JPH04336944A - Plate processing machine - Google Patents

Abstract

PURPOSE:To eliminate wide spaces for the storage of semifinished products between respective processes of cutting, forming, bending, welding and grinding, necessary for conventional production of boxy products or the like from a work. CONSTITUTION:A work transporting way 11 to carry in or away a work W supported vertically with a work clamp 35 is installed, and on both sides of the way 11, a left-hand and a right-hand robot 21,23 are arranged respectively to hold suitable tools on the tips of both robots 21,23. And automatic tool replacing devices 25,27 for the left-hand and the right-hand robot are arranged close to the robots 21,23 respectively. And a laser process unit 29 is arranged close to the work transporting way 11, and these process units are enclosed in a cover 3 to carry out respective processes from cutting to grinding for the work W successively in series.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate processing machine, and more particularly to a plate processing machine capable of performing various types of processing while holding a workpiece vertically.

0002

2. Description of the Related Art Conventionally, the processing steps for obtaining, for example, a box-shaped product from a workpiece generally follow the order of cutting, forming, bending, welding, and polishing. Moreover, a processing machine exists for each of these processing steps, and intermediate products exist between the steps.

0003

[Problems to be Solved by the Invention] However, in the above-mentioned prior art, after the molding process, these intermediate products form a three-dimensional shape, and therefore a large space is required for storage thereof. That is, even though the processing machines for each process are small, there is a problem in that the storage space for intermediate products becomes large.

[0004] The purpose of the present invention is to improve the above-mentioned problems by realizing processing without the presence of intermediate products, making it possible to produce small quantities of other products in a small space, and making it possible to level out the processing. Our objective is to provide a board processing machine that has the following characteristics.

[0005]

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a workpiece conveyance path through which the workpiece is carried in and out while vertically supported, and a workpiece conveyance path provided on both sides of the workpiece conveyance path. A plate processing machine was constructed with a robot and appropriate tools for performing various plate processing on the workpieces held at the tips of both robots.

[0006] The plate processing machine is equipped with a tool changer near both robots, a laser processing machine near the workpiece conveyance path, and a part of the plate processing machine that covers both robots and the laser processing machine. It is equipped with a cover that can be opened and closed and has an operation panel on the outside.

[0007]

[Operation] By adopting the plate material processing machine of this invention,
The workpiece is supported vertically from the inlet of the workpiece conveyance path, and an appropriate tool held at the tips of both robots is used to perform, for example, forming or forming the workpiece.
Bending and polishing are performed. For example, cutting and welding are performed using a laser processing machine installed close to the workpiece conveyance path. Therefore, after cutting, forming, bending, welding, and polishing are performed in a series while the workpiece is supported vertically, the workpiece is transported out from the exit of the workpiece transport path.

[0008] When forming, bending, and polishing are performed using both robots, appropriate tools are held at the tips of both robots.
A tool changer installed close to both robots allows
Necessary tools are automatically replaced. Further, both the robots and the laser processing machine are covered with a cover, and the operator performs a series of processing by operating an operation panel provided outside the cover. The cover therefore serves a safety and noise reduction role.

[0009]

Embodiments Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Referring to FIGS. 5, 6 and 7, the plate material processing machine 1 is equipped with a substantially hemispherical cover 3, and the cover 3 has an openable ceiling that can be opened and closed in the front and rear directions. 5F and 5B are provided. A window 7 made of, for example, transparent plastic is provided at a certain height position above the floor surface in the height direction of the cover 3 and extends in the left-right direction, so that the inside can be seen. An operation panel 9 is provided, for example, on the right side of the window 7, and allows the robots, laser processing machine, etc. provided inside the cover 3, which will be described in detail later, to be operated from the outside.

A workpiece inlet 13 and a product outlet 15 of the workpiece conveyance path 11 are provided at the lower portions of the cover 3 on both left and right sides. The workpiece carry-in port 13 is provided with an external rail 17 for carrying in the workpiece, and the product carry-in port 15 is provided with an external rail 19 for carrying out the product.

