JP4460119B2 - Bending method and bending system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a bending method and a bending system.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there exists a bending system in which a workpiece is supplied to a press brake as a bending machine using a robot so that the workpiece can be positioned at a predetermined position.
[0003]
As shown in FIG. 11, when the workpiece W is bent by automatic operation using the robot 201, the workpiece W clamped by the robot gripper 203 is abutted against the press brake (not shown). An abutting device 205 for positioning the press brake to a predetermined bending position is provided. Since the abutting device 205 and the robot 201 are controlled by separate controllers, the operation is performed in different coordinate systems. Done.
[0004]
The robot 201 is provided with a robot gripper 203 that clamps the workpiece W so as to be movable and positionable in the X, Y, and Z axis directions of the robot coordinate system under the control of the robot controller.
[0005]
The abutting device 205 is controlled by a press brake control device so that the stretch 207 is moved in the L-axis direction (the same direction as the Y-axis direction) and the Z-axis direction, and the abutting portion 209 is in the longitudinal direction of the stretch 207. Along the X axis direction so as to be movable and positionable.
[0006]
[Problems to be solved by the invention]
By the way, in the conventional bending system, since the abutting device 205 and the robot 201 operate in different coordinate systems and do not have the same reference as a contact point, as a means for aligning each other, for example, teaching or the like There was a problem that actual matching was necessary.
[0007]
For example, as shown in FIG. 12, the robot 201 should have moved a predetermined amount of distance X so that the distance from the potentiometer 209 as the abutting portion of the abutting device 205 is L of the normal dimension. The distance from the potentiometer 209 is L ₀ There is a problem in that it cannot be positioned at the normal distance L.
[0008]
The present invention has been made to solve the above-described problems, and its purpose is to automatically set the position without the need to adjust the mutual coordinate system of the abutment device and the robot by positioning such as teaching. An object of the present invention is to provide a bending method and a bending system capable of performing bending.
[0009]
[Means for Solving the Problems]
The present invention has been made in view of the above-described problems. The workpiece is clamped by a robot gripper provided in a robot capable of supplying and positioning the workpiece to a bending machine. Provided in the bending machine By abutting against the abutting part of the abutting device, Work When positioning and bending, the abutment device Or Positioning one of the robot grippers at a predetermined reference position; When the other of the abutment device or the robot gripper is moved in the X-axis direction and the Y-axis direction, and the other is abutted from the X-axis direction and the Y-axis direction against the one previously positioned at the reference position The other of Detect the X and Y axis coordinates of Suddenly Guess Equipment Reference position and robot Gripper The relative positional relationship between the X and Y axis coordinates of the reference position is calculated, and the abutting is calculated based on the calculated relative positional relationship. Equipment Reference position and robot Gripper Set the X and Y axis coordinates of one reference position of the reference position coordinate system as a reference point and set the X and Y axis coordinates of the other reference position to the same coordinate system for this reference point A robot operation program and an abutment device operation program for a workpiece to be bent based on each reference point, and the robot and the abutment device based on the robot operation program and the abutment device operation program. The workpiece is bent by moving the workpiece.
[0011]
Further, a robot provided with a robot gripper capable of supplying and positioning a workpiece with respect to the bending machine and a workpiece clamped by the robot gripper to position the workpiece with respect to the bending position of the bending machine. The abutting device, the abutting X coordinate detecting device for detecting the X axis coordinate of the abutting device, the abutting Y coordinate detecting device for detecting the Y axis coordinate of the abutting device, and detecting the X axis coordinate of the robot gripper A robot X-coordinate detecting device, a robot Y-coordinate detecting device for detecting the Y-axis coordinate of the robot gripper, Positioning one of the abutment device or the robot gripper at a predetermined reference position; The abutting device Or Robot gripper To the other An arithmetic device that calculates the relative positional relationship between the X and Y axis coordinates of the abutting reference position of the abutting device and the robot reference position of the robot gripper at the time of abutting, and the relative positional relationship calculated by this arithmetic device, The X and Y axis coordinates of one reference position in the coordinate system of the abutting reference position and the robot reference position are set as reference points, and the X and Y axis coordinates of the other reference position are the same with respect to this reference point. A reference point setting unit that is set in accordance with the coordinate system, a robot program creation unit that creates a robot operation program for a workpiece to be bent based on the reference point, and an abutment against the workpiece to be bent based on the reference point An abutting program creation unit for creating an operation program for the device, and No It is characterized by that.
