JP2000210718A - Method for positioning work in bending machine and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably move and position a work without basing on a reaction distance after the work is brought into contact with the striking part of a striking device till a robot is stopped. SOLUTION: The robot 15 for which the work W is freely moved in the back, forth, right and left directions is provided. The striking device provided with a striking pad 59, moving part and detecting part is provided. When the work W is struck to the striking pad 59 of the striking device with the robot 15, the moving part is worked and it is detected with the detecting part. The 'reaction distance' after the command for stopping the robot 15 is issued by the detecting signal till the robot is actually stopped is beforehand stored in a controller as a parameter. The 'relative position of the work' for expressing the position where the work W is held with the robot 15 based on the 'reaction distance' is calculated and, based on this 'relative position of the work', the work W is accurately positioned in the prescribed position of the die.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for bending a workpiece by using a robot to position the workpiece at a predetermined position in a front-rear direction (Y direction) and a left-right direction (X direction). The present invention relates to a method and a device for positioning a work in a processing machine.

[0002]

2. Description of the Related Art Conventionally, in a press brake 101 which is, for example, a bending machine as a sheet material processing machine, FIG.
As shown in FIG. 5, the workpiece W is gripped and
Robot 103 that moves in the left and right directions (X direction)
The pressure sensors 105 and 107 are used to detect the positional relationship between the workpiece W held by the robot 103 and the workpiece W.

For example, FIG. 10 shows a left butting device 109 of two butting devices, and an L-shaped arm 113 having a butting portion 111 on the tip side is provided with a butting portion support base. It is provided on 115 so as to be pivotable around a pivot shaft 117. The butting portion support base 115 is movable in the X direction and the Y direction, respectively. Further, the L-shaped arm 113
Is configured such that the turning direction can be freely changed according to the positioning direction of the work W.

A pressure sensor 105, which is configured to be pressed on the upper and lower side surfaces of the L-shaped arm 113 through a rod 119 in FIG.
107 is provided.

When the robot 103 grasps the work W and performs gaging in the X direction, the work W is previously moved to a position where the butting portion 111 of the butting device 109 is located, and then the robot 103 is moved in the X direction. The work W comes into contact with the right side surface of the abutting portion 111 in FIG. The pressure at the time of this contact is detected by the pressure sensors 105 and 107, and the relative positional relationship between the robot 103 and the workpiece W is calculated from the X and Y coordinates of the robot 103 and the position of the abutting portion 111 at this time. You. The reaction force of the pressure sensors 105 and 107 is about 1 kgf.

The gaging in the Y direction performed to control the parallelism between the bending line and the mold is the same as the gaging in the X direction. In this case, the workpiece W is abutted against the tips of the abutting portions 111 of the two left and right abutting devices 109.

[0007]

By the way, in the conventional work positioning apparatus, the pressure sensors 105 and 107 are used.
Is basically minute. During gauging in the X direction, the speed of the robot 103 in the X direction is reduced, but a stop command is issued to the robot 103 after the pressure sensors 105 and 107
A few millimeters of stroke is taken before the stoppage.

Therefore, the pressure sensors 105, 1 are often
07 exceeds the allowable value, and the pressure sensor 10
5,107 recalibrations are required. Pressure sensor 105,
Since the calibration of 107 is performed using a certain pressure as a reference, it is very complicated and difficult to reproduce.

Further, in this case, there is a problem that the work W is shifted because the robot 103 goes too far. .

The reaction force of the pressure sensors 105 and 107 is about 1
kgf, when the robot 103 is moving in the X direction, the gripping force of the robot 103 is insufficient in some cases, such as when the workpiece gripping position is far from the detection position or when the plate thickness is thin. In some cases, the pressure sensors 105 and 107 do not operate because W shifts or bends. The same applies to Y gauging.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a X-gaging system in which a workpiece moving device grips a workpiece and performs X-gauging. An object of the present invention is to provide a work positioning method and apparatus for a bending machine capable of performing stable work position detection regardless of a reaction distance until the robot stops.

