JP3522859B2 - Measuring method of bending angle of vendor and workpiece - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bender and a method for measuring a bending angle of a work. Bending angle measurement
It is related to the fixed method .

[0002]

2. Description of the Related Art In a conventional vendor, in order to measure a bending angle during bending, a sensor 103 such as a capacitance sensor is embedded in a die 101 as shown in FIG. 14 or irradiating the work W with the laser beam LB using the principle of triangulation as shown in FIG. 14, and the distance sensor such as the camera 105 scans the reflected light to determine the shape of the work W. After obtaining the angle, it was done.

However, when embedding a sensor in the die 101, it is difficult to embed it in the die 101 having a small V groove width, and it is generally expensive. Further, in the case of the method of scanning with laser light, the camera 105 is too large to measure the bending angle of the work W being bent by incorporating it into a mold. There has been proposed a method of mounting a to obtain a distance to a work (actual Kaihei 3-106209).

[0004]

However, in the method of mounting the angle sensor on the back gauge of the vendor to obtain the distance to the work, the surface roughness of the work is rough because only one point at the minimum distance is obtained. May be affected.

The object of the present invention has been made by paying attention to the above-mentioned conventional techniques, and it is possible to easily mount and to perform accurate bending angle measurement and bending.
To provide da .

[0006]

SUMMARY OF THE INVENTION The present invention is as described above.
It was made in view of the conventional problems, and the front-back direction of the workpiece
Is positioned with a back gauge for positioning
A punch and a die for bending bent workpieces,
Folding a work piece that has been bent by the punch and die
In order to measure the bending angle, sandwich the processed part of the work
Up and down on the back gauge to scan vertically
The distance from the reference point to the object
A sensor for measuring the separation and the bending angle of the work.
And an NC device, wherein the NC device is the reference point.
From the measured distance from the bending point of the workpiece to
The measurement points on both sides of the processed part of
Similar to this, the bending angle of the work from the straight lines on both sides obtained
Characterized by having an arithmetic unit for calculating degrees
Is .

[0007]

In order to achieve the above-mentioned object, the bend angle measuring method of the bender of the invention according to claim 2 cooperates with a punch and a die for bending a work, and a punch and a die in front of this punch and die. A bender provided with a robot for gripping and moving and positioning a work, and a back gauge behind the die for positioning the work in the front-rear direction. Move the work so that it is located within the measuring range of the sensor provided at the abutment of the back gauge, and then scan the bending part of the work up and down with the sensor to detect the shape of the work and Is to measure the bending angle of the workpiece.

[0009]

[0010]

[0011]

[0012]

[0013]

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below with reference to the drawings.

FIG. 3 shows a press brake 1 as a vendor.
And a robot 3 for handling the work is shown.

In the press brake 1, left and right side frames 5 having a C-shape are integrally connected by an upper frame 7 and a lower frame 9. A punch 11 is removably mounted on the lower end of the upper frame 7, and a die 13 is removably mounted on the upper end of a ram 15 which is movable up and down so as to face the punch 11. Further, the NC device 1 for controlling the press brake 1 on the front surface of the upper frame 7 and the robot 3 mounted in front of the press brake 1
7 is provided.

Therefore, the robot 3 is operated by the control of the NC device 17 to grip the work W and carry the work W into a predetermined position, and the NC device 17 controls the elevation of the ram 15 to move the punch 11 and the die 13. Work W by collaboration
Is to be bent.

In front of the press brake 1, a work handling robot 3 is installed. The robot 3 is attached to a base plate 19 integrally attached to the lower frame 9. This base plate 19
Is extended along the longitudinal direction of the die 13 (Y-axis direction) with a rack (not shown), and the robot 3 is moved in the left-right direction (Y-axis direction) by a Y-axis servo motor 21 equipped with a pinion that meshes with the rack. Moved and positioned. The Y-axis servomotor 21 has a position detecting means such as an encoder, and the position data is transmitted to the NC device 17.

The robot 3 has a fan-shaped member 23 whose upper side extends in the front-rear direction (L-axis direction), and an arc-shaped rack member 25 is attached to the upper part of the fan-shaped member 23. This rack member 25 has
A movable table 27 is supported so as to be movable in the L-axis direction.

An L-axis servomotor 29 having a pinion (not shown) meshing with the rack member 25 is provided on the moving table 27. The L-axis servomotor 29 has a position detecting means such as an encoder.

Therefore, by driving the L-axis servo motor 29, the moving base 27 moves along the rack member 25 in an arc in the L-axis direction, and the position of the moving base 27 in the L-axis direction is the L-axis servo motor 29. It is detected by the position detection device attached to the and is transmitted to the NC device 17.