Therefore, the workpiece is carried vertically into the cover 3 through the workpiece carry-in port 13 while being guided by the workpiece carry-in external rail 17, and is subjected to various processing by both robots and a laser processing machine, which will be described later. After this, the product is transported out from the cover 3 through the product exit port 15 and guided by the product transport external rail 19.

The retractable ceilings 5F and 5B are opened when maintenance and inspection of the robots, laser processing machine, etc. inside the cover 3 is performed. Moreover, when processing a workpiece inside the cover 3, the retractable ceilings 5F and 5B are closed, and the operator operates the operation panel 9 from the outside to process the workpiece, and also views the inside of the workpiece from the window 7. It will be monitored. Therefore, during machining, the noise is lower and safer than in the past.

As shown in FIG. 4, inside the cover 3, a left-handed robot 21 and a right-handed robot 23 are disposed on both sides of the conveyance path 11. Automatic tool changers 25 and 27 for left-handed and right-handed robots are arranged adjacent to each other. Further, a laser processing machine 29 is arranged close to the workpiece transport path 11.

This laser processing machine 29 has X1, Y1
, Z1, two rotation axes A1, B1, and one gap sensor axis C1. Similarly, the left-handed and right-handed robots 21 and 23 also have X2 ;
Y2 ; Y3, Z1 ; Z2 linear three axes, A2 ; A
It has three rotation axes: 3, B2; B3, C2; C3, and one gripper axis, G2, G3. Furthermore, the automatic tool changers 25 and 27 for left-handed and right-handed robots are each provided with one rotation axis T2 and T3. Therefore, the plate material processing machine 1 as a whole has a total of 22 axes, and the workpiece W is processed while being held vertically to obtain the product G.

A concrete example of the shaft configuration in FIG. 4 described above is shown in FIGS. 1, 2, and 3. That is, in FIGS. 1, 2, and 3, a work pallet rail extending in the left-right direction in FIG. 31 have been installed. A work pallet 33 is provided on the work pallet rail 31 and is guided by the work pallet rail 31 and is movable in the left and right directions in FIG.

A plurality of work clamps 35 are provided on the work pallet 33 at appropriate intervals for holding the work W in a vertical position. Therefore, the workpiece W is vertically supported on the workpiece pallet 33 by the workpiece clamp 35 and transported.

A support stand 39 supporting a laser oscillator 37 is erected on the left side of the work pallet rail 31. Laser oscillator 3 supported on this support stand 39
A laser beam guide 41 is provided between the laser oscillator 37 and the laser processing machine 29 for passing the laser beam LB oscillated from the laser beam LB to the laser processing machine 29 . In addition, as already mentioned, the laser processing machine 29 has X1,
It is equipped with three linear axes of Y1 and Z1, two rotational axes of A1 and B1, and one gap sensor axis of C1.
Since its specific configuration and operation are already well known, their explanation will be omitted. This laser processing machine 29 will perform cutting or welding on the workpiece W.

Next, the specific configurations of the left-handed and right-handed robots 21 and 23 will be explained, but since the left-handed robot 21 and the right-handed robot 23 are arranged symmetrically and have almost the same configuration, they will be described collectively. do.

That is, left-handed and right-handed robots 21, 23
As shown in FIGS. 8, 9 and 10,
It is equipped with an X-axis base 43 extending in the axial direction, and this
Two parallel X-axis guides 45 extending in the X-axis direction are provided on the shaft base 43. An X-axis carriage 47 is provided which is guided by the X-axis guide 45 and is movable in the X-axis direction.

An X-axis rack 49 extending in the X-axis direction is provided on the X-axis base 43. Further, an X-axis drive motor 51 is provided on the X-axis carriage 47, and an X-axis pinion 53 meshed with the X-axis rack 49 is attached to the output shaft of this X-axis drive motor 51. .

