JP2512812B2 - Work take-out device for press brake system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work take-out device of a press brake system capable of quickly taking out a work bent by a press brake.

[Conventional technology]

In the press brake, the process of changing the insertion portion of the work with respect to the press brake is sequentially repeated to perform bending work to complete a product such as a box. Conventionally, an operator manually supplies the work to the press brake and takes out the work from the press brake.

When automating this take-out operation, the robot that takes out the work from the press brake needs to know the time when the work can be taken out. Conventionally, the work is usually taken out after the work is processed and after the punch is raised to the top dead center. However, there are various shapes and sizes of the work, and it is often conceivable that the work can be taken out while the punch is rising after the work is processed. The time required for the punch to move from the punch position where the workpiece can be taken out to the top dead center of the punch is a waiting time, which adversely affects the cycle time.

Further, the top dead center is variable, and the top dead center can be provided so that the work can be taken out as soon as possible.

Further, there is a technique of performing an operation of taking out a work after bending before the punch rises to the top dead center. In this case, a timer for measuring the punch rise time is provided, and the set time of this timer is uniquely set so that the punch and the work after bending work do not interfere with each other. The brake robot takes out the work after bending from between the die and the punch.

[Problems to be Solved by the Invention]

By the way, the height of the work on the backstop side changes in each step of the work of working the work. For this reason, in the conventional one, during the whole process, in order to prevent the punch and the work after bending from interfering with each other in the whole process of machining the work,
It is decided to assume the case where the height of the work on the backstop side is the maximum.

However, in a process in which the height of the work on the backstop side is lower than the maximum height of the work, the work can be immediately taken out when the lower end of the punch rises to a position corresponding to the upper end of the work. Regardless, the work picking operation is started when the lower end of the punch is located above the upper end of the work on the backstop side. In the conventional method in which the workpieces are uniformly set in this manner, it is not possible to immediately perform the work taking-out operation according to the working state of the work in each process, and it is not possible to completely achieve the reduction of the cycle time. It was.

Furthermore, in the conventional type, as described above, the set time of the timer is set after punching and bending even if the height of the work on the backstop side becomes the maximum during the whole process of working the work. It must be set so that and do not interfere with each other, but the following must be taken into consideration when making this setting.

That is, when the punch of the press brake rises, there is a time lag from when the punch reaches the bottom dead center until when the punch actually starts to rise, and the speed immediately after the start of the rise is unstable. Due to such time lag and instability of the punch speed immediately after the start of ascent, the punch does not always rise to the same position even if the time measured by the timer is the same. Therefore, in consideration of this variation, it is necessary to set the timer setting time to a safe side, that is, a time with a sufficient margin that the work and the punch cannot interfere with each other. Conversely, if this variation is not taken into consideration and the last minute time is set on the timer and the work is taken out, the work and punch interfere with each other, which may cause a serious accident. Was becoming.

The present invention has been made in view of these circumstances,
An object of the present invention is to provide a work unloading device for a press brake system, which can immediately perform work unloading operation according to the height of the work in each process, thereby further shortening the cycle time. I am trying.

[Means and Actions for Solving the Problems]

Therefore, in the first invention of the present invention, the punch is lowered toward the die to bend the work, and after the bending, the press brake main body that raises the punch to the original position and the work are gripped by the hand. A press brake robot that inserts the gripped work between the die and the punch until it comes into contact with the backstop, and takes out the work after bending from between the die and the punch. In the brake system, punch rising position detecting means for detecting the rising position of the punch; calculating means for calculating the height of the work on the backstop side after the bending work based on the working conditions of the work; Based on the output of the punch rising position detection means and the calculation result of the calculation means, the lower end of the punch is after the bending process. The press brake robot is controlled so as to detect that the work has been raised to a position corresponding to the upper end of the work on the back stop side, and take out the work after the bending work from between the die and the punch from the detection time. It is equipped with means.