[0012]
Therefore Suddenly Since the relative positional relationship between the contact reference position and the robot reference position on the X and Y axes is grasped, the robot operation program and the contact operation program are based on one coordinate system of the contact reference position or the robot reference position. Since it is automatically created and registered for correction, the positioning accuracy of the robot with respect to the abutting device is greatly improved. Further, when the die is positioned using the above-described abutting device and attached to the press brake, the positioning accuracy of the robot with respect to the die is also improved.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of a bending method and a bending system according to the present invention will be described with reference to the drawings.
[0014]
Referring to FIGS. 3 and 5, for example, a press brake 1 as a bending apparatus according to the present embodiment includes side frames 3L and 3R which are erected, and upper front surfaces of the side frames 3L and 3R. An upper table 5 is provided, and a punch P is detachably mounted on an intermediate plate 7 serving as a punch mounting portion under the upper table 5. On the other hand, a lower table 9 is provided on the lower front surface of the side frames 3L, 3R. A die D is detachably mounted on the die mounting portion on the lower table 9.
[0015]
The press brake 1 is configured such that the workpiece W is bent by the cooperation of the punch P and the die D as a ram in which one of the upper and lower tables 5 and 9 is movable up and down. In the present embodiment, for example, the lower table 9 is configured to move up and down by a ram cylinder 11 (see FIG. 7).
[0016]
The press brake 1 includes, for example, a robot 15 as a work moving device that clamps the work W with a robot gripper 13 and automatically supplies and positions the work W with respect to the bending line of the press brake 1. The front side of the table 9 is provided so as to be movable in the left-right direction (X direction) in FIG. The robot 15 has a robot gripper 13 that can supply and position a workpiece W with respect to a desired bending line. The robot gripper 13 can move in the front-rear direction (Y direction) and the vertical direction (vertical direction in FIG. 4). And is movable in the Z direction).
[0017]
In this embodiment, the robot 15 is mounted on a base plate 17 that is integrally attached to a lower table 9 that can be raised and lowered.
[0018]
More specifically, the base plate 17 extends in the X-axis direction along the longitudinal direction of the die D, and the first moving table 19 is supported on the front surface of the base plate 17 so as to be movable in the X-axis direction. A pinion (not shown) that meshes with an X-axis rack 21 provided on the base plate 17 is rotatably provided on the first moving table 19 by a first motor 23. Since the first motor 23 is provided with, for example, a first encoder 25 (see FIG. 7) as a robot X coordinate detection device, the movement position of the first moving table 19 in the X-axis direction can be detected. it can. The first encoder 25 is connected to the control device.
[0019]
Further, the first moving table 19 is provided with a fan-shaped portion 27 whose upper side is enlarged in the Y-axis direction, and the upper portion of the fan-shaped portion 27 is higher than the rear side as shown in FIG. A rack member 29 is provided as an arcuate guide member that is curved so that the front side is lowered. A second moving table 31 that is movable in the Y-axis direction along the rack member 29 is supported on the rack member 29. A pinion meshed with the rack member 29 is provided on the second moving table 31 so as to be rotatable by a second motor 33. Since the second motor 33 is provided with, for example, a second encoder 35 (see FIG. 7) as a robot Y coordinate detection device, the movement position of the second moving base 31 in the Y-axis direction can be detected. it can. The second encoder 35 is connected to the control device.
[0020]
In addition, a lifting column 37 that is movable in the upper and lower Z-axis directions orthogonal to the moving direction of the second moving table 31 is supported on the second moving table 31. A rack in the vertical direction is formed on the lifting column 37, and a pinion meshing with the rack is rotatably provided by a third motor 39. Since the third motor 39 is provided with, for example, a third encoder 41 (see FIG. 7) as a robot Z coordinate detection device, the lifting column 37 is moved up and down by the driving of the third motor 39 and is moved up and down. The moving position is detected by the third encoder 41. The third encoder 41 is connected to the control device.
