JPH0796129B2 - Robot program creation device for press brake system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a press that creates a robot program for driving a press brake robot that operates to supply a work to the press brake and remove the work from the press brake. The present invention relates to a robot program creating device for a braking system.

[Prior Art] In a press brake, a process of changing an insertion portion of a work into the press brake is sequentially repeated to perform bending work to complete a product such as a box.

In this case, the work is gripped by the hand so that the gripped work is freely inserted between the die and the punch, and the work is bent by the press brake die and punch. A press brake robot is installed in the vicinity of the press brake for handling the process of taking out the work after bending from the die and the punch. The press brake robot controls the press brake as required. Is automatically supplied and the work is taken out from the press brake. As described above, in the press brake system having the press brake and the press brake robot, the work is roughly divided into bending by the press brake and handling by the press brake robot during the bending.

For work efficiency, it is desirable for the press brake robot to have a small number of work changes.

Therefore, in the press brake robot, once the work gripping position by the hand is determined, the work is inserted and taken out in various postures so as not to change the gripping position.

Here, as the insertion posture (take-out posture) of the press brake robot with respect to the press brake, as shown in FIG. 10 (a), the side facing the side of the work gripped by the hand (the side that is bent) is used as the press brake. The so-called forward bending posture in which it is inserted (removed from) and the so-called lateral bending in which the side orthogonal to the side of the workpiece gripped by the hand is inserted into (removed from) the press brake as shown in FIGS. There is a posture ((b) in the figure)
Shows the case where the right side of the work is gripped as viewed from the front of the press brake, and FIG. 7C shows the case where the left side of the work is gripped as viewed from the front of the press brake).

Now, once the shape of the finished product has been determined, the workpiece processing conditions for obtaining this finished product are uniquely determined, and in accordance with this, the above-mentioned pre-bending posture, lateral bending posture movement, or work-holding movement, etc. A robot program is created to make the press brake robot perform continuous operation, that is, handling.
It is driven according to the robot program (via the robot controller).

[Problems to be Solved by the Invention]

However, if the shape of the finished product is different, the handling performed by the press brake robot will be different accordingly. For this reason, it is necessary to create and prepare a robot program in which a series of handlings is described in advance for each type of finished product by an off-line programmer in advance. However, the shapes of finished products processed by press brakes are extremely diverse, and if a robot program was created for each type of finished product as described above, work efficiency would be impaired and software development would be extremely difficult. Labor is put into it, and the cost of doing so will increase significantly.

The present invention has been made in view of such circumstances, and an object thereof is to provide a robot program creation device for a press brake system that can reduce time loss and cost associated with creating a robot program.

[Means and Actions for Solving the Problems]

Therefore, in the present invention, a press brake body for bending a work by a die and a punch, and a work driven according to a robot program, gripping the work freely with a hand, and holding the gripped work with the die. In a press brake system having a press brake robot that freely inserts an insertion part between the punch and a workpiece after bending and takes out the workpiece from between the die and the punch, A storage unit that classifies the finished product into a plurality of types and stores a basic robot program for performing the series of handlings for each of the classification types, and selects the type of the processed finished product, and corresponds to the selection result and the selection result. Input means for inputting the processing conditions of the workpiece, and a seed of the processed product input to the input means. So that comprises a means for creating a robot program based on the corresponding basic robot program reads from the storage means, in the read basic workpiece machining conditions inputted to the robot program and said input means.

That is, in the present invention, it is noted that the handling of the press brake robot for all processed products is classified into some basic handling patterns. Therefore, the processed finished products are classified into a plurality of types, and a basic robot program that describes basic handling for obtaining various processed finished products is stored for each classification type.

On the other hand, the operator selects and inputs the type of the finished product and inputs the processing conditions for the work.

Then, the basic robot program corresponding to the type of the processed finished product that has been input is read, and the robot program is automatically created based on the read basic robot program and the input workpiece processing conditions.

〔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 robot program creating 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 work 3, and after the bending, punches the punch 3. 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 controlled by. In FIG. 2, the center of the die 1 and the punch 4 can be seen so that a back stop 7 disposed inside the press brake main body 6 for regulating the insertion position of the work 3 inserted between the die 1 and the punch 4 can be seen. Parts are omitted.