[0012]

According to a first aspect of the present invention, there is provided a method of positioning a work, comprising: gripping a work with a holding portion of a work moving device, and bending the work by a mold of a bending machine; In the work positioning method of positioning the work by abutting the work against the abutment portion of the abutment device by moving the work in the front-rear direction and the left-right direction relative to the work, the work is moved in the left-right direction and the work is abutted. When the moving unit of the abutment device operates, the detecting unit detects the operation of the moving unit and generates a stop command of the work moving device, and a reaction distance from when the work moving device is actually stopped is set as a parameter. A work relative position is stored in the control device, and a work relative position representing a position where the work moving device is gripping the work is calculated based on the reaction distance, and based on the work relative position, It is characterized in that moving and positioning the over click on a position of a predetermined mold.

Therefore, when the work moves in the left-right direction and is hit by the butting portion of the butting device, the moving portion operates and moves. The reaction distance before the stop is absorbed, and since the reaction distance is stored in the control device in advance, the relative position of the work is calculated from the reaction distance. The work moving device can accurately position the work at a predetermined position of the mold based on the relative position of the work.
Therefore, stable detection is possible regardless of the reaction distance of the work moving device.

According to a second aspect of the present invention, there is provided a work positioning device for a bending machine, comprising a gripper for gripping the work, and allowing the workpiece to move back and forth and left and right relative to a mold of the bending machine. A moving part for moving the moving part back and forth, right and left, and a detecting part for detecting an operation of the moving part. An abutment device is provided, and the detection unit detects the operation of the movement unit due to the work moving in the left-right direction and coming into contact with the abutment unit, and issues a stop command of the work movement device, and then actually stops. The reaction distance is stored in advance as a parameter, and a work relative position representing a position where the work moving device is gripping the work is calculated based on the reaction distance. And is characterized in that formed by providing a control device gives a command to the workpiece moving device so as to move the workpiece to a position of a predetermined mold based on location.

Therefore, the operation is similar to that of the first aspect, and when the work moves in the left-right direction and is hit against the striking portion of the striking device, the moving portion operates and moves. The reaction distance from when the stop command of the moving device is issued to when the moving device is actually stopped is absorbed, and since the reaction distance is stored in the control device in advance, the relative position of the work is calculated from the reaction distance. The work moving device can accurately position the work at a predetermined position of the mold based on the relative position of the work. Therefore, stable detection is possible regardless of the reaction distance of the work moving device.

According to a third aspect of the present invention, there is provided a work positioning device for a bending machine according to the second aspect, wherein the moving portion moves the base portion of the abutment device in the left-right direction. A first actuating member, comprising a first actuating member and a second actuating member, wherein the first actuating member is provided on the base portion so as to move the base member only in one lateral direction; A member is provided so as to be interlockable in the left-right direction via a second driving means, the abutting portion is provided on the second operating member so as to be expandable and contractible in a front-rear direction by a third driving means, and the detecting section is a second operating member. And a second detector for detecting the front-back movement of the abutting portion.

Therefore, the moving part composed of the two first operating members and the second operating member operable in the left-right direction is fixed and free by the first driving means and the second driving means depending on the situation. Since a stroke in the left-right direction larger than the reaction distance of the work moving device can be secured, stable detection is performed regardless of the reaction distance of the work moving device.

Further, since gauging in the left-right direction can be performed with a smaller operating force than in the past, it is possible to detect even when a thin plate or a workpiece gripping position is far.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method and an apparatus for positioning a work in a bending machine according to the present invention will be described below with reference to the drawings, taking, for example, a press brake as a bending machine.

Referring to FIG. 7 and FIG. 8, in the press brake 1 according to the present embodiment, the mold composed of the punch P and the die D includes the mold mounting portions 7, 9 of the upper table 3 and the lower table 5. It is attached to.

As shown in FIG. 7, each of the mold mounting portions 7 and 9 is configured so that a plurality of dies can be combined in accordance with the bending length of the work W to form a plurality of stations. I have.

At the upper part of the press brake 1 and at substantially the center of the lower tables 3 and 5 in the longitudinal direction, a mold storage part 11 for storing and storing a plurality of dies is provided so as to be vertically movable. A punch storage unit (not shown) for a plurality of punches P is provided on the back side of the upper table 3, and a die storage unit (not shown) for a plurality of dies D is provided on the back side of the lower table 5.
Is provided.

The press brake 1 has a mold for attaching and detaching the molds of the mold mounting portions 7 and 9 of the upper and lower tables 3 and 5 and replacing them with the molds of the mold storage portion 11 described above. An exchange device 13 is provided movably in the left and right directions in FIGS. 7 and 8 on the back side of the upper and lower tables 3 and 5.

