JP2013248642A - Operation control method and operation control system of bending device, and training system and training method of bending work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation control method of a bending device by which an operator can safely perform bending work.SOLUTION: A method for controlling movement of a bending device (51) for performing bending work for a workpiece (W) positioned by being gripped by an operator includes: a terminal wearing step wherein an operator (S) wears a pair of terminal devices (7L and 7R), provided with triaxial acceleration sensors (7L4 and 7R4) and sending parts (7Lb and 7Rb) which send outputs from the sensors to the outside as output signals (SNL and SNR), on the left arm (AL) and the right arm (AR) of the operator (S); a monitoring step of monitoring variation of the output signals (SNL and SNR) by a control part (SG) during approaching motion of a slider (3) to a table (1); an allowable movement determining step of determining whether movement of the left arm (AL) or the right arm (AR) found by the variation exceeds pre-set allowable movement before the slider (3) reaches a predetermined position in the approaching motion; and a preventing operation execution step of decreasing speed of the approaching motion by the control part (SG) when exceeding the range of allowable movement.

Description

  The present invention relates to an operation control method and an operation control system for a bending apparatus, and a training system and a training method for a bending operation, and in particular, a bending apparatus for enabling an operator to perform bending more safely. The present invention relates to a motion control method and motion control system, and a bending work training system and training method.

When bending a plate workpiece, the operator grips the front edge of the workpiece, inserts the gripped workpiece between the upper mold and the lower mold, positions it, and then triggers the pedal. The operation | work which performs the operation | work of a bending apparatus and performs a bending process is generally performed.
In this work, since the worker's standing position is close to the bending apparatus, various techniques for ensuring the safety of the worker have been proposed, and a bending apparatus equipped with an example of the technique is disclosed in Patent Document 1. It is described in.

  That is, the bending apparatus described in Patent Document 1 includes a CCD camera, and an operator's finger is bent between the upper mold and the lower mold, and the end of the workpiece that jumps up as the bending progresses. Bending device as a foreign object when a finger enters when a pre-set area is imaged with a CCD camera so that it is not pinched between the upper table of the device and the obtained image is analyzed in real time The operation is stopped.

JP 2007-190578 A

Although the bending apparatus described in Patent Document 1 is effective in preventing pinching when a finger enters the set area, it does not regulate the dangerous behavior of the operator itself. Therefore, when the image obtained by the CCD camera is not good due to, for example, the surrounding environment of the bending apparatus, or when a malfunction occurs in the apparatus itself for some reason, the image analysis is not performed well. The possibility of causing trouble in stopping the processing apparatus cannot be excluded.
For this reason, in order to further improve the safety of the bending work of the worker, it is desirable to be able to detect it in real time when the worker has performed an action that leads to danger as well as a device on the bending machine side. It is.
Furthermore, it is desirable that the operator be trained so that the bending work is always performed in a safe posture and motion without performing a motion that leads to danger.

  Therefore, the problem to be solved by the present invention is that an operation control method and an operation control system of a bending apparatus that enables an operator to perform a bending process more safely, a bending work training system and a training method, Is to provide.

