is installed on a lower frame (a lower frame provided integrally with the frame 17) 35. The bend beam 33 is, for example, a standard bending die 33A or a reverse bending die 33B. The ironing and bending process.

  As already understood, the ram 21, the lower table 23, the lower plate holder 25, and the upper plate holder 27 exist between the work table 3 and the bend beam 33 in the Y-axis direction. Further, when ironing and bending the workpiece W, the workpiece W is clamped by the lower plate presser 25 and the upper plate presser 27.

  Further, the bending machine 5 may be configured to be capable of selectively switching between V-bending and ironing bending as described in the specification of Japanese Patent Application No. 2004-292172. The configuration described in the specification of 292172 may be changed as appropriate so that only V-bending is performed. Furthermore, you may be comprised so that a bending process may be performed by another system.

  The manipulator 7 cooperates with the lower holder 37 for the gate-shaped frame 35, the lower holder 37 for placing the work W placed on the work table 3, and the work W placed on the work table 3. An upper holder 39 for sandwiching and holding is provided.

  The gate-shaped frame 35 includes upper columns 41 </ b> A and 41 </ b> B standing on both sides in the width direction (X-axis direction) of the work table 3 and upper beams connecting the upper ends of the respective columns 41 </ b> A and 41 </ b> B to each other. 43 is formed in a gate shape. Each support column 41A, 41B is slightly separated from the work table 3 on both sides in the width direction of the work table 3, and stands at substantially the same position in the longitudinal direction of the work table 3 (Y-axis direction). It exists away from the upper surface of the work table 3 (the upper end of these if a brush or a free bear is provided), and extends in the width direction of the work table 3.

  In addition, a lower beam 45 that connects the lower ends of the columns 41A and 41B to each other is integrally provided on the portal frame 35. By providing the lower beam 45, it can be said that the frame 35 is formed in a "B" shape.

  The frame 35 is movable in the Y-axis direction with respect to the work table 3 via a linear guide bearing 47, and is positioned in the Y-axis direction by a servo motor 49 and a ball screw 51 as an example of an actuator. It is free.

  A lower holder 37 is rotatably provided on the lower beam 45 of the frame 35 via a bear rig (not shown). The lower holder 37 has a circular flat surface at the upper end, and this flat surface (upper surface) is located at almost the same height as the pass line of the workpiece W. In order to make it easier to hold the workpiece W and to move the held workpiece W, the upper surface of the lower holder 37 is slightly lower than the pass line of the workpiece W and slightly higher than the pass line of the workpiece W. It may be configured such that it is moved and positioned between high positions and can be held at the positioned positions. Furthermore, the upper surface of the lower holder 37 is higher than the pass line of the workpiece W in order to prevent the workpiece W from interfering with the lower plate presser 25 when the workpiece W is moved downward by bending. It is good also as a structure which can move to a position position.

  The lower holder 37 has an axis extending in the Z-axis direction and passing through the center of the upper surface of the lower holder 37 as a rotation center so that the lower beam 45 can be indexed by a servo motor 53 as an example of an actuator. It has become. A circular flat surface (lower surface) facing the upper surface of the lower holder 37 is provided at the lower end of the upper holder 39, and the upper holder 39 is supported by a linear guide bearing 55, and is a fluid that is an example of an actuator. The pressure cylinder 57 can move up and down with respect to the upper beam 43 of the frame 35. Further, it is supported by a bearing (not shown) and is rotatable about the same axis as the lower holder 37.

  With this configuration, the gate-shaped frame 35, the upper holder 39, and the lower holder 37 are moved in the extending direction of the upper surface of the work table 3 (that is, the longitudinal direction of the work table 3) in synchronization with each other. It is configured to be freely positionable. Further, by lowering the upper holder 39, the work W placed on the work table 3 can be sandwiched and held in a state as it is (without changing the position and posture of the work W). It is like that.

  The workpiece W held by the upper holder 39 and the lower holder 37 can be moved and positioned in the Y-axis direction, and is an axis extending in the vertical direction. Index positioning is possible with the axis passing through the center of rotation.

  A groove (work table groove) 59 having a predetermined width extending in the longitudinal direction of the work table 3 is provided at a substantially central portion in the width direction of the work table 3, and the lower holder 37 moves in the groove 59. It is supposed to be. Further, the lower holder 37 and the upper holder 39 are provided on the bending machine 5 side with respect to the frame 35 in order to facilitate bending to a small workpiece W.