That is, the height of the work on the back stop side after bending is calculated for each process, and from this calculation result, the punch rising position where the lower end of the punch reaches the upper end of the work on the back stop side after bending is determined for each process. It is calculated for each. Then, if it is detected by the punch lift position detecting means that the punch has been lifted to the calculated position, the press brake robot is controlled so that the work after bending is taken out from between the die and the punch. To operate. Then, the work is taken out at a position corresponding to the work processing state of each process without interfering with the punch.

In a second invention of the present invention, in the same press brake system, the height of the work on the backstop side after bending is detected based on a sensor that detects that the punch has risen to a predetermined position and the processing conditions of the work. Based on the first calculation means for calculating the height, the predetermined position, the punch rising speed after the predetermined position, and the calculation result of the first calculation means, the punch is reached after the punch reaches the predetermined position. When a detection signal is output from the second calculation means for calculating the rise time of the punch until the lower end of the punch rises to a position corresponding to the upper end of the work on the back stop side after the bending, and the detection signal is output from the sensor, A timer to be started, and a work after the bending work is formed into a die from the time when the rising time calculated by the second calculating means by the timer is measured. As it is taken out from between the bench so that comprises a means for controlling the press brake robot.

That is, as described above, due to the instability of the speed of the punch immediately after the start of the punch ascent and the like, the time and the distance do not always have a one-to-one correspondence until the predetermined distance is reached after the punch is lifted. . However, since the punch rising speed becomes constant after a predetermined distance and the time and the distance correspond to each other on a one-to-one basis, the punch rising position can be accurately grasped even if the time is managed by the timer. Therefore, the sensor that detects the position itself (not the time) detects that the punch has risen to a predetermined position where the rising speed is constant, and the timer is operated according to the detection signal of this sensor. The set time of the timer in which the work and the punch do not interfere with each other can be easily obtained from the predetermined position, the punch rising speed after passing the predetermined position, and the calculated work height after bending. The set time of this timer is obtained according to the height of the work after bending, that is, the work processing state of each process, and when the set time is measured by the timer, the work after bending is divided into the die and punch. Operate to take out from between. Then, the work is taken out at a position corresponding to the work processing state of each process without interfering with the punch.

〔Example〕

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

FIG. 2 is a perspective view showing the external appearance of an embodiment of the work take-out device of the press brake system according to the present invention.

As shown in the figure, in this press brake system, a fixed table 2 supporting a die 1 on the upper side, and a punch 4 for bending a work (plate material) 3 by approaching the die 1 are supported on the lower side. The press brake main body 6 has a movable table 5 that raises and lowers the punch 4 so that the punch 4 can move closer to the punch 1.

That is, the press brake main body 6 lowers the movable table 5 by a predetermined hydraulic mechanism, lowers the punch 4 toward the die 1 (to a target point), bends the plate material 3, and after the bending, punches the punch. Original position 4 (top dead center)
Up to. In this case, the press brake main body 6 is the press brake controller 20 shown in FIG.
Is driven and controlled. In addition, in FIG. 2, a back stop 7 disposed inside the press brake main body 6 to regulate the insertion position of the plate material 3 inserted between the die 1 and the punch 4.
As can be seen, the central parts of the die 1 and the punch 4 are omitted.

The press brake system includes, in addition to the press brake body 6, a plurality of plate members 3 stacked on the work mounting table.
A single-sheet picking device 8 for picking up the sheets one by one with a suction pad,
A press brake robot 9 that grips the plate material 3 taken out by the single-sheet picking device 8 and supplies the gripped plate material 3 to the press brake main body 6 by a series of handlings to be described later.
During handling work by the press brake robot 9,
When the plate material 3 is changed, the holding table 10 for temporarily placing the plate material 3 and the bent plate material 3 (finished product)
Is a unloading table on which the press brake robot 9 is placed.
11, the press brake main body 6, the press brake main body 6, the single-sheet picking device 8, and the press brake robot 9.
The NC device 12 for driving data for inputting bending data (bending conditions, etc.) for driving and the input data of the NC device 12 are transferred, and the press brake robot 9 is driven according to the transferred data. The robot controller 13 is drivingly controlled. Here, the press brake robot 9 grips the plate material 3 by the hand portion 16 and inserts the gripped plate material 3 between the die 1 and the punch 4, and the bent plate material 3 is punched by the die 1 and the punch 4. It is operated so that the steps of taking out from between 4 and 4 are sequentially repeated.