In the press brake 1, for example, a robot 15 as a work moving device for gripping and moving the work W to a desired station moves the front side of the lower table 5 in the left-right direction (X direction) in FIGS. ) Is provided movably. The work gripper 17 at the tip of the robot 15, for example, as a gripper of the above-described work moving device is movable with respect to the press brake 1 in the front-rear direction (vertical direction in FIG. 8, Y direction).

As shown in FIG. 8, the press brake 1 is provided with, for example, a butting device 19 as a work positioning device for positioning the work W gripped and moved by the robot 15. Fig. 8
Are provided so as to be movable and positionable in the left-right direction (X direction) and the front-back direction (Y direction).

Therefore, the press brake 1 uses the robot 15 to push the work W to be bent by the abutment device 1.
9, and is positioned between the punch P and the die D of the station, and one of the upper table 3 and the lower table 5 is raised by an elevation drive cylinder (not shown) to move the punch P and the die. The work W is configured to bend in cooperation with D.

Next, a butting device as a work positioning device which is a main part of the present embodiment will be described with reference to the drawings.

As shown in FIG. 8, in the present embodiment, two abutment devices 21 and a right abutment device 23 are provided as the abutment device 19, and the left and right abutment devices 21 and 23 are provided. Numerals 23 are independently provided movably in the X direction along stretches 25 extending in the left-right direction (X direction) in FIG. Therefore, the distance between the left and right abutment devices 21 and 23 can be increased or decreased.

Referring to FIG. 2, the left and right butting devices 21, 23 are symmetrical but have the same structure.
Hereinafter, the right abutment device 23 will be particularly described. Note that the same reference numerals as those of the members corresponding to the right-side butting device 23 are given to the members constituting the left-side butting device 21.

The right abutment device 23 includes an abutment base 27
Is provided so as to be movable and positioned in the X direction guided by the stretch 25, and a base 29 is fixed to the abutting base 27, and 2
Two X gauging linear guides 31 are provided in a state extended in the X direction.

Furthermore, the linear guide 31 for X gauging
On the top, for example, the first portion as a moving portion of the butting device 19 is provided.
An operating member 33 and a second operating member 35 are provided movably in the X direction.

Further, as shown in FIG. 5, for example, a first air cylinder 37 as a first driving means is provided on the base 2.
9, and the distal end of the piston rod 39 of the first air cylinder 37 is connected to the first operating member 33. Therefore, the movement of the first operating member 33 is restricted by the first air cylinder 37. The first operating member 33 is configured to move rightward (X plus direction) in FIG. 2 from a state in which the piston rod 39 of the first air cylinder 37 is contracted (the original position).

Further, for example, a second air cylinder 41 as a second driving means is fixed to the first operating member 33. As shown in FIG. 4, a tip of a piston rod 43 of the second air cylinder 41 is provided. Are connected to the second operating member 35. Therefore, the movement of the second operating member 35 is restricted by the second air cylinder 41. Second operating member 3
Reference numeral 5 denotes a configuration in which the piston rod 43 of the second air cylinder 41 moves leftward (X minus direction) in FIG. 2 from a contracted state (original position).

However, since the second air cylinder 41 is attached to the first operating member 33, the first operating member 33
When moving in the plus direction, the second operating member 35 is also X
It is configured to move in the plus direction.

Further, the second operating member 35 is provided with a dog 45 for X gauging as shown in FIG. The dog 45 has a groove 4 in the vertical direction in FIG.
The X-gaging proximity sensor 49 as a first detector capable of detecting the X-direction movement of the groove 47 is attached to the base 29, and moves together with the movement of the second operating member 35. The dog 45 is configured to respond to the movement of the dog 45.

In the second operating member 35, for example, a potentiometer 53 as a Y gaging sensor constantly biased downward in FIG. 2 by a potentiometer spring 51 is moved in the Y direction by a Y gaging linear guide 55. It is provided freely.

Further, referring to FIG. 2 and FIG.
The operating member 35 is provided with, for example, a third air cylinder 57 as third driving means for driving in the front-rear direction (Y direction). The Y-gaging linear member is attached to the tip of a piston rod 61 of the third air cylinder 57. Guide 55
The linear guide 55 for Y gauging is provided with, for example, an abutting pad 59 as an abutting portion for abutting the workpiece W.

