JPH08187515A - Program preparing device for robot handling material for plate bending machine - Google Patents

Abstract

PURPOSE: To reduce man-hour for preparing a program by preparing the operating programs for a robot and plate bending machine from input data from a shape/condition inputting means and data of operating characteristics of the robot and plate bending machine. CONSTITUTION: When the input of working condition, geometry and carrying-in and out condition is completed, variables are replaced by actual data in the pattern program in every stage by automatic operation. By this operation, the executive programs of a press brake PB and robot R are automatically prepared. This executive program of the press brake PB is sent to a press brake controller and the press brake alone is automatically operated with a robot controller. By this operation, the operation of the press brake PB is automatically measured, the position and speed of the robot R for following up automatically calculated, a follow-up operation program is automatically prepared and the executive program for the robot is completed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention supplies a work to a plate material bending machine such as a press brake, holds the work during processing, and keeps the work after bending. The present invention relates to a handling robot (hereinafter, simply referred to as a robot) for taking out a device for creating a program for driving the robot.

[0002]

2. Description of the Related Art Conventionally, as a robot program creating apparatus for a plate bending machine, for example, Japanese Patent Laid-Open No. 3-1189 has been proposed.
There is one described in Japanese Patent No. 21. This device classifies the finished products of the work into a plurality of types, and creates in advance a basic robot program for performing a series of handling from the work supply to the product removal for the classified finished products. A storage means for storing this program for each of the classified finished products, an input for selecting the type of the processed finished product, and inputting the selection result and the processing conditions of the work corresponding to the selection result Means and a basic robot program corresponding to the type of the finished product inputted to the input means from the storage means, and based on the read basic robot program and work machining conditions inputted to the input means. And a means for creating a robot program.

Thus, in the above apparatus, the program creator inputs into the NC of the press brake the length of the work side of the work, the bending angle, the bending order, etc., and a bending pattern called a basic finished product. The basic finished product is represented by a shape pattern that represents the cross-sectional shape of the product, and a basic robot program that allows the robot to handle each shape pattern is prepared. .

Therefore, the product shapes that can be selected are not fixed to various product shapes because the product shapes are fixed for each cross-sectional shape, and when adding the shape pattern for each cross-sectional shape, the design can be changed. Since it takes a person to register each shape pattern, it takes time to create a program, which is not suitable for high-mix low-volume production. There is a problem such as inconvenience that the creator makes a mistake in selecting a pattern.

[0005]

In view of the above-mentioned conventional techniques, the present invention provides a handling robot which supplies a work to a plate bending machine such as a press brake and takes out the work after bending. In the system, when creating the operation program for the robot and press brake, the target product shape is entered by combining the registered shapes for each machining side in which the handling pattern of the robot is set in advance. It is an object of the present invention to provide a program creating apparatus capable of creating a program corresponding to a wider range of product shapes, as compared with the conventional technology in which the above is fixed.

[0006]

SUMMARY OF THE INVENTION The present invention has been made for the purpose of solving the above-mentioned problems, and its constitution is from a work supply to a bending machine such as a press brake for a plate bending machine by a robot program. In a robot handling robot system that performs a series of handling operations until the subsequent work is taken out, the operation pattern of the robot and the plate bending machine is a preset cross-section of each machining edge for each machining edge shape set in advance. Storage means registered with the shape, shape input means for assigning the registered processed side shape to each side of the work and inputting the product shape,
It is provided with a processing condition of a plate bending machine for processing each side of the work, a processing process of each side of the work, handling data before and after the process, and condition input means for inputting product size data. However, the operation program for the robot and the plate bending machine is created from the input data from both the input means and the operation characteristic data of the robot and the plate bending machine.

[0007]

The robot and press brake execution programs are created by inputting from the shape input means and the condition input means in units of the work side of the work.
It is possible to automatically create an execution program corresponding to a wider range of product shapes.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will now be described with reference to the drawings. 1 is a side view of an example of a press brake to which an example of the handling robot of the present invention is applied, FIG. 2 is a plan view of FIG. 1, FIG. 3 is a rear perspective view showing an example of a handling attitude of a processed product, and FIG. 1 is a front view of FIG. 1, FIG. 5 is a plan view of FIG. 4, FIG. 6 is a cross-sectional view showing the shape of each processed side of the processed product of FIG. 3, and FIGS. Front view, Fig. 12 is the front view of the input screen for bending order, and Fig. 13 is Fig. 6
FIG. 14 is a plan view of each processed side of FIG.

