JPH03165929A - Method and apparatus for creating action program for press brake robot - Google Patents

Abstract

PURPOSE:To automatically create an action program and to reduce manhour for creating the program by initializing various kinds of data of a press brake system and setting data of a flat plate material to be bent. CONSTITUTION:This device is provided with a system data holding part 5 for holding preset system data of the press brake system and a work data setting part 6 for setting each kind of work data of the flat plate material. Further,it is provided with a program holding part 7 holding a program creating program for creating an operation program and a read controlling part 8 for control light the read of a program creating program in accordance with a work data. Furthermore, it is provided with program creating part 9 for creating an action program in accordance with a system data. a work data and read program creating program creating program and an edit input part 10 which receives an edit input to a created program.

Description

[Detailed description of the invention] Industrial application field> The present invention relates to a method and apparatus for creating an operation program for a press brake robot, and more specifically,
The present invention relates to a method and apparatus for automatically creating a series of operation programs necessary for bending a flat plate material using a press brake robot.

Conventional technology> Press brakes have traditionally been used to bend flat material at predetermined positions at predetermined angles, and press brake robots have been arranged to carry the flat material into and out of the press brake. There is.

In addition, press brake robots with various shaft configurations can be used, but they all depend on the relative position to the press brake, the loading position of the flat material, the shape of the flat material, the number of bends, the order of bending, etc. It is necessary to set the optimal operating program.

However, if the creation of this operating program is entirely entrusted to a programmer, the number of man-hours required to create the program will increase significantly. Therefore, it is required to automatically create an operating program. Methods for automatically creating such a motion program include: ■ a method in which a motion pattern is fixed in advance and an actual motion program is created based on this motion pattern and preset data of the press brake system; ■ Most parts of the robot's movements are taught through teaching so that it can be applied to a special press brake robot that allows the press brake robot to follow the movement of a flat material during bending by controlling only one axis. A method has been proposed in which an operation program for the middle of folding is automatically created by simply creating an operation program and teaching the folding start state and folding end state for only the folding process.

Problems to be Solved by the Invention In the above method (■), since it is possible to create only a motion program based on a pre-fixed motion pattern, it is possible to solve the problem by changing the flange length of the flat plate material by only 2. However, even a change in the order of bending multiple flanges cannot be handled because it changes the movement pattern. In such cases, a programmer must create a new movement program. Because it will disappear,
It has the disadvantage of being extremely lacking in versatility.

In addition, in method (2) above, the man-hours required to create a program can be reduced by automatic programming during the bending of a flat plate material, but programming based on teaching is essential for other operations, such as loading and unloading operations. Therefore, there is the disadvantage that not only is it not possible to significantly reduce the number of man-hours for programming as a whole, but also there is the disadvantage that it cannot be applied to a press brake robot with a general axis structure.

Purpose of the invention> This invention was made in view of the above problems,
The purpose of the present invention is to provide a method and device for creating an operation program for a press brake robot that is extremely versatile and can easily and automatically create operation programs not only for folding and bending operations, but also for operations before and after bending. It is said that

Means for Solving the Problems> In order to achieve the above object, the method of creating an operation program for a press brake robot of the present invention is based on predetermined system data of a press brake system and for each type of flat plate material. A first step of automatically creating a flat material import program based on the work data set in , and based on the system data, work data, and direction data indicating the set bending direction of the flat material. The second step is to automatically create a program for re-grabbing the flat material using the press brake robot only when necessary, and the system data, workpiece
The third step is to automatically create a bending program for the flat plate material based on the data and angle data indicating the set bending angle of the flat plate material, and the number data indicating the number of times the flat plate material is bent, and the side to be bent of the flat plate material. a fourth step of automatically creating a repetition program that repeats only the third step or the second and third steps based on the indicated side data and the direction data; and a flat plate on which the necessary bending operation has been performed. Material press brake
This method includes a fifth step of automatically creating an unloading program for unloading from the robot, and allows the finally generated program to be edited except for the part that causes the flat plate material to be bent.

However, each step of automatically creating a program is preferably an editable program generation program.

In order to achieve the above object, the press brake robot operation program creation device of the present invention uses nine predetermined system data of the press brake system and work data set for each type of flat plate material. a first program creation means for creating an editable flat material import program based on the system data, work data and direction data indicating the set bending direction of the flat material, only when necessary; , a second program creation means for creating an editable program for re-grabbing the flat plate material by the press brake robot, and based on the system data, the work data, and the angle data indicating the set bending angle of the flat plate material, a third program creation means for creating a bending program for the flat plate material that can be edited except for parts directly involved in bending; number data indicating the number of times the flat plate material is bent; and side data indicating the side to be bent of the flat plate material. and a fourth program creation means for creating an editable repetitive program that repeats only the third program creation means or the second program creation means and the third program creation means based on the direction data, and and fifth program creating means for creating an editable unloading program for unloading the flat plate material that has undergone the bending operation 10 from the press brake robot.