The press brake system consists of the press brake body 6 described above.
In addition to the above, a plurality of works 3 stacked on the work table ...
A single-sheet picking device 8 for picking up the sheets one by one with a suction pad,
During the handling work by the press brake robot 9, which grips the work 3 taken out by the single-sheet picking device 8, supplies the gripped work 3 to the press brake main body 6 through a series of handlings described later, and takes it out, When the work 3 is held again, a holding table 10 on which the work 3 is temporarily placed, and a carry-out table 11 on which the bent work 3 (finished product) is placed by the press brake robot 9. , Press brake body 6
NC device 12 for driving the press brake main body 6, the single-sheet picking device 8 and the press brake robot 9 to which data corresponding to the processed finished product to be obtained is input.
And a robot controller 13 to which the input data of the NC device 12 is transferred and which drives and controls the press brake robot 9 in accordance with the transferred contents. Here, the press brake robot 9 grips the work 3 by the hand portion 16 and inserts the gripped work 3 between the die 1 and the punch 4, and at the same time, bends the work 3 to 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.

On the other hand, 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.

As shown in the figure, between the NC device 12 and the robot controller 13, a robot program creation 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 is provided. It is interposed (see FIG. 1). The robot program creating device 19 is provided inside the robot controller 13.

As shown in FIG. 1, the robot program creating device 19 includes four types of finished products of the work 3 (fourth finished products).
See the figure; Finished product by rib bending 1 (bending only in the forward direction), finished product by rib bending 2 (bending in both forward and reverse directions), finished by box bending 1 (bending in the forward direction only) And a bending pattern storage unit 21 in which bending patterns to be described later, which indicate distinction of these various processed finished products, are stored. A handling pattern storage unit 22 that stores a basic robot program that describes a series of basic handling patterns for obtaining each type of processed finished product, and the leg length, bending angle, bending order, and thrust input to the NC device 12. Based on NC data such as padding, each process of machining work is classified into four types of same bending work (described later), and the number of times of bending of each same bending work is counted. Based on the stored contents of the bending pattern storage unit 21, the pattern calling unit 24 that calls the basic robot program corresponding to the bending pattern stored in the bending pattern storage unit 21 from the handling pattern storage unit 22, and the pattern calling unit 24. From the basic robot program called by the unit 24, NC data input to the NC device 12, and the job classification unit 25 that creates a robot program based on the classification and count results performed by the bending classification / bending number counting unit 23. It is configured.

On the other hand, the structure of the press brake robot 9 will be described. As shown in FIG. 2, the skeleton portion 14 is roughly arranged on the floor, and the arm having three joints is arranged above the skeleton portion 14. 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 an arm portion as shown in FIG. 3 (b).
It is movable in the direction of arrow A along with the rotation of the distal end joint 15 and is rotatable in the direction of arrow B by a required rotation mechanism portion as shown in FIG. 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, each movable part of the press brake robot 9 (the movable mechanism part of the finger 17, etc.) is a robot controller.
The work 3 taken out by the single-sheet picking device 8 is sandwiched between the fingers 17 and 18 by the required drive control by the work 13, and the work 3 is temporarily held.
The work brake 3 is mounted on the table 10 for changing the gripping position of the work 3 in order, and each side of the work 3 is inserted so as to be sequentially bent by the press brake main body 6 and taken out. It is possible to repeatedly perform the operation of placing the work 3 (finished product) ... In which the respective parts of the work 3 are bent in 6 on the carrying-out table 11.

Now, the above-mentioned handling operation is basically performed by bending the work 3 viewed from the hand portion 16 in the order of right side 3a (short side), left side 3b (short side), tip side 3c (long side), front side 3d (long side). 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 work 3 is bent, the side (front side 3c) opposite to the side (tip side 3c) that can be bent.
d) is gripped, the work 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. Such work will be referred to as pre-bending work. Even when the front side 3d of the work 3 is bent, the side to be bent (front side 3d) and the gripping position (tip side)
3c) will face each other, and the gripping position will be changed to insert in the same manner as in FIG.

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

Hereinafter, the contents of processing performed by the robot program creating device 19 of FIG. 1 will be described.