1 and 2 are a plan view and a right side view showing an outline of a robot system to which the present invention is applied. In FIG. 1 and FIG. 2, a 6-axis vertical multi-joint type robot R is arranged diagonally to the front of the press brake PB, and the bottom surface of the work W is vacuum-sucked by a suction pad VP on the robot wrist. A gripping hand H is attached. The handling robot system of the work W includes the robot R, a material supply device, and a product unloading device (not shown).

The structure of the robot R shown in FIGS. 1 and 2 is as follows. That is, MB is a machine base of the robot R, A1 to A8 are constituent members mainly including the arm of the robot R, and S1 to S6.
Is a rotary shaft arranged in order between the respective constituent members A1 to A8, and this robot R has a rotary shaft on an arm A8 on the tip side thereof.
The arm A9 is extended through S6 and the extended arm
A9 is the arm on the tip side, and at the tip of the arm, there is a rotary shaft S7 that is orthogonal to the axis S6 and is parallel to the surface of the work W.
A hand H having a suction pad VP as a support means is attached, and the shaft S7 is provided with a drive source composed of a motor and a speed reducer as its drive source. Further, in the press brake PB, F is a frame, P is an upper mold, and D
Is the lower mold.

A plate-shaped wire composed of four sides, a long side and a short side.
When the work W is processed by the press brake PB, the work W is inserted between the upper and lower molds P and D so that the working side is parallel to the mold. When changing the working side of the work W, the robot R performs a reversing operation to change the posture of the work W so that the next working side can be inserted between the dies P and D. The reversing operation of each side to the processing posture is a reversal of the axes S6 and S7, or a combination of bending postures such as short side bending and long side bending. Hereinafter, each posture state will be described with reference to FIGS.

FIG. 3 is a perspective view showing a state in which the finished product WP, which has been processed, is leveled and held by suction with the hand H. The state of the hand H in FIG. 3 is assumed to be the same as the state in which the shaft S7 is reversed after the work W is adsorbed from above by the material supply device (not shown). Axis S7 (H in Fig. 4
In order to distinguish the position of the axis), the position of the axis S7 at the time of adsorbing the material is designated as H0, and the position obtained by reversing the axis S7 by 180 degrees from H0 as shown in FIG. Further, in order to distinguish the position of the axis S6 (T axis in FIG. 4), the state of the axis S6 in FIG. 3 is set to T0, and the state obtained by reversing 180 degrees from the position of T0 is set to T180. Therefore, FIG. 3 shows the state of H180 and T0. The names of the sides of the work W are as shown in FIG. 3, and the side on the left side when viewed from the arm A9 side is A.
L, the right side is AR, the opposite side is BF, and the front side is BB.

4 and 5 show the posture of the robot R during bending. The bending posture of the short side of the work W is AL, AR.
Is a posture of inserting and bending between the molds P and D. Work W
The long side bending posture is a posture in which the sides BF and BB are inserted into the molds P and D and bent. 4 supported in this position
When the side is bent normally or reversely, it is performed by combining the rotational positions of the shafts S6 and S7. Here, the forward bending means that in FIG.
In the box-shaped product WP of, when bending inside the box,
In addition, the reverse bending means the case of bending to the outside of the box in FIG. 3, respectively.

As shown in FIG. 3, the posture in which the side BF is bent forward in a state in which the work W is held by the hand H from the bottom is called TL3, and the combination of the postures of the axes 6 and 7 is ( Long side bending posture, H180, T0). The posture in which the BF side is reversely bent is called TL4, and the combination of postures of the axes 6 and 7 is (long side bending posture, H180, T180). Also, for the side BB, forward bending is TL1 (long side bending posture, H0, T180),
Reverse bending is called TL2 (long side bending posture, H0, T0). Regarding the side AL, TL5 (short side bending posture, H180, T0) for forward bending and TL6 (short side bending posture, H for reverse bending)
0, T0). Regarding the side AR, the forward bending is called TL7 (short side bending posture, H0, T180), and the reverse bending is called TL8 (short side bending posture, H180, T180). 6 (a)-(h)
Shows the processed cross-sectional shape and the direction of the hand H in the forward and reverse bending of each side. In FIGS. 6A to 6H, it is assumed that the molds P and D of the press brake PB are located on the left side of the drawing. 6 shows the state in which the work W processed by the suction pad VP is still adsorbed in order to show the difference in the direction of the front and back of the hand H, but the illustrated state shows each state during processing. It does not show the direction of the side with respect to the mold, or the posture of each side in forward bending and reverse bending.