  The safety enclosure 9 is formed, for example, in a “B” shape in plan view, and is provided so as to surround all of the work table 3, the bending machine 5 and the manipulator 7, the work transfer means 13, and the work positioning means 15. It has been.

  The safety enclosure 9 may be provided integrally with the work table 3 or the bending machine 5 or may be provided separately. A cover for closing the lower surface of the safety enclosure 9 may be provided or omitted. Although a cover for closing the upper surface of the safety enclosure 9 is not provided, a configuration may be provided in which a cover for closing the upper surface of the safety enclosure 9 is provided.

  Further, the safety enclosure 9 is formed so that the upper end of the safety enclosure 9 exists at a position higher than the lower surface of the workpiece W placed on the work table 3. Furthermore, it is desirable that the upper end of the safety enclosure 9 is at a position substantially the same as or higher than the upper end of the gate-shaped frame 35.

  A rectangular notch having an upper opening is formed in a part of the “B” -shaped part (side part) of the safety enclosure 9 (part on the side opposite to the bending machine 5 in the longitudinal direction of the work table 3). 61 is provided. The lower end of the notch 61 is located at a level that is substantially the same as or slightly lower than the lower surface of the work W placed on the work table 3.

  As shown in FIGS. 5 and 6, the door 11 is formed in a rectangular shape slightly larger than the notch 61, and is illustrated in the vicinity of the location where the notch 61 is provided inside the safety enclosure 9. It is supported on the safety enclosure 9 by a linear bearing or the like, and is provided to move up and down with respect to the safety enclosure 9 by an actuator (not shown) such as a fluid pressure cylinder. When the door 11 is at the rising end position, the height of the upper end portion of the door 11 substantially matches the height of the upper end portion of the notch 61, and the side portion of the door 11 and the lower peripheral portion are notched. The side 61 and the lower part 61 overlap with each other in a “U” shape so as to close the notch 61. Further, the notch 61 is configured to be opened when the door 11 is at the lower end position.

  Further, the door 11 is provided with a window 62 fitted with a transparent acrylic resin member, through which the state inside the safety enclosure 9 can be seen.

  Next, the workpiece transfer means 13 and the workpiece positioning means 15 will be described with examples.

  FIG. 4 is a plan view showing a specific example of the workpiece transfer means 13 and the workpiece positioning means 15.

  The workpiece transfer means 13 is configured to transfer the workpiece W by pressing the workpiece table groove 59 with the workpiece support members 63A and 63B that are movable in the longitudinal direction of the workpiece table 3.

  More specifically, a rotating member (not shown) such as a sprocket is provided to be rotatable with respect to the work table 3 at one end in the longitudinal direction of the work table 3 below the upper surface of the work table 3. The rotating member is driven to rotate by an actuator (not shown) such as a motor. The rotating member exists at substantially the same position as the work support member 63A in the width direction of the work table 3.

  In addition, a rotating member (not shown) such as a sprocket is provided to be rotatable with respect to the work table 3 at the other end in the longitudinal direction of the work table 3 below the upper surface of the work table 3. . An annular member such as a chain is wound around each rotating member. A work support member 63A is integrally provided on the wound annular member. The annular member is positioned below the upper surface of the work table 3, but the upper portion of the work support member 63 </ b> A protrudes above the upper surface of the work table 3.

  The work support member 63B is also provided in another chain or the like, similarly to the work support member 63A. Then, when a rotating member such as a sprocket is appropriately rotated, the workpiece support members 63A and 63B are synchronously moved in the Y-axis direction (extending direction of the groove 59), and the workpiece W placed on the workpiece table 3 is moved. It can be moved by pressing.

  That is, the work W placed on the work table 3 and existing at the position PS1 shown in FIG. 4 is pushed while being placed on the work table 3 to the position PS3 (position that can be positioned by the work positioning means 15). It can be transported.