In order to solve the above problems, the present invention has the following configuration and procedure.
1) A table (1) on which the first mold (D) is mounted and a second mold (P) are mounted, and come into and out of contact with the table (1) according to instructions from the control unit (SG). A plate-shaped workpiece (W) that is positioned between the first mold (D) and the second mold (P) by being gripped by an operator (S). A bending device operation control method for controlling the operation of a bending device (51) that performs bending by pressing
A pair of terminal devices having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends the acceleration detected by the acceleration sensor (7L4, 7R4) to the outside as an output signal (SNL, SNR) (7L, 7R), a terminal mounting step of mounting the left arm (AL) and right arm (AR) of the worker (S), respectively,
While the slider (3) is performing an approaching action to approach the table (1), the control unit (SG) changes the output signals (SNL, SNR) from the pair of terminal devices (7L, 7R). A monitoring step for monitoring
The movement of the left arm (AL) or the right arm (AR) determined by the control unit (SG) from the monitored variation of the output signal (SNL, SNR) indicates that the slider (3) is predetermined in the approaching operation. An allowable operation determination step for determining whether or not a preset allowable operation range has been exceeded before reaching the position;
An operation control step of the bending apparatus, wherein the control unit (SG) includes a prevention operation execution step for changing the speed of the approaching operation to be slow when it is determined that the allowable operation range is exceeded. Method.
2) The allowable operation is an operation in which it is determined that the left arm (AL) and the right arm (AR) of the worker (S) continue to hold the workpiece (W). Is a method for controlling the operation of the bending apparatus described in the above.
3) A table (1) on which the first mold (D) is mounted and a second mold (P) are mounted, and come into and out of contact with the table (1) according to instructions from the control unit (SG). A plate-shaped workpiece (W) that is positioned between the first mold (D) and the second mold (P) by being gripped by an operator (S). A bending device operation control method for controlling the operation of a bending device (51) that performs bending by pressing
A pair of terminal devices having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends the acceleration detected by the acceleration sensor (7L4, 7R4) to the outside as an output signal (SNL, SNR) (7L, 7R), a terminal mounting step of mounting the left arm (AL) and right arm (AR) of the worker (S), respectively,
While the slider (3) is performing an approaching action to approach the table (1), the control unit (SG) changes the output signals (SNL, SNR) from the pair of terminal devices (7L, 7R). A monitoring step for monitoring
The movement of the left arm (AL) or the right arm (AR) determined by the control unit (SG) from the monitored variation of the output signal (SNL, SNR) indicates that the slider (3) is predetermined in the approaching operation. An essential operation determination step for determining whether or not a preset essential operation has been executed after reaching the position;
When it is determined that the essential operation is not performed, the control unit (SG) prevents the operation to change so as to slow down the approaching operation, and
It is the operation | movement control method of the bending apparatus characterized by including these.
4) The essential operation is that the operator (S) holds the left arm (AL) and the right arm (AR) holding the work (W) in a substantially horizontal direction from the bending apparatus (51). 3. The operation control method for a bending apparatus according to 3), wherein the operation is a movement in a direction away from the bending apparatus.
5) The operation control method for a bending apparatus according to any one of 1) to 4), wherein the predetermined position is a pinching point.
6) a table (1) on which the first mold (D) is mounted; and a slider (3) on which the second mold (P) is mounted and which is in contact with and away from the table (1), Bending is performed by pressing a workpiece (W) of a plate material held by an operator (S) and positioned between the first mold (D) and the second mold (P). An operation control system for controlling the operation of the processing device (51),
A control unit (SG) for controlling the separating and contacting operation of the slider (3);
A pair of terminal devices (7L4, 7R4) having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends out acceleration signals (SNL, SNR) detected by the acceleration sensor (7L4, 7R4) to the outside 7R), and
In a state where the pair of terminal devices (7L, 7R) are respectively attached to the left arm (AL) and the right arm (AR) of the worker (S),
The control unit (SG) reflects the movement of the left arm output signal (SNL) and the movement of the right arm (AR) reflecting the movement of the left arm (AL) transmitted from the pair of terminal devices (7L, 7R). An operation control system for a bending apparatus, which is configured to control the speed of movement of the slider (3) approaching the table (1) based on the right arm output signal (SNR). is there.
7) A table (1) on which the first mold (D) is mounted, and a slider (3) on which the second mold (P) is mounted and separated from and in contact with the table (1). Using a bending apparatus (51), a workpiece (W) gripped by an operator (S) and positioned between the first mold (D) and the second mold (P). A bending work training system for performing bending work training for
A control unit (SG) for controlling the separating and contacting operation of the slider (3);
A pair of terminal devices (7L4, 7R4) having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends out acceleration signals (SNL, SNR) detected by the acceleration sensor (7L4, 7R4) to the outside , 7R) and
An evaluation unit (HK) for evaluating the proficiency level of the bending work of the worker (S), and
In a state where the pair of terminal devices (7L, 7R) are respectively attached to the left arm (AL) and the right arm (AR) of the worker (S),
The control unit (SG) reflects the movement of the left arm output signal (SNL) and the movement of the right arm (AR) reflecting the movement of the left arm (AL) transmitted from the pair of terminal devices (7L, 7R). Based on the right arm output signal (SNR), control to change the speed of the slider (3) approaching the table (1),
The evaluation unit (HK) is configured to perform the evaluation of the proficiency level based on the number (k) of changes in the approach speed performed by the control unit (SG). Is a training system.
8) A table (1) on which the first mold (D) is mounted, and a slider (3) on which the second mold (P) is mounted and which is in contact with and away from the table (1). Using a bending apparatus (51), a workpiece (W) gripped by an operator (S) and positioned between the first mold (D) and the second mold (P). A bending work training method for performing bending work training to be performed,
A pair of terminal devices having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends the acceleration detected by the acceleration sensor (7L4, 7R4) to the outside as an output signal (SNL, SNR) (7L, 7R), a terminal mounting step of mounting the left arm (AL) and right arm (AR) of the worker (S), respectively,
While the slider (3) is performing an approaching action to approach the table (1), the control unit (SG) changes the output signals (SNL, SNR) from the pair of terminal devices (7L, 7R). A monitoring step for monitoring
The movement of the left arm (AL) or the right arm (AR) determined by the control unit (SG) from the monitored variation of the output signal (SNL, SNR) indicates that the slider (3) is predetermined in the approaching operation. An allowable operation determination step for determining whether or not a preset allowable operation range has been exceeded before reaching the position;
When it is determined that the range of the allowable operation is exceeded, the preventive operation execution step for changing the control unit (SG) to reduce the speed of the approaching operation;
An evaluation unit (HK), a proficiency evaluation step for evaluating the proficiency of the bending work of the worker (S) based on the number of changes in the approach speed performed by the control unit (SG),
It is the training method of the bending work characterized by including this.
9) Bending provided with a table (1) on which the first mold (D) is mounted, and a slider (3) which is mounted on and away from the table (19) on which the second mold (P) is mounted Using a processing device (51), a workpiece (W) gripped by a worker (S) and positioned between the first mold (D) and the second mold (P). A bending work training method for performing bending work training,
A pair of terminal devices having a triaxial acceleration sensor (7L4, 7R4) and a sending unit (7Lb, 7Rb) that sends the acceleration detected by the acceleration sensor (7L4, 7R4) to the outside as an output signal (SNL, SNR) (7L, 7R), a terminal mounting step of mounting the left arm (AL) and right arm (AR) of the worker (S), respectively,
While the slider (3) is performing an approaching action to approach the table (1), the control unit (SG) changes the output signals (SNL, SNR) from the pair of terminal devices (7L, 7R). A monitoring step for monitoring
The movement of the left arm (AL) or the right arm (AR) determined by the control unit (SG) from the monitored variation of the output signal (SNL, SNR) indicates that the slider (3) is predetermined in the approaching operation. An essential operation determination step for determining whether or not a preset essential operation has been executed after reaching the position;
When it is determined that the essential operation is not performed, the control unit (SG) prevents the operation to change so as to slow down the approaching operation, and
An evaluation unit (HK), a proficiency evaluation step for evaluating the proficiency of the bending work of the worker (S) based on the number of changes in the approach speed performed by the control unit (SG),
It is the training method of the bending work characterized by including this.