However, it is preferable that each program creation means accepts an external change instruction to create a different program.

With the above method for creating an operation program for a press brake robot, flat material can be taken in based on predetermined system data of the press brake system and workpiece data set for each type of flat material. Automatically create programs, system data, work
Based on the data and the direction data that indicates the set bending direction of the flat material, a program to regrip the flat material by the press brake robot is automatically created only when necessary, and the system data, workpiece data, and settings are automatically created. A bending program for the flat plate material is automatically created based on the angle data indicating the bending angle of the flat plate material, and the number data indicating the number of times the flat plate material is bent, and the side data indicating the side to be bent of the flat plate material. Based on the above-mentioned direction data, a repeating program that repeats only the third step or the second and third steps is automatically activated, and the flat material that has undergone the necessary bending operation is put under a press brake. - By automatically creating an unloading program for unloading from the robot, a press brake robot operation program suitable for the desired press brake system and flat material to be bent can be created. Therefore, not only can the teaching work by the operator be eliminated, but also the versatility of press brake systems and flat plate materials can be significantly increased.

Further, since the flat plate material can be edited except for the part where the bending is to be performed, the versatility can be further improved.

In addition, if each step of automatically creating a program is an editable program generation program, by editing each step, an operation program suitable for the press brake system can be automatically created. be able to.

With the press brake/robot motion program creation device having the above configuration, the first program creation means can:
An editable flat material loading program is created, a second program creation means creates an editable program for re-gripping the flat material by the press brake robot, and a third program creation means directly bends the flat material. Create a bending program for flat plate material that can be edited except for the parts involved in
The program creation means creates an editable repetition program that repeats only the third program creation means or the second program creation means and the third program creation means, and the fifth program creation means creates an editable repetition program. Since the program is created, a series of operation programs from loading to unloading of the flat plate material can be automatically created, and the number of man-hours required for creating the program can be significantly reduced. Moreover, since the finally obtained Motion Pro 13 Durham can be edited to a considerable extent, its versatility for press brake systems and flat plate materials can be significantly increased.

If each program creation means accepts change instructions from the outside to create a different program, by giving change instructions to the program creation program from the outside, it is possible to can automatically create operating programs.

Examples> The details will be explained below with reference to the attached drawings showing examples. Explain.

Figure 6 is a schematic perspective view showing the structure of the press brake system, in which the press brake robot (2) is placed at a predetermined position that does not directly face either the front or side surfaces of the press brake (1). There is. In addition, (l1) is an upper mold, (12) is a lower mold, and (l3) is a material for temporarily supporting the flat plate material (3) carried into the press brake (1) in an adsorbed state. It is the supporting part.

Although not shown, a 14th back gauge is attached to the press brake (1) to measure the bending allowance, and the bending allowance can be adjusted based on the set input value from the outside. There is. However, as shown in Fig. 8, this material support part (13) can be adjusted in vertical position with the operating handle (13a), and rotates around the shaft (13b), so that it is positioned in front of the press brake (1). Preferably, the storage state along which the device is stored can be selected.

FIG. 7 is a perspective view showing an example of the press brake robot (2), in which the reciprocating arm (22) is supported reciprocally on a base (2l) of a predetermined length, and the reciprocating arm (22) ) provided at the tip of the first horizontal rotation shaft (23)
and a second horizontal rotation shaft (2) provided at the tip of the first arm (24) extending in a direction perpendicular to the first horizontal rotation shaft (23).
5) and a vertical rotation shaft (2
7> and a material gripping part <29> provided at the tip of the third arm (28) extending in the direction of extension of the vertical rotation axis (27).
and a plurality of suction heads (30>) provided at the tip of the material gripping part (29>).

15 The reciprocating arm (22) has a vertical upright portion (2
2a) and a horizontal arm portion (22b), and the horizontal arm portion (22b) is set to a length such that the tip thereof can directly face the front center portion of the press brake (1). Further, the first arm (24>, the second arm (2B) and the third arm (28) are the reciprocating arm (22>) necessary to maintain a predetermined moving speed of the flat plate material (3), respectively. It is set to the minimum length that can prevent a significant increase in movement speed.

