JPS6052470A - Automatic bending device for plate-like body - Google Patents

Abstract

PURPOSE:To prevent interference with a bending device by calculating, at the time of bending a workpiece between an upper and a lower pattern, a positional information of a predetermined point which has a predetermined relation with each bending point and extracting the workpiece in such a manner as the predetermined point passes through a standard point. CONSTITUTION:At the time of bending a workpiece WP, with previously determined bending points P1-Pe, through cooperation of a lower model 23 and an upper model 24, positional information for each bending point P and positional information for a predetermined point Q corresponding to the bending point P are sought. For example, a point positioned on the origin O of X-Z axis coordinate system is made a predetermined point Q2 corresponding to the bending point P2, while the predetermined point Q is set on a bisector of an angle of bending at the bending pont P and at a point distanced from the bending point P by one half of the distance between the lower pattern 23 and the upper pattern 24 and at distance R. Further, in case of extracting the workpiece WP between both patterns 23, 24, said workpiece WP is moved so that the predetermined position Q is positioned in the origin O of X-Z axis corrdinate system, and further the posture of the workpiece WP is controlled so that the bending point P is positioned on Z axis.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an automatic sheet folding device, and more particularly to a general-purpose automatic folding device for feeding, bending, and carrying out sheet sheets such as iron plates to a press brake type folding machine. This invention relates to a folding device.

Prior to the description of the prior art, press brake type bending machines and the like had been used to bend plate-shaped bodies such as iron plates, but all of these were controlled manually. Therefore, the work efficiency was very low and many workers were required.

Therefore, the present applicant previously proposed a blue automatic folding device that is equipped with a robot that cooperates with a press brake type folding machine and automatically folds a plate-shaped body. Such proposed automatic folding devices include, for example, JP-A-54-130463@ published on October 9, 1979;
80) Japanese Patent Application Laid-open No. 55-484 published on April 7th
No. 25, JP-A No. 55-54215 published on April 21, 1980, and
1980) Japanese Unexamined Patent Application Publication No. 1987 (1980) published on October 30th
-139121, etc. Especially in JP-A-5
No. 5-139121 discloses specific control of a robot.

All of these conventional automatic bending devices have a displacement mechanism, and use this displacement Lllll to automatically position the workpiece or plate-like object with respect to the bending machine, and sequentially bend predetermined portions ( Ku.

When such a bending process is completed, the displacement mechanism extracts the workpiece from between the upper mold and the lower mold.

However, in conventional folding devices, the workpiece is extracted by, for example, linearly displacing the workpiece, regardless of the shape of the folded workpiece. Therefore, the workpiece may interfere with the bending device, causing the workpiece to become deformed or
There were drawbacks such as damage to the bending device.

OBJECT OF THE INVENTION Therefore, the main object of the present invention is to provide automatic folding of a plate-shaped body that can extract a workpiece from between an upper die and a lower die without interfering with a press brake type folding machine.
The goal is to provide a

Summary of the Invention In summary, the present invention calculates positional information of each bending point on a plate-like body and position ml information of a predetermined point having a predetermined relationship with each bending point every time the plate-like body is bent. When removing the plate, the displacement mechanism is controlled so that each of the stored predetermined points sequentially passes through the predetermined reference points, thereby moving the plate into the upper mold. It is designed to be extracted from between the mold and the lower mold.

The above objects and other objects and features of the invention will become more apparent from the following detailed description with reference to the drawings.

DESCRIPTION OF EMBODIMENTS FIG. 1 is an external perspective view showing an automatic plate-shaped object folding device according to an embodiment of the present invention. First, the configuration of the displacement mechanism 100 for positioning a workpiece will be described. In this embodiment, the displacement machine #1100 is placed facing the front and rear of the press brake type bending mechanism 121, which will be described later. However, since these two displacement mechanisms have the same configuration, the following description will be made using the front displacement machine #1100. The displacement mechanism will be explained, and the explanation of the tangential displacement mechanism will be omitted. In the figure, two guide rails 1a and 1b are provided in parallel at both ends of the upper surface of a base 1. Two slide plates 2 are provided so as to be able to slide on these guide rails 1a and 1b.
t3 and 3 are placed.

Further, on the upper surface of the base 1, rods 4 and 5 in which wA spiral grooves are formed are arranged parallel to the guide rails 1at3 and 1b. Both ends of these rods 4 and 5 are rotatably supported, and hydraulic motors MY1 and MY2 are connected to one end of each rod. Rods 4 and 5 are therefore rotated by hydraulic motors MY1 and MY2.