  According to the present invention, an effect that an operator can perform a bending work more safely is obtained.

It is a figure for demonstrating the Example of the operation control system of the bending apparatus of this invention. It is a perspective view for demonstrating the terminal device in the Example of the operation | movement control system of the bending apparatus of this invention. In the Example of the operation | movement control method of the bending apparatus of this invention, it is a figure for demonstrating the state which mounted | wore the operator's arm with the terminal device. It is a block diagram for demonstrating the Example of the operation control system of the bending apparatus of this invention. It is a flowchart for demonstrating the initial setting in the Example of the operation | movement control method of the bending apparatus of this invention. It is a flowchart for demonstrating the alarm process in the Example of the operation | movement control method of the bending apparatus of this invention. It is a 1st figure for demonstrating a worker's operation | work in the Example of the operation | movement control method of the bending apparatus of this invention. It is a 2nd figure for demonstrating the operation | work of the operator in the Example of the operation | movement control method of the bending apparatus of this invention. It is a 3rd figure for demonstrating the operation | work of the operator in the Example of the operation | movement control method of the bending apparatus of this invention. It is a 4th figure for demonstrating a worker's operation | work in the Example of the operation | movement control method of the bending apparatus of this invention. It is a flowchart for demonstrating the bending process in the Example of the operation | movement control method of the bending apparatus of this invention. It is a block diagram for demonstrating the Example of the training system of the bending work of this invention. It is a figure which shows the evaluation sheet | seat output in the Example of the training method of the bending work of this invention.

The preferred embodiments of the present invention will be described with reference to FIGS.
In each drawing, the vertical direction (Z-axis direction), the horizontal direction (X-axis direction), and the front-back direction (Y-axis direction) are defined in the directions shown in FIG. 1 unless otherwise noted.

<Example>
The bending apparatus in the embodiment of the operation control system of the bending apparatus of the present invention is a press brake 51.
As shown in FIGS. 1 and 4, the press brake 51 is provided above the lower table 1, a pair of left and right side plates 2 connected to the lower table 1, and the pair of side plates 2. The slide 3 that moves up and down so as to be separated from and in contact with the lower table 1 by the driving unit KD, and a pair of protrusions that are arranged on the rear side with respect to the slide 3 and the lower table 1 and are used for positioning the workpiece W in the front-rear direction A back gauge BG having the contact portions 5 and 5.
Furthermore, a control unit SG for controlling the operation of the press brake 51, a storage unit MR for storing machining information KJ including the machining program PG, an input unit 6a for an operator to input setting conditions, etc. An operation panel 6 having a receiving unit 6b that receives an external radio signal, a signal processing unit 6c that processes the radio signal received by the receiving unit 6b and outputs the signal to the control unit SG, and a display unit 6d that displays information; It has.
The signal processing unit 6c, the control unit SG, the storage unit MR, and the display unit 6d may be provided in an external device instead of the press brake 51.

A processing unit KB is configured including the lower table 1 and the slide 3.
The lower table 1 has a die holder 1a, and a die D as a mold is detachably attached to the die holder 1a.
The slide 3 has a punch holder 3a, and a punch P, which is a mold, is detachably attached to the punch holder 3a.

  In the bending work by the press brake 51, the worker S wears the bracelet-shaped terminal device 7L near the wrist portion of the left arm AL and the bracelet-shaped terminal device 7R near the wrist portion of the right arm AR.

