JPH06344034A - Press brake robot system and work discharging method and robot hand in the system - Google Patents

Abstract

PURPOSE:To prevent a robot arm and a work interfering with each other and to support a large panel without fear of buckling or dropping down the work by installing a robot at a position deviated from the front central position of press brake. CONSTITUTION:A robot 1 is a six shafts robot, and takes out a work W from a disk cutter 20. Here, the robot 1 is arranged at a position deviated by a prescribed length x from the front central position of a press brake 10. Therefore, the angle formed by two arms at the time of laterally bending is made a right angle or an obtuse angle, the interference of the arm and the work W can be prevented even in a case of holding a large work W. Further, the hand 40 attached on the robot 1 is used for a gripper 41 and a vacuum pad together, the gripper 41 is composed of upper and lower claws and supports and holds the work. Therefore, after taking out the worked work W, they can be placed successively resting them against a supporting plate 30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press brake robot system combining a press brake and a robot.

[0002]

2. Description of the Related Art A press brake has a die and a vertically moving punch, and applies a pressing force to the work placed on the die by lowering the punch or raising the die. The work is bent by the method described above. In recent years, a system in which a work is supplied to and taken out from the press brake by a robot is becoming widespread.

In the press brake robot system in which the press brake and the robot are combined in this way, as shown in FIG. 7, the robot 1 is usually installed at the center position in front of the press brake 10. Further, in the press brake, the work must be bent in the middle of the press brake in consideration of the load distribution on the work and the positioning by the back stop. For this reason, as shown in FIG. 7, when the work W is bent laterally, the arms 2 and 3 must form an acute angle. Therefore, when bending a large work W, there is a problem that the arm 2 of the robot may interfere with the work W.

As the hand of the press brake robot, there are conventionally a grip type and a suction type using a vacuum pad. However, the grip type has a problem that, when handling a large thin work, the work is folded over near the gripping part due to the weight of the work. On the other hand, the suction type tends to shift the work (weak to the force in the direction parallel to the work surface), and it is dangerous and suitable for work with holes, thin and vibrating work, and heavy work. There are problems such as not being there, and both have advantages and disadvantages.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a press brake robot system which enables bending work without interference between a work and a robot arm.

Another object of the present invention is to provide a robot hand capable of supporting a large panel without fear of the work breaking over or dropping.

[0007]

According to the present invention,
In a press brake robot system including a press brake that bends a work and a robot that supplies the work to the press brake, the robot is installed so as to be displaced from a front center position of the press brake.

When the robot is arranged so as to be displaced from the center of the front surface of the press brake, the angle formed between the arms of the robot does not become an acute angle but a right angle or an obtuse angle, so that the interference between the robot arm and the work can be prevented. .

Further, in the present invention, a suction pad for supporting the work in cooperation with the lower claw is added to the grip type robot hand for holding the work by the upper and lower claws.

That is, in the present invention, the robot hand is a combined suction-type and grip-type hand to cover the drawbacks of both types and to bring out the advantages. In addition, the lower claws of the gripper and the suction pads cooperate to support the work, thereby reducing the number of suction pads.

Further, in the case of using the combined suction-type and grip-type hands, there is a problem in how the processed workpieces are stored after being taken out from the press brake. That is, in the stacking method that has been generally used in the past, the suction pad interferes with the stacking of the workpieces, and a separate device for that purpose is required.

Therefore, in the present invention, the following method is proposed as a work storage method for a combined hand of suction type and grip type.

That is, according to the present invention, the work after bending is leaned against the work so that the work after bending is accumulated at a predetermined position in the work area.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows an embodiment of the present invention.
Reference numeral 1 is a robot, 10 is a press brake, 20 is a destacker, and 30 is a support plate for standing and placing a work. In this case, the robot 1 is a 6-axis robot, and shows a state in which the work W is taken out from the destacker 20.

Here, the robot 1 has a press brake 10
Is displaced from the center position on the front side to the right side (toward) by a predetermined length x. Therefore, as shown in FIG.
When bending sideways, the angle between arm 2 and arm 3 becomes a right angle,
Even when a large work W is held, the interference between the arm and the work W can be prevented. If the installation position of the robot 1 is further shifted to the right, the angle between the arm 2 and the arm 3 becomes an obtuse angle, and the above interference can be prevented.