Further, between the NC device 12 and the robot controller 13, there is interposed a robot program creating device 19 that creates a robot program for operating the robot controller 13 and the press brake controller 20 based on the input data of the NC device 12. (See FIG. 1). The robot program creating device 19 is provided inside the robot controller 13.

Here, the structure of the press brake robot 9 will be described. As shown in FIG. 2, a skeleton portion 14 which is largely arranged on the floor, and an arm which is arranged above the skeleton portion 14 and has three joints are provided. It is composed of a part 15 and a hand part 16 supported by a joint at the tip of the arm part 15.

The hand portion 16 is movable in the direction of arrow A as the tip joint of the arm portion 15 is rotated as shown in FIG. 3 (b), and the required rotation mechanism is provided as shown in FIG. 3 (a). It is rotatable in the direction of arrow B by the part. The front end of the hand portion 16 is provided with two opposed rectangular fingers 17 and 18. The finger 17 has an arrow C depending on the required moving mechanism.
When the finger 17 moves in the arrow C direction, the finger 17 comes into contact with the finger 18, and when the finger 17 moves in the arrow D direction, the finger 17 moves in the arrow D direction. To be separated from.

Therefore, in this press brake robot 9, the movable parts (the movable mechanism parts of the fingers 17 and the like) are driven and controlled by the robot controller 13 as required, so that the plate material 3 taken out by the single-sheet picking device 8 is transferred to the fingers 17 and the fingers. It is sandwiched between 18 and 18, and the plate material 3 is temporarily held and placed on the table 10 to sequentially change the grip position of the plate material 3, and each side of the plate material 3 is pressed by the press brake body 6. A series of handling operations of inserting and removing so as to be sequentially bent, and an operation of placing the plate material 3 (finished product) in which each part of the plate material 3 is bent by the press brake main body 6 on the unloading table 11 are repeated. It can be carried out.

Now, in the handling operation, the plate material 3 is basically bent in the order of the right side 3a (short side), the left side 3b (short side), the tip side 3c (long side), and the front side 3d (long side) when viewed from the hand section 16. Position (side) held by fingers 17 and 18 as shown
Is sequentially changed (see FIG. 3 (a)). For example, when the tip side 3c of the plate material 3 is bent, the side (front side 3d) facing the side (tip side 3c) that can be bent.
Is gripped, the plate material 3 is moved in the direction of arrow E with respect to the press brake body 6, and is inserted between the die 1 and the punch 4. Even when the front side 3d of the plate material 3 is bent, the side to be bent (front side 3d) and the gripping position (tip side 3c) face each other, and the gripping position is changed to the same mode as shown in FIG. Will be inserted with.

Further, when the right side 3a of the plate material 3 is bent, it is a so-called lateral bending work in which the side (right side 3a) to be bent down and the grip position (hand side 3d) are orthogonal to each other. The left side of the plate 3
Even when bending 3b, it is a lateral bending work.

FIG. 1 shows a block diagram of a control system for driving and controlling the press brake main body 6 and the press brake robot 9. Further, FIG. 9 is a flowchart showing a processing procedure executed by the robot program creating apparatus 19 shown in FIG. 1, and FIG. 10 shows a robot program created by the processing of FIG.

Hereinafter, the control mode of the press brake main body 6 and the press brake robot 9 will be described with reference to FIG. 1, FIG. 9 and FIG.