The movable table 27 is provided with a column member 31 which can be raised and lowered in a direction normal to an arc along which the movable table 27 moves. The pillar member 31 includes a rack 3 in the vertical direction.
3 is formed, and a Z-axis servomotor 35 equipped with a pinion (not shown) meshing with the rack 33 is attached to the moving base 27. This Z-axis servo motor 35
Also, position detecting means such as an encoder is provided.

Therefore, the column member 31 moves up and down by the drive of the Z-axis servomotor 35, and the position in the Z-axis direction is detected by the position detection device provided in the Z-axis servomotor 35 and transmitted to the NC device 17. It

An arm 37 extending in the Y-axis direction is attached to the upper part of the pillar member 31, and the end of the arm 37 has a work clamper 3 capable of gripping one end of the work W.
9 is attached. The work clamper 39 is vertically rotatable about a rotation center shaft 41, and is horizontally rotatable about a rotation center shaft 43.

Further, the arm 37 is provided with a servo motor (not shown) which is rotationally driven about the rotation center shaft 41 and a servo motor (not shown) which is rotationally driven about the rotation center shaft 43. These servo motors are also provided with a position detecting device such as an encoder.

Therefore, under the control of the NC device 17, the Y-axis servo motor 21 moves and positions in the left-right direction (Y-axis direction) while the work W is held by the work clamper 39, and the L-axis servo motor 29 is driven. The robot 3 is moved and positioned by drawing an arc in the L-axis direction by the Z-axis servomotor 35, and the pillar member 31 is vertically moved and positioned by the Z-axis servomotor 35. Further, the arm 37 gripping the workpiece W is rotated and swung to rotate the workpiece. Position W at the processing position.

Referring also to FIG. 1, the press brake 1 has a back gauge 4 for positioning the work W.
5 is provided behind the die 13 (on the left side in FIG. 3) so as to be movable and positioned in the front-rear direction (L-axis direction).

The back gauge 45 is provided on the lower frame 9
Two parallel guides 47 are provided in the vicinity of the left and right ends of the lower frame 9 so as to project to the rear of the lower frame 9,
A beam 49 extends on the guide 47 in the left-right direction (Y-axis direction).

The guide 47 is provided with an L-axis motor 51, which is a moving means for moving the beam 49 in the L-axis direction, and a ball screw 53. The L-axis motor 51 rotationally drives the ball screw 53 to cause the beam to move. 49 moves in the L-axis direction. A rotary encoder 55 is attached to the L-axis motor 51, and the position of the beam 49 is detected.

On the front surface of the beam 49, a pair of abutments 57 which are movable in the left-right direction (Y-axis direction) along the beam 49.
Is provided. This pair of butts 57 is a beam 49.
A ball screw (not shown) is rotationally driven by the Y-axis motors 59 provided at both left and right ends of the position, and the position in the Y-axis direction is detected by a rotary encoder 61 attached to the Y-axis motor 59.

The abutment 57 has a Z-axis motor 63, which is moved in the Z-axis direction by rotationally driving a ball screw (not shown), and its position in the Z-axis direction is attached to the Z-axis motor 63. It is detected by the rotary encoder 65.

Therefore, the NC device 17 is operated by each motor 51, 5
By controlling 9, 63, the abutment 57 can be moved and positioned in the L-axis direction (front-back direction), the Y-axis direction (horizontal direction), and the Z-axis direction (vertical direction). In addition, encoders 55, 6 provided in the respective axis motors 51, 59, 63
NC device 1 by the servo mechanism which confirms the position with 1,65
7 accurately moves and positions to a predetermined position.

Further, as shown in FIG. 4, each abutment 57 is a camera as a distance sensor which can be pivotally positioned in the vertical direction (Z-axis direction) by a camera drive motor 67 controlled by the NC device 17. A camera 69 is attached so that the camera 69 can be avoided in a direction that does not interfere with the bending process. An encoder 71 is also attached to the camera drive motor 67, and the angle of the camera 69 is detected and transmitted to the NC device 17.

As shown in FIG. 4, the camera 69 is connected to the NC unit 17 via the camera controller 73. This camera 69 is a laser diode 75 which is a light source.
The laser beam LB from illuminates the mirror M1. The mirror M1 reciprocally rotates about the mirror rotation shaft 79 at a predetermined angle so that the mirror rotation motor 77 can scan the mirror M1.

The work W is irradiated with the reflected light from the mirror M1, and the reflected light from the work W is rotated by the same rotating shaft 7 as that of the mirror M1.
It irradiates the mirror M2 rotating around 9 and the reflected light is irradiated to the CCD line sensor 83 via the fixed mirrors M3 and M4 and the lens 81. The movable mirrors M1 and M2 rotate integrally, and the amount of rotation is detected by an encoder 85 provided on the mirror rotation shaft 79.

