JP2016140899A - Panel bender - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to detect deviation of a work-piece so as to stop automatic operation and to obtain an optimal pressing pressure for the work-piece.SOLUTION: There is provided a panel bender in which a work-piece, which is clamped by a manipulator is sandwiched between an upper metal mold and a lower metal mold by an arbitrary pressing pressure, and bending processing operation is performed by a bending blade on the basis of a processing program. At the time after each bending processing is terminated, the work-piece clamped by the manipulator is photographed by a camera, and whether or not there is a deviation in a positional relationship between the photographed work-piece and the manipulator, and in a positional relationship between the work-piece stored in a database and the manipulator is determined. In the case that there is a deviation, the bending processing operation is stopped, and correction processing for the processing program is performed on the basis of the deviation.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a panel bender that clamps a workpiece with an upper die and a lower die, and bends the clamped workpiece with a bending blade.

  In general, in a panel bender, a workpiece is clamped by an upper die and a lower die, and the clamped workpiece is bent by a bending blade. The holding pressure for clamping the workpiece by the upper die and the lower die has been determined by the theoretical calculation of CAM.

Japanese Patent Laid-Open No. 2001-137953

  However, with the pressing pressure determined by the above-mentioned theoretical calculation of CAM, the workpiece slips and slips during processing due to insufficient pressing pressure of the mold depending on the material of the workpiece surface (vinyl material, etc.) and the type of bending. As a result, processing defects may occur.

  That is, conventionally, automatic operation has been continued unless the operator presses the operation stop button, so that there has been a problem that may lead to damage to the mold or the apparatus.

  To solve the shortage of pressing pressure in the mold, the operator judged the correction of the pressing pressure by experience and entered the correction value manually. However, it was difficult to input an appropriate value, and machining failed multiple times. I had to do it.

  The present invention has been made by paying attention to the above-described circumstances, and the object of the present invention is to detect a shift of a workpiece, stop automatic operation, and obtain an optimal workpiece pressing pressure. To provide a vendor.

The present invention is for solving the above-mentioned problems, and the invention according to claim 1 is based on a machining program, and a workpiece clamped by a clamping means is applied to an upper mold and a lower mold by arbitrary pressing pressure. A panel bender that sandwiches with a bending blade and performs bending with a bending blade.
Storage means for storing a positional relationship between at least the workpiece and the clamping means;
Imaging means for imaging the clamping means and the workpiece;
At the time when each bending operation is completed, the workpiece clamped by the clamping unit is photographed by the imaging unit,
Recognizing the positional relationship between the workpiece and the clamping means by processing an image taken by the imaging means;
Comparing the positional relationship between the workpiece and the clamping unit photographed by the imaging unit and the positional relationship between the workpiece and the clamping unit stored in the storage unit;
Determining whether or not there is a difference between the positional relationship between the workpiece and the clamping unit imaged by the imaging unit and the positional relationship between the workpiece and the clamping unit stored in the storage unit;
When it is determined that there is the deviation, the bending operation is stopped,
Control means for performing correction processing of the machining program based on the deviation.

  According to a second aspect of the present invention, in the first aspect of the present invention, the storage means is prepared for each type of bending, and at least one of a material name, a plate thickness, a deviation amount, and a correction coefficient of the workpiece W is described. Having the condition data, and the control means performs a correction process of the machining program so as to correct the pressing pressure of the workpiece by the upper die and the lower die based on the correction coefficient of the machining condition data. It is characterized by that.

  In the invention of claim 3, in the invention of claim 1 or 2, the control means calculates a new correction coefficient when the deviation amount differs from the machining condition data of the finished bending operation, The processing program is corrected so as to correct the pressing pressure of the workpiece by the upper die and the lower die based on a correction coefficient.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, the control unit is configured to correct the pressing pressure of the workpiece by the upper mold and the lower mold based on the new correction coefficient. After performing the correction process, the machining condition data is updated based on the new correction coefficient.

  It is possible to prevent workpiece displacement and prevent machining defects.

It is a functional block diagram which shows the whole schematic of the panel vendor which implemented this invention. It is a block diagram which shows schematic structure of the control part 15 shown in FIG. 7 is a flowchart of a program correcting operation for obtaining optimum pressing pressures of the upper die 7 and the lower die 9 based on the deviation of the workpiece W during processing by the control unit 15. It is explanatory drawing of the image | video of the image | photographed workpiece | work W and the manipulator 5. FIG. It is explanatory drawing which shows the positional relationship of the image | photographed workpiece | work W and the manipulator 5, and the set positional relationship of the manipulator 5 and the workpiece | work W. FIG. It is an operation | movement flowchart of the automatic program correction process in step 113 of FIG. It is explanatory drawing which shows an example of the table of the process condition data memorize | stored in the database.

  FIG. 1 is a functional block diagram showing an overall outline of a panel vendor implementing the present invention.

