JPS5978725A - Automatic bender of plate body - Google Patents
Automatic bender of plate bodyInfo
- Publication number
- JPS5978725A JPS5978725A JP18975082A JP18975082A JPS5978725A JP S5978725 A JPS5978725 A JP S5978725A JP 18975082 A JP18975082 A JP 18975082A JP 18975082 A JP18975082 A JP 18975082A JP S5978725 A JPS5978725 A JP S5978725A
- Authority
- JP
- Japan
- Prior art keywords
- plate
- robot
- arm
- robots
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0281—Workpiece supporting devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は板状体自動折曲げ装置の改良に係り、特にそ
の構造を簡単、安価としたものに関す、る０プレスブレ
ーキ式折曲げ機の前後の少なく共一方に、板状体を把持
して位置決めするべくしたロボットを備えた、自動折曲
げ装置は、例えば特開昭５４−１８０４６３号公報など
によって公知である。しかしながらこのような従来のも
のにあっては、前記ロボットの構造が複雑大形なものと
なり、高価となるのをまぬかれなかった。そこで近時マ
イコンの発達によって広く使用されうるようになった、
多関節形のロボットを利用して、前記した自動折曲げ装
置を構造簡単安価に提供することを、この発明の目的と
する。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.
以下図面を参照しつつこの発明の実施例を詳述する。ま
ず第１図において、
１は公知のプレスブレーキ式折曲げ機である。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.
そして折曲げ機１前部には、板状体把持多関節ロボット
ＲＲＩ Ｒｒ、およびＲｓを設ける。At the front of the bending machine 1, plate-shaped object gripping articulated robots RRI Rr and Rs are provided.
すなわち、折曲げ機１前部に左右方向に軸２を支承し、
軸２に対し第−腕３０基端を枢着する。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.
さらにこの第−腕３の先端に左右方向の軸によって第二
腕４の基端を枢着する。そして右側ロボソ） Ｒｎおよ
び左側ロボソ） ＲＬの腕８の基端は、動力ＭＲの作動
により、左右方向Ｙに対称に同一距離を接近遠隔しつる
ように、公知の手段で前記枢着されている。ただし中央
巳ボッ） Ｒｓの腕３０基端は左右方向は固定されてい
るものとする。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.
さらに第二腕４の先端には、左右方向の軸によって回動
体５を枢着する。ロボッｌ ＲＲとＲＬの回動体５の側
面には回動軸から偏心して把持爪６が開閉可能に設けら
れる。そしてロボッ） ＲＲとｋとは図示したように把
持爪６を内側に向けて左右対称に設けられているものと
する。そしてさらに各ロボットの腕３は動力Ｍ３によっ
て、その回動角αが制御され、腕４は動力Ｍ４によって
その回動角βが制御される。またロボッ） ＲＲおよび
ＲＬの回動体５は動力Ｍ５によってその回動角γが制御
される。また爪６の開閉は図示しない動力Ｍ６によって
制御されるものとする。一方ロボットＲ８の回動体５け
その回動は自在とされ、左右の爪６，６によって把持さ
れた板状体Ｗを支承する支持板７を一体に固設する。な
お、この回動体５はその回動角は強制的に制御されるも
のではないが、板７が大路上向となるように、例えば回
動体５の板７と反対側にバランスウェイトを設けるなど
の構成とする。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.
さらに図示しないがこれらロボットＲＲＩ Ｒ８Ｉ Ｒ
Ｊ。Furthermore, although not shown, these robots RRI R8I R
J.
に対し、コンピュータが具備され、従来公知の技術によ
って、左右方向の位置Ｙ、回動角α、β。The computer is equipped to calculate the horizontal position Y and rotation angles α and β using conventionally known techniques.
γさらに爪６の開閉が制御され、しかも左右方向の位置
Ｙは前述したように左右対称に、また回動角α、β、γ
および爪６の開閉も各ロボットとも同一となるように同
調制御されるものとする。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.
前述実施例につき、以下その作用を述べる。The operation of the above-mentioned embodiment will be described below.
体Ｗが位置決めされているものとする。そしてロボソ）
ＲＲおよび臣の爪６によってこの板状体Ｗを左右方向
から把持する。そして図示のように折曲げ機１に対して
その折曲げるべき位置に制御する。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.
そして折曲げ機１を作動させて折曲げを実行する。Then, the folding machine 1 is operated to perform folding.