  By the way, in the above description, the workpiece W placed on the workpiece table 3 in the vicinity of the door 11 is transferred to a position that can be positioned by the workpiece positioning means 15 (a position that can be held by the manipulator 7). Further, it may be transferred to another position that can be held by the manipulator 7. In this case, the work W placed on the work table 3 in the vicinity of the door 11 is located at another position that can be held by the manipulator 7 (for example, in the middle of PS1 and PS3 in the Y-axis direction in FIG. 4). ), And thereafter, it is carried by the manipulator 7 to a position that can be positioned by the work positioning means 15 (position of PS3).

  In addition, by rotating the rotating member such as the sprocket in the reverse direction (the rotation opposite to the case where the workpiece W is pushed from the position PS1 to the position PS3), the workpiece W existing at the position PS3 is moved to the position PS1. It can be pushed and transferred.

  Therefore, if the workpiece transfer means 13 is used, the workpiece W placed on the workpiece table 3 in the vicinity of the door 11 can be transferred to a position where the manipulator 7 can hold the workpiece W. The work held by the manipulator 7 can also be transferred to the vicinity of the door 11.

  In the workpiece transfer means 13 described above, the workpiece W is pushed and transferred by the workpiece support members 63A and 63B, but the ends of the workpiece W are held by the members 65A and 65B indicated by the two-dot chain lines in FIG. For example, the workpiece W may be pinched and transferred while pulling the workpiece W. Furthermore, the structure which hold | maintains the workpiece | work W, pushes the workpiece | work W, and may transfer may be sufficient.

  By providing the workpiece transfer means 13 described above, the manipulator 7 does not need to move over almost the entire length of the work table 3 in the longitudinal direction (Y-axis direction), and at least approximately the central portion of the work table 3 in the longitudinal direction. And the end of the work table 3 in the longitudinal direction on the bending machine 5 side can be moved and positioned. That is, if each holder 37, 39 can be moved and positioned between the position PS5 and a position slightly to the right of the position PS7 (right side in FIG. 4) as shown by a two-dot chain line in FIG. Good.

  The work positioning means 15 is configured by pins 67A, 67B, 69A, 69B that can be moved in and out with respect to the upper surface of the work table 3, and work support members 63A, 63B. Each pin 67A, 67B, 69A, 69B is moved up and down by an actuator such as a fluid pressure cylinder.

  More specifically, each pin 67A, 67B is provided on the bending machine 5 side in the longitudinal direction of the work table 3, and in the state where each pin 67A, 67B protrudes from the upper surface of the work table 3, When the workpiece is pushed by the support members 63A and 63B and the workpiece W is abutted against the pins 67A and 67B, the workpiece W is positioned in the Y-axis direction.

  Each pin 69A, 69B is provided on the bending machine 5 side in the longitudinal direction of the work table 3, and is movable in the width direction (X-axis direction) of the work table 3. However, each of the pins 69A and 69B is moved in the opposite direction in synchronization by a mechanism such as a link mechanism or a rack and pinion, and sandwiches the workpiece W so that the center of the workpiece W is the center in the width direction of the workpiece table 3. Positioning can be performed in the X-axis direction so as to substantially match.

  In addition to the pins 67A, 67B, 69A, and 69B, the workpiece W may be positioned by using the units 71A and 71B indicated by two-dot chain lines in FIG.

  That is, after positioning the workpiece W with the pins 67A, 67B, 69A, 69B, etc., the pins 67A, 67B, 69A, 69B are retracted from the upper surface of the work table 3. Thereafter, as described in Japanese Patent Application Laid-Open No. 11-226677, each unit 71A, 71B is used to hold (for example, hold) the end portion of the workpiece W and move and position in the horizontal direction while pulling the workpiece W. You may comprise so that it may perform.

  By the way, as shown in FIG. 5 (a diagram showing a state in which the door 11 is raised), an illuminating device 73 made of, for example, a fluorescent lamp is provided below the notch 61 of the safety enclosure 9. . The illumination device 73 can illuminate the outer lower portion of the safety enclosure 9.

  Illumination devices 75A and 75B made of, for example, fluorescent lamps are provided on the left and right sides of the notch 61 of the safety enclosure 9. Each lighting device 75A, 75B is provided inside the safety enclosure 9, and a portion of the safety enclosure 9 where each illumination device 75A, 75B is provided is configured with transparent covers 77A, 77B. Accordingly, each of these lighting devices 75A and 75B illuminates the inside and the outside of the safety enclosure 9.

  Next, the operation of the bending unit 1 will be described.