With the above configuration, when the X-axis drive motor 51 is driven, the X-axis pinion 53 is rotated via the output shaft. Since this X-axis pinion 53 is meshed with the X-axis rack 49, the rotation of the X-axis pinion 53 moves the X-axis carriage 47 through the X-axis rack 49 to the X-axis guide 4.
5 and is moved in the X-axis direction.

A plurality of Z-axis guides 55 extending in the Z-axis direction are erected on the X-axis carriage 47, and a Z-axis rack 57 is also erected extending in the Z-axis direction. A Z-axis carriage 59 is provided which is guided by the Z-axis guide 55 and is movable in the Z-axis direction. A Z-axis drive motor 61 is attached to the Z-axis carriage 59, and a Z-axis pinion 63 meshed with the Z-axis rack 57 is provided on the output shaft of the Z-axis drive motor 61.

With the above configuration, when the Z-axis drive motor 61 is driven, the Z-axis pinion 63 is rotated via the output shaft. Since the Z-axis pinion 63 is meshed with the Z-axis rack 57, the rotation of the Z-axis pinion 63 causes the Z-axis carriage 59 to be moved in the Z-axis direction via the Z-axis rack 57.

The A-axis rotating body 6 is mounted on the Z-axis carriage 59.
5 is attached to the lower part of this A-axis rotating body 65.
A shaft gear 67 is attached, and an A-axis drive motor 69 is also provided. An A-axis pinion 71 meshed with the A-axis gear 67 is attached to the A-axis drive motor 69 via an output shaft.

With the above configuration, when the A-axis drive motor 69 is driven, the A-axis pinion 71 is rotated via the output shaft, and the A-axis gear 67 is further rotated, so that the A-axis rotating body 65 is rotated in the A-axis direction. It will be rotated to

The Z-axis carriage 59 is provided with a B-axis rotating body 73 that is rotatable in the B-axis direction. That is,
A B-axis rotating body 73 is attached to the Z-axis carriage 59 via a B-axis gear 75. Moreover, this B-axis rotating body 73
A B-axis drive motor 77 is provided on the top.
A B-axis pinion 79 meshed with the B-axis gear 75 is attached to the output shaft of the shaft drive motor 77.

With the above configuration, when the B-axis drive motor 77 is driven, the B-axis pinion 79 is rotated via the output shaft. Since the B-axis gear 75 is meshed with the B-axis pinion 79, the rotation of the B-axis pinion 79 causes the B-axis rotating body 73 to rotate in the B-axis direction via the B-axis gear 75 as shown in FIG. It will be rotated to

As shown in FIG. 8, a Y-axis carriage 81 is provided on the B-axis rotating body 73 via a sliding member so as to be movable in the Y-axis direction. This Y-axis carriage 8
1, a plurality of parallel Y-axis guides 83 are provided extending in the Y-axis direction. Further, a Y-axis rack 85 extending in the Y-axis direction is provided at the upper part of the Y-axis carriage 81. Further, a Y-axis drive motor 87 is provided on the B-axis rotating body 73, and this Y-axis drive motor 8
7 is attached with a Y-axis pinion 89 which is meshed with the Y-axis rack 85 via an output shaft.

With the above configuration, when the Y-axis drive motor 87 is driven, the Y-axis pinion 89 is rotated via the output shaft. Since this Y-axis pinion 89 is meshed with the Y-axis rack 85, the rotation of the Y-axis pinion 89 causes the Y-axis
The Y-axis carriage 81 is moved in the Y-axis direction via the axis rack 85.

A C-axis gear 91 is rotatably supported at the tip of the Y-axis carriage 81. This C-axis gear 91
A C-axis rotary body 93 is attached to. As shown in FIG. 10, a C-axis drive motor 95 is provided at the lower end of this C-axis rotating body 93, and the output shaft of this C-axis drive motor 95 meshes with the C-axis gear 91. A C-axis pinion 97 is attached.