Here, an engagement unit 6 is formed on the bottom surface of the slide plate 2. The rod 4 is arranged to pass through this retaining unit 6. A ball that engages with a spiral groove formed in the cassette 4 is housed inside the locking unit 6. That is, the bolt 4 and the engagement unit 6 form a so-called ball screw. Therefore, the locking units 1 to 6 and the slide plate 2 are movable in the direction of arrow Y according to the rotation of the rod 4. Similarly, on the bottom of the slide plate 3,
An engagement unit 7 is provided, which cooperates with the bolt 5 to form a so-called ball screw. Therefore, the locking unit 7 and the slide plate 3 are made movable in the τ arrow Y direction in accordance with the rotation of the shaft 5. Note that the relationship between pJ4 and the engagement unit 6 and the relationship between the rod 5 and the retaining unit 7 are not limited to ball screws, but may be, for example, a relationship between a male screw and a female screw, or a relationship such as a rank and a pinion. Yes'C is also good.

Guide rails 2a and 2b are formed in parallel at both ends of the upper surface of the slide plate 2. A column stand 8 is arranged so as to be slidable on the guide rails 2a and 2b. A column 9 is provided on the upper surface of the column stand 8.

On the upper surface of the sliding plate 2, a support 10 having a spiral groove is arranged parallel to the rails 2a and 2b.

Both ends of the cassette 10 are rotatably supported, and a hydraulic motor MX1 is connected to one end of the cassette 10.

The rod 10 is therefore rotated by the hydraulic motor MX1. Further, the rod 10 passes through the column 9. Inside the column 9, there are provided balls that engage with a spiral rR formed on a rod 10, and these balls and the rod 10 form a so-called ball screw. Therefore, the column 9 can be moved in the direction of the arrow X by rotation of the rod 10. Note that the mechanism for moving the column 9 may be other than the ball screw as described above.

On the other hand, guide rails 3a and 3b are provided on the upper surface of the slide plate 3, and the column stand 11 is arranged so as to be slidable on the guide rails 3a and 3b. A column 12 is provided on the upper surface of this column stand 11.

This column 12 is made movable in the direction of arrow X by rotation of a rod 13 in which a spiral groove similar to that of the shaft 10 is formed. Note that a hydraulic motor MX2 is connected to one end of the rod 13, and the rod 13 is rotated by this hydraulic motor MX2.

Hydraulic motors MZI and MZ2 are provided on the upper end surfaces of columns 9 and 12, respectively. Hydraulic motor 1ν1
11 is a grip support 1 provided on the side surface of the column 9;
There is a motor to move 4 in the direction of arrow 1. Similarly, the hydraulic motor MZ2 is a motor that moves the grip support 15 provided on the side surface of the ram 12 in the direction of arrow 1.

The gripping supports 14 and 15 are provided with gripping devices 16 and 17, respectively, for gripping a workpiece (not shown). These gripping devices perform gripping operations on workpieces by means of two claws (16aJ3 and 1611) provided at their tips. These claws are opened and closed by hydraulic cylinders built into the grip devices 16 and 17. Further, the grip supports 14 and 15 are each equipped with a hydraulic motor Mα1.
and Mα2 are provided. The hydraulic motor Mα1 is a motor for rotating the grip device 16 in the direction of the arrow α. Similarly, the hydraulic motor Mα2 is a motor for rotating the grip device M17 in the direction of the arrow α.

On the sides of the columns 9 and 12 where the grip supports 14 and 15 are provided, there are further supporter supports 18 (the supporter support on the column 9 side is not shown because it is hidden behind the column 9). provided. The rotational force of the hydraulic motors MS1 and MS2 is transmitted to the supporter support body on the column 9 side and the supporter support body 18, respectively. In order to transmit this rotational force, a transmission mechanism is provided, such as a combination of a spout and a chain. The supporter supporter on the column 9 side and the supporter supporter 18 are connected to the hydraulic motors Ms1t3 and MS1t3.
It is possible to move in the direction of arrow Z according to the rotation of 2. Further, two guide bars 198 and 19b extending in the direction of arrow 1 are attached to these support bodies in parallel. These guide bars (19atj and 19b) are associated with a movable supporter 20. That is, the supporter 20 is provided with two holes;
Guide bars 19a and 19b are inserted through these holes.

