JP2018192542A - Positioning system and positioning method - Google Patents

Abstract

To shorten time required for positioning of a work-piece W to raise productivity of bending while improving bending accuracy of the work-piece W by raising positioning accuracy of the work-piece W.SOLUTION: A bending robot 14 is controlled so that a bent part Wa of a work-piece W becomes parallel with a bending position BP on the basis of a detection result from a pair of X-axis potentiometers 64 while controlling the bending robot 14 so as to move the work-piece W to sides of the X-axis potentiometers 64 in a state of holding the work-piece W with a robot hand 16. Positioning operation information is corrected on the basis of a position of the bending robot 14 in an X-axis direction when the bent part Wa of the work-piece W becomes parallel with the bending position BP.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a positioning system and a positioning method for positioning a workpiece in the X-axis direction and the Y-axis direction so that a bent portion (bending line) of a plate-shaped workpiece (sheet metal) is positioned at a bending position in a press brake. .

  A positioning system (gauging system) used for bending by a press brake includes a bending robot that is provided forward at a bending position and moves in the X-axis direction and the Y-axis direction while holding (sucking) a workpiece. Yes. Further, the positioning system includes a back gauge mechanism that is provided at the rear of the bending position and for positioning the bent portion of the workpiece at the same position in the Y-axis direction as the bending position. The back gauge mechanism has a pair of Y-axis sensors that detect whether or not the bent portion of the workpiece is positioned at a predetermined position in the Y-axis direction including the same position in the Y-axis direction as the bending position. These Y-axis sensors are arranged at intervals in the X-axis direction. Further, the positioning system includes a side gauge mechanism that is provided at a position separated from the bending position in the X-axis direction and that positions the workpiece (side surface of the workpiece) at a reference position in the X-axis direction. The side gauge mechanism has one X-axis sensor that detects whether or not the workpiece is positioned at the reference position in the X-axis direction.

  And when positioning a workpiece | work to a X-axis direction and a Y-axis direction with a positioning system, it carries out as follows.

  While controlling the bending robot to move to the Y-axis sensor side (backward) while holding the workpiece, the bent part of the workpiece is moved relative to the bending position based on the detection results from the pair of Y-axis sensors. The bending robot is controlled to be parallel to each other. Next, the bending robot is controlled so as to temporarily move the workpiece to the side opposite to the Y-axis sensor (forward direction). Further, while controlling the bending robot so that the workpiece is moved to the X-axis sensor side (one side in the X-axis direction), the bending robot is moved to the X-axis direction position when the workpiece is positioned at the reference position in the X-axis direction. Based on this, the positioning operation information (positioning operation command) for positioning the workpiece in the X-axis direction and the Y-axis direction is corrected. Then, the bending robot is controlled based on the corrected positioning operation information to move the workpiece in the X-axis direction and the Y-axis direction, and the bent portion of the workpiece is the same as the bending position by the pair of Y-axis sensors. When it is detected that the workpiece is positioned in the direction, movement of the workpiece (movement in the Y-axis direction) by the bending robot is stopped. Thereby, the workpiece can be positioned in the X-axis direction and the Y-axis direction so that the bent portion of the workpiece is positioned at the bending position.

  In addition, there exist some which are shown to patent document 1-patent document 4 as a prior art relevant to this invention.

JP 2000-233229 A JP 2003-326317 A JP 2012-24820 A JP 2013-173200 A

  Incidentally, in order to improve the workpiece positioning accuracy and improve the workpiece bending accuracy, it is indispensable to correct the positioning operation information as described above. On the other hand, in order to correct the positioning operation information, it is necessary not only to move the workpiece to the X-axis sensor side by the bending robot but also to move to the Y-axis sensor side, and there is a tendency that the operation of the bending robot increases. Therefore, it takes a lot of time to position the workpiece, and it becomes difficult to increase the productivity of bending. That is, there is a problem that it is difficult to increase the productivity of bending work by shortening the time required for work positioning while improving the work bending accuracy by increasing the work positioning accuracy.

  Accordingly, an object of the present invention is to provide a positioning system and a positioning method having a novel configuration that can solve the above-described problems.

