WO2024070569A1 - Press brake, bending processing system, and method for controlling sensor movement - Google Patents
Press brake, bending processing system, and method for controlling sensor movement Download PDFInfo
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- WO2024070569A1 WO2024070569A1 PCT/JP2023/032717 JP2023032717W WO2024070569A1 WO 2024070569 A1 WO2024070569 A1 WO 2024070569A1 JP 2023032717 W JP2023032717 W JP 2023032717W WO 2024070569 A1 WO2024070569 A1 WO 2024070569A1
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- detection sensor
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- height detection
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- 238000012545 processing Methods 0.000 title claims abstract description 28
- 238000005452 bending Methods 0.000 title claims description 94
- 238000000034 method Methods 0.000 title description 51
- 238000001514 detection method Methods 0.000 claims abstract description 321
- 230000008569 process Effects 0.000 description 25
- 230000007246 mechanism Effects 0.000 description 20
- 238000010586 diagram Methods 0.000 description 19
- 230000032258 transport Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
Definitions
- the present invention relates to a press brake, a bending system, and a sensor movement control method.
- a bending system that includes a press brake equipped with a punch, a die, and a back gauge that positions the work in the front-to-rear direction to perform bending processing on a plate-shaped workpiece of a predetermined length, a transport robot that transports and positions the workpiece relative to the bending processing position using the punch and die, and a control device that controls the operation of the transport robot and the back gauge (Patent Document 1, etc.).
- a transport robot that transports and supplies the workpiece W between the punch and die is positioned in front of the press brake so that it can move freely in the forward/backward, left/right, and up/down directions.
- the time it takes to position the workpiece in the vertical direction depends on the experience and intuition of the worker, and an inexperienced worker will have to repeatedly visually check and adjust the gap between the workpiece and the punch and die, which hinders the bending system from operating at a high rate and causes problems such as the concentration of work on experienced workers.
- One aspect of the present invention is a press brake, bending system, and sensor movement control method that can position a workpiece in the vertical direction without visually checking the workpiece near the workpiece to be bent.
- a press brake includes upper and lower dies that are movable relative to one another, a height detection sensor that can detect the height position of a workpiece inserted between the upper and lower dies, a height detection sensor movement unit that moves the height detection sensor in the longitudinal direction of the upper and lower dies, and a control unit, the control unit including a movement control unit that moves the height detection sensor to the vicinity of the position of a work holding means that holds the workpiece, and a height determination processing unit that determines whether the height position of the workpiece detected by the height detection sensor is within an acceptable range.
- the bending system includes a press brake that bends a plate-shaped workpiece of a predetermined length, a workpiece supply robot that supplies the workpiece to the press brake, a height detection sensor, a height detection sensor moving unit, and a control device that controls the press brake, the workpiece supply robot, the height detection sensor, and the height detection sensor moving unit.
- the press brake includes upper and lower molds that are relatively movable, the workpiece supply robot is configured to insert the workpiece between the upper and lower molds, the height detection sensor is configured to detect the height position of the workpiece inserted between the upper and lower molds, the height detection sensor moving unit is configured to move the height detection sensor in the longitudinal direction of the upper and lower molds, and the control device includes a movement control unit that moves the height detection sensor to the vicinity of the position of a workpiece holding means that holds the workpiece, and a height determination processing unit that determines whether the height position of the workpiece detected by the height detection sensor is within an allowable range.
- a sensor movement control method includes a height detection sensor moving step of moving a height detection sensor capable of detecting the height position of a workpiece to the vicinity of the position of a workpiece holding means that holds the workpiece inserted between upper and lower dies that are relatively movable, a height detection step of detecting the position of the workpiece in the height direction, and a height determination step of determining whether the position of the workpiece in the height direction detected by the height detection sensor is within an allowable range.
- the press brake, bending system, and sensor movement control method determine whether the height position of the workpiece detected by the height detection sensor is within an acceptable range, making it possible to position the workpiece in the height direction without visually checking the vicinity of the workpiece to be bent.
- the press brake, bending system, and sensor movement control method allow the workpiece to be positioned in the height direction without visually checking the vicinity of the workpiece to be bent.
- FIG. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram showing a modified example of the bending system of the present embodiment.
- FIG. 3 is a schematic diagram showing a modified example of the robot hand of this embodiment.
- FIG. 4 is a front view showing the press brake of the present embodiment.
- FIG. 5 is a functional block diagram showing the control device of the present embodiment.