By the way, FIG. 4 shows the main part of the side surface of the press brake main body 6. As shown in FIG. 4, the punch 4 has a moving member that moves up and down in association with the up and down movement of the punch 4.
21 are connected. Then, when the lower end of the moving member 21 rises to the predetermined position L at a predetermined vertical position L of the press brake main body 6 (hereinafter referred to as the predetermined position L), the ON operation is performed and the lower end of the moving member 21 is moved. A limit switch 21 for detecting the rise to the predetermined position L is provided. The detection signal of the limit switch 21 is input to the press brake controller 20.

 Now, the predetermined position L is the following position.

That is, as described above, due to the instability of the speed of the punch 4 immediately after the punch 4 starts to move upward,
The time and the distance do not always have a one-to-one correspondence from the rising of the to the predetermined distance. However, since the punch rising speed becomes constant after passing the predetermined distance, and the time and the distance correspond one-to-one, even if the timer manages the time,
The punch rising position can be accurately captured. Therefore, after passing that position, the punch rising position 1a at which the rising speed of the punch 4 becomes constant is obtained in advance by experiments or the like. It is clear from Fig. 4 that the punch is raised.
1a, that is, the predetermined position L is uniquely determined according to the predetermined movement distance 1a of the punch 4 from the lowest position of the concave portion of the die 1.
Therefore, the limit switch 21 is arranged at a predetermined position L corresponding to the punch rising position 1a. Therefore, by inputting the above detection signal accompanying the ON operation of the limit switch 21, it is possible to detect that the ascending speed of the punch 4 becomes constant after this input. The punch rising position 1a is stored in the robot program creating device 19 and used in the calculation described later.

First, in operating the press brake system, the operator inputs NC data such as leg length, bending angle, bending order, butting to the NC device 12. This NC data is input to the robot program creating device 19 (Fig. 1).

Then, as shown in FIG. 7, the take-out height of the plate 3 is 1,
That is, the height 1 of the plate member 3 on the back stop 7 side immediately after bending is obtained for each corner where the plate member 3 is bent.

That is, in each corner of the plate material 3, 0, 1, and
Identification numbers 2, 3, ... Are given, and as shown in FIG. 7, the X-X two-dimensional coordinate position of each corner in the cross section of the plate material 3 corresponds to the above identification number P ₀ , P ₁ , P. ₂ , P ₃
... Therefore, each corner 0 immediately after bending,
Of the heights of 1, 2, 3, ... (Y coordinate positions), the maximum height is calculated. Furthermore, when the corner 3 is bent, the heights (Y coordinate positions) of the corners 0, 1, and 2 on the backstop 7 side are calculated, and the maximum one (the height of the corner 0) is calculated. select.

FIG. 8 shows the geometrical relationship of the plate material 3 before bending when the corner 3 is bent. In the figure,
Those marked with a dash on P ₀ , P ₁ , P ₂ , P _3, ... Show the two-dimensional coordinate position of each corner before bending. Now, in order to obtain the height lP ₀ of the corner 0 after bending, J = | x ₃ −x ₀ | (1) M = | y ₃ −y ₀ | ) N = M / tan (π / 2−d / 2) (3) lP ₀ = (J + N) · cos (π / 2−d / 2) (4) However, d is a bending angle. The bending angle and the position coordinates of each point required for these calculations can be easily obtained from the input NC data.

Further, the heights of the corners 1, 2 ... after bending lP ₁ , lP ₂
... is required, and the maximum one is selected.
In this case, the height lP ₀ of the corner 0 after bending becomes maximum. Then, this is taken as the height l ₃ of the plate material 3 on the backstop 7 side immediately after the corner 3 is bent.

More generally speaking, when the corner k is bent, the backstop 7 other than the corner to be bent is
The side corner n is set to Jn = | xk−xn | ... (1) ′ Mn = | yk−yn | (2) ′ Mn = Mn / tan (π /, as in the above equations (1) to (4). 2-d / 2) (3) lpn = (Jn + Nn) ・ cos (π / 2-d / 2) (4) Calculate the maximum of each lPn immediately after corner k bending. Backstop 7 side plate material 3
Let lk be the height of. In this way, each corner k (k = 1,
2, ...) Height lk of the plate material 3 on the backstop 7 side
Is obtained (step 101).