  In the first aspect of the present invention, the workpiece is positioned in the X-axis direction and the Y-axis direction so that the bent portion (bending line) of the plate-like workpiece (sheet metal) is positioned at the bending position in the press brake. In a system (gauging system), a bending robot that moves the workpiece in the X-axis direction and the Y-axis direction while holding (sucking) the workpiece, and an interval in the X-axis direction behind the bending position (one side in the Y-axis direction) And a pair of Y-axis sensors for detecting whether or not the bent part of the workpiece is located at the same position in the Y-axis direction as the bending position, and the Y-axis at a position separated from the bending position. A pair of X-axis sensors that detect whether or not the workpiece (side surface of the workpiece) is positioned at a reference position in the X-axis direction and a workpiece are positioned in the X-axis direction and the Y-axis direction. Position for The bending robot is controlled based on the movement information (positioning operation command), and the workpiece bending portion is parallel to the bending position based on the detection results from the pair of X-axis sensors. When the bending robot is controlled, and the pair of Y-axis sensors detect that the bent portion of the workpiece is located at the same position in the Y-axis direction as the bending position, the workpiece is moved by the bending robot. The robot controller that stops (movement in the Y-axis direction) and the positioning operation based on the position of the bending robot in the X-axis direction when the bent part of the workpiece is parallel to the bending position And an operation information correction unit that corrects information.

  According to the first aspect of the present invention, the robot control unit controls the bending robot to move to the X-axis sensor side while holding a workpiece, and detects the detection results from the pair of X-axis sensors. Based on the above, the bending robot is controlled so that the bent portion of the workpiece is parallel to the bending position. Next, the operation information correction unit corrects the positioning operation information based on the position of the bending robot in the X-axis direction when the bent portion of the workpiece is parallel to the bending position. The robot control unit controls the bending robot based on the corrected positioning operation information to move the workpiece in the X-axis direction and the Y-axis direction. Further, when it is detected by the pair of Y-axis sensors that the bent portion of the workpiece is located at the same position in the Y-axis direction as the bending position, the workpiece is moved by the bending robot (movement in the Y-axis direction). To stop. Thereby, the workpiece can be positioned in the X-axis direction and the Y-axis direction so that the bent portion of the workpiece is positioned at the bending position.

  That is, according to the first aspect of the present invention, the positioning operation information can be corrected only by moving the workpiece to the X-axis sensor side without moving the workpiece to the Y-axis sensor side by the bending robot. . In other words, it is possible to correct the positioning operation information by reducing the operation of the bending robot.

  In the second aspect of the present invention, the workpiece is positioned in the X-axis direction and the Y-axis direction so that the bent portion (bending line) of the plate-like workpiece (sheet metal) is positioned at the bending position in the press brake. In the method (gauging method), a bending robot that moves the workpiece in the X-axis direction and the Y-axis direction while holding the workpiece, is provided behind the bending position (one side in the Y-axis direction) with an interval in the X-axis direction. And a pair of Y-axis sensors for detecting whether or not the bent portion of the workpiece is located at the same position in the Y-axis direction as the bending position, and a distance in the Y-axis direction at a position spaced from the bending position. A pair of X-axis sensors that are provided and detect whether or not the workpiece is positioned at a reference position in the X-axis direction, and to the X-axis sensor side (one side in the X-axis direction) while holding the workpiece To move While controlling the bending robot, the bending robot is controlled based on the detection results from the pair of X-axis sensors so that the bent portion of the workpiece is parallel to the bending position. In order to position the workpiece in the X-axis direction and the Y-axis direction based on the position in the X-axis direction of the bending robot (the robot hand of the bending robot) when the bending portion is parallel to the bending position. The positioning operation information (positioning operation command) is corrected, and the bending robot is controlled based on the corrected positioning operation information to move the workpiece in the X-axis direction and the Y-axis direction. Detects that the bent part of the workpiece is located at the same position in the Y-axis direction as the bending position, the movement of the workpiece in the Y-axis direction by the bending robot It is to stop.

  According to the second aspect of the present invention, the positioning operation information can be corrected only by moving the workpiece to the X-axis sensor side without moving the workpiece to the Y-axis sensor side by the bending robot. In other words, it is possible to correct the positioning operation information by reducing the operation of the bending robot.

  ADVANTAGE OF THE INVENTION According to this invention, the time required for the positioning of a workpiece | work can be shortened and the productivity of bending can be improved, improving the positioning accuracy of a workpiece | work and improving the bending accuracy of a workpiece | work.