With the above configuration, when the C-axis drive motor 95 is driven, the C-axis pinion 97 is rotated. Since the C-axis gear 91 is meshed with the C-axis pinion 97, the rotation of the C-axis pinion 97 causes the C-axis rotating body 93 to move toward the C-axis via the C-axis gear 91. It will be rotated in the direction.

A G-axis rack drive cylinder 99 is provided on the C-axis rotating body 93, and a G-axis rack 101 is attached to this G-axis rack drive cylinder 99. A gripper 105 with a G-axis pinion 103 meshed with the G-axis rack 101 is provided.

With the above configuration, when the G-axis rack drive cylinder 99 is operated, the G-axis rack 101 moves in the Y-axis direction (
9), the gripper 105 moves via the G-axis pinion 103 as shown in FIG.
It will be rotated in the G-axis direction.

Therefore, the left hand and right hand robots 21, 2
3 is X2;X3,Y2;Y3,Z2;Z3
3 straight axes, A2; A3; B2; B3; C2;
It is equipped with three rotation axes of C3 and one gripper axis of G2 and G3.

11 and 1 between the grippers 105.
2 and 13, the tool 107 is gripped. Moreover, this tool 107 includes a grip part 109 of an automatic tool changer, a grip part 111 of a robot for forming, bending, and polishing, and further includes a blade insertion part 113.

Blade insertion portion 113 of this tool 107
An example of a bending process in which a workpiece W is bent by the left blade 115 of the left-handed robot 21 and the right blade 117 of the right-handed robot 23 inserted into the workpiece is shown in FIGS. 14, 15, and 16. A slit S is made in each of the works W in the shape shown in the figure by the laser processing machine 29.

In FIG. 14, the left blade 115 hits the work W and stops. The right blade 117 hits the workpiece W and further advances to the left until the part surrounded by the slit S bends. The aforementioned Y-axis drive motor 87 is used for this drive. Then, the left blade 115 is attached to the workpiece W.
By the cooperation of the right blade 117 and the right blade 117, the workpiece W is bent.

FIG. 15 is similar to FIG. 14, but each left,
The case where the width of the right blades 115, 117 is narrow is shown, and since the operation is the same as that in FIG. 14, the explanation will be omitted. Further, FIG. 16 shows an example in which a bending radius is applied to the workpiece W when the workpiece W is bent, and the left blade 115
The one for bending R is used, and the other parts are almost the same as those in FIG. 14, so the explanation will be omitted.

Blade insertion portion 113 of this tool 107
An example of a forming process in which a work W is formed by the left blade 119 of the left-handed robot 21 and the right blade 121 of the right-handed robot 23 inserted into the workpiece W is shown in FIGS. 17 and 18.

In FIG. 17, the workpiece W is sandwiched between the left blade 119 and the right blade 121 from the left and right sides, and burring is performed. In Fig. 18, the left blade 1 is attached to the workpiece W.
19 and the right blade 121 cooperate to embossing a diamond shape. In both cases of FIGS. 17 and 18, the output torque of the Y-axis drive motor 87 described above is used as the pressurizing force, but a ball screw may also be used.

Blade insertion portion 113 of this tool 107
FIG. 19 shows an example of polishing a welded workpiece W with the left blade 123 of the left-handed robot 21 inserted into the
and shown in FIG.

In FIG. 19, in the process of making a box-shaped product G, a grindstone 125 is attached to the tip of the left blade 123 when grinding is performed along the weld line WL of the welded workpiece W.
The polishing process is performed with a . Also, Figure 20
When polishing is performed along the weld line WL on a welded workpiece W having a three-dimensional free-form surface shape,
A spherical grindstone 125 is attached to the tip of the left blade 123 for polishing.

In this way, the left and right hand robots 21, 23
A tool 107 is attached to the gripper 105 of the tool 107, and blades 115, 117 (119, 119,
121; 123), the workpiece W cut or welded by the laser processing machine 29 can be bent, formed and polished by one plate processing machine 1, so there is no intermediate product. Plate processing is realized. Therefore, there is no need for space for storing intermediate products, and it is possible to level out processing suitable for high-mix, low-volume production.

