JP3295255B2 - Work extraction method in panel vendor and control device for panel vendor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for extracting a work in a panel bender and a control device for the panel bender, and more particularly, to a work for extracting a work having a tip side overhanging above an upper holding die of a panel bender from a bent portion. The present invention relates to an extraction method and a control device of a panel vendor.

[0002]

2. Description of the Related Art A panel bender that clamps a workpiece handled by a manipulator with a pair of upper and lower holding dies and bends a tip end of the workpiece with a bending die is already known. This is disclosed in Japanese Unexamined Patent Publication No. Hei 1-309729.

In this panel bender, as shown in FIG. 5, in order to extract a work W whose front end side Wa overhangs above the upper holding mold T by bending one side from the bent portion, as shown in FIG. Conventionally, it is performed in the following steps.

First, the work W is clamped by the manipulator, and the upper holding mold T is moved upward by a predetermined amount from the state shown in FIG. 5 (a), and as shown in FIG. Release the work clamp. The upward movement of the upper holding mold T is called “chung up”.

[0005] After the completion of the “chung up”, FIG.
As shown in (c), the work W is moved forward by the manipulator to a position where the tip side Wa does not overhang the upper holding mold T.

After the forward movement of the work W is completed, FIG.
As shown in (d), the upper holding mold T is moved up to a position higher than the height position of the tip side of the work.

After completion of the upward movement of the upper holding die T, as shown in FIG. 5E, the work W is moved backward by the manipulator, and the work W is extracted from the bent portion.

[0008]

Conventionally, in order to extract a work W whose front end side Wa overhangs above the upper holding mold T by bending one side from the bent portion,
As described above, the steps (1) to (4) are required, and in each of the steps, the positioning control of the upper holding mold T or the work W is required. Therefore, in this work extracting method, it takes time to extract the work, and the tact time is lost. However, there is a disadvantage that is large.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and is capable of bending a workpiece whose tip side overhangs over an upper holding mold in a smaller number of steps and positioning times as compared with the related art. An object of the present invention is to provide a method of extracting a workpiece from a processing unit and a control device of a panel vendor used for performing the method of extracting the workpiece.

[0010]

SUMMARY OF THE INVENTION According to the present invention, a work handled by a manipulator is clamped by a pair of upper and lower holding dies.
In the work extraction method of a panel bender that bends the tip side of the work with a bending mold, when extracting the work from which the top side overhangs above the upper holding mold by bending one side from the bent part, a manipulator is used. Clamping the work, lifting the upper holding mold to release the clamping of the work by the holding mold, and raising the upper holding mold with a correlation such that the upper holding mold does not interfere with the tip side of the work. The work is moved forward by the manipulator in synchronization with the movement, the upper holding mold moves upward to a position higher than the height position of the tip side of the work, and the tip side of the work does not overhang with the upper holding mold. After moving forward to the forward position, the workpiece is moved backward by the manipulator to Is achieved by the work extraction method in panel vendor, characterized in that withdrawing from bending portion.

In order to achieve the above-mentioned object, a panel vendor control device according to the present invention clamps a work handled by a manipulator by a pair of upper and lower holding dies, and bends a tip end of the work by a bending die. In the control device of the panel vendor that bends, a presser die positioning control unit that controls the upward movement of the upper presser die, and a manipulator positioning control that controls the forward and backward movement of the manipulator that clamps the work and moves the work forward and backward. When extracting a work from which the top side overhangs above the upper holding mold by bending one side, the work is clamped by a manipulator and the upper holding mold is moved upward. Release the work clamp by the holding die
The manipulator is moved forward in synchronization with the upward movement of the upper holding mold with a correlation in which the upper holding mold and the tip end of the work do not interfere with each other, and the upper holding mold is moved from the height position of the tip end of the work. It is characterized in that a sequence operation is performed in which the manipulator is moved up to a high position, and the manipulator is moved backward to a forward position where the front end side of the work does not overhang with the upper holding die, and then the manipulator is moved backward.

[0012]

According to the above construction, the work is clamped by the manipulator, and the work clamp is released from the work by the presser mold by the upward movement of the upper presser mold. Then, the upper presser mold and the front end side of the work interfere with each other. The workpiece is moved forward by the manipulator in synchronization with the upward movement of the upper holding mold with no correlation.
The process of the conventional work extraction method and the process are performed simultaneously with correlation, and the upper holding die rises to a position higher than the height position of the front end side of the work without the upper holding mold interfering with the tip side of the work The movement and the forward movement of the front end side of the work to the advance position where the top side of the work does not overhang with the upper holding die are simultaneously achieved.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows an embodiment of a panel pendant to which a work extracting method according to the present invention is applied. FIG.
In the figure, reference numeral 1 denotes a panel bender body as a whole. The panel bender body 1 includes a fixed frame 5 having a lower holding mold 3, a movable clamp beam 9 having an upper holding mold 7, and a positive bending metal. Mold 11a and reverse bending mold 11
b), the movable clamp beam 9 is driven by a hydraulic cylinder device 15, and the vent beam 13 is driven by another driving means (not shown).

