JP2002001440A - Method for checking bending action program of bender robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for checking a bending action program of a bender robot which is able to perform teaching even the point which is not previously set up as a point needed for teaching or the point passed. SOLUTION: While the action program which commands the action of the bender robot, is operated, a designated check point capable of stopping the bender robot is, a reverse confirmation position between the set up preceding designated check point and the next designated checkpoint that allows returning freely to the prior designated checkpoint, is set up. When the bender robot needs teaching operation while acting, reverse check designation is executed at the place between the prior designated check point and the reverse confirmation position, the bender robot judges whether the reverse check designation exists or not when reaches the reverse confirmation position, in the case that the reverse check exists, the bender robot returns to the prior designated check point to perform teaching operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for checking a bending operation program of a bending robot for changing the operation of a bending robot operating according to a bending operation program.

[0002]

2. Description of the Related Art Conventionally, a bending robot system with a bender has been provided with a function called program check. Referring to FIG. 6, in the program check function, a stop point for performing a teaching operation is set in advance (step S1), and then a check operation is started (step S2). Then, the robot is moved (step S3), moved to the designated check point (step S4), the teaching operation is performed (step S5), the coordinates are changed (step S6), and the robot is moved to the next check point. Move (Step S
7).

[0003] By using such a program check function, the operating program is modified while the target position in the robot program is changed in real time.

[0004]

However, in such a conventional technique, it is necessary to specify in advance at which point the correction is to be made before executing the program check, and it is necessary to perform teaching. If it is not possible to judge whether or not it is necessary, it is necessary to specify and actually stop and judge, so that there is a problem that it takes time for the operation.
Further, if the user forgets to specify the points, it is necessary to start over from the beginning, and there is a problem that the efficiency is low.

An object of the present invention is to pay attention to the above-mentioned problems of the conventional technology. Teaching is performed even at points not previously set as points requiring teaching or at points passing by. It is an object of the present invention to provide a method for checking a bending operation program of a bending robot.

[0006]

According to a first aspect of the present invention, there is provided a method for checking a bending operation program of a bending robot, comprising the steps of: In a bending operation program check method for checking a bending operation program of a bending robot that performs bending of a workpiece by cooperation between a punch and a die, the bending robot is positioned during the bending operation program during the operation by the bending operation program. A designated checkpoint that can be stopped is appropriately provided, and a reverse check position that is located between the designated designated checkpoint and the next designated checkpoint and can return to the designated designated checkpoint without any trouble is set. Between the designated checkpoint and the reverse confirmation position. When a teaching operation for correcting or changing the bending operation program is required, a reverse check is designated, and when the reverse check position is reached, it is checked whether or not the reverse check is designated. In this case, the teaching operation is performed by returning to the previous designated check point.

Therefore, during the operation of the operation program for instructing the operation of the bending robot, a designated checkpoint at which the bending robot can be stopped is set, and the designated checkpoint between the previous designated checkpoint and the next designated checkpoint is set. A reverse confirmation position that is in between and can return to the previous designated checkpoint without any problem is set. If a teaching operation is required during the operation of the bending robot, a reverse check is specified between the previous designated check point and the reverse check position, and the reverse check is specified when the robot reaches the reverse check position. It is determined whether or not there is, and if there is a reverse check designation, the process returns to the previous designated check point and the teaching operation is performed.

According to a second aspect of the present invention, there is provided a method for checking a bending operation program of a bending robot according to the first aspect, wherein the reverse confirmation position does not interfere with a peripheral device. It is a position where it can return to the designated checkpoint.

Therefore, the robot can be returned from the reverse confirmation position to the previous designated check point without interfering with the peripheral device.

According to a third aspect of the present invention, there is provided a method for checking a bending operation program of a bending robot according to the first or second aspect, wherein after the teaching operation, the bending operation program is returned to the previous designated check point again. Go back and repeat the following steps,
It is characterized by the following.

Therefore, when there is a reverse check designation, the teaching operation is performed after returning to the previous designated check point, and thereafter, the subsequent steps are repeated after returning to the preceding designated check point.

[0012]

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

Referring to FIG. 5, a bending robot 3 for loading a work W into the press brake 1 is provided in front of the press brake 1 as a bending apparatus. A magazine 5 for accommodating the work W is provided on the side of the press brake 1, and a transfer device 7 for transferring the product S of the press brake 1 to the next process is provided. Here, since the configurations of the above-mentioned magazine unit 5 and the transport device 7 are already well known, detailed description thereof will be omitted.