  As an initial state, the workpiece W is not contained in the bending unit 1, the workpiece support members 63 </ b> A, 63 </ b> B are present at the positions shown in FIG. 4, and the pins 67 </ b> A, 67 </ b> B, 69 </ b> A, 69 </ b> B It is assumed that the pins 69 </ b> A and 69 </ b> B are located outside in the width direction of the work table 3.

  Further, it is assumed that the holders 37 and 39 of the manipulator 7 are present at the position PS5 shown in FIG. 4, the upper holder 39 is raised, and the upper plate holder 27 of the bending machine 5 is also raised.

  Furthermore, the machining data of the workpiece W is input to the NC device 79 (see FIG. 3) which is an example of the control device via an input means (touch panel or the like) not shown, and the door 11 is lowered. And

  In the initial state, when the operator installs the workpiece W at the position PS1 on the work table 3 and presses the start button of the NC device 79, the door 11 rises under the control of the NC device 79, and each workpiece support member 63A and 63B move to the right in FIG. 4, and the work W is transferred to the position PS3 (the position at which the work W hits the pins 67A and 67B).

  4 shows a small work W, the movement distance of each work support member 63A, 63B is large when the work W is transferred, but the size of the work W is almost the same as the upper surface of the work table 3. If it is larger, the workpiece support members 63A and 63B move the workpiece W with little movement.

  Subsequently, the pins 69A and 69B are moved toward the center of the work table 3 to position the work W, and the manipulator 7 is moved and positioned so that the holders 37 and 39 are located at the position of PS7. The pins 67A, 67B, 69A, 69B are retracted from the upper surface of the work table 3, the upper holder 39 is lowered to clamp the substantially central portion of the work W, and the manipulator 7 is appropriately positioned in the Y-axis direction. The plate holder 27 is lowered to clamp the workpiece W, and the workpiece W is bent by the bending machine 5.

  Subsequently, the upper plate holder 27 is raised, the manipulator 7 is moved to move the workpiece W away from the bending machine 5, the workpiece W is indexed, and the next bending is performed in the same manner.

  When all the bending processes are completed, the manipulator 7 is positioned at an appropriate position, the upper holder 39 is lifted to release the workpiece W from being clamped by the manipulator 7, and the workpiece support members 63A and 63B are used to attach the workpiece W to the door 11. Then, the pins 67A, 67B, 69A, 69B are raised, the door 11 is lowered, the operator carries out the workpiece, and the initial state returns.

  Here, with reference to FIG. 7 (flow chart showing the operation of loading the workpiece W into the bending unit 1), an example of the operation of loading the workpiece W into the bending unit 1 will be described. In this bending unit 1, the workpiece W is positioned by the method described in JP-A-11-226677 (method of pulling and positioning the workpiece W).

  The upper cover (door 11) is lowered (S1). This operation may be performed manually or automatically.

  Next, for example, an operator pushes a work set switch provided in the NC device 79 to raise each pin (pin gauge) 67A, 67B, 69A, 69B (S3), and raise each pin 67A, 67B, 69A, The workpiece W is set with 69B as a target (S5). The set is performed using the workpiece transfer means 13 when the workpiece W is small, but may be manually performed by the operator when the workpiece W is large.

  Subsequently, the operator pushes the automatic operation start switch to raise the door 11 manually or automatically (S7), and when it is detected by a sensor (not shown) that the door 11 has been raised, Japanese Patent Application Laid-Open No. 11-226677 The work W is positioned by the method described in the above (S9).

  Subsequently, the workpiece W is clamped by the manipulator 7 (S11), and the workpiece W is bent (S13). When the door 11 is lowered and the notch 61 is opened during bending, the bending unit 1 stops (for example, emergency stop).

  Next, with reference to FIG. 8 (flow chart showing the operation for unloading the workpiece W from the bending unit 1), an operation for unloading the workpiece W will be described with an example.

  During the bending process, the ascent of the door 11 is maintained (S21). When the door 11 descends during the bending process, the bending process unit 1 stops (S23) as described above.

  After the bending process, the manipulator 7 is retracted to the retracted end (position away from the bending machine 5), the work W is unclamped (S25), and the manipulator 7 moves, for example, in a direction away from the door 11 (S27). ), The workpiece transfer means 13 transfers the workpiece W to the vicinity of the door 11. In addition, since the workpiece | work transfer means 13 is provided, the operation | movement which moves the manipulator 7 in the direction away from the door 11 is not necessarily required.