  With reference to FIG. 2 as well, the left arm wearing terminal device 7L of the left arm wearing and the right arm wearing will be described in detail as a representative. The terminal device 7R for wearing the right arm is symmetrical to the terminal device 7L and has the same structure (all the members provided in the terminal device 7L are provided in the terminal device 7R. In the following description, With the exception of M1 to M3, which terminal device is provided is distinguished by L or R used in the code).

The terminal device 7L includes a main body portion 7L1 whose cross section is arc-shaped substantially matching the curvature of the arm, and belts 7L2, 7L3 with hook-and-loop fasteners provided so as to extend from both ends of the main body portion 7L1, respectively. ing. The main body 7L1 is made of, for example, a resin material, and the belts 7L2 and 7L3 are made of a material having stretchability.
Housed in the main body 7L1 are a flexible substrate 7L5 on which a triaxial acceleration sensor 7L4 is mounted, and a wireless transmission unit 7L6 that wirelessly transmits an output signal SNL and the like from the acceleration sensor 7L4.
A set button 7L7 is mounted on the flexible substrate 7L5 so that it can be exposed to the outside from the surface of the main body 7L1 and can be pushed by a worker with a finger.
Moreover, the control part 7L8 which controls operation | movement of the terminal device 7L is also mounted in flexible substrate 7L5.
A battery 7L9 serving as a power source for the terminal device 7L is housed inside the main body 7L1. The battery 7L9 can be charged by a structure not shown.

A mark M1 (for example, a triangle) that reveals the basic posture of the terminal device 7L is displayed on one side surface (lower side in FIG. 2) of the arc-shaped central portion of the outer surface of the main body 7L1. Here, the operator is guided to wear the left arm so as to be in the direction of the tip of the arm (toward the ground) according to the direction indicated by the mark M1 (downward in FIG. 2) in the natural upright posture of the worker.
In addition, a mark M2 indicating that it is for the left arm is displayed on both ends of the outer surface, and the center portion of the outer surface guides the user to wear the left arm so that the center portion faces outward. A mark M3 (here, “OUT”) is displayed.

  The terminal device 7L uses the acceleration sensor 7L4 to measure the acceleration of each of the X to Z axes in the vertical and horizontal directions shown in FIG. 2 and outputs respective signals LSX, LSY, and LSZ. Each signal is collected as an output signal SNL by the wireless transmission unit 7L6 and transmitted wirelessly. This transmission may be performed by wire.

  FIG. 3 is a diagram illustrating a state in which the worker S wears the terminal device 7L and the terminal device 7R on the left arm AL and the right arm AR with the correct posture (orientation) of the device, respectively.

In FIG. 4, the output signals SNL and SNR sent from the terminal devices 7L and 7R including the output signal signals (LSX, LSY, LSZ) and (RSX, RSY, RSZ) from the acceleration sensors 7L4 and 7R4 are shown in FIG. The signal is received by the receiving unit 6b of the brake 51, is independently processed by the signal processing unit 6c, and is supplied to the control unit SG.
The control unit SG controls the operation of the press brake 51 according to a signal based on the supplied output signals SNL and SNR.

The transmission unit SB and the reception unit SJ constitute an operation control system SS for the bending apparatus. Specifically, the transmission unit SB includes a terminal device 7L and a terminal device 7R, and the reception unit SJ includes an operation panel 6 and a drive unit KD.
In the embodiment, the receiving unit SJ corresponds to the press brake 51. However, when the control unit SG, the storage unit MR, and the like are provided in a device outside the press brake 51, the receiving unit SJ corresponds to the press brake 51. Is only the drive unit KD.
In the storage unit MR, signal modes to be output from the acceleration sensors 7L4 and 7R4 at the time of initial setting are stored in advance as reference signal modes.

The control unit SG compares the stored reference signal mode with the output signal mode from the acceleration sensors 7L4 and 7R4 when the set buttons 7L7 and 7R7 are pressed, and the difference exceeds a preset allowable range. If it is determined that there is an operator, the operator S determines that the terminal devices 7L and 7R are erroneously attached, or that the operator S is not a qualified person for bending work, and performs alarm processing (flow R). Execute.
Further, the control unit SG performs press brake 51 based on the three-dimensional acceleration information according to the operations of the left arm AL and the right arm AR of the worker S included in the output signals SNL and SNR output from the terminal devices 7L and 7R. To control the operation.
The control performed by the control unit SG is an operation for ensuring safety in the bending apparatus when it is determined that the operator has deviated from the standard operation of the worker set as a safe work procedure. Is set to run.
The operation of the operation control system SS will be described in detail with reference mainly to FIG. In addition, the bending part W1 shall already be formed in the near side edge part by the bending process of the front process of the workpiece | work W. FIG.