Further, the rotational force of a hydraulic motor Ml (for example, a Tanabata motor provided on the supporter support 18, not shown in the drawings) is transmitted to the supporter 20 via a transmission mechanism formed by a combination of a sprocket and a chain. ing. Therefore, the supporter 20 moves in the direction of arrow i according to the rotation of the hydraulic motor M1. This supporter 20 is for supporting the workpiece so that it does not warp when the workpiece is bent.

As explained above, in the displacement 611100, the configuration of the left half (half including column 9) and the configuration of the right half (half including column 12) are almost symmetrical. When grasping and positioning the soak piece, the configuration of the left half and the right half are synchronized.
[Controlled to move.

It should be noted that the displacement mechanism 1oo is not limited to the one shown in FIG. 1, and that various other mechanisms are possible.

Next, the configuration of the press brake type folding 11!21 for folding the workpiece positioned by the displacement machine *i oo will be explained.

This press-brake folding 121 includes a bed 22 on which an R-shape 23 is mounted with its mold groove facing upward. An upper mold 24 having a cutting edge facing the mold groove of the lower mold 23 is attached to the ram 25. The raising and lowering of this ram 25 is controlled by an rIIJw device which will be described later. Note that a plurality of lower molds 23 and upper molds 24 are attached, each having a different mold groove or cutting edge shape, and are configured so that any lower mold and upper mold can be selected as needed. You can leave it there.

Note that the above-mentioned displacement machine 111100 may be provided only on one side of the above-mentioned press brake type bending machine (1121).

FIG. 2 is a schematic block diagram showing an electric circuit according to an embodiment of the present invention. At J3 in the figure, the CPU 26 is connected to a RAM 29 through a bus 27. The ROM 28 stores, for example, an operating program for the CPU 26. It t＼M 29 is C
This is used to store data necessary for calculation or control in the PU2G. A console 30 is connected to the bus 27. This console 30 is an IC device for remotely controlling the press brake type folding unit 1i3I21, the displacement mechanism 100, etc., or performing a teaching operation for automatic folding, and includes a CRT display 3Ua, a keyboard 34b, and the like. Information or data entered via the keyboard 3011 is stored in the RAM 29 via the bus 21, and
C1] given to U20. Then, the console 30 causes the CRT display 30a to display data entered manually from the keyboard 30b and other necessary information from the CPU 26 as needed.

The bus 27 also has a press brake type bending unit 112.
1 is connected, and the raising and lowering of the upper die 24, that is, the ram 25 is controlled, and the lower! i! ! The depth of the mold groove of 23 is l
IiIIIMl will be done. This press brake type bending 1121 includes encoders 21a and 21b for outputting information corresponding to the elevation of the ram 25, and an encoder 2I for outputting information corresponding to the depth of the mold groove of the lower mold 23.
C is provided. FI information from these encoders 218 to 21C is sent to the CPU 26 and RAM 29 via the bus 27.
given to.

Here, a more detailed configuration of the C-press brake type bending 1121 will be described with reference to FIGS. 3 to 5. Figure wIa is a schematic configuration diagram for explaining a device for raising and lowering the press brake type folding M121. The oil sucked up from the oil tank 210 by the hydraulic pump 211 is sent to the cylinder 2 via the 4 no-bo valve 212.
14 and is also supplied to the cylinder 215 via the servo valve 213. A piston 216 inserted into the cylinder 214 is connected to one end of the ram 25. Further, a piston 217 inserted into the cylinder 215 is connected to the other end of the ram 25. Therefore, the cylinder 214 raises and lowers the ram 25 and thus one end of the upper mold 24 in accordance with the Urayama supplied from the servo valve 212.

Further, the cylinder 215 raises and lowers the ram 25 and the other end of the upper mold 24 according to the amount of oil supplied from the servo valve 213. The aforementioned encoders 21a and 21b are
They are provided at one end and the other end of the ram 25, respectively. By reading and comparing the information from these encoders 21a and 21b, the CPU 26 determines the overall height of the upper mold 24 relative to the lower mold 23 and the upper mold 24.
You can know the left and right inclination of.

Then, the CPU 26 controls the overall lifting and lowering of the upper mold 24 by giving appropriate commands to the servo valves 212 and 213. Further, if the CPU 26 determines that the upper mold 24 is tilted in the left-right direction, it gives appropriate commands to the servo valves 212 and 213 so that the upper mold 24 becomes horizontal. Accordingly, the lF [1 degree of servo valves 212 and 213 is adjusted, and the amount of oil supplied to cylinders 2148 and 215 is adjusted to 1 degree.
111 will be sent.

Therefore, the vertical positions of the screws 216 and 217 are adjusted, and the upper mold 24 is kept horizontal.