Therefore, the laser diode 75, the mirror rotation motor 77, the CCD line sensor 83, and the encoder 8
5 and the like are connected to the NC device via the camera controller 73.

In such a camera 69, the shape of the object is measured by performing the measurement based on the principle of triangulation described below while rotating the mirror rotation shaft 77 by the mirror rotation shaft 79 while scanning. is there.

Referring to FIGS. 5 to 7, in the measurement using the principle of triangulation, the laser diode 75 is the object W0.
The laser beam LB is emitted to the CCD line sensor 83, and the reflected light is emitted to the CCD line sensor 83 via the lens 81. As shown in FIG. 6, when the output peak of the CCD line sensor 83 is P1, as shown in FIG. 6, Z1 in FIG. 5, Z2 when the output peak is P2, and Z3 when the output peak is P3. It turns out that the distance is.

Therefore, by combining the mirrors M1 and M2 rotating around the mirror rotation axis 79 and the fixed mirrors M3 and M4, the object is scanned at a predetermined angle, and each scan is performed as shown in FIG. The distance from the reference point P0 at the point to the object can be measured, and the shape of the object can be detected by connecting the measured points.

Since the distance to the object detected in this way is the distance from the reference point P0, if the measurement points are connected,
Generally, it becomes a curve as shown in FIG. Therefore, conversion is performed using a DSP and the calculation unit 87 of the NC device 17 (see FIG. 4)
When each point is linearly approximated by the method of least squares, the shape shown in FIG. 9 is obtained, and the bending angle is obtained from this straight line.

Next, a bending method using the bending angle measuring apparatus will be described while explaining the procedure of measuring the bending angle based on FIGS. 2 and 10 to 12.

First, the robot 3 for work handling.
The work W gripped by the work clamper 39 of the die 13
Then, the back gauge 45 is brought into contact with the abutment 57 and positioned. Then, the die 13 is lifted up and bending is performed in cooperation with the punch 11 (step S1).

At this time, when the work W is bent up due to the processing, the work clamper 39 of the robot 3 is accordingly moved.
Moves up and down while rotating (arrow A in FIG. 10). Further, since the work W also jumps up as the die 13 rises, the camera 6 for bending angle measurement is instructed by the NC device 17 so that the work W does not hit the camera 69.
9 is rotated slightly upward to position and fix it.

The robot 3 is operated in response to a command from the NC device 17, and the work W is moved so that the processed portion of the work W is near the center of the measurement range of the camera 69 (step S2, FIG. 11).

In this state, the movable mirror M1 of the camera 69 is
By reciprocally rotating M2 about the mirror rotation axis 79, the machining portion is sandwiched to scan in the up-and-down direction (two-point left-shifting arrow in FIG. 11), and the distance to many points (for example, 256 points) of the bent portion of the work W Is calculated, and based on this, the calculation unit 87 approximates a straight line to obtain a bending angle (step S
3). At this time, the abutment 57 may be moved in the Y-axis direction as necessary, and the shape of the work W may be measured to measure the direction of the work W in the Y-axis direction (FIG. 1).
2). The bending angle of the workpiece W measured as described above is transmitted to the NC device 17.

The NC device 17 compares the measured bending angle with the target bending angle (step S4), and if the target bending angle is not reached yet, corrects the D value (step S4).
5) The additional bending is performed (step S6), but when the target bending angle is reached, the next work W is bent using the D value corrected using the data in the previous processing (step S7).

Bending is performed by repeating the above procedure.

According to the bending angle measuring apparatus and the bending method of such a vendor, the bending angle of the work W can be measured without embedding a sensor or the like in the die, so that the V groove of the die 13 is small. It is possible.

Further, since the camera 69 is attached to the abutment 57 of the back gauge 45, the L-axis and Y-axis by the NC device 17 are attached.
It is possible to move and position the axis and Z axis. Further, since the left and right abutments 57 can be individually moved and positioned in the Y-axis and Z-axis directions, if a camera 69 is attached to each of them, Y
The camera 69 can be separately positioned in the axial and Z-axis directions. Therefore, even if the work W has a notch, it can be dealt with.

Further, the robot 3 for work handling
In the case of using, since the processing portion of the work W can be moved within the measurement range of the camera 69 by the robot 3, the angle can be reliably measured.

Further, since the camera 69 has a scanning function inside, it is possible to quickly measure a large number of points and easily obtain the shape of the processed portion of the work W. Therefore, not only the bending angle but also the flange size can be easily measured by changing the program.

Further, by performing the measurement while moving the abutment 57 in the Y-axis direction, the passage of the work W in the Y-axis direction can be measured.