The potentiometer 53 is a second detector for detecting the movement of the butting pad 59 in the Y direction, and the second detector is configured as a detecting section of the butting device 19 together with the first detector. Is done.

Therefore, the work W comes into contact with the abutment pad 59 during X and Y gauging. For example,
In the case of X gauging, it is struck from the direction of arrow A or B in FIG. 2, and in the case of Y gauging, it is struck from the direction of arrow C.

In the case of X gauging, the abutting pad 59 is pulled by the third air cylinder 57 (when the Y gauging is performed, the abutting pad (59) is extended by the third air cylinder 57). Yes.),
The first and second operating members 33 and 35 move together in the X plus direction, and only the second operating member 35 moves in the X minus direction, but the first operating member 33 and the second air cylinder 41 do not move.

The maximum movable amount of the first and second operating members 33 and 35 in the X direction is determined by the first and second air cylinders 3.
It is determined by 7, 41 strokes. In this embodiment, the first and second air cylinders 37 and 41 having a stroke of 10 mm with respect to the reaction distance (about 2 mm) are employed, and the stroke of the first and second operating members 33 and 35 is about 8 mm (assembly). The stroke was reduced by about 2 mm).

When the third air cylinder 57 is contracted, the striking pad 59 is also retracted and positioned at the original position, as shown in the left striking device 21 in FIG. In this case, the abutment pad 59 can freely move in the Y direction as shown in the right abutment device 23 in FIG.

The first and second air cylinders 37, 4
In 1, a solenoid valve is provided at a port for fixing the first and second operating members 33 and 35 at their original positions, so that a maximum air pressure or an atmospheric pressure is applied. The ports of the first and second air cylinders 37 and 41 in the direction in which the first and second operating members 33 and 35 are moved are connected to an air supply source via a regulator, and are connected to the first and second operating members. Pressure is applied in a direction that assists the movement of 33 and 35. The above regulator is provided to cancel the sliding resistance of the first and second operating members 33 and 35. Since the weights (sliding resistance) of the movable first and second operating members 33 and 35 in the X plus direction and the X minus direction are different from each other, the pressure is adjusted by different regulators. .

Referring to FIG. 9, as the control device 63, a reaction distance (coasting) represented by a distance from when a processing program or a stop signal is input to the robot 15 to when the robot 15 is stopped, for example, as the central processing unit, is provided. An input device 67 and a display device 69 for inputting the distance (distance) as a parameter in advance for each speed (movement) of the robot operation, and a memory 71 for storing the input data are connected.

Further, an arithmetic processing unit 73 for calculating a "work relative distance" indicating the position where the robot 15 is clamping the work W based on a formula using data of "reaction distance", and the arithmetic processing unit 73 A command unit 75 is provided which gives a command to move the robot 15 in order to accurately position the work W at a predetermined position of the mold by calculating the robot operation position (stop) based on the calculated “work relative distance”.

The abutment device 19, the first air cylinder 37, the second air cylinder 41, the third air cylinder 57, the X-gauging proximity sensor 49, and the potentiometer 53 are each a CPU 65 of the control device 63 described above.
Is electrically connected to

With the above configuration, in the normal state (at the time of manual bending), the first and second air cylinders 37 and 41 have the maximum air pressure in the direction of positioning the first and second operating members 33 and 35 at the original positions. And the third air cylinder 57 is in a contracted state, and the first and second operating members 33,
All of 35 and the butting pad 59 are positioned at the original position.

At the time of X gauging, the first and second air cylinders 37 and 41 are applied with atmospheric pressure to the port fixed on the original position, and the port on the moving side receives the pressure reduced by the regulator. It becomes possible to move in the X direction.
Therefore, the operating force of the first and second operating members 33 and 35 in the X direction is determined by adjusting the pressure of the regulator. Incidentally, in the present embodiment, the above operating force is about 500 gf.

Further, the piston rod 61 of the third air cylinder 57 is in a contracted state, and the Y-direction potentiometer 53 is positioned at the original position.

When the work W approaches the contact pad 59 from the direction of arrow A in FIG.
5 moves to the negative side in the X direction, but the first operating member 33 is stopped, so the piston rod 4 of the second air cylinder 41 is moved.
3 extends to the negative side in the X direction. At this time, the chambers of the first and second air cylinders 37 and 41 are completely free because they are open to the atmospheric pressure. Note that pressure may be applied to the moving direction side so that the second operating member 35 moves more smoothly.