, FIG. 4 is a diagram showing the internal configuration of the F type 23.

FIG. 5 is a diagram showing a state in which the workpiece is bent between the upper mold 24 and the lower mold 23. As shown in FIG. 4, the lower mold 23 includes a bottom member 23 that forms the bottom surface of the mold groove.
a Support member 2 distributed to the F section of the bottom member 23a
311. The lower surface of the bottom member 23a is v11 of l.
It is formed in the shape of a surface or a rutted edge. Similarly, the upper surface of the support member 23b is also formed to have a sawtooth cross section. Thus, the support member 231) supports the lower surface of the bottom portion U23a with its upper surface. The bottom member 23a is displaced in the direction of arrow Y by a hydraulic motor (not shown). Due to this displacement in the Y direction, the contact point between the bottom member 23a and the support member 2311 changes, and the height of the bottom member 23a is displaced in the direction indicated by the arrow. In the illustration, when the bottom member 23a moves to the right, the upper surface of the bottom member 23a moves upward. By displacing the bottom part U23a,
The depth d of the mold groove of the lower mold 23 shown in FIG. 5 changes.

Therefore, the bending angle of the workpiece WP can be changed.

Referring again to FIG. 2, the lotus 27 includes an X-axis servo system 3.
1. Y-axis - JIS M 32 t@”j Hx
The system 33, the α-axis servo system 34, and the l-axis servo system 35 are connected. X@Revo system 31 is hydraulic motor M
1 and MX2, and the engine EX,! :including. Encoder L
This is for detecting the amount of displacement in the lj x 7j direction (see Figure 1). The 'I' I +)-bo system 32 includes a hydraulic motor ~IYI and M'r' 2, and an encoder [Y. 1 encoder EY is in column 9, J, and 1.
This is for detecting a tilt in the direction of arrow 14J\ of No. 2. The l-axis servo system 33 includes hydraulic motors MZ1 and M
22, and an encoder E'Z. The encoder E) is for detecting the amount of displacement of the grip support members 14J3 and 15 in the Z direction l\.

α axis-jJW system 34 is hydraulic motor Mα1 and Mα
2 and an encoder Eα. The encoder Eα is for detecting the rotation angle of the grip devices 16 and 17 in the direction of the arrow α. The single-axis servo system 35 includes a hydraulic motor M i, an encoder Ei, and the like. The encoder E1 is for detecting the amount of displacement of the supporter 20 in the Z direction l\.

Furthermore, a grip tt'++ idle hydraulic cylinder 36 is connected to the bus 27. This hydraulic cylinder 36 for opening the clip opens the claws numbered at the tips of the gripping devices 16 and 17. iIf! It is for the purpose of

Furthermore, the bus 27 includes hydraulic motors MS1 and MS2.
A hydraulic circuit 37 for a supporter is connected thereto.

FIG. 6 is a diagram showing an example of the supporter hydraulic circuit 37. The hydraulic pump 38 pumps oil from the oil tank 39 to the hydraulic motor MS via a 4-point/2-position switching valve 40.
2 to one end. The oil discharged from the other end of the hydraulic motor MS2 is returned to the oil tank 39 via the four-bottom, two-position switching valve 40. That is, oil tank 39. The hydraulic pump 38.4-bottom 2-position switching valve 40 and the hydraulic motor MS1 form a closed loop of circulation of pressure oil, thereby causing the hydraulic motor MS2 to rotate 4 degrees. Here, 4 votes 2
The position switching valve 40 is for reversing the oil circulation direction in the pressure oil circulation closed loop, and is switched by energizing and deenergizing the solenoid 41. When this 4-point, 2-position switching valve 40 is switched, the hydraulic motor M
S2 rotates in the opposite direction to the previous rotation direction. Therefore, the supporter support 18 and therefore the supporter 2
0 is switched from rising to falling or from falling F to rising. The CPU 26 deenergizes the solenoid 41 and (
By controlling the =I force 11 times, the supporter 20 is raised and lowered by 1liIlill. The relief valve 42 is designed so that the valve opens when the reporter support 18 comes into contact with the grip support 1415 and a certain pressure is applied to push it up. In order to support the workpiece when bending the workpiece, a force in the pulling direction is constantly applied to the supporter 20 by the hydraulic motor M S 2 .

