JPS5978725A - Automatic bender of plate body - Google Patents

Abstract

PURPOSE:To make an automatic bender simple in construction and low in cost by providing plate grasping robots of a multijoint type to a press brake type bender. CONSTITUTION:A plate body W is grasped from right and left directions by the pawls 6 of robots RR and RL and is controlled to the position of a bender 1 where said body is to be bent. The bender 1 is operated to bend the body. The front and rear of the body W in this stage spring up but the robots controlled by a computer follow up the spring up while grasping the body W. The pawls 6 are released if necessary after the bending and another place is bent by grasping again another place.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of an automatic sheet folding device, and particularly relates to an automatic folding device that has a simple and inexpensive structure. An automatic folding device equipped with a robot for gripping and positioning a plate-like object is known, for example, from Japanese Patent Application Laid-Open No. 180463/1983. However, in such conventional robots, the structure of the robot is complicated and large, and the robot is expensive. Therefore, with the recent development of microcomputers, it has become widely used.
It is an object of the present invention to provide the above-mentioned automatic bending device with a simple structure and low cost by using an articulated robot.

Embodiments of the present invention will be described in detail below with reference to the drawings. First, in FIG. 1, 1 is a known press brake type folding machine.

At the front of the bending machine 1, plate-shaped object gripping articulated robots RRI Rr and Rs are provided.

That is, the shaft 2 is supported in the left and right direction at the front part of the bending machine 1,
The base end of the second arm 30 is pivotally connected to the shaft 2.

Further, the proximal end of a second arm 4 is pivotally connected to the distal end of the first arm 3 by a left-right axis. The proximal ends of the arms 8 of the right robot (Rn) and the left robot (RL) are pivoted by known means so that they can be moved symmetrically over the same distance in the left-right direction Y by the operation of the power MR. . However, it is assumed that the base end of the arm 30 of Rs is fixed in the left and right direction.

Furthermore, a rotating body 5 is pivotally attached to the tip of the second arm 4 by a left-right axis. On the side surfaces of the rotating bodies 5 of the robots 1 RR and RL, gripping claws 6 are provided eccentrically from the rotation axis so as to be openable and closable. As shown in the figure, RR and k are provided symmetrically with the gripping claws 6 facing inward. Further, the rotation angle α of the arm 3 of each robot is controlled by the power M3, and the rotation angle β of the arm 4 is controlled by the power M4. Also, the rotation angle γ of the rotating bodies 5 of RR and RL is controlled by the power M5. It is also assumed that the opening and closing of the pawl 6 is controlled by a power M6 (not shown). On the other hand, the rotary body 5 of the robot R8 is allowed to rotate freely, and a support plate 7 that supports the plate-shaped body W gripped by the left and right claws 6, 6 is integrally fixed. Note that the rotation angle of this rotating body 5 is not forcibly controlled, but it is possible, for example, to provide a balance weight on the opposite side of the rotating body 5 from the plate 7 so that the plate 7 faces the main road. The structure is as follows.

Furthermore, although not shown, these robots RRI R8I R
J.

The computer is equipped to calculate the horizontal position Y and rotation angles α and β using conventionally known techniques.

γ Furthermore, the opening and closing of the claw 6 is controlled, and the horizontal position Y is symmetrical as described above, and the rotation angles α, β, and γ are
It is also assumed that the opening and closing of the claws 6 are synchronously controlled for each robot so that they are the same.

The operation of the above-mentioned embodiment will be described below.

It is assumed that the body W is positioned. and Roboso)
This plate-like body W is gripped from left and right by the RR and the retainer's claws 6. Then, as shown in the figure, the bending machine 1 is controlled to the position where it should be bent.

Then, the folding machine 1 is operated to perform folding.

At this time, the front and back of the plate-shaped body W jumps upward, but each robot is assumed to be able to follow this while gripping the plate-shaped body W under computer control. After performing the bending in this way, if necessary, the claws 6 are released, another part is gripped again, and another part is bent. If the plate-like object W initially positioned in this way is gripped at a fixed position, and then held again after being bent, it can be gripped at one position after another. It is possible to perform bending of various dimensions. Further, in this case, since the plate 7 supports the center of the plate-like body W, the plate 7 can be prevented from being bent.

