JPH09155452A - Method and equipment for fitting die of sheet metal working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the human error, to reduce the set-up time, and to improve the productivity by achieving the positional setting making use of the movement of a back gage to fit dies for a work at the prescribed position. SOLUTION: An MMI part 6 of a numerical control device 5 receives a program to fit dies from a programming device 4, and transmits the dies setting data to a press brake control part 8. After transmission, the start is notified/ commanded to a line control part 7 to monitor the running condition, and after the dies are stopped at the dies setting position, the message is indicated on a display part to promote the dies setting. The line control part 7 gives the start command to the press brake control part 8 by the start command. The press brake control part 8 controls the movement of a shaft of a press brake 1 following the dies setting data transmitted from the MMI part 6.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a sheet metal working machine,
In particular, the present invention relates to a die mounting method and apparatus in a sheet metal working machine having a back gauge and / or a work handling robot.

[0002]

2. Description of the Related Art For example, in a sheet metal working machine such as a press brake, a sheet metal work is processed by a die (punch and die) attached to a predetermined position on an upper / lower table of the machine.

In the mounting of these molds, an operator conventionally measures a predetermined position in the lateral direction (x direction) of the table by using a measure or the like, and therefore the mounting position error is generally caused by individual differences. Is large, and if this error is large enough, the robot operation program will be modified more frequently during the machining process, such as by work handling or bending robots later, and it will take a lot of setup time and downtime will increase. The productivity will be reduced accordingly.

[0004] For example, in a working operation such as a place brake, generally, a repetitive operation of only one type of bending is rather rare, and a combination of plural kinds of sequence bending operations by so-called "step bend processing" is performed. In this case, for example, as shown in FIG. 8 as an example of arrangement of respective molds, 1 is a press brake, 2 is a bending robot, and each processing station No. 1 to No. 3 S _{1 to} S ₃ , a predetermined die (punches P _{1 to} P ₃ and dies D _{1 to} D _3
3 ) must be attached to the upper / lower table at each predetermined position in the x direction. In these cases, the mounting of all the molds requires a lot of setup time including the measurement of the major measure and the modification of the robot operation program, and the productivity is lowered accordingly.

As described above, when the die of the press brake is attached to the correct position bending portion, when bending is performed by using a robot, FIG. 9 is a perspective view of the main portion of the bending portion. As shown in an example, a mold (P, D),
It is primarily important that the position of the gripper 17 of the robot 3 that grips the work W is the same, but the conventional robot and material supply device are
At present, it is extremely difficult to obtain the set position accuracy required for regular bending, so it is necessary to consider this position accuracy error when creating a machining operation program for the robot. The actual teaching amount of the robot is corrected by measuring the actual error amount using the measure as described above using the actual processing machine and the material (work).

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the curved surface as described above, and the determination of the mold setting position, which is conventionally performed by an operator using a measure or the like, can be performed, for example, in the back position. By using the gauge or the x-direction transfer function of a work handling robot, the setup time can be reduced and production can be reduced by preventing the measurement time of each mold set position and the occurrence of human error. The purpose is to provide means for improving and gaining sex.

[0007]

Therefore, the present invention is intended to achieve the above object by adopting any one of the following methods / apparatuses of the following items: (1) Sheet metal work In a sheet metal working machine having a back gauge device for determining a working position, the sheet metal working machine is characterized in that the position is set by using a moving operation of the back gauge in order to mount the work working die at a predetermined position. How to install the mold.

(2) In a sheet metal working machine having a back gauge device for determining a working position of a sheet metal work, the back gauge is moved to the predetermined position in order to attach the work working die to the predetermined position, and the back at that position is moved. A mold mounting device for a sheet metal machine, comprising: a mold mounting programming means for contacting a gauge touch sensor to mount the mold; and a sheet metal working machine control means operated by this command.

(3) In a sheet metal working machine having a sheet metal work handling robot apparatus, in order to mount the workpiece work die at a predetermined position, the position setting is performed by using the movement operation of the head portion of the robot. A method of attaching a die to a characteristic sheet metal working machine.

(4) Handling of Sheet Metal Work In a sheet metal working machine having a robot apparatus, in order to attach the work working die to a predetermined position, the head portion of the robot is moved to the predetermined position, and the work gripper at that position is moved to the work gripper. A die attaching apparatus for a sheet metal machine, comprising: die attaching programming means for abutting and attaching the die, and this robot controlling means which operates according to this command.

[0011]

By the method or apparatus of the present invention as described above,
Since each die can be mounted with high accuracy, the need to change the data of the machining operation teaching program of the sheet metal working machine is reduced, and special tools, jigs, etc. are not required, and the setup time can be reduced. Therefore, the productivity can be improved.

[0012]

[First Embodiment]

(System Configuration) FIG. 1 is a system configuration block diagram of the first embodiment using the mold attachment position guide function by the back gauge of the press brake, and FIGS. 2 and 3 show the mold attachment operation sequence by the back gauge. An explanatory view is shown.