この際板状体Ｗの前後は上方に跳ね上るが、コンピュー
タの制御によって各ロボットは板状体Ｗを把持したまま
これに追従しうるものとする。かくして折曲げを実行し
た後、必要ならば爪６を開放し、別の個所を再度把持し
て、さらに別の個所を折曲げる。このようにして初めに
位置決めされた板状体Ｗを、位置の定まった個所で把持
し、折曲げ後杷持しなおす場合も逐次位置の決１つだ個
所を把持するようにすれば、正確な寸法の折り曲げを実
行しうるものである。またこの場合、板７で板状体Ｗの
中央を支持するから、板７のたわみを防止しうるもので
ある。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.
次に他の実施例として第２図につき第１図との相違を説
明する。すなわちこの場合、回動体５の回動軸とその中
心を一致させて把持爪６が開閉可能に設けられる。それ
に伴ない、ロボッ） Ｒｓの腕４先端には、平行四辺形
リンク手段８によって支持板７を支承する。リンク手段
８は、板７を左右の爪６の中心線と同−左右軸脣わりに
回動可能に構成され、その回動角は動力Ｍ８によって制
御されるものとする。その作用は第１図図示の実施例に
準じて明白なる故、詳述しない。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.
この発明はさらに前述実施例以外に、下記する変形も可
能である。In addition to the above-mentioned embodiments, the present invention can also be modified as described below.
（イ） ロボットＲＲＩ ＲＬＩ Ｒ８を折曲げ機１の
前方に設けたが、これを後方に、また前後共設けてもよ
く、さらに折曲げ機１の側方に設けるようにしてもよい
。前後に設けた場合は、板状体Ｗを折り曲げて後、前後
間で把持しなおすことも可能となり、さらに多様の折り
曲げを容易に実施しうろこととなる。(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.
（ロ） ロボットは必らずしも前または後に３組を設け
る必要なく、板状体Ｗの板厚や大きさに応じて増減しう
る。(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.
（ハ） ロボットＲＲおよびＲ一旦必らずしも左右方向
移動を対称に接近遠隔する必要なく単独に左右動可能と
してもよく、ロボットＲｓも左右動可能とじてもよい。(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.
またこれらロボットの左右移動範囲は、折曲げ機１の側
方に迄延長してもよいものである。Further, the range of left and right movement of these robots may be extended to the sides of the bending machine 1.
に） ロボットは必らずしもその基端を下方に設けるの
ではなく、例えば折曲げ機１の上方に基端を枢着するよ
うにして腕３．４を垂下するようにしてもよい。この場
合は、支持板７には、板状体Ｗを吸着するための手段（
例えば磁石式または真空吸引式など）を具備する必要が
ある。(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.
（ホ）その他この発明の技術的思想の範囲内における、
各構成の均等物との置換えも、またこの発明の技術的範
囲に含まれるものである。(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.
この発明は前述のとおりであるから、プレスブレーキ式
折曲げ機で板状体を折り曲げるだめの、自動折曲げ装置
を、簡単な構成でかつ安価に提供しうるという、特有か
つ顕著な効果を奏しうるものである。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.
第１図および第２図はそれぞれ別個の実施例を示す斜視
図である。
１・・・プレスブレーキ式折曲げ機、ＲＲ＋ ＲＬおよ
びＲｓ・・・板状体把持ロボット、２・・左右方向の軸
、８・第−腕、４・・第二腕、５・・・回動体、６・・
杷持爪。
出願人 新明和工業株式会社
代理人 弁上 正 （ほか１名）
手 続 補 正 書 （万Ｋ）昭ｆロ５６年３
月７６日
特綽庁長官 始力禎友殿
■、事件の表示
３、補正をする者
事件との関係 科言↑ 出願人住所 兵庫
県西宮市小曽根町１丁目５番２５号名称 （２３５）新
明和工業株式会社
所権＝６＝３−
一凋所：兵庫県西宮布田近野町６番−１−叶７」トｆ明
和工業株式会社開発センター内：
＜ｇ−ｔ、＝（−４−７−９二８二）５−１＝７ ７
３ ４＝（ｅ壜名−キーートーーー副件
５、補正命令の日付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)
一方に板状体把持ロボットを具備した、板状体自動折曲
げ装置において、前記板状体把持ロボットは、左右方向
の軸によって枢着した第一腕およびその先端に同方向の
軸によって枢着した第二腕、さらにこの第二腕の先端に
同方向の軸によって枢着しだ回動体、この回動体の側面
に開閉可能に設けられた把持爪よりなり、さらにこのロ
ボットの基端は左右方向に移動可能としてなる、前記板
状体自動折曲げ装置。(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.
内側にして具備されてなる、特許請求の範囲第１項記載
の板状体自動折曲げ装置。(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.