[0021]
When the second moving table 31 is moved to the front side along the rack member 29, the elevating support column 37 is inclined to the front side, and moves up and down obliquely. When the second moving table 31 is raised, the work W is separated from the lower table 9. Will function as follows.
[0022]
Further, an arm 43 extending in the Y-axis direction is appropriately fixed to the upper portion of the lifting column 37. A robot gripper 13 capable of gripping one side edge of the workpiece W is attached to the tip of the arm 43.
[0023]
More specifically, the robot gripper 13 is provided so as to be rotatable up and down around a B axis parallel to the X axis, and is provided so as to be rotatable around an A axis orthogonal to the B axis. . Further, a fourth motor 45 (see FIG. 7) for turning the robot gripper 13 around the A axis and a fifth motor 47 (see FIG. 7) for turning the robot gripper 13 up and down around the B axis. ) Is attached to the arm 43. The fourth and fifth motors 45 and 47 are connected to a control device to be described later as shown in FIG. 7 and, for example, a fourth encoder as a position detection device, similar to the first motor 23 described above. 49 (see FIG. 7) and a fifth encoder 51 (see FIG. 7).
[0024]
The robot gripper 13 includes an upper jaw 53 and a lower jaw 55 for clamping and unclamping the workpiece W. Since the upper and lower jaws 55 are supported by a rotating sleeve (not shown) that can rotate about the B axis so as to be rotatable, the workpiece W clamped by the upper jaw 53 and the lower jaw 55 is, for example, FIG. As shown in FIG. 2, the lens is swiveled in a large angle range so as to be inverted about the B axis.
[0025]
Further, as shown in FIG. 5, the press brake 1 has, for example, a protrusion as a workpiece positioning device for positioning the workpiece W gripped and moved by the robot gripper 13 of the robot 15 to a desired bending position. The abutting device 57 moves the back side of the lower table 9 in the left-right direction (X-axis direction), the front-rear direction (L-axis direction, the same direction as the Y-axis direction) in FIG. 5, and the vertical Z-axis direction in FIG. It is provided freely.
[0026]
More specifically, referring to FIG. 5 and FIG. 6, two support frames 59 extended in the L-axis direction on the back surface of the lower table 9 are synchronized with each other by a Z-axis abutment motor 61 (see FIG. 7). It can be moved up and down in the direction. As shown in FIG. 7, the Z-axis abutting motor 61 is provided with, for example, a Z-axis abutting encoder 63 as an abutting Z-coordinate detecting device, and is connected to the control device.
[0027]
A ball screw 67 that is rotationally driven in synchronization with each other by an L-axis abutment motor 65 is extended and supported in the L-axis abutment motor 65 on the two support stands 59. For example, an L-axis abutment encoder 69 is provided as a device. Note that the L-axis abutment encoder 69 is connected to a control device.
[0028]
A nut member 71 is screwed to each ball screw 67. A support member 73 is extended in the vertical direction above the nut member 71, and is extended in the X-axis direction above the two support members 73. A stretch 75 is provided.
[0029]
Accordingly, since the support frame 59 is movable in the Z-axis direction and the nut member 71 is movable in the L-axis direction by the rotational drive of the L-axis motor, the stretch 75 is moved in the L-axis direction and the Z-axis direction. It can be moved and positioned freely.
[0030]
Further, as shown in FIG. 5, the stretch 75 is provided with two left-side abutting devices 77 and right-side abutting devices 79 in the present embodiment, and the left-side and right-side abutting devices 77 and 79 are respectively provided. Independently movable in FIG. 5 in the left-right direction (X-axis direction; XL-axis and XR-axis). Accordingly, the distance between the left and right abutment devices 77 and 79 can be increased or decreased.
[0031]
Referring to FIG. 5, for example, the left abutting device 77 is provided with a butting base portion 81 guided by a stretch 75 so as to be movable and positionable in the X-axis direction. An abutting motor 83 is provided, and a drive shaft of the XL-axis abutting motor 83 is provided with a pinion 87 that meshes with a rack 85 extending in the X-axis direction on the back surface of the stretch 75. The XL axis abutting motor 83 is provided with, for example, an XL axis abutting encoder 89 as an abutting X coordinate detecting device, and the XL axis abutting encoder 89 is electrically connected to the control device.