Next, a process for obtaining the take-out waiting time T is executed. This take-out waiting time T means that the punch 4 moves from the punch rising position 1a where the rising speed of the punch 4 becomes constant,
The lower end of the punch 4 is the upper end of the plate material 3 on the backstop 7 side,
In other words, it is time until the take-out height l calculated in step 101 is reached. During this period, the punch ascending speed V is constant, and the punching waiting time T can be easily calculated from the punch ascending velocity V, the punch ascending position la, and the taking-out height l, and T = (1-la) / V (5) Is calculated as follows. This is also obtained for each corner that can be bent as Tk = (lk-la) / V (5) 'and stored in a memory (not shown) (step 102).

Next, the robot program that operates the robot controller 13 and the press brake controller 20
A process for creating as shown in FIG. 10 is executed, and the process is transferred to and output to the robot controller 13 together with the extraction waiting time Tk obtained in step 102 (step 103).

Eventually, the operator presses a switch for operating the press brake system provided in the NC device 12 to operate the press brake system.

Then, first, the bending operation is executed (step 20).
1).

That is, the robot controller 13 controls each of the indirect portions of the arm portion 15 and the rotation mechanism portion of the hand portion 16 as necessary to hold the plate material 3 by the hand portion 16 as shown in FIG. The plate material 3 is moved in the direction of arrow E with respect to the press brake main body 6 so as to be inserted between the die 1 and the punch 4, and the plate material 3 is brought into contact with the back stop 7.

Then, the plate material 3 finally has both backstops 7
And is positioned for bending. In response to the contact of both backstops 7 of the plate member 3, a positioning completion signal indicating that positioning is completed is output to the press brake controller 20.

Then, first, the press brake controller 20 outputs a command to the press brake main body 6 to lower the punch 4 to the shift back position. In response to this command, the punch 4 is lowered to the shift back position.

Next, when it is detected that the shift back position is reached, a detection signal is output to the robot controller 13, and the robot controller 13 opens the hand portion 16 (the finger 17 in the arrow D direction in response to the detection signal). Move to)
The press brake robot 9 (movable mechanism part of the finger 17) is driven and controlled as described above. In addition, the press brake controller 20 changes the movable table 5 according to the detection signal.
A drive signal for driving the movable table 5 is output so as to lower the. In response to this drive signal, the hydraulic mechanism of the movable table 5 operates, the punch 4 descends as shown by the arrow F in FIG. 3 (c), and the plate material 3 is bent by the punch 4 and the die 1. Due to this bending, the plate material 3 becomes the fourth
It jumps up as shown by arrow H in the figure, but the hand part
Since 16 is in the open state, it can be operated so as to follow the jump of the plate material 3 (step 201).

When the bending process is completed, a pressure (bending) completion signal is output (step 202). Then, in response to this bending completion signal, the robot controller 13 closes the hand portion 16 (moves the finger 17 in the direction of arrow C) and clamps the plate member 3 by pressing the robot 9 (moving the finger 17). Drive control of mechanical unit (step 20)
3).

When the plate material 3 is clamped in this way, the press brake controller 20 outputs a drive signal (punch raising command) for driving the movable table 5 so as to raise the movable table 5. Movable table 5 according to this drive signal
And the punch 4 rises as shown by an arrow G in FIG.

Eventually, when the punch 4 reaches the punch raising position la, the limit switch 21 arranged at the predetermined position L corresponding to the punch raising position la is turned on, and the detection signal accompanying this is input to the press brake controller 20. It The detection signal is output to the robot controller 13 (step 20
Five). A timer (not shown) starts in response to the input of the detection signal. The set time of the timer is set to the take-out waiting time Tk according to the current process, that is, the corner k at which the bending work is currently performed (step 206).