(A: Initial setting of terminal devices 7L and 7R)
In executing the bending process, the operator S uses the belts 7L2, 7L3 and 7R2, 7R3 with hook-and-loop fasteners to place the terminal device 7L and the terminal device 7R in the vicinity of the wrists of the left arm AL and the right arm AR, respectively. Wear in posture (see Fig. 3).
The predetermined posture is a posture in which the direction guided by the mark M1 is the hand side and the position of the mark M3 is the outermost side.
When the mounting is completed in this predetermined posture, the operator S presses the set button 7L7 with the finger of the right arm in a standing posture where, for example, the left arm is naturally hung (the state in FIG. 3). Thereby, the XYZ axes are set in the posture in which the set button 7L7 is pressed. Similarly, the XYZ axes are set for the terminal device 7R.

This will be specifically described with reference to a flowchart (FIG. 5).
(A1) First, the control unit SG determines whether any of the set buttons 7L7 and 7R7 has been pressed (Step A1).
(A2) When it is confirmed that the button has been pressed (Yes), it is determined whether the terminal device 7L for the left arm or the terminal device 7R for the right arm (Step A2).
(A3) In the case of the left arm (Yes), the reference signal mode for the left arm stored in the storage unit MR is referred to, and the mode and the signal mode in the output signal SNL at the time when the set button 7L7 is pressed. The comparison is made (Step A3), and the presence or absence of a difference is determined (Step A4).
(A4) If it is determined that there is no difference (Yes), the signal mode in the output signal SNL is set as the reference signal mode of the left arm AL (Step A5), assuming that the terminal device 7L is correctly mounted.
(A5) It is determined whether or not the signal mode comparison in the terminal device for the other arm is completed (Step A6).
(A6) When completed (Yes), the start of bending is permitted (Step A7), and the initial setting is completed.
(A7) When it is determined in (Step A2) that it is not for the left arm (No), with reference to the reference signal mode for the right arm stored in the storage unit MR, when that mode and the set button 7RL are pressed The output signal SNR is compared with the signal mode (Step A8), and it is determined whether there is a difference (Step A9).
(A8) If it is determined NO (No) in (Step A4) and (Step A9), the process proceeds to an alarm processing flow R (described later).
(A9) If it is determined that there is no difference in (Step A9) (Yes), the signal mode in the output signal SNR is set as the reference signal mode of the right arm AR, assuming that the terminal device 7R is correctly mounted (Step A10), ( Move to Step A6).

The alarm process is executed based on the flow R shown in FIG.
(R: Alarm processing)
(R1) The control unit SG determines whether or not the alarm processing count k (k is an integer equal to or greater than 0) in the initial setting is equal to or greater than a preset threshold kr (kr is an integer equal to or greater than 1) ( StepR1).
(R2) If NO (No), it is determined whether the alarm processing has been completed (k ≧ 1) or not (first time (k = 0)) (Step R2).
(R3) In the case of the first time (No), k = 1 is set (Step R3), and alarm information output is executed (Step R4).
(R4) The alarm information processing is also executed (Step R4) even when (Step R2) has passed (Yes).
(R5) As k = k + 1, (Step R5) shifts to the flow A (see FIG. 3) and executes (Step A1).
(R6) If (Step R1) is greater than or equal to the threshold kr (Yes), alarm information output is executed (Step R6), and the alarm processing and bending work are stopped (Step R7).

This alarm process is a preventive operation for preventing a dangerous situation from being reached, and the control unit SG has a predetermined number of failures in the mounting operation and initial setting of the terminal devices 7L and 7R. The worker is not proficient in bending work and is judged to be unqualified as a bending worker so as not to perform the work. This control ensures safety.
The alarm information output is set as appropriate, for example, generating an alarm sound, displaying an alarm display on the display unit GH, or vibrating the terminal device 7L, 7R having a vibration generator to cause a defective mounting. Good.

(B: Bending operation) (See mainly Fig. 11)
If the start of the bending process is permitted in the initial setting (Step A7), the worker S can execute the bending process.
First, the operator S grasps the front edge of the workpiece W with both hands, inserts the workpiece W between the die D and the punch P at the separated positions, and abuts the rear end of the workpiece against the abutting portion 5. Position it against 5.
This state is shown in FIG. FIG. 7A is a view seen from above (the punch P and the like are not shown), and FIG. 7B is a view seen from the side.
When the positioning of the workpiece W is completed, the operator steps on a pedal (not shown) to start the bending apparatus. A description will be given with reference to FIG. 11 again.