Since the shape is measured and the bending angle is obtained by linearly approximating the result by the least square method, the work W
An accurate angle can be obtained without being influenced by the surface roughness of the.

Further, it can also be used as a non-contact type back gauge butting by simply using it as a distance sensor.

According to the bending method using the bending angle measuring device of such a vendor, the work W in the bending process is processed.
Since the bending process is performed while measuring the bending angle of, the bending process can be performed at an accurate angle.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes. That is, in the above-described embodiment, the camera 69 itself has a function of scanning a predetermined angle inside the camera 69 and measuring distances at a plurality of points instead of rotating and scanning, but there is no such function. In the case of the camera 69, the same effect can be obtained by measuring the distance while turning the camera 69 itself under the control of the NC device 17.

Further, in the above-mentioned embodiment, the camera 69 is used as the non-contact type sensor for measuring the distance by using the laser beam, but it is also possible to use the contact type sensor.

If the press brake 1 has a gripper gripper, the camera 69 can be attached to it.

[0059]

As is apparent from the above description,
According to the present invention, during processing, the sensor attached to the butting of the back gauge detects the shape of the workpiece by scanning the bending portion of the workpiece in the vertical direction and measuring the distance to the workpiece at multiple points. To do. Thereby, the bending angle of the work can be measured from the detected shape. Further, since the sensor can be rotated in the vertical direction, it is possible to avoid interference with the work except when measuring the angle, and at the time of measurement, the sensor can be rotationally positioned so that the bent portion comes to the center of the measurement range.

[0060]

Further, according to the present invention , the punch in front of the die and the robot for bending the workpiece in cooperation with each other grips the workpiece and hits the back gauge above the die and behind the die. The work is positioned so that it touches, and after bending, the robot moves the work so that the bent part of the work is within the measurement range of the sensor, and the sensor scans the bent part up and down to detect the shape. The bending angle can be surely obtained.

[0062]

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of a bend angle measuring device for a bender according to the present invention, which is mounted on a back gauge.

FIG. 2 is a flowchart showing a flow of a bending method using the bend angle measuring device for a bender according to the present invention.

FIG. 3 is a side view showing a press brake as a vendor.

FIG. 4 is an explanatory diagram showing a structure and a control system of a camera as a sensor.

FIG. 5 is an explanatory diagram showing the principle of triangulation using a laser beam.

6 is a graph showing an example of the measurement result of FIG.

FIG. 7 is a diagram showing a state of scanning with a camera.

FIG. 8 is a graph showing an example of measurement results scanned by FIG.

FIG. 9 is a graph showing an example in which the measurement result is linearly approximated by the least square method.

FIG. 10 is a diagram in which a work gripped by a robot is bent.

FIG. 11 is a diagram showing a state in which a bending angle of a work is being measured.

FIG. 12 is a diagram showing a state in which the Y-axis direction of the workpiece is being measured.

FIG. 13 is a cross-sectional view showing a conventional die in which a sensor is embedded.

FIG. 14 is a diagram showing an example of measuring a bending angle using a conventional laser beam.

[Explanation of symbols]

1 Press brake (vendor) 3 robots 11 punches 13 dies 45 back gauge 57 Hit 69 Camera (sensor) 87 Operation unit W work

Claims (2)

(57) [Claims] 1. A workpiece (W) is positioned in the front-back direction.
Back gauge (45) for positioning and the positioned work
A punch (11) for bending the groove (W) and
The die (13) and the punch (11) and die (13)
Therefore, measure the bending angle of the bent work (W).
The upper and lower sides of the work (W) to sandwich it
On the back gauge (45) so that it scans in the direction
It is provided so that it can be rotated downward, and it is targeted from the reference point (P0).
Measure the distance to the object and measure the bending angle of the work (W)
A sensor (69) for determining and an NC device (17)
The NC device (17) is provided with the reference point (P0).
To a large number of points in the bent part of the work (W)
Measurement of both sides of the processed part of the work (W) based on distance
Approximate the points by a straight line, and use the straight lines on both sides
Equipped with a calculation unit (87) for calculating the bending angle of
Vendor characterized by being 2. A punch and a die for bending a work in cooperation with each other, a robot for gripping and moving and positioning the work in front of the punch and die, and a front-back direction of the work behind the die. A back gauge for positioning the workpiece, and after the bending work, the robot bends the work so that the bent portion of the work is positioned within the measurement range of the sensor provided at the butting of the back gauge. A bending angle measuring method for a bender, which comprises moving a workpiece, then scanning a bending portion of the workpiece in the vertical direction by a sensor to detect the shape of the workpiece, and measuring the bending angle of the workpiece from the shape.