FIG. 1 is a flowchart showing an embodiment of the method for creating an operation program for a press brake/robot according to the present invention. Receive data, relative position data, etc.
In step (2), based on the received data, an acquisition program is automatically executed to bring the material gripping part (29) into contact with the flat material (3), and to pick up the flat material (3) with the suction head (30) and then lift it up. 1 based on the direction of the first fold.
6. Determine whether it is necessary to invert the flat material (3). If it is determined that it is necessary to invert, in step (2), the taken-in flat plate material (3) is temporarily moved to the material support part (13) based on the received data.
), then stop suction by the suction head (30), then move the material gripping part (29) to the opposite surface of the flat material (3) and start suction by the suction head (30) again. A re-grip program is automatically created for this purpose, and it is determined in step (3) whether or not it is necessary to rotate the flat material (3). On the other hand, if it is determined in the above step (■) that there is no need to reverse the material, a program is automatically created to transport the flat plate material (3) to the vicinity of the press brake (1) in step (2), and the program is automatically created in step (2). Make a judgment. If it is determined in step (■) that it is necessary to rotate, a program for rotating is automatically created in step (2), and in step (2), the flat material (3) is placed on the press brake (1). Place the material between the mold (11) and the lower mold (l2), position it against the back gauge, move the material gripping part (29) following the bending operation by the press brake (1), and after bending, material(
3) Automatically create a program that makes it possible to take out the item. Conversely, if it is determined in step (2) that there is no need to rotate, the process of step (2) is performed as is. After performing the process of step (■), it is determined in step (2) whether or not all necessary folding has been completed, and if it is determined that the folding has not been completed,
In step [phase], it is determined whether or not it is necessary to invert the flat plate material (3), and if it is determined that there is no need to invert it, the process of step (2) is performed again. Conversely, if it is determined in step [phase] that it is necessary to reverse, it is determined in step ■ whether or not it is necessary to rotate, and if it is determined that it is necessary to rotate, step A program for rotating the flat plate material (3) is automatically created at @, a program for reversing the flat plate material (3) is automatically created at step (2), and the process of step (2) is performed again. On the other hand, if it is determined in step (2) that there is no need to rotate the motor 18 times, the process in step (2) is directly performed.

Furthermore, if it is determined that all the necessary bending has been completed in step (2), a program is automatically created to unload the flat plate material (3) from the press brake (1) in step (2), and a series of processing steps are performed. end.

Therefore, the system data determined at the time of installation of the press brake system is preset, and then, for example, the plate material (
3), the gripping position by the press brake robot (2), the flange dimensions for each side, the bending angle, and the processing order. Based on these setting data, the flat plate material ( 3) An operation program for the press brake robot (2) for bending can be automatically created. As a result, the number of man-hours required to create a program can be significantly reduced. In addition, press brake (1
) During the bending process, the automatically created motion program 19 can be edited, except for the corresponding portion, so that partial program changes can be easily handled. That is, it becomes easy to change a location where a problem occurs while performing step operation. Note that the division between editable parts and non-editable parts can be easily achieved, for example, by adding an identification symbol to the header part of the instruction, as shown in FIG.

Furthermore, in this embodiment, each step of automatically creating a program can be made editable,
In this case, by editing each step, an operation program corresponding to the editing can be automatically created.

Therefore, versatility can be significantly increased.

Embodiment 2 FIG. 4 is a block diagram showing an embodiment of the press brake robot operation program creation device of the present invention.
Predetermined system of press brake● system◆
A system/data holding unit (5) that holds data, a work/data setting unit (6) that sets work pieces 20 and data for each type of flat plate material, and a program creation program for creating operation programs. a read control unit (7) that controls reading of the program creation program based on the work data; and a read control unit (7) that creates the operating program based on the system data, work data, and the read program creation program. It has a program creation section (9) for processing the program, and an editing section (00) for accepting human input for editing the created program.

The program holding unit (7) holds a program corresponding to the process of ■■■■■■■ [Yes] in the flowchart of FIG. The readout control section 6) performs the determination operation corresponding to ■■■[phase]■ in the flowchart of FIG. 1, and selects the program creation program to be read next. The program creation section (9) creates a source program based on a program creation program using system data and work data manually, and edits each created instruction as a header section. An identification symbol is added to indicate whether or not it is permitted. The edit input section 0b) accepts manual editing only for instructions to which an identification symbol that allows editing is added. Note that the finally created operating program is stored in an external storage medium (not shown).

The operation of the press brake robot operation program creation device having the above configuration is as follows.

The system data holding unit (5) holds in advance system data such as various data on the press brake itself, various data on the press brake robot itself, and relative position data determined at the time of installation. and,
The program holding unit (7) holds in advance a program creation program for creating a flat plate material carrying-in program, a gripping re-clamping program, a turning program, a bending follow-up program, and a flat plate material carrying-out program.