(B1) The control unit SG receives an operation start instruction by depressing the pedal, and lowers the slider 3 at a normal speed [see arrow DR1 in FIG. 7B] (Step B1).
(B2) The control unit SG sets the acceleration detection flag to OFF (Step B2) and starts monitoring the output signals SNL and SNR with the allowable range of acceleration change as the “gripping level range”. The “grip level range” is a range of acceleration change in the terminal devices 7L and 7R that is allowed while the worker S is holding the workpiece W.
Specifically, any of the values of the output signal SNL and the output signal SNR does not change over a predetermined width defined by the “grip level range”, that is, there is no change in acceleration over a predetermined value (left arm AL or right arm). Whether AR is not moving beyond the allowable operation range) or not (changed) is always evaluated and determined (Step B3).
(B3) No (No), that is, when it is determined that a change has occurred, the first preventive action is executed. Here, the descending speed of the slide 3 is set to a low speed (for example, 1/3 of the normal speed) (Step B4).
Specifically, when the acceleration change exceeds the “gripping level range”, the control unit SG assumes that the arm wearing the changed terminal device has moved and no longer grips the workpiece W, so 1 Perform preventive action.
(B4) When there is no change (Yes), it is determined whether or not the slide 3 descends and reaches the pinching point (Step B5). This determination is performed based on position information of the slider 3 fed back from a sensor (not shown) or the drive unit KD.
A state in which the slide 3 has reached the pinching point is shown in FIG. The pinching point is a point where the tip of the punch P comes into contact with the workpiece W. After this point, the workpiece W is supported by the punch P and the die D even if the worker S does not hold the workpiece W.
(B5) If the pinching point has not been reached (No), return to (Step B3).
In the case of reaching the pinching point (Yes), the control unit SG changes the allowable range of acceleration change from the “grip level range” to the “machining level range” (Step B6), and continues monitoring the acceleration change.
(B6) Here, the standard operation of the bending work is “When the slide 3 reaches the pinching point, the worker S releases his / her hand from the work W.” Further, “both arms that have separated the work W move away from the press brake 51. To move horizontally ”.
Therefore, the “machining level range”, which is the allowable range of change in acceleration, is determined that the arm has moved in a generally horizontal direction away from (separated from) the press brake 51, as shown in FIGS. 9 (a) and 9 (b). The control unit SG is configured to execute the second preventive operation when it is determined that an operation other than the essential operation has been performed.
That is, the control unit SG outputs the left arm AL and the right arm AR based on the output signal SNL that is a left arm output signal that reflects the movement of the left arm and the output signal SNR that is a right arm output signal that reflects the movement of the right arm. Analyzing the moving direction, whether both the left arm AL and the right arm AR have moved (moved away) from the press brake 51 in a predetermined time after reaching the pinching point (whether the essential operation has been executed) or not. Determine (Step B7).
(B7) In the case of No (No), the control unit SG determines that the left arm AL and the right arm AR are not separated from the press brake 51, and executes the second prevention operation. Here, the descending speed of the slide 3 is decreased (Step B8).
When the speed is reduced in (Step B4), the speed is set as it is or is set to a slower speed.
The reason why only the horizontal direction is the allowable direction is that the operation that is most likely to cause pinching of the bending work is very short (less than 1 second from the pinching point to the lowest end position with normal sliding operation). This is because the arm tip is moved to a safe position as far away as possible from the press brake 51 in the shortest time.
(B8) When the allowable operation is executed (Yes), it is determined that both the left arm AL and the right arm AR are sufficiently separated from the press brake 51 in the horizontal direction, and the descending speed of the slide 3 is set as the normal speed (Step B9). If (Step B4) is not slowed, the speed is kept as it is.
(B9) It is determined whether or not the lowered position of the slide 3 has reached the final stage of the bending process (Step B10). As shown in FIG. 10, the final stage is a stage in which the gap HM between the front side bent portion W <b> 1 of the workpiece W and the slider 3 becomes a predetermined distance or less.
This determination is performed based on position information of the slider 3 fed back from a sensor (not shown) or the drive unit KD.
(B10) If the final stage is not reached (No), Step B10 is executed again. If it is determined that the final stage has been reached (Yes), the allowable range of acceleration change is changed from the machining level range to the standby level range (Step B11).
In the final stage of bending as shown in FIG. 10, a place where a finger may be pinched is limited to the gap HM. Accordingly, the standby level range allows the left arm AL and the right arm AR to move downward from a preset reference horizontal plane KH (for example, the pass line PL). When movement upward (non-permissible operation) from the reference horizontal plane KH is recognized, the control unit SG performs the third prevention operation.
(B11) That is, it is determined whether any of the left arm AL and the right arm AR has performed the non-permissible operation (whether it has not been performed) (Step B12).
(B12) The control unit SG analyzes the moving direction of the left arm AL and the right arm AR based on the output signals SNL and SNR, and executes a non-permissible operation if it is determined that at least one arm has moved above the reference horizontal plane KH. As a result, the third prevention operation is executed. Here, the third prevention operation is a decrease in the speed of the slide 3 (Step B13).
When the speed is reduced at the time of (Step B10), the speed is set as it is or is set to a slower speed.
(B13) If it is determined that the non-permissible operation is not executed (No), it is determined whether or not the slide 3 has reached the lowest point (Step B14). This determination is performed based on position information of the slider 3 fed back from a sensor (not shown) or the drive unit KD.
(B14) If it is determined as no (not reached), the process returns to (Step B12). If it is determined that it has been reached (Yes), the descent of the slide 3 is stopped (Step B15), and the acceleration detection flag is turned ON (Step B16).
The above is the operation procedure of the operation control system SS in the bending work.