FIG. 3 shows an example of the hand 40 loaded in the robot 1. The hand 40 is a combined hand of the gripper 41 and the vacuum pad 42. The gripper 41 includes an upper claw 43, a lower claw 44, and an upper claw 4
It is composed of a cylinder 45 and the like for opening and closing 3. In this case, two grippers 41 are provided at intervals as shown in FIG. The vacuum pad 42 is slidable in the direction of arrow B so that the size of the work can be dealt with. Vacuum pad 42
Also, two to more are provided.

That is, in the hand 40, the lower claw 44 and the vacuum pad 42 cooperate to support the work W, and the lower claw 44 and the upper claw 43 hold the work W.

Further, with this hand 40, the vacuum pad 4 is used for a work having a small depth such as a long work.
It is also possible to remove 2 and its supporting portion and use it as a hand only for the lower claw 44 and the upper claw 43.

By the way, in the case of using the hand 40 in which the gripper and the vacuum are used in combination, there is a problem in how the processed work is stored after being taken out from the press brake 10. That is, in the conventional stacking method, suction pads and grippers interfere with each other and work cannot be stacked well, and a separate device for that purpose is required.

Therefore, in the present apparatus, as shown in FIG. 4, the work W after processing is sequentially leaned against the support plate 30 and placed.

FIG. 5 shows a procedure for leaning and placing a box-shaped work, wherein (a) to (c) are process diagrams viewed from the side,
(A)-(C) are process drawings seen from above.

That is, with the suction pad 42 in the suction state and the gripper upper claw 43 in the gripping state, the work W is transferred to the position of the support plate as shown in FIG.
One end of the work W is placed upright on the work floor (FIG. 5 (a)). Then, when the work w is placed, the upper claw 43 of the gripper is opened. Further, the gripper is removed from the work by sliding the hand 40 rearward with the gripper open (FIG. 5 (B)). Then, finally, the work is pushed by the suction pad 42 to lean the work against the previous work (FIGS. 5C and 5C).

FIG. 6 shows an example of a procedure for bending the four sides of a rectangular work with the configuration shown in FIG. 1. One of the left and right sides of the side gripped by the hand using the gripper and vacuum together. It can only be bent, so when you bend the other side, you should use a table-type or rotary-type change-over table to change the pattern.

The details of the bending procedure are as follows.

First, bend side a by lateral bending.-Change the holding.-Bend side b by the lateral bending.-Bend c side by bending the front.

[0027]

As described above, according to the present invention,
Since the robot is installed so as to be displaced from the center position of the front surface of the press brake, the angle formed by the arms of the robot does not become an acute angle, and the interference between the robot arm and the work can be prevented.

Further, in the present invention, since the suction pad for supporting the work in cooperation with the lower claw is added to the grip type robot hand which holds the work by the upper and lower claws, the work can be folded over. In addition, it is possible to prevent the work from dropping, and the number of suction pads may be relatively small.

Further, according to the present invention, since the bent work is stood upright and stored, the bent work is accumulated at a predetermined position in the work area. Therefore, even complicated work can be arranged in an orderly manner. it can.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an embodiment of the present invention.

FIG. 3 is a diagram illustrating a robot hand.

FIG. 4 is a perspective view showing an embodiment of the present invention.

FIG. 5 is a process diagram when discharging a work.

FIG. 6 is a bending process diagram according to an embodiment of the present invention.

FIG. 7 is a diagram showing an installation mode of a conventional robot.

[Explanation of symbols]

 1 ... Robot 10 ... Press Brake 20 ... Destacker 30 ... Support Plate 40 ... Robot Hand W ... Work

Claims (3)

[Claims] 1. A press brake robot system comprising a press brake for bending a work and a robot for supplying the work to the press brake, wherein the robot is installed so as to be displaced from a center position in front of the press brake. A press brake robot system characterized by that. 2. A robot hand comprising a grip type robot hand for gripping a work with upper and lower claws, and a suction pad for supporting the work in cooperation with the lower claw. 3. A robot hand having a gripper that grips a work by upper and lower claws and a suction pad that supports the work in cooperation with the lower claw of the gripper is loaded into a robot, and the robot hand bends with a press brake. A work discharge method in a press brake robot system for discharging a bent work, wherein the work after bending is accumulated at a predetermined position in a work area by leaning and placing the work after bending. Work discharge method in brake robot system.