However, since the hydraulic motor MS2 is not rotating when the grip support 18 is stopped, the pressure oil supplied to the hydraulic motor MS2 is released to the oil tank 39! A relief valve 42 is provided therein. On the other hand, the relief valve 43 is configured 419 to open when the boat porter support 18 is lowered to the lowest part of the column 12 and a certain pressure is applied to lower it further. As a result, the supporter 20 is lowered to the lowest end when it is not needed, and that position is maintained. Although the hydraulic circuit for the hydraulic motor 1ν132 has been described in FIG. 6, the supporter hydraulic circuit 37 also includes a completely similar hydraulic circuit for the hydraulic motor MS1.

FIG. 7 shows f written in a predetermined area of the RAM 29 shown in FIG.
There is an illustrative diagram showing a P-Q table that is compiled. This P
-Q table shows each bending point P1, P2. ...P
An area for storing predetermined information is provided for each e. In each area, a flag, position information of a predetermined point Q, and position information of a bending point P are stored. The above flag is a flag indicating whether or not the bending point is an end point and whether or not the bending point has already been bent. Further, the predetermined point Q is a point that serves as a guide for movement when extracting the workpiece from the press brake type bending machine 21.

FIG. 8 is a diagram for explaining the operating principle of an embodiment of the present invention. First, the operating principle of this embodiment will be explained with reference to FIG. The workpiece WP has bending points P1 to pe determined in advance. Then, the workpiece WP is positioned so that its bending point is located between the lower mold 23 and the upper mold 24, and the workpiece WP is bent.

At this time, the positional information of each bending point P and the positional information of a predetermined point Q corresponding to each bending point are determined. In FIG. 8, the bending point P2 is bent, and then the upper die 24
shows a state in which it has been returned to its initial position. In this state, a point located on the origin O of the X-Z axis coordinate system is determined as a predetermined point Q2 corresponding to the bending point P2. Predetermined points Q, ~Q6 are similarly applied to other bending points P, ~PG.
I get criticized. In other words, the distance between the upper mold 24 and the lower mold 23 when the upper mold 24 is returned to the initial position is 2.
In the case of R, the predetermined point corresponding to the bending point is on the bisector of the bending angle at J3 to the bending point, and is located at a distance of R from each bending point. Na J3,
Since no bending is performed at both end points P1 and pe of the workpiece wP, the predetermined points Q and Qe are selected at the same positions as the bending points P1 and Pc. I-The position information of each predetermined point Q is stored together with the position Fj information of each bending point E).

Next, when removing the workpiece WP from between the upper die 24 and the lower die 23, first the predetermined point Q is the origin 0 of the x-Z axis coordinate system.
Soak piece WP lfi is moved so that it is located at . At the same time, the bending point P corresponding to the predetermined point Q is Z
The posture of the workpiece WP is controlled so that it is positioned on the axis.
11. This operation is performed in order at each predetermined point Q, and the workpiece WP is gradually removed.

FIGS. 9 to 12 are auxiliary diagrams to facilitate understanding of the operation of an embodiment of the present invention. - Figures 13 and 14 are the flow diagrams shown in Figure 2.
In particular, FIG. 13 shows the bending operation of the workpiece and the calculation operation of each predetermined point Q, and FIG. 14 shows the operation of extracting the workpiece. The operation of an embodiment of the present invention will be described below with reference to FIGS. 9 to 14.

First, the bending operation of the workpiece and the calculation operation of the predetermined point Q will be explained with reference to FIG. 13V!
In the first step S1 shown in J, the workpiece W
The position information of one bending point including both ends of P and both ends P1. The position information of the predetermined points Q+ and Qe corresponding to I)e are entered into the )-Q table shown in FIG. The flag is set to -゛1, and the II!
The flag at the + bending point is set to 0. Next, the process proceeds to step S3, where a command is given to the hydraulic circuits of each axis of the displacement mechanism 100 to set the bending point PN to be bent at the press brake type bending m21.

Subsequently, in step S4, it is determined whether or not the above-described setting of the bending point P axis is completed. If it is determined that the setting has been completed, the process advances to step S5, and a command for a folding operation is given to the press brake type folding machine 21.

Accordingly, the press brake type folding 112'1 is
4 is lowered and bent at the bending point PN set in step S3 above. Although not described in detail, during this bending, the gripping devices 116 and 17 continue to grip both ends of the workpiece WP, and therefore the positions of the gripping devices 16 and 17 are controlled to follow the upward movement of the workpiece WP. In step S6, it is determined whether or not the bending of the workpiece WP is completed.