  Subsequently, when the operation of moving the manipulator 7 in the direction away from the door 11 is performed and a completion signal of the moving operation is detected by a sensor (not shown), or the workpiece W is moved by the workpiece transfer means 13 to the door. When it is detected by a sensor (not shown) that it has been moved to the vicinity of the door 11, the door 11 can be lowered manually or automatically, the door 11 is lowered (S29), and the front table (work table) is manually or automatically moved. ) The work W is unloaded from 3 (S31).

  According to the bending unit 1, since the work transfer means 13 for transferring the work W placed on the work table 3 in the vicinity of the door 11 to a position where it can be held by the manipulator 7 is provided, a small work is provided. When W is loaded into the work table 3 and installed, it is only necessary to carry in and install at the end of the work table 3 near the door 11 instead of the center of the work table 3, so that the work W can be easily loaded into the work table 3. Can be done. Similarly, it is possible to easily carry out the work W from the work table 3.

  That is, there are various sizes of workpieces to be bent in the bending unit 1 from small to large. However, by providing the workpiece transfer means 13, the workpiece holders (the holders 37 and 39) of the manipulator 7 are provided. Even if it does not move to the end of the work table 3 where the door 11 is provided, the work W of a smaller size can be held by the manipulator 7.

  Therefore, when bending a work W having a smaller size, it is only necessary to carry the work W onto the work table 3 in the vicinity of the door 11, thereby reducing the burden on the operator. Further, when the processed small work W is carried out, the processed work W held by the manipulator 7 and placed on the work table 3 is released on the work table 3 after releasing the holding by the manipulator 7. Since it can be transferred by the workpiece transfer means 13 to the vicinity of the door 11 while being placed, it is only necessary to carry out the workpiece W placed on the work table 3 in the vicinity of the door 11, thereby reducing the burden on the operator. Is done.

  Even when the work W is carried in and out using a robot instead of the worker, it is not necessary to lengthen the arm of the robot, so that the size of the robot can be reduced.

  Further, according to the bending unit 1, since the workpiece W placed on the workpiece table 3 is positioned at a predetermined position by the workpiece positioning means 15, the workpiece W can be accurately bent.

  Further, if the workpiece positioning means 15 of the bending unit 1 holds the end of the workpiece W and moves it in the horizontal direction while pulling the workpiece W to perform positioning, it is possible to accurately determine a thin workpiece with low rigidity. Therefore, it is possible to perform a more accurate bending process.

  Further, according to the bending unit 1, the frame 35 is formed in a gate shape, so that the rigidity of the frame is higher than that in the case where the frame 35 is formed in a “U” shape like a moving table in Japanese Patent Laid-Open No. 11-129098. It is easy to increase the size. In addition, since the work W to be processed by the manipulator 7 can be indexed, more various bending processes can be performed on the work W.

  For example, when manufacturing a square bowl-shaped product with an open top surface by bending, the material formed in a developed shape (a square side portion is formed on each of the four sides of the square bottom of the bowl-shaped product). The product can be obtained by holding the manipulator 7 and appropriately positioning the material provided in the form of a plate and bending the four sides.

  Further, according to the bending unit 1, since the safety enclosure 9 surrounds all of the work table 3, the bending machine 5 and the manipulator 7, the safety of the bending unit 1 is further increased. Further, the door 11 is provided so as to be movable up and down with respect to the safety enclosure 9 in the vicinity of the notch 61 having an upper opening, and closes the notch 61 at the rising end and cuts the notch 11 at the descending end. Therefore, when the work W is carried in and out, there is no obstacle above the notch 61, and it becomes easy to carry the work W into and out of the work table 3. ing.

  In addition, according to the bending unit 1, the lighting device 73 that illuminates the outer lower portion of the safety enclosure 9 is provided below the notch 61 of the safety enclosure 9. The feet can be brightened, and the safety of work can be ensured.

  Further, according to the bending unit 1, the lighting devices 75 </ b> A and 75 </ b> B that illuminate the inside and outside of the safety enclosure 9 are provided on the left and right sides of the notch 61 of the safety enclosure 9. It is easy for the operator to confirm the progress status of the above, and it is easy for the operator to confirm the position of the notch 61 (door 11) even in a dark environment.