FIG. 1 is a schematic plan view for explaining the operation of the positioning system according to the embodiment of the present invention. FIG. 2 is a schematic sectional side view of a back gauge mechanism in the positioning system according to the embodiment of the present invention. FIG. 3 is a schematic plan view of the holding and changing device in the positioning system according to the embodiment of the present invention. FIG. 4 is a control block diagram of the positioning system according to the embodiment of the present invention. FIG. 5 is a schematic plan view for explaining the operation of the positioning system according to the embodiment of the present invention. FIG. 6 is a schematic plan view for explaining the operation of the positioning system according to the embodiment of the present invention. FIG. 7 is a schematic plan view for explaining the operation of the positioning system according to the embodiment of the present invention when there is a step on the side surface side of the workpiece.

  Embodiments of the present invention will be described with reference to the drawings. In the description of the specification and claims of the present application, the “bending position” refers to a portion defined by the X-axis direction and the Y-axis direction in order to perform bending. This refers to the location of the center line of the V groove of the die. The “reference position in the X-axis direction” refers to a position in the X-axis direction that serves as a reference for workpiece positioning. The “X-axis direction” is a horizontal direction that is one of the horizontal directions. The “Y-axis direction” is the front-rear direction that is one of the horizontal directions. The “Z-axis direction” is the vertical direction (vertical direction). In the drawings, “FF” is the forward direction, “FR” is the backward direction, “L” is the left direction, “R” is the right direction, “U” is the upward direction, and “D” is the upward direction. Pointing down each.

  As shown in FIG. 1, a positioning system (gauging system) 10 according to an embodiment of the present invention has a bent portion (bending line) Wa of a plate-like workpiece (sheet metal) W as a press brake (most of which is not shown). This is a system for positioning the workpiece W in the X-axis direction and the Y-axis direction so as to be positioned at the bending position BP. Hereinafter, the configuration and the like of the positioning system 10 will be described.

  The positioning system 10 is provided in front of the bending position BP so as to be movable in the X-axis direction via the carriage 12 and moves in the X-axis direction and the Y-axis direction while holding (sucking) the workpiece W. A bending robot 14 is provided. Moreover, the bending robot 14 includes a robot hand 16 that holds (sucks) the workpiece W on the tip side. The bending robot 14 has a known configuration shown in, for example, Japanese Patent Application Laid-Open Nos. 2012-101317, 2005-238280, and 2001-287185.

  The positioning system 10 is a back gauge that is a part of the press brake, is provided behind the bending position BP, and positions the bent portion Wa of the work W at the same position in the Y-axis direction as the bending position BP. A mechanism 18 is provided. The specific configuration of the back gauge mechanism 18 is as follows.

  As shown in FIGS. 1 and 2, a pair of Y-axis supporters 22 (only one is shown) extending in the Y-axis direction are separated in the X-axis direction behind the bending position BP in the main body frame 20 of the press brake. Is provided. Each Y-axis supporter 22 is provided with a Y-axis slider 24 (only one is shown) so as to be movable in the Y-axis direction. Each Y-axis slider 24 moves in the Y-axis direction by driving a Y-axis motor 26 provided at the rear end of each Y-axis supporter 22.

  A Z-axis slider 28 (only one is shown) is provided on the front side of each Y-axis slider 24 so as to be movable in the Z-axis direction (vertical direction) via a pair of Z-axis guides 30. Each Z-axis slider 28 moves in the Z-axis direction by driving a Z-axis motor 32 provided at the lower end thereof. A stretch (X-axis supporter) 34 extending in the X-axis direction is connected between the pair of Z-axis sliders 28. Further, the stretch 34 is provided with a pair of X-axis sliders 36 that can move in the X-axis direction via a plurality of X-axis guides 38. Each X-axis slider 36 moves in the X-axis direction by driving an X-axis motor 40 provided at the rear thereof.

  A sensor mounting member 42 is provided on the upper surface of each X-axis slider 36. Further, on the front end side (front end side) of each sensor mounting member 42, as a Y-axis sensor that detects whether or not the bent portion Wa of the workpiece W is located at the same position in the Y-axis direction as the bending position BP. A Y-axis potentiometer 44 is provided. In other words, a pair of Y-axis potentiometers 44 are provided behind the bending position BP at intervals in the X-axis direction via the pair of sensor mounting members 42 and the like. Each Y-axis potentiometer 44 has a contactor 44a on the front end side (front end side) that can contact the end surface (rear end surface) We of the workpiece W and can expand and contract in the Y-axis direction.