First, when operating the press brake system, the operator selects the type of processed finished product to be obtained,
NC of the selection result and leg length, bending angle, bending order, butting, etc.
Enter the data. This NC data is input to the robot program creating device 19.

Now, all finished products obtained by subjecting the work 3 to a series of bending processes as shown in FIG. 4 are classified into four types of patterns as described above. Therefore, these four types of patterns are called bending patterns, and each bending pattern is finished by rib bending 1 (bending only in the forward direction), finished by rib bending 2 (bending in both the forward and reverse directions), and box. The operator selects the finished product by bending 1 (bending only in the normal direction) or the finished product by box bending 2 (bending in both the forward and reverse directions), and the selected bending pattern is selected via the NC unit 12. It is stored in the bending pattern storage unit 21. In addition, as shown in the figure, a typical finished product by rib bending 1 (hereinafter referred to as a basic finished product) is
LIB1, the basic finished product by rib bending 2 is LIB2, the basic finished product by box bending 1 is BOX1, and the basic finished product by box bending 2 is BOX2.

Specifically, on the CRT screen of NC unit 12, these basic finished products LIB
1, LIB2, BOX1, BOX2 are displayed, and the operator judges which of the basic finished products to be processed is based on, and selects the judged basic finished product. The above-mentioned bending pattern is selected according to.

In the figure, the two-dimensional cross section in the longitudinal direction of the work 3 is shown in the horizontal direction of the paper, and the two-dimensional cross section in the lateral direction orthogonal to this is shown in the vertical direction of the paper.

By the way, one type of finished work product is obtained by sequentially bending the work 3 by the press brake main body 6 and handling by the press brake robot 9 during the bending work. Now the basic finished product
The procedure of handling by the press brake robot 9 until BOX1 is obtained will be described with reference to FIG.

As shown in the figure, 1) First, the work 3 is carried in. That is, the long side of the work 3 gripped by the single-sheet picking device 8 is gripped by the hand portion 16 and the work 3 is moved to the front of the press brake body 6.

2) At this point, the work is in the pre-bending work posture, so the work 3 is rotated 90 degrees to the left to take the side-bending work posture.

3) Next, the lateral bending work is performed. That is, the work 3 is inserted into the press brake body 6 with the right side of the work 3 viewed from the press brake body 6 being gripped. Then, the work 3 is bent by the press brake body 6. Processed products can be obtained like BOX 1a. After bending,
The work 3 is taken out from the press brake body 6.

4) Next, the work 3 after bending is rotated 180 degrees to the right so that the hand gripping position is on the left side when viewed from the press brake body 6.

5) Next, a lateral bending operation is performed. That is, the work 3 is inserted into the press brake body 6 with the right side of the work 3 viewed from the press brake body 6 being gripped. Then, the work 3 is bent by the press brake body 6. Processed products are obtained as in Box 1b. After bending,
The work 3 is taken out from the press brake body 6.

6) Next, the work 3 after bending is rotated 90 degrees to the left to take the posture for pre-bending work.

7) Next, pre-bending work is performed. That is, the work 3 is inserted into the press brake main body 6 with the side of the work 3 facing the side of the press brake main body 6 being held. Then, the work 3 is bent by the press brake body 6. Processed products can be obtained like BOX 1c. After bending, the work 3 is taken out from the press brake body 6.

8) Next, the holding is changed. That is, 7) above
The side opposite to the side gripped by is gripped by the hand portion 16.

9) Next, pre-bending work is performed. That is, work 3
The work 3 is inserted into the press brake main body 6 while holding the side opposite to the side gripped in 7) above. Then, the work 3 is bent by the press brake body 6. After bending, the work 3 is taken out from the press brake body 6. Then, the basic finished product BOX1 is obtained.

10) Then, the work 3 (finished product) is unloaded. That is, the basic finished product BOX1 is placed on the unloading table 11.

On the other hand, it can be seen that the handling by the press brake robot 9 until obtaining the finished product F shown in FIG. 6 can be basically performed in the same manner as the procedure of 1) to 10).

However, in this case, it is necessary to repeat the above-mentioned 7) pre-bending operation twice.

Similarly, the finished product G shown in FIG. 6 can be basically carried out in the same manner as the above steps 1) to 10). In this case, 3) and 5) the lateral bending work and 7) and 9). The pre-bending work of 1 may be repeated twice. Also,
The finished product H shown in the figure can also be obtained by omitting steps 8) and 9).