Although not shown, the hand H incorporates a floating mechanism supported by an air cylinder in the plate thickness direction and the plate surface direction to position and bend the work W with respect to the press brake PB. The hand H and the work W in the follow-up operation for the jump of the work W during processing
It is possible to absorb the misalignment of the.

FIG. 7 is a patternized example of the basic cross-sectional shape of each machining side that can be selected in the program creation of the present invention. Further, the shape patterns illustrated in FIG. 7 are when the work W is in a state of being suction-supported from below by the hand H as shown in FIG. The shape pattern can be assigned to any of the four sides of the work W. The data of the shape patterns on each side include press-breaking process information necessary for bending the bottom surface of the work W with the hand H in the processing of each shape pattern, and the robot motion information. It is added to store the program information together.

In the press break process information, in addition to the bending order, the position and speed of each operation axis in the press break PB are described as variables determined from the input information by a function unique to the shape of each side. There is a program pattern. Further, the program information of the robot operation is obtained from the reversing operation part, the insertion of the work W into the mold, the positioning operation part, the follow-up operation part that follows the material jumping up during bending, and the work die after processing. External information such as a press command and a movement command in which the position and speed information of the robot R is described as variables determined by a function unique to the shape of each side based on the input information. Is a program pattern described by a signal input / output command with.

8 to 12 are explanatory views of an input screen when creating a program, and FIGS. 8 to 11 are explanations of an input screen and an input procedure for selecting a cross-sectional shape in units of machining sides. Fig. 12 and Fig. 12 show the bending order designation screen.
L, AR, and BF, BB correspond to the respective sides AL, AR, BF, BB of the work W described in FIG.

Next, the processing procedure for forming the processed product WP shown in FIG. 3 from the plate-like work W will be described with reference to FIG. The processed shapes of the sides of the work W in FIGS. 13 (a) to 13 (f) are as follows: the side AL is a positive bend once, the side AR is a positive bend twice, and the side BF is a forward bend 1. Bending 1 times, side BB is positive bending 1
It is a combination of a single bend consisting of a double bend and a reverse bend, and the angles are both 90 degrees. In order to describe the bending order of each of these bends, the side to be bent on each side is sequentially numbered from the outside. That is, each side AL1, AR1, AR2, BF1,
BB1 and BB2 (see FIG. 3). The bending order of each side is BF1, BB1, BB2, AL1, AR
1 and AR2 are performed in this order. Here, the work W is the side AL,
Since AR is the short side and sides BF and BB are the long sides, in order to bend the long side after bending the short side, molds P and D having lengths corresponding to the respective bending widths are prepared. Change the bending position of the long side and the short side in the mold longitudinal direction. Set the machining position for machining the long side as the eccentric position from the center of the press brake centered on the bending width.
1, the processing position for processing the short side is Z2.

The machining operation will be described below with reference to FIG. First, one work W is adsorbed by a material supply device (not shown). Next, in order to process the processing side BF1, TL3
Is performed to make the side BF in a positive bending posture. Subsequently, the side BF is inserted and positioned between the molds P and D at the Z1 position, the processed side BF1 is bent at 90 degrees, and the product is extracted from the mold. Here, the positioning is done by pressing the work end
The left and right back gauges BG1 and BG2 on the key side are brought into contact with each other, and the presence or absence of the contact is detected by a proximity sensor (not shown) installed on the back gauges BG1 and BG2. The position of the work W is changed and adjusted so that the end of the work W is detected. (See Figure 13 (a))

Next, a reversing operation to TL2 is carried out to bring the machined side BB1 into a reverse bending posture. Continue to set side BB to Z1
At the position, insert it into the mold and position it, and set the machining side BB1 to 90
Bend every time and pull out the product from the mold. (See Figure 13 (b))

Next, a reversing operation to TL1 is performed to bring the machined side BB2 into a positive bending posture. Continue to set side BB to Z1
At the position, insert it into the mold and position it, and set the machining side BB2 to 90
Bend and pull out the product from the mold. (See Figure 13 (c))