[Second Embodiment]
The bending unit according to the second embodiment is different from the bending unit 1 according to the first embodiment in that the workpiece transfer means 13 described above is deleted, and the other points are the same as those in the first embodiment. It is comprised substantially the same as the bending unit 1 which concerns on a form.

  That is, the bending unit according to the second embodiment includes a work table on which a plate-shaped workpiece is placed, a bending machine that is provided on one side of the work table and performs bending on the workpiece, A manipulator that holds a work placed on a work table and moves and positions the workpiece to be processed by the bending machine, a safety enclosure that surrounds a portion that operates when bending by the bending machine, An openable / closable door provided in the safety enclosure for carrying the work into the work table, and holding the work placed on the work table in the vicinity of the door as it is with the manipulator It is configured to be able to.

  Note that the manipulator 7 of the bending unit according to the second embodiment is configured to be movable and positionable over substantially the entire length of the work table 3. For example, the holders 37 and 39 of the manipulator 7 can be moved and positioned between a position PS9 and a position slightly to the right of the position PS7 as shown by a two-dot chain line in FIG.

  In the bending unit according to the second embodiment, it is desirable that the manipulator 7 is retracted to the bending machine 5 side so as not to disturb the operator when the workpiece W is carried in and out.

  By the way, in the bending unit according to each of the above embodiments, the frame 35 of the manipulator 7 is formed in a gate shape, but may be formed in a shape other than the gate shape.

  That is, as shown in FIG. 9 (a plan view showing a modification of the bending unit), the frame 35a may be formed in a “C” shape, for example. However, the column 81 of the frame 35a moves in the Y-axis direction on one end side in the width direction of the work table 3. Further, the holders 37 and 39 can turn 90 ° with respect to the frame 35 a at both ends in the longitudinal direction of the work table 3. By making it possible to turn in this way, it is possible to avoid the frame 35a from interfering with the operator and the bending machine 5 when the workpiece W is carried in and out and when the workpiece W is bent.

It is a perspective view which shows schematic structure of the whole bending process unit which concerns on the 1st Embodiment of this invention. It is a perspective view which shows schematic structure of the site | part by the side of the bending machine in a bending process unit. It is a side view which shows schematic structure of the whole bending process unit. It is a top view which shows the specific example of a workpiece | work transfer means and a workpiece | work positioning means. It is a figure which shows the state which the door is raising. It is a figure which shows the state which the door is falling. It is a flowchart which shows the carrying-in operation | movement of the workpiece | work to a bending process unit. It is a flowchart which shows the carrying-out operation | movement of the workpiece | work from a bending process unit. It is a top view which shows the modification of a bending process unit.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Bending unit 3 Work table 5 Bending machine 7 Manipulator 9 Safety enclosure 11 Door 13 Work transfer means 15 Work positioning means 35 Frame 37 Lower boulder 39 Upper holder 41A, 41B Post 43 Beam 59 Work table groove 61 Notch 63A, 63B Work support members 73, 75A, 75B Illumination device W Work

Claims (12)