This basic finished product is based on the handling 1) to 10) (this is called the handling pattern of the basic finished product BOX1) performed by the press brake robot 9 before obtaining the basic finished product BOX1 by the box bending process 1 as described above. It is understood that other finished products F, G, H, etc. by the box bending process 1 can be obtained by appropriately repeating or omitting each step of the handling pattern of BOX1. Similarly, based on the handling pattern of the basic finished product LIB1, the handling pattern of the basic finished product LIB2, and the handling pattern of the basic finished product BOX2, other finished products by rib bending 1, rib bending 2, and box bending 2 Will be obtained.

Therefore, the handling pattern storage unit 22 of FIG.
In order to create a robot program for obtaining other completed products based on the handling patterns of the above basic completed products LIB1, LIB2, BOX1 and BOX2, these basic completed products LIB1,
A basic robot program (hereinafter simply referred to as a basic finished product LIB1, LIB2, BOX1 and BOX2 robot program) in which handling patterns of LIB2, BOX1 and BOX2 are described is stored.

Now, each step of the working work until one kind of finished product can be classified into the following four kinds of same bending work.

Here, as shown in FIG. 7, in the longitudinal cross section of the work 3, 0 is sequentially applied to each corner of the work 3 from “left”,
Identification numbers 1, 2, 3, ... Are given. Further, one side of the work 3 is referred to as "front" and the other side is referred to as "back".
Then, bending work 1 is performed such that the "back" of the work 3 is the upper surface and the "left" of the work 3 is butted against the back stop 7 to perform bending work.

-Bending work 2 With the "front" of the work 3 facing upward, the "left" of the work 3 is abutted against the back stop 7 to perform bending work.

-Bending work 3 With the "back" of the work 3 as the upper surface, the "right" of the work 3 is abutted against the back stop 7, and bending is performed.

-Bending work 4 With the "front" of the work 3 facing upward, the "right" of the work 3 is abutted against the back stop 7, and bending is performed.

When the work 3 is handled by the press brake robot 9, the working operation is performed in the following steps (for rib bending), for example.

(1) Repeat bending work 1 n ₁ times.

(2) Turn it over.

(3) Repeat bending work 2 n ₂ times.

(4) Change the grip (change the hand gripping position and flip the work 3 left and right), and turn it over.

(5) Repeat bending work 3 n ₃ times.

(6) Turn the inside out.

(7) Repeat bending work 4 n ₄ times.

By varying the number of bends n _{1 to} n ₄ in the above process, it is possible to obtain finished products of various shapes (by rib bending). For example, in the case of the basic finished product LIB2 shown in FIG. 7 (a), n ₁ = 1, n ₂ = 1, n ₃ = 1 and n ₄ = 1 are obtained, and the finished product I shown in FIG. In the case, n ₁ = 2, n ₂ = 2, n ₃ =
0, n ₄ = 1 and in the case of the basic finished product J shown in FIG. 7C, n ₁ = 0, n ₂ = 2, n ₃ = 0, n ₄ = 2. The values of these bending times n _{1 to} n ₄ are obtained as follows.

In other words, first, the contents of the NC data output from the NC device 12,
That is, each step of the machining work is divided into four types of the same bending work (bending work 1 according to the identification number (butting) of the corner of the work 3 hitting the backstop 7, the identification number of the bendable corner (bending order), and the bending angle. ~ 4). And in this classification, the number of bending operations 1 to 4
Count n _{1 to} n ₄ . The values of the bending times n _{1 to} n ₄ are determined by the following program.

For example, in the case of the finished product K shown in FIG. 7 (d), since the identification numbers are given to the respective corners as shown in the same figure, the following data are given as a sequence in the order of bending work.

・ Order of bending corner numbers mage [4] = {1,2,4,3} Order of bumping corner numbers tuki [4] = {0,1,5,4} ・ Order of bending angles deg [4 ] = {90, 90, 90, 270} However, the number in [] is the number of times bending is performed, and the sequence in {} is the order in which bending is performed. The bending angle is defined in the clockwise direction from the corner with the smaller number to the corner with the larger number, and the front and back of the plate can be discriminated from the bending angle. That is, "bending angle ≤ 180 degrees"
Is "front", "bending angle> 180 degrees" is "back". Bending at 270 degrees means bending the board 90 degrees with the backside. From the above, it can be seen that, for example, in the first step, bending is performed by abutting the corner 0 and bending the corner 1 at a bending angle of 90 degrees. That is, bending work 2 is performed in the first step.