If it is determined that the bending of the workpiece WP has been completed, the process proceeds to step S7, and the position information of each bending point P and the corresponding predetermined point Q in the P-Q table is determined based on the bending angle information. converted. That is, the positional information of each bending point P and each predetermined point Q written in the P-Q table during the previous bending is rewritten to the current positional information. After that, the process advances to step S8, and P
- Set the flag corresponding to the bending point PM in the Q table to 1; This memorizes that the bending at the bending point PM has been completed.

Next, the process proceeds to step S9, from the bending point PN to P-Q.
A table search is performed to the rear of the table (see FIG. 7), and the first bending point P whose flag has a value of 1 or -1 is set as the bending point Pi.

Also, in step 310, from the bending point PM to P
A table search is performed forward in the -Q table (see FIG. 7), and the first bending point P whose flag has a value of 1 or -1 is defined as the bending point P. In step S9 and step 810 described above, among the bending points where bending has already been performed, the bending point closest to the rear from the bending point PM where the current bending was performed is set as PJ, and the bending point closest to the front is set as PJ. , is said to be. In addition, if the bending point adjacent to the bending point PN is the end point P+ or pe, the end point is the bending point PJ or the bending point P.
It is considered to be K. Next, in step S11, the bending point P
It is determined whether the flag corresponding to J is -1, that is, whether the bending point Px is an end point. If the bending point PJ
If the bending point Py is an endpoint, the contents of step 814 described later are executed, and if the bending point Py is not an endpoint, step S1
2, the distance MDI (see FIG. 9) from the bending point PN to the predetermined point Qy corresponding to the bending point PJ is plotted. Then, in step 813, it is determined whether the distance D1 is larger than R (the distance from the lower die 23 to the origin O of the X-7 wheel coordinate system). If the distance 11D1 is larger than R, the process proceeds to step S14, where it is determined whether the flag of the bending point PK is -1, that is, whether the bending point PK is an end point of the workpiece WP. If the bending point P is an endpoint, the contents of step S17, which will be described later, are executed; if the bending point P is not an endpoint, the process proceeds to step 815, and from the bending point PN to the predetermined point Q corresponding to the bending point P, The distance 1I102 (see FIG. 9) is calculated. Then, in step 816, it is determined whether distance D2 is greater than R. If the distance is 111D
If 2 is larger than R, the process proceeds to step 817, and the locus IJ of the origin O is set as the predetermined point QN corresponding to the bending point PM.
Write (0°0) to the P-Q table. Subsequently, the process proceeds to step 31B, where it is determined whether all of the bending points P have been bent, that is, whether there is no O in the flag of the P-Q table. If there is a bending point that has not yet been bent, the operations from step 83 onwards are repeated again. On the other hand, if the bending at all bending points P has been completed, the operation shown in FIG. 13 is finished.

Here, in step 813 described above, the distance D1 is R
A case in which it is determined that the value is smaller will be explained. in this case,
Proceeding to step 819, the position information of the predetermined point Q3 corresponding to the bending point Py is written in the P-Q table as the predetermined point QN corresponding to the bending point PM. That is, the distance D
If 1 is smaller than R, the predetermined point QJ corresponding to the bending point PJ is used as the predetermined point corresponding to the bending point PM. This is done to simplify calculations when extracting the workpiece WP, which will be described later.

On the other hand, if it is determined in step 816 that the distance ID2 is greater than R, the process proceeds to step 320. In this step 820, the predetermined point QN corresponding to the bending point Pw is set as the predetermined point QN corresponding to the bending point P.
1 position information is written to the P-Q table. In this case as well, as described above, this is done to simplify the calculation when extracting the workpiece WP.

Next, referring to FIG. 14, the operation for extracting the workpiece WP will be explained. First, in step 5101, the bending point currently positioned between the lower mold 23 and the upper mold 24 is set as Pl (see FIG. 10). and,
Proceeding to step 5102, it is determined whether the workpiece WP should be extracted before or after the press brake type folding groove 21. If the workpiece WP is to be pulled out in front of the press brake type bending 8121, the process advances to step 8103 and the final bending point is set to Pe.