[0032]
Since the left and right abutting devices 77 and 79 are symmetrical and have the same structure, the same members are denoted by the same reference numerals, and the XR shaft abutting motor 91 is provided at the rear of the abutting base portion 81 of the right abutting device 79. A pinion 87 that meshes with the rack 85 is provided, and the XR axis abutting motor 91 is provided with, for example, an XR axis abutting encoder 93 as an abutting X coordinate detection device, and is connected to the control device.
[0033]
A base portion 95 is fixed to each abutting base portion 81, and a potentiometer 97 as an L-axis gauging sensor, for example, is provided in the L-axis direction via an L-axis gauging LM guide (not shown). For example, an abutting pad 99 as an abutting portion for abutting the workpiece W is provided at the tip of the L-axis gauging LM guide. Therefore, the potentiometer 97 is a detector that detects the movement of the abutting pad 99 in the L-axis direction.
[0034]
Further, an X-axis proximity sensor (not shown) that detects an X-axis direction operation when the abutting pad 99 is pressed in the X-axis direction is attached to the base portion 95.
[0035]
Therefore, when the workpiece W comes into contact with the abutting pad 99, X and L gauges are performed, and it is detected that the workpiece is abutted against the abutting pad 99. For example, in the case of X gauging, FIG. In the direction of arrow A or arrow B, and in the case of L gauging, it is abutted from the direction of arrow C.
[0036]
Therefore, after the work W to be bent is clamped by the robot 15, the press brake 1 is moved so as to be abutted against the abutting device 57, and is positioned between the punch P and the die D. In the embodiment, the lower table 9 is moved up and down and the workpiece W is bent by the ram cylinder 11 in cooperation with the punch P and the die D. As the press brake 1, the lower table 9 may be fixed and the upper table 5 may be moved up and down.
[0037]
A control device 101 for controlling the robot 15 and the robot gripper 13, the abutting device 57, the ram cylinder 11 and the like is provided on the left side of the left side frame 3L in FIG.
[0038]
Referring to FIG. 7, in the control device 101, an input device 105 such as a keyboard as an input means for inputting various data to the CPU 103 as a central processing unit, and a display device such as a CRT that displays various data. 107 is connected.
[0039]
In addition, data such as CAD information such as a bending length, a bending angle, and a flange length is input from the input device 105 to the CPU 103 as bending information of the workpiece W obtained from a development view, a three-view drawing, a three-dimensional view, and the like. A memory 109 is stored.
[0040]
Further, the CPU 103 gives a command for moving and positioning the robot gripper 13 to a predetermined mold mounting position of the press brake 1 based on the mold layout information, the robot gripper information, the gripper reference plane information, and the gripper moving distance. Is connected.
[0041]
Further, the CPU 103 stores a robot program file 113 in which a robot operation program in which the operation of the robot 15 is set in advance based on the bending information of the workpiece W is stored, and an abutment program file 115 in which the operation of the abutment device 57 is preset. Is connected.
[0042]
Further, the CPU 103 includes an arithmetic unit 117 that calculates a relative positional relationship between the X and Y axis coordinates of the abutting reference position of the abutting device 57 and the X and Y axis coordinates of the robot reference position of the robot gripper 13, and this calculation. Based on the relative positional relationship between the two reference positions obtained by the device 117, one reference position of the abutting reference position and the robot reference position is set as a reference point, and the other reference position X, A reference point setting unit 119 for setting the Y-axis coordinates according to the same coordinate system is connected.
[0043]
Furthermore, the robot program creation unit 121 that gives an instruction to the CPU 103 to correct the operation of the robot 15 with respect to the reference point set by the reference point setting unit 119 and to perform correction registration in the robot program file 113; An abutting program creating unit 123 is connected to give an instruction to modify the operation program of the abutting unit with respect to the point and register the corrected program in the abutting program file 115.