In the same manner, whether or not the bending work 4 is performed in each step is determined. If it is determined that the bending work 1 to 4 in all steps is determined, the number of bending times n _{1 to} n ₄ can be easily counted. In the above, the case where only the short side of the work 3 is bent (rib bending) has been described, but when the long side is also bent (box bending), another cross section (workpiece) is used. The same classification and the number of times of bending n ₁ ′ to n ₄ ′ should be performed for the section (3) in the transverse direction).

The bending classification / bending number counting unit 23 performs the above processing.

The pattern calling unit 24 executes a process of reading the stored contents of the bending pattern storage unit 21 and reading the corresponding robot program from the handling pattern storage unit 22.

Next, the job creating unit 25 executes a process of creating a robot program suitable for the machining work to be performed this time based on the robot program read from the pattern calling unit 24.

Now, the contents stored in the bending pattern storage unit 21 are the box bending process 2
It is assumed that the robot program of the corresponding basic finished product BOX2 has been read, and based on this, the finished product L (4th
The process up to creating the robot program for obtaining the diagram (d) will be described.

First, the robot program of the basic finished product BOX 2 stored and stored in the pattern calling unit 24 will be described first. That is: Step 1 Perform lateral bending work. In this case, work 3
Bending operation 1 is performed in which the back side of the work 3 is abutted against the back stop 7 with the back side thereof facing upward. Then, the inside out is reversed.

・ Step 2 Perform lateral bending work. In this case, work 3
Bending work 2 in which the left side of the work 3 is abutted against the back stop 7 is performed with the table of above as the upper surface. Then, the holder is changed (the hand gripping position is changed, and the work 3 is reversed left and right), and then the work is turned upside down.

・ Step 3 Perform lateral bending work. In this case, work 3
Bending operation 3 is performed in which the back side of the work 3 is made to face upward and the right side of the work 3 is abutted against the back stop 7. Then, the inside out is reversed.

・ Step 4 Perform lateral bending work. In this case, work 3
Bending work 4 in which the right side of the work 3 is brought into contact with the back stop 7 is performed with the table of FIG.

The above is the bending program for the longitudinal cross section of the work 3. The following is a program for another cross section (short-side cross section) of the work 3.

・ Step 5 Move to pre-bending work. In this case, with the back of the work 3 as the upper surface, the work 3 is placed on the backstop 7.
Perform bending work 1 to abut the left side of the. Then, the inside out is reversed.

・ Step 6 Perform pre-bending work. In this case, work 3
Bending work 2 in which the left side of the work 3 is abutted against the back stop 7 is performed with the table of above as the upper surface. Then, the holder is changed (the hand gripping position is changed, and the work 3 is reversed left and right), and then the work is turned upside down.

・ Step 7 Perform pre-bending work. In this case, work 3
Bending operation 3 is performed in which the back side of the work 3 is made to face upward and the right side of the work 3 is abutted against the back stop 7. Then, the inside out is reversed.

・ Step 8 Perform pre-bending work. In this case, work 3
Bending work 4 in which the right side of the work 3 is brought into contact with the back stop 7 is performed with the table of FIG.

The above steps 1 to 8 are the robot program for the basic finished product BOX2.

On the other hand, the number of times the bending is repeated in steps 1 to 8 can be obtained from the input bending times n _{1 to} n ₄ (n ₁ ′ to n ₄ ′). In addition, the bending classification result of the bending classification / bending number counting unit 23, that is, the order ma of corner numbers to be bent, ma
ge, order of number of corners to be abutted tuki, order of bending angle From deg, it is possible to know which number of corners to abut and which number of corners to bend at which bending angle in what number of bending processes.

In addition, the leg length data input to the NC unit 12 and the above mage, tu
The shape and size of the work 3 in each process can be calculated from the ki and deg data, the work 3 can be bent into a desired shape from the calculation result, and the work 3 and the punch 4 do not interfere with each other. It is possible to easily create a program for work insertion operation and work removal operation by 16.