Next, a reversing operation to TL5 is performed to bring the machined side AL1 into a positive bending posture. Continue to Z2 side AL
At the position, insert it into the mold and position it.
Bend and pull out the product from the mold. (See Figure 13 (d))

Next, a reversing operation to TL7 is performed to bring the machined side AR1 into a positive bending posture. Continue to the side AR Z2
Inserted into the mold at the position and positioned, this processed side AR1
Bend to 90 degrees and pull out the product from the mold. (See Figure 13 (e))

Next, a reversing operation to TL7 is performed to bring the machined side AR2 into a positive bending posture. Continue to the side AR Z2
Insert it into the mold at the position and position it.
Bend every time and pull out the product from the mold. (See Figure 13 (f))

In the above processing, when the processing side AR2 is bent, the already bent processing side AR1 wraps around before the tip of the upper die P, so that when the upper die P rises after the bending, The work is raised at the same speed so that the side AR1 and the upper die P do not interfere with each other. Further, at the ascending stop position, the sides AR1 and AR2 that have turned around as shown in FIG. 14 are extracted from the upper mold P. Such extraction of the wraparound side from the mold P is referred to as gooseneck extraction.

After finishing the above-described six bending steps, the worked work W is carried out by the hand H to the product carrying-out device (not shown). The reversing operation between the 6 bending steps can be performed without changing the holding work of the work on the way, but if processing is performed without changing the holding work, the length of the working side becomes short when viewed from the center of the hand H, and the hand H is press-blended. There is a risk of interference with the key PB, but during the process in which the hand H interferes with such press brake PB, the work W is temporarily placed on a separate work temporary placing table (not shown). A step of inserting and shifting the suction position or switching the suction surface from the bottom of the work W to the front side is inserted.

In the present invention, the creation of a program for processing a product having a new sectional shape will be described with reference to the work W described in FIG. First, the machining shape to be applied to each of the four sides of the work W is designated, and the sectional shape is determined for each side. The shape that can be selected for each side is, for example, the shape registered in advance shown in FIG. 7. As for the designation method, as shown in Figures 8 to 11, the cross-sectional shape is directly drawn on the screen, after the drawing is completed, it is internally checked whether the drawn shape is a registered shape, or the display symbol of the shape is directly input. The input form does not matter as long as the shape can be specified, such as a method for selecting a display shape on the shape screen.

In the screen of FIG. 8, the side AL is a positive bend of 1
Specify the shape of the bending. Next, on the screen of FIG. 9, the shape of double bending of the normal bending is designated for the side AR. Next, on the screen of FIG. 10, the shape of the single bend of the normal bend is designated for the side BF. Next, on the screen of FIG. 11, the shape of reverse bending once bending and forward bending single bending is specified on the side BB.

After the designation of the bending shape of each side is completed in this manner, the bending order of each side for which the processing shape is designated is designated on the screen of FIG. For the bending order, enter the bending order in units of bending on each side. Bend side names are AL, AR, B
It is formed by a combination of reference numerals such as F and BB indicating each side and a numerical value (number) attached to the side within the same side, and this is used as the name of each bending step. Further, the number of the side within the same side represents the bending order within the side. The bending order within the same side is specified when the shape is registered in advance. The bending order within the same side in the embodiment is designated so that each of the processed shapes is sequentially bent from the outside of the side toward the inside of the side.

As for the bending order that can be specified on the bending order specification screen of FIG. 12, the bending order between each side can be specified, and the bending of another side can be inserted between the bendings within the same side. You can also specify. For example, in the case of the above example, the processing order is
Bend side BF1, BB1, BB2, AL1, AR1, AR
Although it was in the order of 2, the bending order of the bending side BF1 and AL1 was changed to the bending sides BB1, AL1, BB2, AR1, BF.
It is also possible to adopt a bending order of 1 and AR2.
However, the bending side BB1 must be processed before the bending side BB2, and the bending side ARI must be processed before the bending side AR2.