[0044]
The CPU 103 is connected to a robot axis control unit 125 that controls each axis of the robot 15, and the first motor 23, the second motor 33, and the third motor 39 described above are connected via the robot axis control unit 125. The fourth motor 45, the fifth motor 47, and the first to fifth encoders 25, 35, 41, 49, 51 are connected.
[0045]
Further, the CPU 103 is connected to an abutting device axis control unit 127 for controlling each axis of the abutting device 57, and the XL axis abutting motor 83, XR described above is connected via the abutting device axis control unit 127. The shaft abutting motor 91, the L-axis abutting motor 65 and the encoders 63, 69, 89, 93 are connected.
[0046]
Based on the above configuration, the bending method will be described with reference to the flowchart of FIG. 1 and FIG.
[0047]
Since the robot 15 and the butting device 57 are configured as described above, the coordinate system of the robot 15 is the X-axis, Y-axis, and Z-axis coordinates as shown in FIGS. The coordinate system of the abutment device 57 is the XL axis, XR axis, L axis, and Z axis coordinates, which are independent of each other. In the embodiment of the present invention, each coordinate is converted into the same coordinate system. By setting the common reference point coordinates as much as possible, the positioning accuracy of the robot 15 with respect to the abutting device 57 is improved.
[0048]
A measurement gripper is attached to the robot 15 as the robot gripper 13. However, the robot gripper 13 whose dimensions are set in advance may be used. As shown in FIG. 2A, the robot gripper 13 is moved to the robot reference position whose X, Y, and Z coordinates are (0, 0, 0). In the present embodiment, the robot reference position is set as the reference point (step S1).
[0049]
The abutting pad 99 of the abutting device 57 is moved in the X direction until it comes into contact with the robot gripper 13 located at the robot reference position as shown in FIGS. 2 (A) and 2 (B). . That is, the abutment device 57 stops when the X-axis proximity sensor detects it (step S2).
[0050]
The relative position relationship of the X coordinate between the robot reference position and the contact reference position of the contact device 57 is calculated by the arithmetic device 117.
[0051]
For example, referring to FIG. 2B, the X coordinate distance from the robot reference position of the robot gripper 13 to the position where the abutting pad 99 of the left abutting device 57 contacts the robot gripper 13 is L. ₁ The distance of the X coordinate from the contact position of the abutting pad 99 and the robot gripper 13 to the abutting reference position of the abutting pad 99 is L ₂ Therefore, the X coordinate (L of the abutting reference position of the left abutting device 57 with respect to the reference point ₁ + L ₂ ) Is calculated by the arithmetic unit 117, and the relative position coordinate in the X direction of the calculated value is set by the reference point setting unit 119. This setting is similarly performed in the right abutting device 57 (steps S3 and S4).
[0052]
Next, the abutting pad 99 of the abutting device 57 is moved in the Y direction until it comes into contact with the robot gripper 13 located at the robot reference position as shown in FIG. That is, the abutting device 57 stops when the Y-axis proximity sensor detects it (step S5).
[0053]
Next, the relative position relationship of the Y coordinate between the robot reference position and the contact reference position is calculated by the arithmetic unit 117.
[0054]
For example, referring to FIG. 2D, the distance of the Y coordinate from the robot reference position of the robot gripper 13 to the position where the tip of the abutting pad 99 of the left abutting device 57 contacts the robot gripper 13 is L. ₃ The distance of the Y coordinate from the contact position between the contact pad 99 and the robot gripper 13 to the reference position of the contact pad 99 is L ₄ + L ₅ Therefore, the Y coordinate (L of the butt reference position of the left butt device 57 with respect to the reference point ₃ + L ₄ + L ₅ ) Is calculated by the arithmetic unit 117, and the relative position coordinate in the Y direction of the calculated value is set by the reference point setting unit 119. This setting is similarly performed in the right abutting device 57 (steps S6 and S7).
[0055]
The above steps S4 and S7 will be described together. As shown in FIG. 10, the robot reference position (0, 0) is an XY absolute coordinate (X ₁ , Y ₁ ), The XY absolute coordinates of the reference position of the left abutting device 77 are (X ₁ + L ₁ + L ₂ , Y ₁ + L ₃ + L ₄ + L ₅ ), And this coordinate is (X ₂ , Y ₂ ).