Further, the work data setting section (6) includes, for example, a second
Hei 2 is set manually according to the menu screen shown in the figure.
2 External dimensions of plate material (3), press brake robot (
2), the gripping position, flange dimensions for each side, bending angle, and processing order are maintained.

After completing the above initial settings, readout control unit (8)
reads out a program for creating a flat material loading program from the program holding unit (7), and then reads the program from the program holding unit (7), taking into account the read data (relative position data, etc.) from the system data holding unit (5), and executes the program using the program creation unit (9). Create a flat plate material delivery program. Next, based on the data for the first bending in the work data setting section (6), the readout control section (8) determines whether re-gripping is necessary or not, and if it is determined that re-gripping is necessary, the flat plate is A program for creating a re-grasping program for re-grasping the material (3) is read from the program holding unit (7), and the program is transferred to the system data holding unit (5).
Read data from and work data setting section (6
) The program creation section (
9) Create a reloading program. On the other hand, if it is determined that re-gripping is not necessary, a program for creating a conveyance program for conveying the flat plate 23 material (3) to the vicinity of the press brake (1) is read from the program holding unit (7), and the system - A transport program is created by the program creation section (9) in consideration of the read data from the data holding section (5) and the read data from the work data setting section (6). Then,
Based on the data for the first bending in the workpiece data setting section (6), the readout control section G) determines whether or not the flat material (3) needs to be rotated, and if it is determined that the rotation is necessary; A program for creating a rotation program for rotating the flat plate material (3) is read from the program holding unit (7), and the program is stored in the system data holding unit (
A turning program is created by a program creation section (9) in consideration of the read data from 5) and the read data from the work data setting section (6). On the other hand, if it is determined that turning the flat material (3) is not necessary, or if a turning program is created, the material gripping portion (29) follows the movement of bending the flat material (3) by the press brake (1). ) is stored in the program holding unit (7) for creating the bending follow-up program 24 for moving the
A bending follow-up program is created by the program creation section (9) in consideration of the read data from the system data holding section (5) and the read data from the work data setting section (6).

In addition, an identification symbol indicating that editing is not possible is added to the instructions for moving the material gripping part (29) to follow the flat plate material (3) to be bent, in order to prevent interference, etc. be done. Thereafter, the readout control unit (8) determines whether or not all the bending of the flat plate material (3) has been completed based on the data for the next bending in the work data setting unit (6), and it is determined that all the bending has been completed. In this case, a program for creating an unloading program for unloading the flat plate material (3) from the press brake (1) is read out from the program holding unit (7), and the program is read out from the system data holding unit (5).
) and work data setting section (
The program creating section (9) creates an export program in consideration of the data read from the program 6), and the series of program 25 creating operations is completed. Conversely, if it is determined that the bending of the flat plate material (3) is not completed, it is determined whether the next bend is in the opposite direction and whether the next bend is on the side directly facing the press brake (1). The read control unit 6) determines whether or not it is the same. If it is determined that the next bend will be in the same direction, a program is created to create a turning program for rotating the flat plate material (3), and the press brake (1) follows the bending operation of the flat plate material (3). The program for creating a bending follow-up program for moving the material gripping part (29) is read from the program holding part (7) in this order, and the read data from the system data holding part (5) and the work piece are read out from the program holding part (7) in this order.
A turning program and a bending follow-up program are created in this order by the program creation section (9) in consideration of the read data from the data setting section (6). On the other hand, if it is determined that the next bend is in the opposite direction, a reversal program that inverts the flat plate material (3) on the condition that the next bend is determined to be the side directly facing the press brake (1). The program for creating the program 26 and the program for creating the re-grip program for re-gripping the flat plate material (3) are read out in this order from the program holding section (7), and the read data from the system data holding section (5) is read out in this order. In consideration of the data read from the work data setting section (6), the program creation section 0) creates a reversal program and a grip change program in this order. Also, if it is determined that the next bend is in the opposite direction, create a turning program that turns the flat material (3) on the condition that the next bend is not the side directly facing the press brake (1). , a program for creating a reversing program for reversing the flat material (3), and a program for creating a re-grabbing program for re-grasping the flat material G) from the program holding unit (7) in this order; A rotation program, a reversal program, and a grip change program are created in this order by the program creation section (9) in consideration of the read data from the system data holding section (5) and the read data from the work data setting section (6). .

27 Thereafter, program creation operations corresponding to the order of the bending operations are sequentially performed, and finally a predetermined bending program determined based on the workpiece data can be obtained.