As a result, a robot program for the finished product L as shown in FIG. 8 is created.

Step 101 The same processing as in Step 1 above is performed.
In this case, since the bending number n ₁ is 1, only the operation of abutting the corner 0 of the work 3 and bending the corner 1 to 270 degrees is performed once.

Step 102 The same process as Step 2 above is performed.
In this case, since the bending number n ₂ is 2, the bending work 2 is 2
Repeated times. That is, hit the corner 1,
Bend corner 2 to 90 degrees, then abut corner 2 and bend corner 3 to 90 degrees.

Step 103 The same process as Step 3 above is performed.
In this case as well, as in step 102, the bending number n ₃ is 2, so the bending operation 3 is repeated twice. That is, the corner 7 is abutted, the corner 6 is bent at 270 degrees, and then the corner 6 is abutted and the corner 5 is bent at 270 degrees.

Step 104 The same processing as in Step 4 above is performed.
In this case, since the bending number n ₄ is 1, only the operation of abutting the corner 5 and bending the corner 4 to 90 degrees is performed once.

The above is the bending program for the longitudinal cross section of the work 3. The following is a program for another cross section (short-side cross section) of the work 3.

Step 105 The process is shifted to the pre-bending operation, and the same processing as in Step 5 above is performed. In this case, since the number of bends n ₁ ′ is 1, only the operation of abutting the corner 10 and bending the corner 11 to 270 degrees is performed once.

Step 106 The same process as step 6 above is performed.
In this case, since the number of bends n ₂ ′ is 1, only the operation of abutting the corner 11 and bending the corner 12 at 90 degrees is performed once.

Step 107 The same processing as in Step 7 above is performed.
In this case, since the number of times of bending n ₃ ′ is 0, the bending work 3 is not performed.

Step 108 Performs the same processing as Step 8 above.
In this case, since the number of bends n ₄ ′ is 1, only the operation of abutting the corner 14 and bending the corner 13 at 90 degrees is performed once.

The above is the robot program for the finished product L. The robot program created in this way is the robot controller
It is output to 13. Then, the robot controller 13 and the press brake controller 20 are operated according to the robot program, and drive-control the press brake robot 9 and the press brake main body 6. As a result,
The work 3 can be finally processed into the finished product L.

In the above, the example in which the robot program of the finished product L belonging to the box bending process 2 is created based on the robot program of the basic finished product BOX2 is described as another finished product belonging to the box bending process 2 (see FIG. It is clear that the robot program of ()) can be easily created based on the robot program of the basic finished product BOX2. In addition, based on the robot program of basic finished product BOX1, box bending 1
It is also apparent that the robot program of the finished product (see FIG. 4 (c)) belonging to the above can be easily created.

Further, the robot program of the finished product M (see FIG. 4B) can be easily created as follows based on the robot program of the basic finished product LIB2.

First, the robot program for the basic finished product LIB2 is as follows.

Step 11 Perform pre-bending work. In this case, the bending work 1 in which the back side of the work 3 is abutted against the left side of the work 3 with the back side of the work 3 facing upward is performed. Then, the inside out is reversed.

Step 12 Perform pre-bending work. In this case, bending work 2 is performed in which the front side of the work 3 is abutted against the back stop 7 with the front side of the work 3 facing upward. Then, the holder is changed (the hand gripping position is changed, and the work 3 is reversed left and right), and then the work is turned upside down.

Step 13 Perform pre-bending work. In this case, a bending work 3 is performed in which the right side of the work 3 is brought into contact with the back stop 7 with the back of the work 3 as the upper surface. Then, the inside out is reversed.

Step 14 Perform pre-bending work. In this case, a bending work 4 is performed in which the right side of the work 3 is brought into contact with the back stop 7 with the front surface of the work 3 facing upward.

As a result, a robot program for the finished product M as shown in FIG. 9 is created.

Step 111 The same process as Step 11 above is performed.
In this case, since the bending number n ₁ is 1, only the operation of abutting the corner 0 of the work 3 and bending the corner 1 to 270 degrees is performed once.