A manipulator 17 is provided in front of the panel bender body 1. The manipulator 17 can be moved in the Y-axis direction while being guided by a linear guide rail (not shown) extending in the Y-axis direction (the left-right direction in FIG. 1). The ball screw 21 is driven for positioning in the Y-axis direction.

The manipulator 17 includes a lower crank arm 23 and an upper crank arm 2 connected to the lower crank arm 23 by a pivot 25 so as to be rotatable substantially vertically.
7, lower crank arm 23 and upper crank arm 2
7 has turntables 29 and 31 provided rotatably about a vertical axis concentric with each other, and a toggle link mechanism 33 for clamping. The toggle link mechanism 33 for clamp is driven by a hydraulic cylinder device 35. Then, the work W is clamped by being sandwiched between the turntables 29 and 31 from above and below.

The manipulator 17 rotates the work W clamped by the turntables 29 and 31 horizontally by the rotation of the turntables 27 and 29, thereby turning the work W
The workpiece W is moved forward with respect to the panel bender body 1 by the forward movement of the entire manipulator in the Y-axis direction so that the next bent piece is directed toward the panel bender body 1.
The work W is positioned with respect to the panel bender body 1, and handling is performed such that the work W is pulled out from the bent portion of the panel bender body 1 by retreating the entire manipulator in the Y-axis direction.

FIG. 2 shows a control device of a panel bender according to the present invention.

The computer 41 serves as a control device for the manipulator for the panel vendor. The computer 41 uses a keyboard 45 to display product shape data such as a bent shape, a flange height, and a bottom dimension based on a screen displayed on a display 43. The described product processing program, various parameters, and the like are input and stored in the storage device 47.

The computer 41 receives the product shape data, and receives the movable clamp beam 7 and the manipulator 1.
7 has an operation sequence / positioning data generator 49 for generating the operation sequence and positioning data of the movable clamp beam 9 and the manipulator 17 generated by the operation sequence / positioning data generator 49. 51.

The NC device 51 is connected to a holding mold positioning control unit 53 for controlling the upward movement of the upper holding mold 7 and a manipulator positioning control unit 55 for controlling the forward / backward movement of the manipulator 17.

The holding die control unit 53 inputs a movable clamp beam operation command from the NC unit 51, and the movable clamp beam 9 detected by the position sensor 37 and this command value.
By performing feedback control of the upward movement of the movable clamp beam 7 based on the comparison with the position data, the positioning control of the upper holding die 7 is performed.

The manipulator positioning control unit 55
A manipulator operation command is input from the C device 51, and the command value is compared with position data in the Y-axis direction of the manipulator 17 detected by the rotary encoder 39 to feedback-control the movement of the manipulator 17 in the Y-axis direction. Performs positioning control in the Y-axis direction.

As shown in FIG. 3, when the work W whose tip side Wa overhangs above the upper holding die 7 by bending one side is extracted from the bent portion, the operation sequence and positioning are performed. The data generator 49
The work W is clamped by the manipulator 17, the upper holding mold 7 is moved upward to release the work W from being clamped by the lower holding mold 3 and the upper holding mold 7, and the upper holding mold 7 and the tip of the work W are released. The manipulator 17 is moved forward in synchronization with the upward movement of the upper holding mold 7 with a correlation that does not interfere with the side Wa, and the upper holding mold 7 is raised to a position higher than the height position of the tip side Wa of the work W. A series of sequence operation data and positioning data for moving the manipulator 17 backward after moving and moving the tip side Wa of the work W forward to a forward position where it does not overhang the upper holding die 7 are generated.

Upper holding die 7 and tip side Wa of work W
A specific example in which the manipulator 17 is moved forward in synchronization with the upward movement of the upper holding die 7 with a correlation that does not interfere with the above will be described with reference to FIG. Here, the upward movement direction of the upper holding mold 7 is set to the + Z-axis direction, the forward movement direction of the manipulator 17 is set to the + Y-axis direction, and the lower holding mold 3 and the upper holding mold 7 are used to hold the upper part in the work clamp state. The coordinate value of the tip position A of the mold 7 is defined as the origin (0, 0).

Operation sequence / positioning data generator 4
Reference numeral 9 denotes a flange height a of the flange portion (tip side) Wa of the workpiece W and a flange height b of the flange portion (tip side) Wb.
, The thickness t of the work W, and the data of the height “u” of the “chung up”, the coordinate value (y ₁ , z ₁ ) of the tip position C of the flange Wa is acquired from these data, and the coordinate value (0 ,
u), the interference avoidance margin (−Δ) in the Y-axis direction from the synchronous rising movement start position B of the tip of the upper holding die 7 represented by u).
The ascending movement amount dz of the upper presser die 7 and the forward movement amount dy of the manipulator 17 per unit time are determined according to the following linear function formula that defines a straight line connecting the non-interference position D deviated by y).