It should be noted that the present invention is not limited to the embodiments described above, but can be implemented in other embodiments by making appropriate changes. The left hand of this example,
A ball screw is used as a driving means for the right-handed robots 21 and 23.
It is also possible to use splines, etc. In addition, in order to minimize the bending force in the bending process, a laser processing machine 29
Slit cutting is carried out using a laser beam LB, but left-handed and right-handed robots 21,
It is also possible to process the V-groove by having the gripper 105 of No. 23 hold a V-cutting tool.

[0046]

Effects of the Invention As can be understood from the above description of the embodiments, according to the present invention, since the structure is as described in the claims, it is possible to transport the work while holding the work vertically. Robots are provided on both sides of the path, and various types of processing can be carried out by attaching tools for bending, shaping, or polishing, for example, to the tips of the robots. Furthermore, by arranging an automatic tool changer near each robot, the various types of processing described above can be performed automatically.

Furthermore, by arranging a laser processing machine close to the workpiece transport path, it is possible to perform cutting or welding on the workpiece.

[0048] Thus, cutting, welding, bending, forming, and polishing processes can be automatically performed on a workpiece in a series. Therefore, plate material processing without intermediate products is realized, which eliminates the need for space for storage of intermediate products, and enables leveling of processing suitable for high-mix, low-volume production.

[0049] By providing this plate material processing machine inside the cover, the safety of workers is maintained and noise is reduced.

[Brief explanation of drawings]

FIG. 1 is a front view of a plate processing machine showing the main parts of the present invention.

FIG. 2 is a plan view in FIG. 1;

FIG. 3 is a side view in FIG. 1;

FIG. 4 is an axis configuration diagram of each processing machine in FIG. 1.

FIG. 5 is a front view of the appearance of each processing machine of the plate material processing machine housed within the cover.

FIG. 6 is a plan view in FIG. 5;

FIG. 7 is a side view of FIG. 5;

FIG. 8 is a front view showing specific configurations of left-handed and right-handed robots.

FIG. 9 is a plan view in FIG. 8;

FIG. 10 is a side view of FIG. 8;

FIG. 11 is a front view of a tool gripped by a gripper provided at the tip of the robot.

FIG. 12 is a plan view in FIG. 11;

FIG. 13 is a side view of FIG. 11;

FIG. 14 is a diagram illustrating an example of a bending process in which a workpiece is bent.

FIG. 15 is an example diagram of a bending process in which a workpiece is bent.

FIG. 16 is an example diagram of a bending process in which a workpiece is bent.

FIG. 17 is an example diagram of a burring process in which a workpiece is burred.

FIG. 18 is an example diagram of a burring process in which a workpiece is burred.

FIG. 19 is an example diagram of a polishing process in which a workpiece is polished.

FIG. 20 is an example diagram of a polishing process in which a workpiece is polished.

[Explanation of symbols]

1 Plate material processing machine 3 Cover 9 Operation panel 11 Work conveyance path 21 Left hand robot 23 Right hand robot 25 Automatic tool changer for left hand robot 27 Automatic tool changer for right hand robot 29 Laser processing machine 33 Work pallet 35 Work clamp 105 Gripper 107 Tool 117 Left blade 119 Right blade

Claims (4)

[Claims] Claim 1: A workpiece conveyance path for transporting the workpiece in and out with the workpiece supported vertically, robots placed on both sides of the workpiece conveyance path, and various types of workpieces held at the tips of these robots. A plate processing machine characterized by being equipped with an appropriate tool for processing plate materials. 2. The plate processing machine according to claim 1, further comprising a tool changer located close to both said robots. 3. The plate processing machine according to claim 1, further comprising a laser processing machine adjacent to the workpiece conveyance path. 4. The plate processing machine according to claim 3, further comprising a cover that covers both the robots and the laser processing machine, a part of which can be opened and closed, and has an operation panel on the outside.