Then, when the take-out waiting time Tk is measured by the timer, the robot controller 13 outputs a drive signal for taking out the plate material 3 from between the die 1 and the punch 4 to the press brake robot 9 at the time of the measurement. Output. In response to this drive signal, in the press brake robot 9, the hand portion 16 is moved as shown by an arrow I in FIG. 6, and an operation of taking out the bent plate material 3 from between the die 1 and the punch 4 is performed (step). 207).

Here, (a) of the figure shows a state of taking out the plate material 3 when the corner 1 is bent, and (b) of the figure shows a state of taking out the plate material 3 when the corner 3 is bent. When the corner 1 is bent, the take-out height of the plate material 3 on the backstop 7 side (height of the plate material 3 on the backstop 7 side) l ₁ is small.
It is possible to carry out the operation of taking out from between the punch 4 and the punch 4.
Further, when the corner 3 is bent, the take-out height (height of the plate material 3 on the backstop 7 side) l ₃ of the plate material 3 on the backstop 7 side is larger than the height l ₁ , so that the corner 1
It can be seen that the operation of taking out the plate material 3 from between the die 1 and the punch 4 is performed slightly later than when the sheet is bent.

As described above, according to the embodiment, the plate material 3 is moved to the die 1 from the point where the plate material 3 and the punch 4 do not interfere with each other according to the height of the plate material 3 after bending (on the backstop 7 side). Since it is possible to perform the operation of taking out from between the punch 4 and the punch 4, it is possible to quickly shift to the next step, that is, the bending process of a different portion, and thus the cycle time can be significantly shortened. .

According to the embodiment, the plate material 3 is taken out between the die 1 and the punch 4 without interfering with the plate material 3 and the punch 4 by using one limit switch and a timer together. A similar effect can be obtained by using a limit switch.

In this case, as shown in FIG. 5, a plurality (five pieces) of a plurality (five pieces, for example) are provided at predetermined vertical positions L1, L2, L3, L4, L5 on the press brake main body 6 at predetermined distances. Limit switches 23 are provided. Of course, the limit switches 23 ... Are in the ascending section of the punch 4, specifically, the ascending section of the moving member 21, and the backstop 7 for each corner k (k = 1, 2, ...) Of the plate material 3. It is arranged at a position where the height lk of the side plate 3 can be detected. Each detection signal of the limit switches 23 ... Is output to the press brake controller 20, and the control is performed in substantially the same manner as the above-described embodiment.

However, as the process of step 102 is omitted,
Instead of the processing of step 205 and step 206, the following processing,
Step 205 'is performed.

Step 205 ′ A plurality of limit switches are provided to detect that the punch 4 has risen to the height lk of the plate material 3 on the backstop 7 side corresponding to the corner k currently bent.
Select from 23 ... When the detection signal of the selected limit switch is input, the next step 207
The process proceeds to the plate material removal process. For example, in FIG. 4, the limit switch 23 at the position L4 is selected as the limit switch for detecting the rise of the punch 4 up to the height l'of the plate material 3 on the backstop 7 side, and the limit switch 23 at the position L4 is selected. When the detection signal of is input, the plate material 3 is taken out. Then, it can be seen that the plate material 3 can be taken out from between the die 1 and the punch 4 without the plate material 3 and the punch 4 interfering with each other.

Also, implementations using encoders instead of using multiple limit switches are also possible.

That is, in this case, an encoder capable of detecting the position of the ascending section of the punch 4 is provided, the detection signal of the encoder is input instead of the processing of step 205 ′, and this encoder detection value indicates the current bending operation. When the height lk of the plate material 3 on the backstop 7 side corresponding to the corner k that has been broken coincides, a process of shifting to the plate material removing process of the next step 207 is performed. In this case, as compared with the case where a plurality of limit switches are used, the punch rising position is continuously detected, so that the plate material can be taken out with higher accuracy and speed.

Although the limit switch detects that the punch has reached the required position in the embodiment, it is of course not limited to this and a sensor having a similar function can be used.

Similarly, in the embodiment, an encoder is used as a sensor for continuously detecting the punch rising position, but it is of course not limited to this, and a sensor having a similar function can be used. is there.