When the processing shape and the bending order of each side of the work W are determined as described above, the press brake corresponding to the processing shape designated for each side, that is, the bending cross-sectional shape. The program patterns of the PB and the robot R are called from the storage section, and the side information designated by the above-described machining shape input is automatically input to the side information section in the program of each pattern. Further, according to the designated bending order, an execution program for designating the execution order of each pattern program to which the side information is automatically input is automatically created. The program pattern of each side shape registered in the storage unit is stored for each shape as a set of pattern for each bending process step. For each pattern, when bending sides within the same side are sequentially bent, motion information is described in consideration of changes in side shape patterns. What is motion information?
Information about operations such as butting, bending, and pulling out the gooseneck.

The pattern of the single bending of the normal bending designated on the side BF is called from the storage unit and then the pattern of the first step.
The information unique to the side BF is automatically added to the side. The information unique to the side is the name of the bent side BF1, a series of handlings from insertion of the work to the press brake PB to removal, and robot posture such that the side BF is oriented in the forward bending direction with respect to the press brake PB. Information of TL3, posture T
This is the inversion operation information to L3. Similarly, for the first step of the side BB, the name of the bending side BB1 and the robot posture TL
2 information and reversing motion information to the posture TL3 are automatically given, and the name of the bending side BB2, robot posture TL1 information, and reversing action information to the posture TL1 are automatically given to the second step. . In the same manner, bend sides AL1 and A
Regarding R1 and AR2, the name of each bending side, robot posture information, and reversal information are automatically added to the pattern called from the storage unit.

When the machining shape pattern and the side and the bending order of each side are associated with each other and the program pattern of each process is prepared, next, the machining condition, the shape dimension, the carry-in and carry-out condition are set. input. The processing conditions are the processing position in the press brake (amount of eccentricity from the center of the mold, Z1, Z2, etc.), bending width of each process, bending angle, mold information, work material and plate thickness, name of hand used. ， It is also the information of holding patterns between each process. Here, the holding pattern change information is information of a holding pattern change operation to be inserted between the bending steps when it is necessary to change the suction position after each step and before the next step. The content of this information depends on the suction change position and the corresponding number of the pre-registered holding pattern. Changeover operation pattern
For example, the operation pattern corresponds to the case where the work is placed on the holding device and then the suction surface is changed to the back side, and the case where the work is shifted to another position on the same surface without changing the suction surface. There are motion patterns, etc.

As the shape dimension, the length corresponding to each side is input. The bottom dimension is the sum of the bottom lengths of the sides. That is, the short side direction is the sum of the base length of the side AL shape and the base length of the side AR shape, and the long side direction is the base length and the side BB of the side BF shape.
It is the sum of the base lengths of the shape. As the carry-in condition, the operation pattern when the work is received from the supply device and the information of the position to be supplied are input. For this supply operation pattern, input the corresponding pattern number from the pattern that receives the work at a fixed fixed position, the pattern that takes the work in the loading state in order from the top, etc. To select. What is supply position information?
It is information indicating the position and state of the work such as the position information of the supply pallet and the positioning position and inclination within the pallet. The carry-out condition is the pattern of the operation of placing the processed product on the carry-out device.
Enter the location information to carry out. This carry-out operation pattern is selected by inputting the corresponding pattern number from among patterns for placing products at fixed positions, patterns for loading products, and patterns for leaning. To do. The carry-out position information is information representing the position information of the carry-out pallet, the position and the state of the product such as the positioning position and inclination in the pallet.

When the input of the processing conditions, the geometrical dimensions, and the carry-in / carry-out conditions is completed as described above, the function program variables are automatically calculated in the pattern program for each process, It is replaced with real data. By this calculation, a press brake execution program and a robot execution program excluding the follow-up motion portion are automatically created from the pattern program. The automatically created press brake execution program is automatically transmitted to the press brake controller. After the transmission, the robot controller automatically operates the press brake alone. By this operation, the press brake operation is automatically measured and the position and speed for the robot to follow are automatically calculated.
A follow-up operation program is automatically created. As a result, the robot execution program is completed and the robot controller
Automatically sent to LA.

If the operating characteristic of the press brake is predicted in advance, the characteristic data is read from the operating characteristic storing section in the apparatus of the present invention, the operating position and the operating speed are automatically calculated, and the following operation program is executed. Since it is automatically created, it is not necessary to automatically operate the press brake alone. After the above conditions are input, both the press brake and the robot execution program are automatically created and automatically sent to each controller.