  Here, the pair of Y-axis potentiometers 44 moves integrally with the first Y-axis slider 24 and the like in the Y-axis direction by the synchronous drive of the pair of Y-axis motors 26. The pair of Y-axis potentiometers 44 moves integrally with the Z-axis slider 28 and the like in the Z-axis direction by synchronous driving of the pair of Z-axis motors 32. Each Y-axis potentiometer 44 moves integrally with the X-axis slider 36 and the like in the X-axis direction by driving each X-axis motor 40. Each sensor mounting member 42 may be configured to be movable in the Y-axis direction with respect to each X-axis slider 36.

  The positioning system 10 includes a holding and changing device 46 that is provided at a position spaced apart from the bending position BP in the X-axis direction and for changing and holding (changing) the bending robot 14 by the robot hand 16. The specific configuration of the holding and changing device 46 is as follows.

  As shown in FIGS. 1 and 3, a support base 48 extending in the Y-axis direction is provided at a position separated from the bending position BP in the X-axis direction. In addition, a pair of movable blocks 50 are provided above the support base 48 so as to be movable in the Y-axis direction. The pair of movable blocks 50 move in the Y-axis direction that approaches and moves away from each other by driving a Y-axis motor 52 provided at an appropriate position of the support base 48. Further, each movable block 50 is provided with a column 54, and a support bar 56 extending in the X-axis direction is provided at the upper end of each column 54. Each support bar 56 is provided with a plurality of vacuum pads 58 for attracting the workpiece W.

  A sensor support member 60 is provided on the right end side of each support bar 56 so as to be movable in the X-axis direction. Each sensor support member 60 is positioned below the vacuum pad 58 and moves in the X-axis direction by driving an X-axis motor 62 provided at an appropriate position of each support bar 56. An X-axis potentiometer 64 serving as an X-axis sensor that detects whether or not the workpiece W (side surface Ws of the workpiece W) is located at the reference position in the X-axis direction is provided on the right end side (tip side) of each sensor support member 60. Is provided. In other words, the X-axis potentiometer 64 is provided on the right end side of each support bar 56 so as to be movable in the X-axis direction via the sensor support member 60. In other words, a pair of X-axis potentiometers 64 are provided at intervals in the Y-axis direction at positions spaced from the bending position BP in the X-axis direction. Each X-axis potentiometer 64 is located below the vacuum pad 58. Each X-axis potentiometer 64 has a contactor 64a that can contact the side surface Ws of the workpiece W and expand and contract in the X-axis direction on the tip side (right end side).

  Here, the pair of X-axis potentiometers 64 integrally move the movable block 50 and the like in the Y-axis direction that approaches and separates by the drive of the Y-axis motor 52. In other words, the distance in the Y-axis direction between the pair of X-axis potentiometers 64 can be adjusted by driving the Y-axis motor 52. Each X-axis potentiometer 64 moves integrally with each sensor support member 60 in the X-axis direction by driving each X-axis motor 62. In other words, the position of each X-axis potentiometer 64 in the X-axis direction can be adjusted by driving each X-axis motor 62.

  As shown in FIG. 4, the gauging system 10 includes a control device 66 that controls the bending robot 14, the back gauge mechanism 18, and the holding and changing device 46 based on a bending program. The control device 66 includes one or a plurality of computers, and includes a memory that stores a bending program and the like and a CPU (Central Processing Unit) that interprets and executes the bending program.

  The CPU of the control device 66 has a function as the robot control unit 68 and a function as the operation information correction unit 70. The specific configurations of the robot control unit 68 and the motion information correction unit 70 are as follows.

  As shown in FIGS. 1 and 4, the robot control unit 68 controls the bending robot 14 based on positioning operation information (positioning operation command) for positioning the workpiece W in the X-axis direction and the Y-axis direction. The robot control unit 68 controls the bending robot based on the detection result from the pair of X-axis potentiometers 64 so that the side surface (left side surface) Ws of the workpiece W is parallel to the Y-axis direction. In other words, the robot control unit 68 controls the bending robot based on the detection results from the pair of X-axis potentiometers 64 so that the bent portion Wa of the workpiece W is parallel to the bending position BP. Further, when the robot control unit 68 detects that the bent portion Wa of the workpiece W is located at the same position in the Y-axis direction as the bending position BP by the pair of Y-axis potentiometers 44, the robot W Movement (movement in the Y-axis direction) is stopped.