  As shown in FIG. 1, the panel bender 1 clamps a work W that has been carried in by a manipulator 5 and carries the work W into a processing area. The work W is pressed by a pressing pressure determined as will be described later and the lower mold 7 and the lower mold. It is sandwiched by the mold 9 and bent by the bending blade 11.

  The manipulator (clamping means) 5 is provided with an upper clamper 5a and a lower clamper 5b for clamping the workpiece W.

  The panel bender 1 performs a workpiece loading / unloading operation by the manipulator 5 and a bending operation by the bending blade 11, and an optimum upper die 7 based on an image from the camera 13 for detecting a shift of the workpiece W being processed. And the control part (control means) 15 which calculates | requires the pressing pressure of the lower metal mold | die 9, and corrects a machining program is provided.

  A database 17 that stores various data is connected to the control unit 15, and a table of processing condition data described later is stored in the database 17.

  FIG. 2 is a block diagram showing a schematic configuration of the control unit 15 shown in FIG.

  As shown in FIG. 2, the control unit 15 is composed of a computer, and includes a CPU 23 to which a ROM 19 and a RAM 21 are connected. An input display device 25 having an input function and a display function is further connected to the CPU 23. Has been. Further, the database 17 is connected to the CPU 23.

  In the panel vendor 1 shown in FIG. 1, the control unit 15 performs a bending operation by the bending blade 11 based on a processing program from the database 17.

  Next, with reference to the flowchart of FIG. 3, the machining program correction operation for obtaining the optimum pressing pressure of the upper mold 7 and the lower mold 9 based on the deviation of the workpiece W during machining by the control unit 15 will be described.

  FIG. 3 is a flowchart of the machining program correction operation by the control unit 15.

  In step 101 of FIG. 3, the control unit 15 performs a bending operation of the workpiece W pressed into the upper mold 7 and the lower mold 9 by the bending blade 11. In step 103, the control unit 15 performs each bending operation. It is determined whether or not the machining operation has been completed.

  When it is determined that each bending operation is finished, in step 105, the control unit 15 photographs the workpiece W clamped by the manipulator 5 by the camera 13.

  FIG. 4 is an explanatory diagram of the images of the photographed work W and the manipulator 5. As shown in FIG. 4, the work W and the manipulator 5 are shown in the image photographed by the camera 13.

  In step 107, the control unit 15 processes the image taken by the camera 13 and recognizes the positional relationship between the workpiece W and the manipulator 5.

  In step 109, the control unit 15 compares the positional relationship between the work W taken by the camera 13 and the manipulator 5 with the positional relationship between the manipulator 5 and the workpiece W set by the CAM or the like from the database 17.

  In step 111, the control unit 15 determines the positional relationship between the work W taken by the camera 13 and the manipulator 5 based on the comparison result, and the positions of the manipulator 5 and the work W set by the CAM or the like from the database 17. It is determined whether or not there is a deviation from the relationship.

  FIG. 5 shows a case where there is a deviation L1 between a distance R1 between one end W1 of the photographed workpiece W and the tip 5c of the manipulator 5 and a distance R2 between the set tip 5c of the manipulator 5 and one end W2 of the workpiece W. It is explanatory drawing shown.

  In the case of the example shown in FIG. 5, a distance R1 between one end W1 of the photographed workpiece W and the tip 5c of the manipulator 5, and a distance R2 between the tip 5c of the manipulator 5 and one end W2 of the workpiece W set by CAM or the like Has a deviation L1, and in such a case, the control unit 15 determines that there is a deviation.

  When it is determined that there is a deviation, in step 113, the control unit 15 stops the bending operation based on the machining program, and in step 115, the control unit 15 performs a machining program correction process.

  As described above, since the automatic operation is stopped by detecting the deviation of the workpiece W, it is possible to prevent machining defects.

  FIG. 6 is a detailed operation flowchart of the automatic program correction process in step 115 of FIG.

  First, when it is determined that a deviation has occurred and the bending operation is stopped, in step 201, the control unit 15 calculates a deviation amount. In the case of the example shown in FIG. 5, the shift amount is calculated from the shift L1.

  In step 203, the processing condition data stored in the database 17 is searched.

  FIG. 7 is an explanatory diagram showing an example of a table of machining condition data stored in the database 17.

  As shown in FIG. 7, a table of processing condition data is prepared for each type of bending, and in each table, a material name, a plate thickness, a deviation amount, and a correction coefficient of the workpiece W are described. In FIG. 7, standard bending and overbending are listed as the types of bending.

  In step 205, the control unit 15 determines whether there is data in the machining condition data table of the database 17 that matches the machining condition in which the current deviation has occurred.

  For example, if the processing conditions of the finished bending process are standard bending, the material name SPC of the workpiece W, the plate thickness 1, and the deviation amount 10, it is completely coincident with the table row B1 of the table B in FIG.

  On the other hand, when the processing conditions of the finished bending process are standard bending, material name SPC of workpiece W, plate thickness 1, and deviation amount 9, only the deviation amount differs from the table row B2 of table B in FIG.

  In the case of a perfect match in step 205, in step 207, the control unit 15 corrects the machining program based on the correction coefficient of the machining condition data in the matched database 17.