In addition, in the embodiment, the case where the upper table is applied to the press brake that rises and descends has been described, but the present invention is not limited to this, and bending work can be performed by raising and lowering the lower table. It can also be easily applied to press brakes.

〔The invention's effect〕

As described above, according to the present invention, the timing for picking up the work is accurately detected and calculated according to the working state of the work, and the work for picking up the work is started at this timing, so that the punch and the work always interfere. Work can be taken out safely and swiftly without causing any trouble. Therefore, according to the present invention, the safety of the press brake system can be significantly improved, the cycle time of the press brake system can be further shortened, and the work efficiency can be significantly improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a control system of an embodiment of a work take-out device of a press brake system according to the present invention, and FIG. 2 is a work take-out of a press brake system according to the present invention. Example of device Perspective view showing the appearance of the device,
FIG. 3 (a) is a perspective view showing a state where a work is inserted by the press brake robot shown in FIG.
FIG. 4B is a side view thereof, FIG. 4 is a side view showing how the punch is lifted when the work is bent by the press brake shown in FIG. 2, and FIG. Bending of the work is performed by the press brake of
FIG. 6 is a side view showing how the punch rises, FIG. 6 is a side view showing how the press brake robot shown in FIG. 2 takes out a work, and FIGS.
FIG. 10 is a diagram used to explain the arithmetic processing performed by the robot program creating apparatus shown in FIG. 1, respectively, and FIG. 9 is a flowchart showing the processing procedure performed by the robot program creating apparatus shown in FIG. 3 is a flowchart showing a robot program created by the robot program creation device shown in FIG. 1. 1 ... Die, 4 ... Punch, 6 ... Press brake body, 9 ... Press brake robot, 13 ... Robot controller, 16 ... Hand part, 19 ... Robot program creation device, 20 ... Press brake controller ,twenty two,
23 …… Limit switch.

Claims (5)

(57) [Claims] 1. A press brake main body that lowers a punch toward a die to bend a work, and after the bending, raises the punch to an original position, and the work is gripped by a hand. In a press brake system having a press brake robot that inserts a work between the die and the punch until it comes into contact with a back stop, and takes out the work after bending from between the die and the punch, Punch rising position detecting means for detecting the rising position of the punch, based on the processing conditions of the work, the height of the work on the backstop side after bending for each step, before the actual bending, Based on the output means of the punch rising position detection means and the calculation result of the calculation means, calculation means for calculating in advance, Is detected to have risen to a position corresponding to the upper end of the work on the backstop side after the bending work, and the work after the bending work is taken out from between the die and the punch from the detection time. A work take-out device for a press brake system, comprising: means for controlling a press brake robot. 2. The work take-out device for a press brake system according to claim 1, wherein the punch rising position detecting means is an encoder. 3. A work take-out device for a press brake system according to claim 1, wherein the punch lift position detecting means is a plurality of limit switches provided at predetermined intervals in a lift section of the punch. 4. A press brake body for lowering a punch toward a die to bend a work, and after bending, a press brake main body for raising the punch to its original position, and the work is gripped by a hand. In a press brake system having a press brake robot that inserts a work between the die and the punch until it comes into contact with a back stop, and takes out the work after bending from between the die and the punch, A sensor that detects that the punch has risen to a predetermined position, and based on the processing conditions of the work, the height of the work on the backstop side after bending for each step, before the actual bending, First calculation means for calculating in advance, the predetermined position, the punch rising speed after the predetermined position, and the calculation result of the first calculation means. Secondly, the punch rising time from when the punch reaches the predetermined position to when the lower end of the punch rises to a position corresponding to the upper end of the work on the back stop side after the bending is calculated. And a timer that starts when a detection signal is output from the sensor, and a time point when the rising time calculated by the second calculating means by the timer is measured, And a means for controlling the press brake robot so that the work is taken out from between the die and the punch. 5. A work take-out device for a press brake system according to claim 4, wherein the sensor is a limit switch.