Next, referring to FIG. 2 as another embodiment, differences from FIG. 1 will be explained. That is, in this case, the gripping claws 6 are provided so as to be openable and closable with the rotational axis of the rotational body 5 coinciding with its center. Accordingly, a support plate 7 is supported by a parallelogram link means 8 at the tip of the arm 4 of the robot Rs. The link means 8 is configured to be able to rotate the plate 7 around the left and right axes in the same direction as the center line of the left and right pawls 6, and the rotation angle thereof is controlled by a power M8. Since its operation is obvious based on the embodiment shown in FIG. 1, it will not be described in detail.

In addition to the above-mentioned embodiments, the present invention can also be modified as described below.

(a) Although the robot RRI RLI R8 is provided in front of the bending machine 1, it may be provided at the rear, both in the front and the front, or further on the side of the bending machine 1. When provided at the front and back, it becomes possible to bend the plate-like body W and then grip it again between the front and back, making it easier to carry out various kinds of bending.

(b) It is not necessary to provide three sets of robots at the front or rear, and the number of robots can be increased or decreased depending on the thickness and size of the plate-shaped body W.

(c) The robots RR and R may be able to move left and right independently without necessarily having to move symmetrically in the left and right directions, and the robot Rs may also be able to move left and right.

Further, the range of left and right movement of these robots may be extended to the sides of the bending machine 1.

(2) The robot does not necessarily have its base end located below, but may have its base end pivoted above the bending machine 1 so that its arms 3.4 hang down. In this case, the support plate 7 has a means (
For example, it is necessary to have a magnetic type or vacuum suction type.

(e) Others within the scope of the technical idea of this invention,
Replacement of each component with an equivalent is also included within the technical scope of the present invention.

As described above, the present invention has the unique and remarkable effect of providing an automatic folding device for folding plate-like objects with a press brake type folding machine, with a simple configuration and at a low cost. It is something that can be used.

[Brief explanation of drawings]

1 and 2 are perspective views showing separate embodiments, respectively. 1...Press brake type bending machine, RR+ RL and Rs...Plate-shaped object gripping robot, 2...Axis in the left and right direction, 8.The second arm, 4...The second arm, 5...times Moving body, 6...
Lingering nails. Applicant ShinMaywa Industries Co., Ltd. Agent Tadashi Bengami (and 1 other person) Procedural amendment (10,000K) 1980-3
April 76th, Mr. Sadatomo Shiriki, Commissioner of the Special Tax Agency■, Indication 3 of the case, Relationship with the case by the person making the amendments ↑ Applicant Address 1-5-25 Kozone-cho, Nishinomiya City, Hyogo Prefecture Name (235) New Meiwa Kogyo Co., Ltd. ownership = 6 = 3 - Ichigosho: 6-1-Kano-7, Nishinomiyafuta Konno-cho, Hyogo Prefecture Meiwa Kogyo Co., Ltd. Development Center: <g-t, = (-4-7 -9282)5-1=7 7
3 4 = (e bottle name - key toe - sub-item 5, date of amendment order

Claims (3)

[Claims] (1) In an automatic plate-shaped object bending device that is equipped with plate-shaped object gripping robots on at least both the front and rear sides of a press brake type bending machine, the plate-shaped object gripping robots are pivoted by a left-right axis. A first arm, a second arm pivoted to the tip of the first arm by a shaft in the same direction, a rotating body pivoted to the tip of the second arm by a shaft in the same direction, and a rotating body provided on the side of the rotating body so as to be openable and closable. The automatic plate-shaped object bending device is comprised of gripping claws, and the base end of the robot is movable in the left-right direction. (2) The plate-like object automatic bending device according to claim 1, wherein the plate-like object gripping robot and soto are provided with two sets with the gripping claws on the inside. (3) The plate-shaped object grasping robot includes a third robot located between the two groups on the left and right, and a plate-shaped object support plate is rotatable around a left-right axis at the tip of the second arm of this robot. An automatic plate-shaped body folding device according to claim 2, which is supported by a plate-shaped body.