  The motion information correction unit 70 corrects the positioning motion information based on the position of the bending robot 14 in the X-axis direction when the bent portion Wa of the workpiece W is parallel to the bending position BP. Note that the position of the bending robot 14 in the X-axis direction refers to the position of the center of the robot hand 16 in the X-axis direction, for example.

  Next, the positioning method according to the embodiment of the present invention will be described including the operation of the embodiment of the present invention.

  The positioning method (gauging method) according to the embodiment of the present invention is a method of positioning the workpiece W in the X-axis direction and the Y-axis direction so that the bent portion Wa of the plate-like workpiece W is positioned at the bending position BP. It is. The positioning method according to the embodiment of the present invention includes a first step, a second step, a third step, and a fourth step. And the specific content of each process in the positioning method which concerns on embodiment of this invention is as follows.

(i) First Step As shown in FIGS. 1 and 4, the CPU of the control device 66 controls each X-axis motor 40 to move each Y-axis potentiometer 44 in the X-axis direction and a pair of Y-axis. The motor 26 is controlled to move the pair of Y-axis potentiometers 44 in the Y-axis direction. Then, the contact 44a of each Y-axis potentiometer 44 is positioned at a predetermined position in the X-axis direction and the Y-axis direction corresponding to the bending position BP. Further, the CPU of the control device 66 controls the Y-axis motor 52 to adjust the interval in the Y-axis direction of the pair of X-axis potentiometers 64 according to the length of the side surface Ws of the workpiece W. Thereby, the preparation for positioning the workpiece | work W to a X-axis direction and a Y-axis direction can be performed.

(ii) Second Step After the completion of the first step, as shown in FIGS. 1, 4, and 5, the robot control unit 68 holds the workpiece W by the robot hand 16, and the X-axis potentiometer 64 side ( The bending robot 14 is controlled to move to one side in the X-axis direction. Then, the robot control unit 68 controls the bending robot 14 as described above, and based on the detection result from the pair of X-axis potentiometers 64, the bent portion Wa of the workpiece W is parallel to the bending position BP. The bending robot 14 is controlled so that

(iii) Third Step After the completion of the second step, as shown in FIGS. 4 and 5, the motion information correction unit 70 is configured such that the bent portion Wa of the workpiece W becomes parallel to the bending position BP. The positioning operation information (positioning operation command) is corrected based on the position of the bending robot 14 in the X-axis direction.

(iv) Fourth Step After the completion of the third step, as shown in FIGS. 4 to 6, the robot control unit 68 controls the bending robot 14 based on the corrected positioning operation information to move the workpiece W to the X axis. In the direction and the Y-axis direction. When the robot control unit 68 detects that the bent portion Wa of the workpiece W is located at the same position in the Y-axis direction as the bending position BP by the pair of Y-axis potentiometers 44, the workpiece W by the bending robot 14 is detected. Movement (movement in the Y-axis direction) is stopped.

  As described above, the workpiece W can be positioned in the X-axis direction and the Y-axis direction so that the bent portion Wa of the workpiece W is positioned at the bending position BP.

  Further, as shown in FIG. 7, when there is a step Wn on the side surface Ws side of the workpiece W, the CPU of the control device 66 controls the pair of X-axis motors 52 in advance to control the pair of X-axis potentiometers 64. The position in the X-axis direction is adjusted according to the step Wn of the workpiece W. Thereby, irrespective of the presence or absence of the level difference Wn on the side surface Ws of the workpiece W, the bent portion Wa of the workpiece W can be parallel to the bending position BP, and the positioning operation information can be corrected.

  Then, the effect | action and effect of embodiment of this invention are demonstrated.

According to the embodiment of the present invention, as described above, it is possible to correct the positioning operation information only by moving the workpiece W to the X-axis potentiometer 64 side without moving the workpiece W to the Y-axis potentiometer 44 side by the bending robot 14. it can. In other words, the operation of the bending robot 14 can be reduced and the positioning operation information can be corrected. Therefore, according to the embodiment of the present invention, the positioning accuracy of the workpiece W is increased and the bending accuracy of the workpiece W is improved. As a result, the time required for positioning the workpiece W can be shortened, and the productivity of bending can be increased.