Then, the process proceeds to step 5104, where the bending point P1+1
Then, the angle θa (see FIG. 10) formed between the straight line Ha passing through the corresponding predetermined point Qa and the Z axis is calculated. Also, the displacement amounts Δxa and ΔZa (see FIG. 11) between the origin O and the predetermined point Qa are calculated. J5 in this step 5104
The workpiece WP is moved based on the calculated data, but it is determined in step 5105 whether or not this movement will cause the workpiece WP to interfere with the press brake type bending machine 21 before the actual movement. be done. If moving the workpiece WP will interfere with the press brake type folding machine 21, step 81
Error processing is performed in step 06. On the other hand, even if the workpiece WP is moved, the press brake type bending 112
If it is determined that there is no interference with 1, step 3107
Proceed to. In this step 5107, the hydraulic circuits of the respective axes of the displacement machine m'+ o o of the workpiece WP are controlled to move the predetermined point Qa to the origin O and the bending point P1+ on the Z axis. Then, step 810
At 8, it is determined whether the movement of the workpiece wP is complete. If it is determined that the movement has been completed, the process advances to step 5109, and the bending point number 1 is updated (+1).
be done. Then, in step 5110, it is determined whether the number i is e'c, that is, whether the bending point currently positioned between the lower die 23 and the upper die 24 is the end point Pe. The bending point between both molds is pe
If not, the extraction is not completed, and the operation below step 8104g% is repeated again. On the other hand, if the bending point positioned between the two molds is the end point Pe, the extraction of the workpiece WP has been completed, so the operation shown in FIG. 14 is completed.

The operation when extracting the workpiece WP toward the front of the press brake type bending machine 21 has been described above, but below, the operation when extracting the workpiece WP toward the rear will be described. That is, if it is determined in step 5102 that the workpiece WP is to be pulled out behind the press brake bending 1121, the process proceeds to step 8103''.In step 5103-, the workpiece WP is extracted as the final bending point. The endpoint P of is set.

Then, the process proceeds to step 5104-, where the bending point Pl-
1 and a straight line Hb passing through the corresponding predetermined point Qb and 2
The angle θb (see FIG. 10) with the axis is calculated, and the displacement positions Δxb and ΔZb (see FIG. 11) between the origin 0 and the predetermined point Qb are calculated.

Then, in step 8105'', the same operation as in step 5105 described above is performed. That is, when moving the workpiece WP based on the data calculated in step 8104'', the workpiece WP interferes with the press brake type bending 1m21. It is decided whether or not to do so. If it is determined that there will be interference, step 8 above.
Error handling occurs at 106. On the other hand, if it is determined that there will be no interference, the process advances to step 5107-. In this step 3107'', the workpiece WP is moved to position the predetermined point Qb at the origin O and the predetermined point PI-1 on the Z axis. Then, at step 8108'
In step 8109', it is determined whether or not the movement is completed, and when the movement is completed, 1 representing the bending point number is updated in step 8109'. In this step 8109'', the number i is updated by -1, contrary to step 5109. Then, step 3110'
In this step, it is determined whether the number 1 is 1, that is, whether the bending point P currently positioned between the lower die 23 and the upper die 24 is the end point P of the workpiece WP. If it is not the end point P, the operations from step 8104' onward are repeated again, but if it is the end point P, the extraction of the workpiece WP has been completed, so the operation shown in FIG. 14 is ended.

By the way, as explained in the operation of FIG. 13, the predetermined point corresponding to the adjacent bending point may be used as the predetermined point corresponding to the bending point.

In other words, the distance (Dl, D2) from the bending point to the predetermined point corresponding to the next bending point is shorter than the above R (distance 1!II from the origin O to the lower die 23 or the upper die 24). . The movement of the workpiece WP in this case will be explained with reference to FIG. 12.

In FIG. 12, since the distance 1!1flD from the predetermined point Q1 corresponding to the bending point P+ to the bending point p,+ is shorter than the above R, the predetermined point Q is used as the predetermined point of the bending point P++-+. It is being Now, assume that the predetermined point Q1 is positioned at the origin O and the bending point P1 is positioned on the Z-axis. From this state, the predetermined point corresponding to the bending point PI+1 is moved to the origin 0, and the bending point PI+ is moved to Z.
Although it is moved on the axis, the bending point P
Since the predetermined point Q is used as the predetermined point corresponding to , it is only necessary to move the bending point Pl+l on the Z axis. That is, the workpiece WP is centered around the origin 0.
All you have to do is rotate it by a predetermined angle. Therefore, calculations for moving the workpiece WP can be simplified. Further, calculations for obtaining new position information of each bending point and a predetermined point after movement can be simplified. The posture of the workpiece WP after the movement is shown by a two-dot chain line in FIG. 12. As is clear from the figure, the distance between the origin O and the bending points p, f is the distance between the origin 0 and the lower die 23! ! Because it is shorter than IIR, workpiece WP is lower mold 2
There is no interference with 3. Therefore, the predetermined points can be shared. Although the workpiece WP may be rotated in the opposite direction to that described above, it is easily understood that the workpiece WP does not interfere with the upper die 24 in this case as well.