In the above description, the registered side shape can be specified in units of four sides, but when the side shape is specified for each side and the cross section and bending order are determined, one cross section pattern is formed. It is also possible for the creator to store. It is also possible to call the cross-section pattern from the storage unit and input another input condition to create another program. Also,
It is also possible to register a shape in which a plurality of shapes are combined, such as a combination of the sides AL and AR, as one shape, and a shape in which the bending order is fixed, as one pattern. If the bending order is fixed, the shape change within one shape can be known in advance,
This is because the motion pattern can be specified. Further, although the embodiment has been described with respect to a product having four sides, a product having an irregular shape such as a base having a triangle or a polygon having three sides or more than five sides has a dedicated input screen for three sides or five sides and each side. By registering the processing posture information of the robot for bending and the pattern program for each side, it is possible to automatically create a program in the same procedure as in the case of four sides.

[0039]

INDUSTRIAL APPLICABILITY The present invention provides a robot and a press blade.
Since an execution program for a bending machine such as a key can be automatically created only by inputting a shape and conditions in the device of the present invention, conventionally, each controller of the robot bending machine is controlled.
By directly inputting the program to the robot and teaching the robot, the number of man-hours required to create the program is greatly reduced, and the work content is simplified. Further, in the device of the present invention, since the input of the work shape of the work can be specified in the unit of the processing side, it is easy to create a program for a wider range of products as compared with the case where the specification can be made only in the unit of the cross section of the entire product. it can.

[Brief description of drawings]

FIG. 1 is a side view of an example of a press brake to which an example of a handling robot of the present invention is applied.

FIG. 2 is a plan view of FIG.

FIG. 3 is a rear perspective view showing an example of a handling posture of a processed product.

FIG. 4 is a front view of FIG.

5 is a plan view of FIG. 4 showing an example of long and short side bending postures.

6 is a cross-sectional view showing the shape of each processed side of the processed product of FIG. 3, where (a) is a normal bend of the side AL, (b) is a reverse bend of the side AL, and (c) is a side of the side AR. Forward bend, (d) reverse bend of side AR, (e)
Is a positive bend of side BB, (f) is a reverse bend of side BB, and (g) is a side BF.
And (h) is a cross-sectional view showing the cross-sectional shape and posture in the reverse bending of the side BF.

FIG. 7 is a front view of a screen exemplifying a processed edge pattern.

FIG. 8 is a front view of an input screen for a processed side shape of a side AL.

FIG. 9 is a front view of an input screen of a processed side shape of a side AR.

FIG. 10 is a front view of an input screen for a processed side shape of a side BF.

FIG. 11 is a front view of an input screen of a processed side shape of a side BB.

FIG. 12 is a front view of a bending order input screen.

FIG. 13 is a plan view of each processed side of FIGS. 6 (a) to 6 (h),
(a) is a positive bend of the side BF1, (b) is a reverse bend of the side BB1, (c)
Is a plan view of the side BB2 in normal bending, (d) is a side AL1 in normal bending, (e) is a side AR1 in normal bending, and (f) is a side AR2 in normal bending.

FIG. 14 is a side view showing the removal of the gooseneck.

[Explanation of symbols]

 A1 to A8 Components S1 to S6 Rotation axis R Robot PB Press brake W Work H Hand P Upper mold D Lower mold

Claims (3)

[Claims] 1. A robot handling robot system for performing a series of handling operations from a work supply to a plate bending machine such as a press brake to a work removal after bending by a robot program, wherein the robot and the plate bending are performed. A storage means in which the operation pattern of the processing machine is registered together with the cross-sectional shape of each processing side for each of a plurality of processing side shapes set in advance, and the registered processing side shape is stored in each side of the work. Shape input means for assigning and inputting product shape, processing conditions of plate bending machine for processing each side of work, processing process of each side of work, handling data before and after process, product size Condition input means for inputting data is provided, and the robot and the plate bending process are input from the input data from both the input means and the operation characteristic data of the robot and the plate bending machine. Program creating device of the plate bending machine for material handling robot is characterized in that so as to create a machine operation program. 2. The program creating device for a material handling robot for a sheet bending machine according to claim 1, wherein the condition input means also includes input means for work carry-in condition data and product carry-out condition data. 3. The material handling robot for a plate bending machine according to claim 1 or 2, wherein the operating characteristic data of the plate bending machine uses data sampled by actually operating the machine. Program generator.