In FIG. 1, 1 is a press brake and 2 is a press brake.
Is a back gauge device, 3 is a bending robot, and 4 is
Is the programming device for this system. 5
Is a numerical control (NC) device, 6 is its man-machine interface (MMI) unit, 7 is a line control unit, and 8 is a control unit of the press brake 1.

(Function) The programming device 4 simultaneously creates a program for attaching each mold when creating a program for bending data for the press brake 1 and the robot 3. Upon request from the NC device 5, this die mounting program is simultaneously created. In response to a request from the NC device 5, this mold mounting program is transferred to the MMI unit 6. (Incidentally, instead of this transfer, a floppy disk (FD) may be transferred.) The MMI unit 6 of the NC device 5 receives the mold mounting program from the programming device 4 and transfers it to the press brake control unit 8. After transferring the mold matching data, after the transfer is notified / commanded to the line control unit 7 to monitor the operating state, after stopping at the mold mounting position, this message is displayed on the display unit (not shown), Encourage die attachment.

The line control unit 3 issues a start command to the press brake control unit 8 in response to the start command of the MMI unit 6. After this start command, the status of the pre-splash control 8 is checked and the MMI unit 6 is notified.

The press brake control unit 8 is configured to control the movement of the shaft of the press brake 1 according to the mold matching data transferred from the MMI unit 6.

(Operation) FIGS. 2 (a) to 2 (e) are explanatory top views of the mold attaching operation sequence by the back gauge section 2. FIG. FIG. 3 is an enlarged perspective view of a main part. FIG. 2 (a)
In the figure, 10 is a stretch member for each pair of back gauges 2, and 11 is a back gauge (touch) sensor attached to each end of the back gauge 2. In addition, 12 is a side frame of the press brake 1, 13
Is the upper table.

Step 1) First, in FIG. 1 (a), the back gauge 2 with the sensor 11 is moved in the x direction to the mold attachment position which is input to the NC device 5 in advance.

Step 2) Next, as shown in FIG. 2B, the back gauge 2 is moved to the die mounting position in the y direction.

Step 3) The MMI unit 6 shown in FIG. 1 displays a necessary message such as the mounting position for mounting the mold and the mold length on a display unit (not shown).

Step 4) Next, as shown in (c) of FIG. 3 and FIG. 3, the worker 14 adjusts the mold (for example, punch P) to the position of the back gauge sensor 11, and the mold fixing device 15 in FIG. The mold P is attached and fixed so that one end of the mold P contacts the back gauge sensor 11.

Step 5) Next, (d) so that the back gauge sensor 11 does not interfere with the attached mold P.
As shown in the figure, the sensor 11 is moved to the escape position in the x direction. The sensor 11 can also be removed during the actual bending process. Step 6) Finally, as shown in e), the back gauge 2 is retracted to the normal position in the y direction.

After step 7), the above steps are repeated to mount the respective dies at the respective processing stations.

(Other Back Gauge Usage Examples) In addition to the back gauge operation example, four other usage examples of the back gauge are shown in FIGS. 4 (a)-(d).

1) A method of using two back gauge sensors 11 for one die as shown in FIG.

2) For one die, as shown in FIG. 2 (b), a method of utilizing one side of the back gauge sensor 11 different from that in FIG.

3) A method of instructing the mold mounting position without moving the back gauge back and forth in the y direction as in the above-mentioned embodiment FIGS. 2 (b) and 2 (c). That is, FIG.
As shown in (c), the mold P is attached to the back gauge sensor 11 and the back gauge sensor 11 is moved.

4) Move the die mounting position by moving the back gauge up / down in the z direction. That is, as shown in FIG. 5D, the die P is attached by contacting the back gauge 2, the back gauge 2 is raised in the z-direction, and then the back gauge 2 is attached to the die mounting position x- of the next processing station. Move in the direction.

5) It is also possible to adopt a back gauge utilization mode other than the above 1) to 4). In the above example, the die is the punch P, but the same applies to the die D.

(Effect) By using the back gauge as described above, the die can be mounted with high precision, and therefore, when the robot bends, the data of the robot operation program need not be changed much. The setup time is short without the need for special tool jigs.

Second Embodiment (System Configuration) FIG. 5 shows a system configuration block diagram of a second embodiment using a mold attachment position guide function using the bending robot 3 of the press brake.

FIG. 5 is a block diagram of the system configuration of the first embodiment using the back gauge 2, corresponding to FIG. 1, and the same (corresponding) components in FIG. 1 are represented by the same reference numerals. Redundant explanation, 1 is a press brake, 3 is a bending robot, 4 is a programming device of this system,
Reference numeral 5 is an NC device, 6 is an MMI portion thereof, 7 is a line control portion, and 3a is a robot control portion.

(Function) The difference between FIG. 5 and FIG. 1 is that the presence brake control unit 8 in FIG.
Since the functions of the respective constituents of the programming device 4 and the line control unit 7 are the same as those described in the first embodiment, a duplicate description will be omitted and only the robot control unit 3a will be used. Describe the function.