In this procedure, (Step B4), (Step B8), and (Step B13), which are the first to third preventive actions, are intended to reduce the moving speed of the slider 3, but not limited to this, stop the movement, Bending may be stopped as in alarm processing.
The speed set in the case of lowering the speed may be set as appropriate according to the content of the bending process, the normal lowering speed, and the like.
The control unit SG stores information related to the work of the bending operation (work content, time, determination content in the procedure, etc.) in the storage unit MR as a history.

  The above-described motion control system SS can be used to construct the bending work training system TS of the present invention (hereinafter also simply referred to as the training system TS). The training system TS allows the worker S to be trained in bending work.

As shown in FIG. 12, the training system TS is configured to further include an evaluation unit HK with respect to the motion control system SS shown in FIG.
The evaluation unit HK evaluates the work proficiency level of the worker S based on the work history stored in the storage unit MR.
Specifically, the proficiency level of the bending work in this training is, for example, whether or not the alarm processing is generated in the initial setting of the worker S, and whether or not the first to third preventive actions are generated in the series of bending work. Evaluation is based on the number of continuations of work that has been completed.

FIG. 13 is an example of an evaluation sheet for explaining the evaluation. This evaluation sheet can be outputted as an evaluation result by a display device or the like.
The evaluation unit HK extracts the presence / absence of each occurrence of the first to third preventive actions for each work of the worker S, and calculates the number of continuations of the work that has not occurred (x) in all the preventive actions. Then, the number of continuations is compared with an evaluation criterion set in advance, and it is determined whether it has passed or not passed.
For example, when the acceptance criteria is set to 5 times, in the case of the evaluation example shown in FIG. 12, the second preventive action occurs again after 3 times, so the number of times of continuation is 5 at the stage up to 10 work times. The number of times has not been reached, and it is determined that it has not yet passed.

This training allows the movement of both arms to be within the safe operating range unconsciously during the bending work.
Therefore, the worker trained with the bending work training system of the embodiment can perform the bending work more safely.

The embodiment of the present invention is not limited to the above-described configuration and procedure, and may be modified as long as it does not depart from the gist of the present invention.
In the embodiment, it has been explained that four preventive actions at the time of initial setting and three preventive actions at the time of bending, that is, alarm processing and the first to third preventive actions are executed. Anything can be used. However, in order to maximize the safety of actual bending work, it is desirable that all four preventive actions are performed.
In the training, a training program for executing a necessary preventive operation according to an operation to be mastered may be used.
For example, the operation is divided into multiple processes such as initial setting operation, operation from the start of slide processing to pinching point, operation from pinching point to final bending step, final bending operation, etc. In each case, the proficiency level may be evaluated.

DESCRIPTION OF SYMBOLS 1 Lower table, 1a Die holder 2 Side plate 3 Slide, 3a Punch holder 5 Abutting part 6 Operation panel 6a Input part, 6b Receiving part, 6c Signal processing part, 6d Display part 7L, 7R Terminal unit 7L1 Main part, 7L2, 7L3 Belt 7L4 Acceleration sensor 7L5 Flexible board, 7L6 Wireless transmission part, 7L7 Set button 7L8 Control part, 7L9 Battery AL Left arm, AR Right arm BG Back gauge D Die GH Display part, HK evaluation part, JS receiving part, KB processing part KJ Processing information , Kr threshold value, NR input part P punch PG machining program SB transmission part, SNL, SNR signal SS operation control system TS (for bending work) training system W work, W1 bending part

Claims (9)