  In particular, according to the embodiment of the present invention, since the positioning operation information can be corrected regardless of the presence or absence of the step Wn on the side surface Ws side of the workpiece W, the versatility of the positioning system 10 can be improved.

  In addition, this invention is not restricted to description of the above-mentioned embodiment, By implementing various changes, it can implement with a various aspect other than that. The scope of rights encompassed by the present invention is not limited to the above-described embodiment.

10 Positioning system (gauge system)
12 Cart 14 Bending Robot 16 Robot Hand 18 Back Gauge Mechanism 20 Body Frame 22 Y Axis Supporter 24 Y Axis Slider 26 Y Axis Motor 28 Z Axis Slider 34 Stretch (X Axis Supporter)
36 X-axis slider 40 X-axis motor 42 Sensor mounting member 44 Y-axis potentiometer (Y-axis sensor)
44a Contact 46 Holding change device 48 Support stand 50 Movable block 52 Y-axis motor 54 Post 56 Support bar 58 Vacuum pad 60 Sensor support member 62 X-axis motor 64 X-axis potentiometer (X-axis sensor)
64a Contact 66 Controller 68 Robot control unit 70 Motion information correction unit BP Bending position W Workpiece (sheet metal)
Wa Bent part (bending line)
We end face (rear end face)
Ws side (left side)

Claims (6)

In the positioning system for positioning the workpiece in the X-axis direction and the Y-axis direction so that the bent portion of the plate-like workpiece is positioned at the bending position in the press brake,
A bending robot that moves in the X-axis direction and the Y-axis direction while holding the workpiece;
A pair of Y-axis sensors which are provided behind the bending position in the X-axis direction and detect whether or not the bent portion of the workpiece is located at the same position in the Y-axis direction as the bending position; ,
A pair of X-axis sensors that are provided at a distance from the bending position in the Y-axis direction and detect whether or not the workpiece is positioned at a reference position in the X-axis direction;
The bending robot is controlled based on positioning operation information for positioning the workpiece in the X-axis direction and the Y-axis direction, and the bent part of the workpiece is bent based on the detection results from the pair of X-axis sensors. The bending robot is controlled to be parallel to the machining position, and it is detected by the pair of Y-axis sensors that the bent part of the workpiece is located at the same position in the Y-axis direction as the bending position. A robot controller that stops movement of the workpiece by the bending robot;
An operation information correction unit that corrects the positioning operation information based on the position of the bending robot in the X-axis direction when the workpiece bending portion is parallel to the bending position. Feature positioning system.   The positioning system according to claim 1, wherein a distance between the pair of X-axis sensors in the Y-axis direction is adjustable.   The positioning system according to claim 1 or 2, wherein the position of each X-axis sensor in the X-axis direction is adjustable.   The positioning according to any one of claims 1 to 3, wherein each X-axis sensor is provided on a support arm in a holding and changing device for holding and changing by the bending robot. system. In the positioning method for positioning the workpiece in the X-axis direction and the Y-axis direction so that the bent portion of the plate-shaped workpiece is positioned at the bending position in the press brake,
A bending robot that moves in the X-axis direction and the Y-axis direction while holding the workpiece, and is provided at an interval in the X-axis direction behind the bending processing position and the bent portion of the workpiece is the same as the bending processing position. A pair of Y-axis sensors for detecting whether or not the position is located in the axial direction, and a position spaced apart from the bending position at a distance in the Y-axis direction, and the workpiece is located at a reference position in the X-axis direction Using a pair of X-axis sensors to detect whether or not
While controlling the bending robot to move to the X-axis sensor side while holding the workpiece, based on the detection results from the pair of X-axis sensors, the bent portion of the workpiece is moved relative to the bending position. Control the bending robot to be parallel to each other,
Positioning operation information for positioning the workpiece in the X-axis direction and the Y-axis direction based on the position in the X-axis direction of the bending robot when the bent portion of the workpiece is parallel to the bending position. Correct,
Based on the corrected positioning operation information, the bending robot is controlled to move the workpiece in the X-axis direction and the Y-axis direction, and the bent portion of the workpiece is the same as the bending position by the pair of Y-axis sensors. A positioning method comprising: stopping the movement of the workpiece by the bending robot when it is detected that the workpiece is located at a position in the Y-axis direction.   The positioning method according to claim 5, wherein, when there is a step on the side surface of the workpiece, the positions in the X-axis direction of the pair of X-axis sensors are adjusted in advance according to the step of the workpiece.

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