The press brake 1 includes left and right side plates 9L, 9
An upper frame 11U is fixedly provided on the upper front surface of the side plate 9, and a lower frame 11L is provided on the lower front surface of the side plate 9 so as to be able to move up and down by vertical movement means (not shown). A punch P is exchangeably attached to a lower end of the upper frame 11U, and a die D is exchangeably attached to an upper end of the lower frame 11L.

Further, a back gauge device 13 (see FIG. 3B) for positioning the work W in the front-rear direction (Y-axis direction in FIG. 5) is mounted on the press brake 1 so as to be movable and positioned in the front-rear direction. Is provided. Note that the press brake 1 includes a vertical moving means for raising and lowering the lower table 11L and a control device 1 for controlling the back gauge device 13 and the like.
5 are provided.

With the above-described configuration, the workpiece W positioned by being hit by the back gauge device 13 between the punch P and the die D by the bending robot 3 is moved up and down by the lower table 11L, so that the punch P and the die D It is bent in cooperation with.

On the other hand, a base plate 17 is provided integrally with the vertically movable lower table 11L. The base plate 17 is arranged in the left-right direction (the X-axis direction in FIG. 5) along the longitudinal direction of the die D. It is provided to extend. The bending robot 3 described above is provided on the front surface of the base plate 17 so as to be movable and positioned in the X-axis direction.

Here, since the bending robot 3 is already well known, a detailed description will be omitted and only a brief description will be given. In the bending robot 3, the first moving table 19 is provided movably in the X-axis direction along the base plate 17. The first movable base 19 is provided with a fan-shaped portion 21 whose upper side is enlarged in the front-rear direction (Y-axis direction), and a second movable portion movable above the fan-shaped portion 21 in the Y-axis direction. A table 23 is provided.

The second moving table 23 is provided with a lifting column 25 movable in the vertical Z-axis direction perpendicular to the moving direction of the second moving table 23. An arm 27 extending in the Y-axis direction is attached to an upper portion of the elevating column 25, and a work clamper 29 for gripping the work W is provided at a distal end of the arm 27.

The work clamper 29 is provided so as to be rotatable vertically about a B-axis parallel to the X-axis, and is also rotatable about an A-axis orthogonal to the B-axis.

With the above configuration, the bending robot 3 moves and positions the first movable base 19 in the X-axis direction along the base plate 17 according to the bending operation program under the control of the control device 15, and moves the second movable base 23 in the Y-direction. The column 25 is moved and positioned in the axial direction, and the lifting column 25 is moved and positioned in the Z-axis direction. Then, the work clamper 29 that clamps the work W is turned and positioned around the A axis and the B axis, and the work W is abutted against the back gauge device 13 to be positioned and bent.

Referring to FIG. 1 and FIGS. 2 to 4, a check operation of an operation program for performing the above-described bending will be described.

Referring to FIG. 1, during operation of the bending robot 3 according to the operation program, the bending robot 3 is moved by a teaching operation at a designated check point, and a program check operation for correcting and changing a target position. Is started (step S1), a designated check point at which the bending robot 3 can be stopped to execute the teaching operation is appropriately set (step S1).
2). Here, the teaching operation means that when the program check operation is stopped at the specified check point,
This refers to an operation for correcting and changing the target position by moving the bending robot 3 by manual operation.

Next, the bending robot 3 is moved (step S3), for example, to a designated check point before the bending approach position as shown in FIGS. 2A and 2B (step S4). ), And move the bending robot 3 further. Then, the work W as shown in FIGS. 3 (A) and 3 (B) is brought into contact with the potentiometer 33 provided on the butt 31 of the back gauge device 13 with the preceding designated check point. As shown in FIGS. 4 (A) and 4 (B), it is located between the bending gauging position as the next designated check point for positioning and does not interfere with peripheral devices such as the punch P and the die D. Previous designated checkpoint (Figure 4
(B) (indicated by a two-dot chain line) to the reverse confirmation position RV where it is possible to return without any trouble (step S5). If there is a point at which a teaching operation is considered necessary, a reverse check is designated between the previously specified check point and the reverse confirmation position RV.