の中間に第３のロボットを含み、このロボットの第二腕
の先端には板状体支持板を左右方向軸まわりに回動可能
に支承してなる、特許請求の範囲第２項記載の板状体自
動折曲げ装置。(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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18975082A JPS5978725A (en) | 1982-10-27 | 1982-10-27 | Automatic bender of plate body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18975082A JPS5978725A (en) | 1982-10-27 | 1982-10-27 | Automatic bender of plate body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5978725A true JPS5978725A (en) | 1984-05-07 |
Family
ID=16246550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18975082A Pending JPS5978725A (en) | 1982-10-27 | 1982-10-27 | Automatic bender of plate body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5978725A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6071548U (en) * | 1983-10-20 | 1985-05-20 | 株式会社アマダ | Press processing equipment |
| FR2584649A1 (en) * | 1985-07-15 | 1987-01-16 | Prima Ind Spa | HANDLING DEVICE, IN PARTICULAR FOR THE HANDLING OF SHEETS DURING FOLDING OPERATIONS |
| EP0213667A2 (en) * | 1985-08-08 | 1987-03-11 | Cornelis Hendricus Liet | Method and apparatus for bending sheet-like work pieces |
| JPS63126619A (en) * | 1986-11-15 | 1988-05-30 | Matsushita Electric Works Ltd | Automation device for bending machine |
| FR2608947A1 (en) * | 1986-12-30 | 1988-07-01 | Prima Ind Spa | ROBOTISE HANDLING DEVICE AND METAL SHEET BENDING PLANT INCORPORATING SAME |
| FR2628661A1 (en) * | 1988-03-15 | 1989-09-22 | Amada Co Ltd | HANDLING APPARATUS FOR A BENDING MACHINE AND METHOD FOR HANDLING WORKPIECES |
| JPH0395116U (en) * | 1990-01-11 | 1991-09-27 | ||
| JPH0475720A (en) * | 1990-07-13 | 1992-03-10 | Fuairudo:Kk | Method and device for bending sheet |
| USRE34569E (en) * | 1986-12-30 | 1994-03-29 | Amada Company, Limited | Robotized handling device and sheet metal bending system featuring the same |
| JP2013243135A (en) * | 2013-06-20 | 2013-12-05 | Tokyo Electron Ltd | Plasma processing apparatus |
-
1982
- 1982-10-27 JP JP18975082A patent/JPS5978725A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6071548U (en) * | 1983-10-20 | 1985-05-20 | 株式会社アマダ | Press processing equipment |
| JPH0233927Y2 (en) * | 1983-10-20 | 1990-09-12 | ||
| FR2584649A1 (en) * | 1985-07-15 | 1987-01-16 | Prima Ind Spa | HANDLING DEVICE, IN PARTICULAR FOR THE HANDLING OF SHEETS DURING FOLDING OPERATIONS |
| EP0213667A2 (en) * | 1985-08-08 | 1987-03-11 | Cornelis Hendricus Liet | Method and apparatus for bending sheet-like work pieces |
| EP0213667A3 (en) * | 1985-08-08 | 1988-09-14 | Cornelis Hendricus Liet | Method and apparatus for bending sheet-like work pieces |
| JPH0440089B2 (en) * | 1986-11-15 | 1992-07-01 | Matsushita Electric Works Ltd | |
| JPS63126619A (en) * | 1986-11-15 | 1988-05-30 | Matsushita Electric Works Ltd | Automation device for bending machine |
| FR2608947A1 (en) * | 1986-12-30 | 1988-07-01 | Prima Ind Spa | ROBOTISE HANDLING DEVICE AND METAL SHEET BENDING PLANT INCORPORATING SAME |
| JPS63168226A (en) * | 1986-12-30 | 1988-07-12 | Amada Co Ltd | Manipulator for plate bending device and plate bending device equipped with manipulater |
| US4827757A (en) * | 1986-12-30 | 1989-05-09 | Prima Industrie S.P.A. | Robotized handling device and sheet metal bending system featuring the same |
| USRE34569E (en) * | 1986-12-30 | 1994-03-29 | Amada Company, Limited | Robotized handling device and sheet metal bending system featuring the same |
| FR2628661A1 (en) * | 1988-03-15 | 1989-09-22 | Amada Co Ltd | HANDLING APPARATUS FOR A BENDING MACHINE AND METHOD FOR HANDLING WORKPIECES |
| US5042287A (en) * | 1988-03-15 | 1991-08-27 | Amada Company, Limited | Manipulator device for a bending machine and a method for changing the position of the workpiece in a bending process |
| JPH0395116U (en) * | 1990-01-11 | 1991-09-27 | ||
| JPH0475720A (en) * | 1990-07-13 | 1992-03-10 | Fuairudo:Kk | Method and device for bending sheet |
| JP2013243135A (en) * | 2013-06-20 | 2013-12-05 | Tokyo Electron Ltd | Plasma processing apparatus |
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