When the groove 47 of the X gaging dog 45 provided on the second operating member 35 moves and is closed,
The proximity sensor 49 responds. Since a stop signal is input to the robot 15 based on the detection signal of the proximity sensor 49, the robot 15 stops, but naturally runs a reaction distance (coasting distance) before stopping.

The reaction distance is stored in advance as a parameter in the memory 71 inside the control device 63 for each speed (movement) of the robot operation.

Therefore, the “robot X coordinate” when the robot 15 stops and the work W are not
The “working relative distance” indicating the position at which the robot 15 is clamping the work W is calculated as “the robot X coordinate” as shown in FIG. − “Bumping X coordinate” + “coasting distance”) can be calculated by the arithmetic processing unit 73.

Using the above “work relative distance”, the subsequent work W positioning step is performed. For example, the work W can be positioned so that the punch P is accurately positioned between the left and right flanges of the work W such as a box bending. That is, since the robot 15 does not always clamp the center of the work W, the robot 1
By accurately calculating which position of the work W is clamped by using the "work relative distance", the robot operation position (stop) can be obtained with high accuracy. That is, since the position of the workpiece W is stably detected regardless of the reaction distance of the robot 15, the workpiece W is accurately positioned at a predetermined position of the mold.

When the work W approaches the abutment pad 59 from the arrow B direction in the X direction, each of the first and second air cylinders 37 and 41 is opened to the atmospheric pressure in each chamber. That is, the piston rods 39 and 43 are completely free. In order to make the first and second operating members 33 and 35 move more smoothly, pressure may be applied to the moving direction.

When the work W comes into contact with the abutment pad 59, the second operating member 35 is moved in the X plus direction,
Due to the movement of the second operating member 35, the first operating member 33 also moves in the same direction via the contact surfaces of the first and second operating members 33, 35. Therefore, the first and second operating members 33 and 35 move together in the X plus direction, so that the piston rod 39 of the first air cylinder 37 extends.

When the groove 47 of the X gaging dog 45 provided on the second operating member 35 moves and is closed,
The proximity sensor 49 responds. Based on the detection signal of the proximity sensor 49, a stop signal is input to the robot 15 so that the robot 15 stops, but naturally runs a reaction distance (coasting distance) before stopping.

Therefore, as in the case of approaching the abutment pad 59 from the direction of arrow A, the work of the robot 15 is performed based on the "reaction distance" stored in the memory 71 inside the control device 63 in advance as a parameter. The clamp position is accurately detected, and the positioning of the work W in the X direction is performed with high accuracy. That is, since the position of the workpiece W is stably detected regardless of the reaction distance of the robot, the workpiece W is accurately positioned at a predetermined position of the mold.

In the case of Y gauging in which the work W approaches in the direction of arrow C, the first and second air cylinders 37, 4
Numeral 1 designates the maximum air pressure at the port on the side positioned at the original position so that the port cannot be moved in the X direction, the third air cylinder 57 is in the extended state, and the abutment pad 59 is in the Y position.
In FIG. 2 in the direction, it can move to Y (−). In this state, the potentiometer 53 is in the Y direction shown in FIG.
, It is possible to move to Y (+).

The work W approaches from the front, the work W comes into contact with the tip of the abutment pad 59, and the amount of shrinkage of the abutment pad 59 is detected by the Y-direction potentiometer 53, and each detected value becomes a predetermined value. Then, the movement of the robot 15 is stopped, and the positioning of the workpiece W in the Y direction is completed.

The present invention is not limited to the above-described embodiment, but can be embodied in other modes by making appropriate changes.

[0062]

As will be understood from the above description of the embodiments of the present invention, according to the first aspect of the present invention, the work moves in the left-right direction and is abutted against the abutting portion of the abutting device. In this case, the moving unit operates and moves, so that the reaction distance from when the stop command of the work moving device is issued to when the work moving device actually stops can be absorbed. In addition, since the reaction distance is stored in the control device in advance, the relative position of the work can be calculated from the reaction distance.

Therefore, the work moving device can accurately position the work at the predetermined position of the mold based on the relative position of the work, and can perform stable detection regardless of the reaction distance of the work moving device.