That is, the robot controller 3a uses the MMI.
The axis of the robot 3 is moved according to the mold matching data transferred from the unit 6.

(Operation) FIGS. 6 (a) to 6 (c) are explanatory views of a mold attaching operation sequence by the bending robot 3.

Step 1) First, the gripper 17 of the robot head 16 of the bending robot 3 is moved to a predetermined die (for example, punch P) mounting position.

Step 2) As shown in FIG. 3A, the mold P is fixed to the mold fixing device 15 according to the position of the gripper 17.
(See Fig. 3).

Step 3) As shown in (b), the gripper 17 of the robot 3 is retracted in the x direction with respect to the mold P.

Step 4) The gripper 17 of the robot 3
In the z direction.

Step 5) As shown in FIG. 5 (c), move the robot 3 to the x position of the die mounting position of the next processing station.
Move in the direction.

Step 6) The robot 3 descends in the z direction.

Step 7) The gripper 1 of this robot 3
The next mold P ₁ is attached to the mold fixing device 15 in accordance with the 7th position.

Step 8) The above steps 1 to 7 are repeated for the following processing stations.

In the above example, the punch P is used as the die, but the same applies to the die D.

(Other Robot Usage Examples) 1) In addition to the robot operation example, FIG. 7 shows three other usage examples of the robot. (A), (b), (c)
The drawings show three examples in which different side surfaces of the gripper 17 of the robot head 16 are used for abutting the metal fitting P, and the shape of these robot grippers 17 is not limited.

2) The operation sequence when the robot 3 is moved to each mold setting position for the next processing station is shown below.

Step 1) Mount the mold.

Step 2) The robot retreats in the x direction.

Step 3) The robot retreats in the y direction.

Step 4) The robot moves in the x direction.

Step 5) The robot advances in the y direction.

Alternatively, by changing a part of the above-mentioned sequence, the robot is moved up to the above steps 3 and 5, respectively.

Step 5a) The robot descends.

It is also possible to change to the order of.

(Effects) By using the bending robot as described above, the accuracy is exactly the same as in the first embodiment using the back gauge, the change of the robot operation program is reduced, no special tool, no jig is required, and setup time is required. Various effects such as shortening of

[0056]

As described above, according to the configuration / method of the present invention, a back gauge or a work robot is used instead of the conventional method in which a worker uses a measure or the like to attach a die to a sheet metal working machine. Since it was done by using it, it is possible to set the setting position accurately in a short time,
Therefore, the modification of the machining work program can be reduced, and the setup time can be reduced to improve the productivity.

[Brief description of the drawings]

FIG. 1 is a system configuration block diagram of a first embodiment.

FIG. 2 is a diagram for explaining the operation sequence of the back gauge.

FIG. 3 is an enlarged perspective view of a main part of FIG.

FIG. 4 is a diagram showing another example of usage of a back gauge.

FIG. 5 is a system configuration block diagram of a second embodiment.

FIG. 6 is an explanatory diagram of a robot operation sequence.

FIG. 7 is a diagram showing another example of how the robot is used.

FIG. 8 is a diagram showing an arrangement example of each mold.

FIG. 9 is a perspective view of the main part of the bending process.

[Explanation of symbols]

1 Press brake 2 Back gauge 3 Bending robot 3a Robot control unit 4 Programming device 5 NC device 6 MM1 unit 7 Line control unit 8 Press brake control unit 10 Stretch 11 Back gauge sensor 12 Side frame 13 Upper table 14 Worker 15 Mold fixing Equipment 16 Robot head 17 Gripper P, P ₁ , P ₂ , P ₃ Mold (punch) D, D ₁ , D ₂ , D ₃ Mold (die) W Material (sheet metal work) x, y, z coordinates

Claims (4)

[Claims] 1. In a sheet metal working machine having a back gauge device for determining a working position of a sheet metal work, the position setting is carried out by using a movement operation of the back gauge in order to mount the work die at a predetermined position. A method for mounting a die of a sheet metal working machine, which is characterized in that 2. A sheet metal working machine having a back gauge device for determining a working position of a sheet metal work, in order to attach a work working die to a predetermined position, the back gauge is moved to the predetermined position and the back gauge at that position is set. A die mounting apparatus for a sheet metal machine, comprising: a die mounting programming means for abutting a touch sensor to attach the die, and a sheet metal working machine control means operated by this command. 3. A sheet metal working machine having a sheet metal work handling robot apparatus, wherein the position is set by using a movement operation of a head portion of the robot in order to mount the workpiece work die at a predetermined position. How to attach a die to a sheet metal processing machine. 4. In a sheet metal working machine having a robot for handling a sheet metal work, in order to attach a work working die to a predetermined position, the head portion of the robot is moved to the predetermined position, and the work gripper at that position is contacted with the work gripper. A mold mounting apparatus for a sheet metal machine, comprising: a mold mounting programming unit for contacting and mounting the mold; and a robot control unit which operates according to this command.