  For example, when the processing conditions of the finished bending process are the standard bending, the material name SPC of the workpiece W, the plate thickness 1 and the deviation amount 10 and the table row B1 of the table B in FIG. The machining program is modified using a factor of 1.5.

  Calculate the presser foot pressure after correction from the calculation formula: Presser pressure after correction = Correction coefficient x Presser pressure at the time of misalignment, using the presser pressure at the time of deviation occurrence in the finished bending process. The machining program is corrected based on the above.

  If the presser pressure at the time of deviation is 100 kN, the machining program is corrected so that the corrected presser pressure becomes 1.5 × 100 = 150 kN.

  When only the deviation amount is different in step 205, in step 209, the control unit 15 newly calculates a presser pressure correction coefficient.

  For example, if the processing conditions of the finished bending process are standard bending, material name SPC of workpiece W, plate thickness 1, displacement amount 9 and only the displacement amount differs from table row B2 of table B in FIG. A correction factor is calculated.

  Using the deviation amount in the finished bending process, the calculation formula: New presser pressure correction coefficient = deviation quantity in the finished bending process / deviation amount registered in the machining condition data table in the database 17 × the machining condition data in the database 17 A new presser foot pressure correction coefficient is calculated from the correction coefficient registered in the table.

  If the amount of deviation in the finished bending process is 9, the new presser foot pressure correction coefficient is 9/8 × 1.2 = 1.35.

  In step 211, the control unit 15 obtains the corrected presser pressure using the new presser pressure correction coefficient, and corrects the machining program using the corrected presser pressure.

  Calculate the corrected presser pressure value from the formula: Presser pressure after correction = New presser pressure correction coefficient x Presser pressure at the time of misalignment, using the presser pressure at the time of occurrence of deviation in the finished bending. The machining program is corrected based on the presser foot pressure.

  If the presser pressure at the time of deviation occurrence is 100 kN, the machining program is corrected so that the corrected presser pressure becomes 1.35 × 100 = 135 kN.

  In step 213, the control unit 15 updates the processing condition data table in the database 17 with the new presser pressure correction coefficient.

  In step 205, in other cases, in steps 215 and 217, the machining program is corrected manually by the operator, and the table of machining condition data in the database 17 is updated based on the correction.

  Returning to FIG. 3, in step 117, the control unit 15 determines whether or not there is a next bending operation, and if there is, returns to step 101, and if not, ends the processing.

  As described above, according to the present embodiment, since the shift of the workpiece W is detected and the automatic operation is stopped, the machining failure is prevented, and the optimum upper die 7 and the optimal mold 7 based on the shift of the workpiece W being processed and Since the pressing program of the lower die 9 is obtained to correct the machining program, further deviation of the workpiece W can be prevented in advance.

  The present invention is not limited to the embodiments of the invention described above, and can be implemented in other modes by making appropriate modifications.

1 Panel Bender 5 Manipulator 7 Upper Die 9 Lower Die 11 Bending Blade 13 Camera (Imaging Means)
15 Control unit (control means)
17 Database (storage means)
19 ROM
21 RAM
23 CPU
25 Input display device (input display means)

Claims (4)

A panel bender that sandwiches a workpiece clamped by a clamping means with an arbitrary pressing pressure between an upper die and a lower die and performs bending with a bending blade based on a machining program,
Storage means for storing a positional relationship between at least the workpiece and the clamping means;
Imaging means for imaging the clamping means and the workpiece;
At the time when each bending operation is completed, the workpiece clamped by the clamping unit is photographed by the imaging unit,
Recognizing the positional relationship between the workpiece and the clamping means by processing an image taken by the imaging means;
Comparing the positional relationship between the workpiece and the clamping unit photographed by the imaging unit and the positional relationship between the workpiece and the clamping unit stored in the storage unit;
Determining whether or not there is a difference between the positional relationship between the workpiece and the clamping unit imaged by the imaging unit and the positional relationship between the workpiece and the clamping unit stored in the storage unit;
When it is determined that there is the deviation, the bending operation is stopped,
And a control unit that performs correction processing of the machining program based on the deviation.   The storage means is prepared for each type of bending, and has processing condition data in which at least one of a material name, a plate thickness, a deviation amount, and a correction coefficient of the workpiece W is described, and the control means 2. The panel bender according to claim 1, wherein the processing program is corrected so as to correct a pressing pressure of the workpiece by the upper die and the lower die based on a correction coefficient of processing condition data.   When the deviation amount differs from the processing condition data of the finished bending operation, the control means calculates a new correction coefficient, and the workpiece by the upper mold and the lower mold based on the new correction coefficient The panel bender according to claim 1, wherein the processing program is corrected so as to correct the pressing pressure.   Based on the new correction coefficient, the control means performs correction processing of the machining program so as to correct the pressing pressure of the workpiece by the upper mold and the lower mold based on the new correction coefficient. The panel vendor according to claim 3, wherein the processing condition data is updated.

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