The operation can be checked by performing a step operation based on the bending program obtained as described above, but if any inconvenience is found, the program can be partially changed using the edit input section 00). be able to.

Embodiment 3 FIG. 5 is a block diagram showing another embodiment of the press brake robot operation program creation device of the present invention. The difference from the embodiment shown in FIG.
The only difference is that an edit input section (7C) for editing the program creation program held in ) is added.

Therefore, in the case of this embodiment, as in the embodiment shown in FIG. By editing, an operation program corresponding to the editing can be automatically created. Therefore, versatility can be significantly increased.

Effects of the Invention> As described above, the first invention automatically creates an operation program by simply initializing various data of the press brake system and setting data of the flat plate material to be bent. Therefore, the number of man-hours required for creating a program can be significantly reduced, and since the created operation program can be edited, it has the unique effect of significantly increasing versatility with respect to the variety of flat plate materials and carriers.

The second invention has the unique effect of further increasing versatility since it is also possible to edit a program that automatically creates an operating program.

In the third invention, the operation program is automatically created just by initializing various data of the press brake system and setting the data of the flat material to be bent. This can be significantly reduced, and since the created operation program can be edited, it has the unique effect of significantly increasing versatility with respect to the variety of flat plate materials and carriers.

The fourth invention also has the unique effect of further increasing versatility, since it is also possible to edit the program that automatically creates the operating program.

[Brief explanation of the drawing]

Figure 1 is a flowchart showing an embodiment of the method for creating an operation program for a press brake robot according to the present invention, Figure 2 is a diagram showing an example of a menu screen for manually setting work data, and Figure 3 is an edit screen. FIG. 4 is a block diagram showing an embodiment of the press brake robot operation program creation device of the present invention, and FIG. A block diagram showing another embodiment of a brake robot operation program creation device, FIG. 6 is a schematic perspective view showing the structure of a press brake system, FIG. 7 is a perspective view showing an example of a press brake robot, FIG. 8 is a schematic perspective view showing the material bearing part of the press brake. (1)...Press brake, (2)...Press brake robot, (3)...
Flat plate material, (5)...System data holding section, (6
)...Work data setting section, (7)...Program holding section constituting the program creation means, (8)...Reading control section constituting the program creation means, 31 (9)...Program Program creation department that configures the creation means

Claims (1)

[Claims] 1. Automatically executes the loading program for the flat plate material (3) based on predetermined system data of the press brake system and work data set for each type of flat plate material (3). The first step is to create a press brake robot (2) only when necessary, based on the system data, work data and direction data indicating the set bending direction of the flat material (3).
The second step is to automatically create a program to re-grasp the flat material (3) based on the system data, work data, and angle data indicating the set bending angle of the flat material (3). The third step of automatically creating the bending program of 3), the number of times data indicating the number of times of bending of the flat plate material (3), and the bending program of the flat plate material (3).
) and a fourth step of automatically creating an iterative program that repeats only the third step or the second step and the third step based on the side data indicating the side to be bent and the direction data, and the necessary bending. a fifth step of automatically creating an unloading program for unloading the flat plate material (3) after the operation from the press brake (1); A method for creating an operation program for a press brake robot, which is characterized in that it can be edited except for the part that performs the operation. 2. The method for creating an operation program for a press brake robot according to claim 1, wherein each step of automatically creating the program is an editable program generation program. 3. System data holding means (5) for holding predetermined system data of the press brake system
, a work data setting means (6) for setting and retaining work data for each type of flat plate material (3), and importing of the flat plate material (3) that can be edited based on the system data and work data. A first program creation means (7) (8) (9) for creating a program, system data, work data and set flat plate material (
a second program creation means (7) for creating an editable program for re-gripping the flat plate material (3) by the press brake robot (2), based on the direction data indicating the bending direction in step 3); )(8)(
9), system data, work data, and angle data indicating the set bending angle of the flat plate material (3), which can be edited except for the parts directly involved in bending. ) third program creation means (7) (8) (9) for creating a bending program for
), number data indicating the number of times of bending of the flat plate material (3), side data indicating the side to be bent of the flat plate material (3), and the above-mentioned direction data, the third program creation means (7) (8)
(9) only, or second program creation means (7) (8)
)(9) and third program creation means (7)(8)(9)
and fourth program creation means (7), (8), and (9) for creating an editable repetition program that repeats
Fifth program creation means (7) (8) for creating an editable unloading program for unloading the flat plate material (3) that has been subjected to necessary bending operations from the press brake (1);
(9) An operation program creation device for a press brake robot, comprising: 4. The press brake robot operation according to claim 3, wherein each of the program creation means (7), (8), and (9) accepts an external change instruction to create a different program. Program creation device.