[0056]
Similarly, the XY absolute coordinates of the reference position of the right abutting device 79 are the same as in the case of the left abutting device 77 (X ₃ , Y ₃ ).
[0057]
As described above, the robot reference position (X ₁ , Y ₁ ), (X of the butt reference position of the left butt device 77 ₂ , Y ₂ ), The abutting reference position (X ₃ , Y ₃ ) Is set by the reference point setting unit 119.
[0058]
A robot operation program is created based on the reference point. That is, in the embodiment, the XY absolute coordinates (X ₁ , Y ₁ ) Is set as the reference point, and is reflected and corrected in the robot operation program set and registered in advance in the robot program file 113, and a new robot operation program is created and registered in the robot program file 113. (Step S8).
[0059]
An abutting operation program is created by the abutting program creation unit 123 using the above reference point as a reference. That is, the abutting reference position (X ₂ , Y ₂ ) And the butt reference position (X ₃ , Y ₃ ) Is reflected and corrected in a preset hitting operation program, and a new hitting operation program is created and registered in the hitting program file 115 (step S9).
[0060]
The abutting device 57 is moved and positioned in the X, Y, and Z directions based on the new abutting operation program in the abutting program file 115. For example, since the size and the bending position of the workpiece W to be bent are known in advance, the left abutting device 77 and the right abutting device 79 are used to position the workpiece bending position on the bending line of the mold. Can be moved. In FIG. 10, the XY absolute coordinates of the reference position of the left abutting device 77 are (X ₅ , Y ₅ ) And the XY absolute coordinates of the reference position of the right abutting device 79 are (X ₆ , Y ₆ ) (Step S10).
[0061]
The robot 15 clamps the workpiece W with the robot gripper 13, and the workpiece W is moved in the X, Y, and Z directions based on the robot operation program in the robot program file 113 and positioned at a desired bending position. For example, since the size and the bending position of the workpiece W to be bent are known in advance, the robot gripper is used to position the workpiece bending position on the bending line of the mold as shown in FIG. XY absolute coordinates of 13 robot reference positions (X ₄ , Y ₄ ).
[0062]
At this time, the upper end edge of the workpiece W in FIG. 10 is accurately abutted against the respective abutting pads 99 of the left and right abutting devices 77 and 79, and the workpiece W is caused to cooperate by the punch P and the die D. It can be bent. (Steps S11 and S12).
[0063]
As described above, since the relative positional relationship between the abutting reference position and the robot reference position on the X and Y axes is grasped, the robot operation is performed with one of the abutting reference position or the robot reference position as a reference point. Since the program or the abutting operation program is automatically created and corrected and registered, there is no need to adjust the mutual coordinate system of the press brake 1 and the robot 15 by positioning such as teaching as in the prior art. The positioning accuracy of the robot 15 with respect to 57 is greatly improved.
[0064]
Further, when the die is positioned using the abutment device 57 and attached to the press brake 1, the positioning accuracy of the robot 15 with respect to the die is also improved.
[0065]
In addition, this invention is not limited to embodiment mentioned above, It can implement in another aspect by making an appropriate change.
[0066]
【The invention's effect】
As can be understood from the description of the embodiments of the invention as described above, The present invention Since the relative positional relationship between the abutting reference position and the robot reference position on the X and Y axes can be grasped, one of the abutting reference position and the robot reference position coordinate system is used as a reference point as a reference point. A guessing operation program can be created automatically and registered for correction. Therefore, since the robot and the abutting device are moved based on the robot operation program or the abutting operation program, the positioning accuracy of the robot with respect to the abutting device is greatly improved. The positioning accuracy of the robot with respect to the mold can be improved even when the mold is positioned using the abutting device and attached to the press brake.
[Brief description of the drawings]
FIG. 1 is a flowchart showing a bending method according to an embodiment of the present invention.
FIGS. 2A to 2D are operation explanatory views of a robot gripper and a butting device.
FIG. 3 is a front view of a press brake as a bending apparatus used in the embodiment of the present invention.
4 is a left side view of the press brake of FIG. 3. FIG.