A table on which a first mold is mounted; and a slider on which a second mold is mounted and which comes in contact with and separates from the table in accordance with an instruction from a control unit. An operation control method of a bending apparatus for controlling an operation of a bending apparatus that performs bending by pressing a workpiece of a plate material positioned between a mold and the second mold,
A terminal mounting step of mounting a pair of terminal devices each having a triaxial acceleration sensor and a transmission unit that outputs the acceleration detected by the acceleration sensor to the outside as an output signal on the left arm and the right arm of the worker;
A monitoring step in which the control unit monitors fluctuations in the output signals from the pair of terminal devices while the slider is performing an approaching action to approach the table;
Whether the movement of the left arm or the right arm obtained from the monitored change in the output signal exceeds the range of allowable operation set in advance before the slider reaches a predetermined position in the approaching operation. An allowable operation determination step for determining whether or not
An operation control method for a bending apparatus, comprising: a preventive operation execution step in which the control unit changes the speed of the approaching operation to be slower when it is determined that the allowable operation range is exceeded.   2. The operation control method for a bending apparatus according to claim 1, wherein the permissible operation is an operation in which it is determined that the left arm and the right arm of the worker continue to hold the workpiece. A table on which a first mold is mounted; and a slider on which a second mold is mounted and which comes in contact with and separates from the table in accordance with an instruction from a control unit. An operation control method of a bending apparatus for controlling an operation of a bending apparatus that performs bending by pressing a workpiece of a plate material positioned between a mold and the second mold,
A terminal mounting step of mounting a pair of terminal devices each having a triaxial acceleration sensor and a transmission unit that outputs the acceleration detected by the acceleration sensor to the outside as an output signal on the left arm and the right arm of the worker;
A monitoring step in which the control unit monitors fluctuations in the output signals from the pair of terminal devices while the slider is performing an approaching action to approach the table;
Whether or not the control unit has performed the essential operation set in advance after the slider reaches a predetermined position in the approaching operation, as the movement of the left arm or the right arm obtained from the monitored variation of the output signal An essential operation determining step for determining
When it is determined that the essential operation has not been executed, a prevention operation execution step for changing the control unit so as to reduce the speed of the approaching operation;
An operation control method for a bending apparatus, comprising:   4. The essential operation is an operation in which the operator moves the left arm and the right arm, which have gripped the workpiece, in a direction in which the worker moves away from the bending apparatus in a substantially horizontal direction. Control method of the bending apparatus of the present invention.   The operation control method for a bending apparatus according to claim 1, wherein the predetermined position is a pinching point. A table on which a first mold is mounted; and a slider on which a second mold is mounted and which is in contact with and away from the table, and is gripped by an operator so as to hold the first mold and the second mold. An operation control system for controlling the operation of a bending apparatus that performs bending by pressing a workpiece of a plate positioned between a mold and a mold,
A control unit for controlling the separating operation of the slider;
A pair of terminal devices having a triaxial acceleration sensor and a sending unit for sending an acceleration signal detected by the acceleration sensor to the outside,
With the pair of terminal devices mounted on the left arm and the right arm of the operator,
The control unit approaches the table of the slider based on a left arm output signal reflecting the left arm movement and a right arm output signal reflecting the right arm movement sent from the pair of terminal devices. An operation control system for a bending apparatus, characterized by being configured to control the speed of movement. An operator grips the first mold by using a bending apparatus having a table on which the first mold is mounted and a slider on which the second mold is mounted and is in contact with and away from the table. A bending work training system for training a bending work performed on a workpiece of a plate member positioned between a mold and the second mold,
A control unit for controlling the separating operation of the slider;
A pair of terminal devices having a triaxial acceleration sensor and a sending unit for sending an acceleration signal detected by the acceleration sensor to the outside;
An evaluation unit that evaluates a proficiency level of the worker for the bending work,
With the pair of terminal devices mounted on the left arm and the right arm of the operator,
The control unit approaches the table of the slider based on a left arm output signal reflecting the left arm movement and a right arm output signal reflecting the right arm movement sent from the pair of terminal devices. Control to change the speed of movement,
The evaluation system is configured to evaluate the proficiency level based on the number of changes in the approach speed performed by the control unit. An operator grips the first mold by using a bending apparatus having a table on which the first mold is mounted and a slider on which the second mold is mounted and is in contact with and away from the table. A bending work training method for training a bending work performed on a workpiece of a plate material positioned between a mold and the second mold,
A terminal mounting step of mounting a pair of terminal devices each having a triaxial acceleration sensor and a transmission unit that outputs the acceleration detected by the acceleration sensor to the outside as an output signal on the left arm and the right arm of the worker;
A monitoring step in which the control unit monitors fluctuations in the output signals from the pair of terminal devices while the slider is performing an approaching action to approach the table;
Whether the movement of the left arm or the right arm obtained from the monitored change in the output signal exceeds the range of allowable operation set in advance before the slider reaches a predetermined position in the approaching operation. An allowable operation determination step for determining whether or not
When it is determined that the allowable operation range has been exceeded, the control unit changes the speed of the approaching operation to be reduced, and a preventive operation execution step,
A proficiency level evaluation step for evaluating the proficiency level of the bending work of the worker based on the number of changes in the approach speed performed by the control unit by the evaluation unit,
A bending work training method characterized by comprising: An operator grips the first mold by using a bending apparatus having a table on which the first mold is mounted and a slider on which the second mold is mounted and is in contact with and away from the table. A bending work training method for training a bending work performed on a workpiece of a plate material positioned between a mold and the second mold,
A terminal mounting step of mounting a pair of terminal devices each having a triaxial acceleration sensor and a transmission unit that outputs the acceleration detected by the acceleration sensor to the outside as an output signal on the left arm and the right arm of the worker;
A monitoring step in which the control unit monitors fluctuations in the output signals from the pair of terminal devices while the slider is performing an approaching action to approach the table;
Whether or not the control unit has performed the essential operation set in advance after the slider reaches a predetermined position in the approaching operation, as the movement of the left arm or the right arm obtained from the monitored variation of the output signal An essential operation determining step for determining
When it is determined that the essential operation has not been executed, a prevention operation execution step for changing the control unit so as to reduce the speed of the approaching operation;
A proficiency level evaluation step for evaluating the proficiency level of the bending work of the worker based on the number of changes in the approach speed performed by the control unit by the evaluation unit,
A bending work training method characterized by comprising:

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