According to the second aspect of the present invention, the same effect as in the first aspect is achieved, and when the work moves in the left-right direction and hits the striking portion of the striking device, the moving portion operates. Therefore, the reaction distance from when the work moving device stop command is issued to when the work moving device actually stops can be absorbed.
In addition, since the reaction distance is stored in the control device in advance, the relative position of the work can be calculated from the reaction distance.

Therefore, the work moving device can accurately position the work at the predetermined position of the mold based on the relative position of the work, and can perform stable detection regardless of the reaction distance of the work moving device.

According to the third aspect of the present invention, the moving portion composed of the two first operating members and the second operating member operable in the left-right direction is fixed by the first driving means and the second driving means according to the situation. -Since it is possible to secure a stroke in the left-right direction longer than the reaction distance of the work moving device by being free, stable detection can be performed regardless of the reaction distance of the work moving device.

Further, since the left-right abutment device can react with a smaller operating force than before, it can detect even when the thin plate or the workpiece gripping position is far.

[Brief description of the drawings]

FIG. 1, showing an embodiment of the present invention, is an explanatory diagram showing a positional relationship between a “reaction distance” and a “work relative distance”.

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

3 shows the embodiment of the present invention, and is a front view of the right side abutment device in FIG. 2 as viewed in the direction of arrow III. FIG.

FIG. 4 is a sectional view taken along line IV-IV in FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 2;

6 shows the embodiment of the present invention, and is a left side view of the right abutment device in FIG. 2 as seen in the direction of arrow VI. FIG.

FIG. 7 is a front view of a press brake used in the embodiment of the present invention.

FIG. 8 is a plan view of a press brake used in the embodiment of the present invention.

FIG. 9 is a block diagram of a control device used in the embodiment of the present invention.

FIG. 10 is a plan view of a butting device in a conventional press brake.

[Explanation of symbols]

 Reference Signs List 1 press brake (plate material processing machine) 15 robot (work moving device) 17 work holding unit (holding unit) 19 butting device (work positioning device) 29 base unit 33 first operating member 35 second operating member 37 first air cylinder (First X-axis driving means) 41 Second air cylinder (Second X-axis driving means) 45 Dog 47 Groove part 49 Proximity sensor for X gauging 53 Potentiometer (Sensor for Y gauging) 57 Third air cylinder (Y-axis driving means) 59 Thrust Contact pad 63 Control device 65 CPU 71 Memory 73 Processing unit 75 Command unit

Claims (3)

[Claims] 1. A workpiece is gripped by a gripper of a workpiece moving device, and the workpiece is moved back and forth relative to a mold of a bending machine.
In the work positioning method of positioning the work by abutting the work against the abutting portion of the abutting device by moving the work in the left-right direction, when the work is moved in the left-right direction and the work comes into contact with the abutting portion, The moving unit of the contacting device operates, and the operation of the moving unit is detected by the detecting unit, and the reaction distance from when the stop command of the work moving device is issued to when it is actually stopped is stored in the control device in advance as a parameter. Calculating a relative position of the work, which indicates a position at which the work moving device is gripping the work, based on the reaction distance, and moving and positioning the work to a predetermined mold position based on the relative work position. Work positioning method for bending machine. 2. A work moving device which includes a gripper for gripping the work and is capable of moving the work back and forth and left and right relative to a mold of a bending machine, and abuts and positions the work. A moving unit for moving the moving unit in the front-rear and left-right directions and a detecting unit for detecting the operation of the moving unit; The reaction distance from when the operation of the moving unit due to contact with the abutment unit is detected by the detection unit and a stop command of the work moving device is issued to when the work moving device is actually stopped is stored in advance as a parameter and the reaction distance is used. The work moving device calculates a work relative position indicating a position where the work is gripped, and moves the work to a predetermined mold position based on the work relative position. Work positioning apparatus in a fold machine characterized by comprising providing a control means for providing a command to the location. 3. The moving part comprises a first operating member and a second operating member capable of moving a base portion of the abutment device in the left-right direction, and the first operating member is moved to the base portion in one direction in the left-right direction. A first drive means for moving only the first drive means;
An actuating member and a second actuating member are provided so as to be interlocked in the left-right direction via a second driving means; 3. The bending device according to claim 2, wherein the portion includes a first detector that detects the left-right movement of the second operating member and a second detector that detects the front-rear movement of the abutting portion. Work positioning device in processing machine.