In the above embodiment, the distance between each bending point P and its corresponding predetermined point Q is selected to be R. However, if such a distance is selected, when the workpiece WP is extracted, Each bending point] Since the flap may pass very close to the lower die 23 or the upper die 24, the workpiece WP and the lower die 23 or the upper die 24 may be bent due to mechanical vibration or deflection of the workpiece WP. There is a risk of contact. Therefore, it is preferable to select the distance between each bending point P and its corresponding predetermined point Q' to be slightly shorter than R.

In the embodiments described above, the case where the workpiece is extracted is shown, but the present invention can also be applied to the case where the workpiece that has been bent at first is inserted between the upper mold 24 and the lower mold 23. Of course.

In this case, the workpieces may be moved in the opposite order to the example described above.

Effects of the Invention As described above, according to the present invention, the positional information of a predetermined point that has a predetermined interval for each bending point on the bending line of a workpiece is calculated, and the workpiece is pulled out. When bending, move the workpiece so that it passes the reference point where the above predetermined point is.
The workpiece can be automatically extracted without interfering with the workpiece.

[Brief explanation of the drawing]

Figure 1 shows automatic folding and bending of a plate-shaped body according to an embodiment of the present invention.
It is a PI '4M prisoner who shows 41&. FIG. 2 is a schematic block diagram of an electric circuit according to an embodiment of the present invention. Figure @3 is a schematic diagram for explaining a device for raising and lowering the press brake type bending m21. FIG. 4 is a diagram that does not show the internal structure of the lower mold 23. FIG. 5 shows a state in which the workpiece is bent between the upper mold 24 and the lower mold 23. FIG. 6 shows the support body 18.
FIG. 3 is a diagram showing an example of a hydraulic circuit that drives a hydraulic motor MS2 for raising and lowering the vehicle. Figure 7 shows the tRAM shown in Figure 2.
29 is a diagram showing a P-Q table stored in 29. FIG. FIG. 8 is a diagram for explaining the operating principle of an embodiment of the present invention. FIGS. 9 to 12 are auxiliary diagrams to facilitate understanding of the operation of an embodiment of the present invention. 1st
3 and 14 are flowcharts for explaining the operation of the CPLI 28 shown in FIG. 2. In the figure, 9 and 12 are columns, 'l 4 J3 and 15 are grip supports, 16 and 17 are glyph 1 devices, 18 is a supporter support, 20 is a supporter, 21 is a press brake type folding machine, and 23 is a lower die. , 24 is the upper mold,
25 is RAM, 26 is CPU. 28 is ROM, 29 is RAM, 31 to 35 are servo system,
100 indicates a displacement mechanism.

Claims (5)

[Claims] (1) In an automatic plate-shaped object folding device that bends a plate-shaped object positioned by a displacement mechanism by sandwiching and pressing the plate-shaped object between an upper die and a lower die, each time the plate-shaped object is bent, the plate-shaped object is bent. means for extracting positional information of each bending point and positional information of a predetermined point having a predetermined relationship with each bending point, a storage means for storing the positional information, and a position stored in the storage means Controlling the displacement mechanism based on the information so that each of the predetermined points sequentially passes through a predetermined reference point, thereby removing the plate-shaped body from between the upper mold and the lower mold. A plate-like automatic folding cap L characterized by being equipped with a control means. (2) The automatic plate-shaped object folding device according to claim 1, wherein the predetermined point is a point located on a line that bisects the opening angle of the plate-shaped body at each of the bending points. (3) If the distance between the upper die and the lower die when the plate-shaped body is extracted is 2R, the predetermined point is selected at a distance shorter than R from the corresponding bending point, 3. The automatic plate-shaped object folding device according to claim 2, wherein the reference point is selected as a point that bisects a line segment connecting the upper mold and the lower mold. (4) The location information fraud means comprises a bending point,
When the distance between the bending point and the predetermined point corresponding to the neighboring bending point is less than or equal to the above-mentioned R, the predetermined point corresponding to the neighboring bending point is adopted as the predetermined point corresponding to the bending point. An automatic plate-like object folding device according to claim 3. (5) The sampling means is configured to move the displacement means so that when the predetermined point is located on the reference point, the corresponding bending point is located on the line segment connecting the upper mold and the lower mold. An automatic plate-shaped body folding device according to any one of claims 1 to 4, wherein the plate-shaped body automatic folding device controls the attitude of the plate-shaped body by.