When the bending robot 3 reaches the reverse confirmation position RV, it is confirmed whether a reverse check has been designated between the previous designated check point and the reverse confirmation position RV (step S6). When the reverse check is specified, the process returns to the previous specified check point, and the normal teaching operation is manually performed (step S7).

Thereafter, the process returns to step S4, moves to the previous designated check point again, and returns to step S5.
And the operation of step S6 is repeated. On the other hand, if it is confirmed in step S6 that there is no reverse check designation, the bending robot 3 is moved to the next check point (step S8).

From the above results, when performing the program check operation, the program proceeds to the designated check point provided as appropriate, and moves to the reverse check position RV provided between the designated check point and the next designated check point. When it reaches, it determines whether there is a point that needs to be modified or changed by the teaching operation, and if it is, it returns to the previous specified checkpoint and executes the teaching operation, so it is expected in advance as before It is not necessary to set a teaching point, and the teaching operation can be performed by returning the operation program that has passed once. Therefore, the teaching operation can be performed efficiently and reliably without teaching at unnecessary points or overlooking necessary teaching. Further, the position changed once by teaching can be changed again by teaching.

It should be noted that the present invention is not limited to the above-described embodiment of the present invention, but by making appropriate changes,
It can be implemented in other aspects.

[0029]

As described above, in the method for checking the bending operation program of the bending robot according to the first aspect of the present invention, the designation that the bending robot can be stopped during the operation of the operation program instructing the operation of the bending robot. Set a checkpoint, located between the previous designated checkpoint and the next designated checkpoint,
In addition, a reverse confirmation position at which the user can return to the previous designated check point without any trouble is set. If a teaching operation is required during the operation of the bending robot, a reverse check is specified between the previous designated check point and the reverse check position, and the reverse check is specified when the bending robot reaches the reverse check position. It is determined whether or not there is, and if a reverse check is specified, the teaching operation is performed by returning to the previous specified check point, so that the operation program that has passed once can be returned to perform the teaching operation. Therefore, the teaching operation can be performed efficiently and reliably without teaching at unnecessary points or overlooking the necessary teaching operation.

In the bending robot program checking method according to the second aspect of the present invention, the bending robot can be returned from the reverse confirmation position to the previous designated check point without interfering with peripheral devices.

In the method for checking a bending operation program of a bending robot according to the third aspect of the present invention, when a reverse check is specified, the teaching operation is performed after returning to the previous specified check point, and then the control is returned to the previous specified check point again. Since the following steps are repeated, after the correction / change is performed by the teaching operation, the correction / change can be performed again by the teaching operation.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a teaching method of a bending robot according to the present invention.

FIGS. 2A and 2B are a plan view and a side view showing an example of a previous designated checkpoint.

FIGS. 3A and 3B are a plan view and a side view showing an example of the next designated check point.

FIGS. 4A and 4B are a plan view and a side view showing an example of a reverse confirmation position.

FIG. 5 is a perspective view showing a press brake provided with a bending robot.

FIG. 6 is a flowchart showing a conventional teaching method of a bending robot.

[Explanation of symbols]

 3 Bending robot W Work P Punch D Die RV Reverse confirmation position

Claims (3)

[Claims] 1. A bending operation program for a bending robot which positions a work gripped by a bending robot operating according to a bending operation program between a punch and a die, and performs bending of the work in cooperation with the punch and the die. In the bending operation program check method to be checked,
Properly providing a designated checkpoint at which the bending robot can be stopped during the operation by the bending operation program, and between the provided designated checkpoint and the next designated checkpoint, returning to the previous designated checkpoint without any trouble. If a teaching operation for correcting or changing the bending operation program is required between the previously specified check point and the reverse check position, a reverse check is designated, and the reverse check is performed. When the position is reached, it is checked whether or not the reverse check is specified, and if the reverse check is specified, the teaching operation is performed by returning to the previous specified check point, and performing the bending operation of the bending robot. Program check method. 2. The bending operation program check of a bending robot according to claim 1, wherein the reverse confirmation position is a position where the reverse confirmation position can return to the previous designated check point without interfering with a peripheral device. Method. 3. The bending robot program checking method according to claim 1, wherein after the teaching operation, the operation returns to the previous designated check point and repeats the subsequent steps.