Step 112 The same process as step 12 above is performed.
In this case, since the bending number n ₂ is 2, the bending work 2 is 2
Repeated times. That is, hit the corner 1,
Bend corner 2 to 90 degrees, then abut corner 2 and bend corner 3 to 90 degrees.

Step 113 The same processing as in Step 13 above is performed.
In this case, since the number of bends n ₃ is 1, the operation of abutting the corner 7 and bending the corner 6 to 270 degrees is performed only once.

Step 114 The same process as step 14 above is performed.
In this case, since the number of bends n ₄ is 2, the corner 6 is abutted, the corner 5 is bent at 90 degrees, and then the corner 5 is abutted and the corner 4 is bent at 90 degrees.

The above is the robot program for the finished product M. The robot program created in this way is the robot controller
It is output to 13. Then, the robot controller 13 and the press brake robot 20 are operated according to the robot program to drive and control the press brake robot 9 and the press brake main body 6. As a result, the work 3 can be finally processed into the finished product M.

In the above, an example in which the robot program of the finished product M belonging to the rib bending process 2 is created based on the robot program of the basic finished product LIB2 has been described, but other finished products belonging to the rib bending process 2 (see FIG. It is clear that the robot program (see)) can be easily created based on the robot program of the basic finished product LIB2. In addition,
It is also apparent that the robot program of the finished product (see FIG. 4 (a)) belonging to the rib bending process 1 can be easily created based on the robot program of the basic finished product LIB1.

〔The invention's effect〕

As described above, according to the present invention, the robot program according to the machining conditions of the work is automatically created based on the plurality of robot programs describing the basic handling pattern performed by the press brake. The time and effort for creating a robot program for each finished product are saved, and work efficiency and cost are greatly reduced.

[Brief description of drawings]

FIG. 1 is a control block diagram of an embodiment of a robot program creating apparatus for a press brake system according to the present invention, and FIG. 2 is an external view of an embodiment of a robot program creating apparatus for a press brake system according to the present invention. 3A is a perspective view showing a state where a work is inserted by the press brake robot shown in FIG. 2, FIG. 3B is a side view thereof, and FIG. FIG. 5 is a diagram showing that the finished products processed by the press brake shown in FIG. 1 are classified into four types according to the type of processing work, and FIG. 5 shows the basic finished product of the box bending process 1 shown in FIG. FIG. 6 is a diagram used for explaining a handling pattern for obtaining the same, FIG. 6 is a diagram illustrating a finished product obtained by a handling pattern similar to the handling pattern shown in FIG. 5, and FIG. Figures used to describe the process of counting the number Bending Bending classified and shown in the drawing, FIG. 8 is
FIG. 9 is a diagram used for explaining a robot program of another finished product belonging to the box bending process 2 obtained based on the robot program describing the handling pattern of the basic finished product of the box bending process 2 shown in FIG. 4; Is a diagram used for explaining a robot program of another finished product belonging to the rib bending process 2 obtained based on the robot program describing the handling pattern of the basic finished product of the rib bending process 2 shown in FIG. FIG. 10 is a top view showing a work supply posture of the press brake robot with respect to the press brake. 1 ... Die, 4 ... Punch, 6 ... Press brake body, 9 ...
Press brake robot, 13 ... Robot controller,
16 ... Hand part, 19 ... Robot program creation device, 21 ...
Bending pattern storage unit, 22 ... Handling pattern storage unit, 23 ... Bending classification / bending number counting unit, 24 ... Pattern calling unit, 25 ... Job creation unit.

Claims (1)

[Claims] 1. A press brake main body for bending a work by a die and a punch, and a work which is driven according to a robot program to freely hold the work by a hand and hold the held work with the die. In a press brake system having a press brake robot, which is freely inserted between the die and the punch, and which carries out a series of handling operations after the bending work is taken out from between the die and the punch. Storage means for classifying finished products into a plurality of types and storing a basic robot program for performing the series of handling for each of the classification types, selecting a type of the processed finished product, and responding to the selection result and the selection result Input means for inputting the processing conditions of the workpiece, and the type of the processed finished product input to the input means A press brake comprising: a corresponding basic robot program read from the storage means; and means for creating a robot program based on the read basic robot program and the workpiece machining conditions input to the input means. System robot program creation device.