A work table on which the work is placed;
A bending machine provided on one side of the work table and bending the work;
A manipulator that holds a workpiece placed on the work table and moves and positions the workpiece to be processed by the bending machine;
A safety enclosure enclosing a part that operates when bending with the bending machine;
An openable / closable door provided in the safety enclosure for carrying the work into the work table;
And a bending unit that is configured so that a work placed on the work table in the vicinity of the door can be held by the manipulator as it is. A work table on which the work is placed;
A bending machine provided on one side of the work table and bending the work;
A manipulator that holds a workpiece placed on the work table and moves and positions the workpiece to be processed by the bending machine;
A safety enclosure enclosing a part that operates when bending with the bending machine;
An openable / closable door provided in the safety enclosure for carrying the work into the work table;
Workpiece transfer means for transferring a workpiece placed on the workpiece table in the vicinity of the door to a position where the workpiece can be held by the manipulator;
A bending unit characterized by comprising: The bending unit according to claim 2,
A bending unit comprising work positioning means for positioning a work placed on the work table at a predetermined position before being held by the manipulator. The bending unit according to claim 3,
The bending unit, wherein the workpiece positioning means is configured to hold the end portion of the workpiece and move and position the workpiece while pulling the workpiece. In the bending unit according to any one of claims 1 to 4,
The manipulator is mounted on the work table, and a gate-shaped frame that includes columns that stand on both sides of the work table and beams that connect the upper ends of the columns to each other. A lower holder for placing a workpiece, and an upper holder provided in the portal frame for holding the workpiece placed on the work table in cooperation with the lower holder, The portal frame, the upper holder, and the lower holder are synchronously movable and positioned in the extending direction of the upper surface of the work table, and are held by the upper holder and the lower holder. The bending work unit is characterized in that the workpiece is configured such that the index can be positioned with the axis extending in the vertical direction as the turning center. In the bending unit according to any one of claims 1 to 5,
The safety enclosure is formed so as to surround all of the work table, the bending machine, and the manipulator when viewed in plan.
A part of the safety enclosure is provided with a notch that opens upward, and the door is provided so as to be movable up and down with respect to the safety enclosure when the notch is provided. A bending unit characterized in that the notch is closed at the rising end and the notch is opened at the falling end. A worktable having a top surface extending in a horizontal direction, the top surface being formed in a rectangular shape in plan view;
A bending machine provided on one end side in the longitudinal direction of the work table and bending a plate-like workpiece;
A work table groove provided by extending in the longitudinal direction of the work table at substantially the center in the width direction of the work table;
A frame movable in the longitudinal direction of the work table, an upper holder provided on the frame so as to be movable in the vertical direction above the work table, and movable in the longitudinal direction of the work table in the work table groove A lower holder provided on the upper surface, and the lower holder is a flat surface on which the work is placed, and the upper surface is substantially the same height as the lower surface of the work placed on the work table. The upper holder has a plane opposite to the plane of the lower holder in the lower part, and the frame and the lower holder are configured to be movable and positionable over almost the entire length of the work table in synchronization with each other. When;
A safety enclosure formed in a “B” shape so as to surround all of the work table, the bending machine and the manipulator in plan view;
An openable and closable door provided in the safety enclosure on the opposite side to the bending machine in the longitudinal direction of the work table;
A bending unit characterized by comprising: A worktable having a top surface extending in a horizontal direction, the top surface being formed in a rectangular shape in plan view;
A bending machine provided on one end side in the longitudinal direction of the work table and bending a plate-like workpiece;
A work table groove provided by extending in the longitudinal direction of the work table at substantially the center in the width direction of the work table;
A frame movable in the longitudinal direction of the work table, an upper holder provided on the frame so as to be movable in the vertical direction above the work table, and movable in the longitudinal direction of the work table in the work table groove A lower holder provided on the upper surface, and the lower holder is a flat surface on which the work is placed, and the upper surface is substantially the same height as the lower surface of the work placed on the work table. The upper holder has a plane opposite to the plane of the lower holder in the lower part, and the frame and the lower holder are synchronized with each other, and the end on the bending machine side in the longitudinal direction of the work table or this A manipulator which is movable and positionable between a vicinity and an intermediate portion in the longitudinal direction of the work table;
Using a work support member that is movable in the work table groove in the longitudinal direction of the work table, up to a position where the work placed on the work table in the vicinity of the door can be held by the manipulator A workpiece transfer means for transferring;
A safety enclosure formed in a “B” shape so as to surround all of the work table, the bending machine, the work transfer means and the manipulator in plan view;
An openable and closable door provided in the safety enclosure on the opposite side to the bending machine in the longitudinal direction of the work table;
A bending unit characterized by comprising: The bending unit according to claim 7 or 8,
A bending unit comprising work positioning means for positioning a work placed on the work table at a predetermined position before being held by the manipulator. In the bending unit according to any one of claims 7 to 9,
The frame of the manipulator is formed in a gate shape including each column standing on both sides in the width direction of the work table and a beam connecting the upper ends of these columns to each other, and The bending unit, wherein the holder is movable up and down with respect to the beam. In any one of Claims 1-10,
A bending unit comprising a first lighting device provided to illuminate an outer lower portion of the safety enclosure at a lower portion of the cutout of the safety enclosure. In any one of Claims 1-11,
A bending unit comprising: a second lighting device provided to illuminate the inside and outside of the safety enclosure on both the left and right sides of the cutout of the safety enclosure.

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