Z = (z ₁ -u) / (y ₁ -Δy) y + u In accordance with the linear function described above, under the control of raising the movable clamp beam 9 by the presser die controller 53,
At the same time, the upper holding mold 7 is moved upward from the work extraction start position, that is, from the origin (0, 0) to the position of the coordinate value (0, bt + α), and at the same time, the forward positioning control of the manipulator 17 by the manipulator positioning control unit 55 is performed. Originally, the work W is moved forward from the work withdrawal start position, that is, from the origin (0, 0) to the position of the coordinate value (at + α, 0).

Thus, the upper holding die 7 and the work W
Means relative movement to the point E without interfering with each other with a relative positional relationship indicated by a straight line represented by z = (z ₁ −u) / (y ₁ −Δy) y + u.

Next, with reference to FIGS. 4A to 4D, a description will be given of a work extracting operation according to the work extracting method according to the present invention.

First, the work W is clamped by the manipulator, and the upper holding die 7 is moved upward by a predetermined amount u by the upward movement of the movable clamp beam 9 from the state shown in FIG. 4A, as shown in FIG. 4B. Release the clamp of the work by the holding die.

Next, z = (z ₁ -u) / (y ₁ -Δy)
The upper holding die 7 is moved upward from the work extraction start position (0, 0) to the position of the coordinate value (0, bt + α) by the upward movement of the movable clamp beam 9 according to the linear function of y + u, and at the same time, the manipulator 17 is moved. The workpiece W is pulled out by the forward movement of the workpiece.
0) to the position of the coordinate value (at + α, 0).

Thus, as shown in FIG. 4C, the upper holding mold 7 and the work W do not interfere with each other, and the upper holding mold 7 is positioned at the height position of the tip side Wa of the work W. The workpiece W moves upward to a position higher by a predetermined amount
Moves forward to a forward position where the top side Wa does not overhang with the upper holding die 7. Therefore, the tact time is reduced.

Thereafter, as shown in FIG. 4D, the work W is moved backward by the manipulator 17, and the work W is extracted from the bent portion.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various embodiments can be made within the scope of the present invention. Some will be apparent to those skilled in the art.

[0035]

As will be understood from the above description, according to the method for extracting a work in the panel bender and the control device of the panel bender according to the present invention, the work is clamped by the manipulator and the presser die is moved upward by the upper presser die. After the work clamp is released by the mold, the upward movement of the upper holding mold and the forward movement of the work are performed simultaneously with a correlation that avoids mutual interference. A workpiece whose tip side overhangs above the upper holding die can be extracted from the bent portion, thereby shortening the tact time.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing one embodiment of a panel pendant to which a work extracting method according to the present invention is applied.

FIG. 2 is a block diagram showing one embodiment of a panel vendor control device according to the present invention.

FIG. 3 is an explanatory view showing a synchronous driving procedure in the work extracting method according to the present invention.

FIGS. 4A to 4D are process diagrams showing a work extracting operation according to the work extracting method according to the present invention.

FIGS. 5A to 5E are process diagrams showing a work extraction operation according to a conventional work extraction method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Panel bender main body 3 Lower holding mold 5 Fixed frame 7 Upper holding mold 9 Movable clamp beam 13 Bent beam 15 Fluid pressure cylinder device 17 Manipulator 19 Y-axis servomotor 23 Lower crank arm 27 Upper crank arm 29, 31 Turntable 41 Computer 47 Storage device 49 Operation sequence / positioning data generation unit 51 NC device 53 Mold positioning control unit 55 Manipulator positioning control unit

Claims (2)

(57) [Claims] 1. A method of extracting a work in a panel bender in which a work handled by a manipulator is clamped by a pair of upper and lower pressing dies and a front end of the work is bent by a bending die. When the work that overhangs above the upper holding mold is extracted from the bent part, the work is clamped by the manipulator,
The upper holding die is lifted to release the clamping of the work by the holding die, and the upper holding die and the tip side of the work are synchronized with the rising movement of the upper holding die with a correlation that does not interfere. The work is moved forward by the manipulator, the upper holding mold is moved upward to a position higher than the height position of the tip side of the work, and the front end side of the work is moved forward to a forward position where the upper holding mold does not overhang with the upper holding mold. A method of extracting a work by a panel vendor, wherein the work is retracted by a manipulator and the work is extracted from a bent portion. 2. A work handled by a manipulator is clamped by a pair of upper and lower holding dies.
In a panel bender control device that bends the tip side of a work with a bending die, a press die positioning control unit that controls the upward movement of the upper press die, and a manipulator that clamps the work and moves the work back and forth. A manipulator positioning control unit for controlling the forward and backward movement, and when extracting a work from which the tip side overhangs above the upper holding mold by bending one side from the bending processing unit, clamps the work with the manipulator; The upper holding die is lifted to release the clamping of the work by the holding die, and the upper holding die and the tip side of the work are synchronized with the rising movement of the upper holding die with a correlation that does not interfere. Move the manipulator forward so that the upper holding die is higher than the height of the tip side of the work. And performing a sequence operation of retreating the manipulator after the front end side of the work moves forward to a forward position where the work does not overhang with the upper pressing die.