5 is a plan view of the press brake of FIG. 3. FIG.
FIG. 6 is a schematic side view of the abutting device according to the embodiment of the present invention.
FIG. 7 is a block configuration diagram of a control device.
FIG. 8 is a schematic plan view of a robot gripper and a butting device.
FIG. 9 is a schematic side view of a robot gripper and a butting device.
FIG. 10 is an explanatory diagram when a workpiece to be processed is positioned at a bending position by a robot gripper and a butting device.
FIG. 11 is a perspective view showing the relationship between a conventional robot gripper and a butting device.
FIG. 12 is a plan view showing the relationship between a conventional robot gripper and a butting device.
[Explanation of symbols]
1 Press brake
5 Upper table
9 Lower table
13 Robot gripper
15 Robot
23 First motor
25 First encoder (robot X coordinate detector)
33 Second motor
35 Second encoder (robot Y coordinate detector)
39 Third motor
41 Third encoder (robot Z coordinate detector)
57 Butting device
61 Z-axis abutment motor
63 Z-axis abutment encoder (abutment Z-coordinate detection device)
65 L-axis bump motor
69 L-axis abutment encoder (abutment Y coordinate detector)
75 stretch
77 Left side bumper
79 Right abutment device
83 XL shaft bumping motor
89 XL axis bump encoder (butt X coordinate detector)
91 XR shaft abutment motor
93 XR axis bump encoder (butt X coordinate detector)
97 Potentiometer
99 Butting pad (butting part)
101 Control device
113 Robot program file
115 Hit program file
117 arithmetic unit
119 Reference point setting section
121 Robot program creation part
123 Hit program creation part

Claims (2)

A workpiece is clamped by a robot gripper provided in a robot capable of supplying and positioning a workpiece to a bending machine, and the workpiece is bent by abutting against an abutting portion of an abutting device provided in the bending machine. When positioning and bending a workpiece with respect to the bending position of the processing machine,
One of the abutting device or the robot gripper is positioned at a predetermined reference position, and the other of the abutting device or the robot gripper is moved in the X-axis direction and the Y-axis direction to be positioned at the reference position in advance. the other of X when butted against the other from the X-axis direction and the Y-axis direction with respect to the one, by detecting the Y-axis coordinates, X of the reference position and the reference position of the robot gripper collision against device, Y Calculate the relative position relationship of the axis coordinates,
Based on the calculated relative positional relationship, the X and Y axis coordinates of one reference position in the coordinate system of the reference position of the abutting device and the reference position of the robot gripper are set as reference points and The X and Y axis coordinates of the other reference position are set in accordance with the same coordinate system,
Create a robot operation program and a butting device operation program for the workpiece to be bent based on each reference point,
A bending method characterized in that a workpiece is bent by moving the robot and the abutment device based on the robot operation program and the abutment device operation program. A robot equipped with a robot gripper capable of supplying and positioning a workpiece to a bending machine;
An abutting device for abutting the workpiece clamped by the robot gripper and positioning the workpiece with respect to the bending position of the bending machine;
An abutment X coordinate detection device for detecting the X axis coordinate of the abutment device, an abutment Y coordinate detection device for detecting the Y axis coordinate of the abutment device,
A robot X coordinate detection device for detecting the X axis coordinate of the robot gripper; a robot Y coordinate detection device for detecting the Y axis coordinate of the robot gripper;
One of the abutting device or the robot gripper is positioned at a predetermined reference position, and the abutting reference position of the abutting device when the other of the abutting device or the robot gripper is abutted against the one and the robot gripper An arithmetic unit for calculating the relative positional relationship between the X and Y axis coordinates of the robot reference position;
Based on the relative positional relationship calculated by this arithmetic unit, the X and Y axis coordinates of one reference position in the coordinate system of the abutting reference position and the robot reference position are set as reference points and A reference point setting unit for setting the X and Y axis coordinates of the other reference position in accordance with the same coordinate system;
A robot program creation unit for creating a robot motion program for a workpiece to be bent based on the reference point;
Bending system characterized that you have and a program creating unit butting creates an operation program of the device abutting against the workpiece to be bent on the basis of the reference point.

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