- FIG. 6 is a schematic diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
- FIG. 7 is a schematic diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
- FIG. 8 is a schematic diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
- FIG. 9 is a schematic diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
- FIG. 10 is a schematic diagram showing an example of the operation of the bending system of this embodiment.
- FIG. 11 is a schematic diagram showing an example of the operation of the bending system of this embodiment.
- FIG. 12 is a schematic diagram showing an example of the operation of the bending system of this embodiment.
- FIG. 13 is a schematic diagram showing an example of the operation of the bending system of this embodiment.
- FIG. 14 is a flowchart showing an example of a sensor movement control method according to this embodiment.
- FIG. 15 is a flowchart showing an example of the bending method of this embodiment.
- Fig. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention
- Fig. 4 is a front view showing a press brake according to the embodiment.
- a bending system 1 according to an embodiment of the present invention will be outlined with reference to Figures 1 and 4.
- the bending system 1 according to this embodiment includes a press brake 10 that bends a plate-shaped workpiece W of a predetermined length, a workpiece supply robot 100 that supplies the workpiece W to the press brake 10, a height detection sensor 20, a height detection sensor moving unit 40, and a control device 200 that controls the press brake 10, the workpiece supply robot 100, the height detection sensor 20, and the height detection sensor moving unit 40.
- the height detection sensor 20 and the control device 200 function as a sensor movement control device.
- the bending system 1 may further include a workpiece placement table P on which multiple workpieces W before processing are placed.
- the workpiece placement table P is not limited to a flat table, and may be a portable pallet, a loading device, a comb table, etc.
- the bending system 1 may also include a robot or device that transfers the workpiece W to the work supply robot 100 instead of the workpiece placement table P.
- the press brake 10 includes an upper die U and a lower die L that are disposed opposite each other.
- the upper die U of the press brake 10 is a punch and the lower die L is a die, but the present invention is not limited to this, and the upper die U may be a die and the lower die L may be a punch.
- the "Z-axis direction (height direction)” refers to the opposing direction of the upper mold U and the lower mold L when the upper mold U is placed vertically above the lower mold L.
- the "X-axis direction (longitudinal direction of the upper mold U and the lower mold L)” refers to the left-right direction perpendicular to the Z-axis when facing the front of the press brake 10
- the "Y-axis direction” refers to the depth direction perpendicular to the Z-axis and X-axis in this case.
- the work supply robot 100 is disposed between the work placement table P and the press brake 10, and is configured as a work holding means to supply the work W between the upper die U and the lower die L. Note that the work supply robot 100 is preferably provided facing the upper die U and the lower die L of the press brake 10, but is not limited thereto.
- the work supply robot 100 is configured to hold the topmost work W of multiple work pieces W loaded on the work placement table P and supply (insert) that work piece W to the press brake 10, and is also configured to perform a following operation during bending by the press brake 10.
- the work supply robot 100 is also configured to transport (carry out) the work piece W to a specified location after bending.
- the work supply robot 100 includes a robotic hand 120 capable of holding a work W as a work holding section, and an arm section 140 that moves the robotic hand 120 toward or away from the work W.
- the work supply robot 100 may further include a movement mechanism 160 for moving the work supply robot 100.
- FIG. 2 is a schematic diagram showing a modified example of the bending system of the present embodiment.
- the robot hand 120 is detachably attached to the tip of the arm unit 140.
- the robot hand 120 may have a hand body 122 that grips the workpiece W, or may have a hand body 122' that is detachably attached to the tip of the arm unit 140 and a plurality of suction units 124 that are attached to the hand body 122' and configured to be able to hold the workpiece W, as shown in FIG.
- FIG. 3 is a schematic diagram showing a modified example of the robot hand of this embodiment.
- the hand body 122' has an attachment part 122a that is detachably attached to the tip of the arm part 140, a first support bar 122b that is connected to the attachment part 122a, and a plurality of second support bars 122c that are provided on the first support bar 122b at intervals in the longitudinal direction thereof.
- the shape of the hand bodies 122, 122' is not limited to the example shown in the figure, and can be arbitrarily changed depending on the shape of the workpiece W, etc.
- the suction parts 124 are attached to both ends of each second support bar 122c, and are connected via piping to an air suction source (not shown) that sucks in air.
- Each suction part 124 has a flat suction pad at its lower end that can be sucked (contacted) onto the surface of the workpiece W, and is configured to be sucked onto the surface of the uppermost workpiece W among the multiple workpieces W loaded on the workpiece mounting table P by the suction force of air from the air suction source.
- the robot hand 120 can adopt various known configurations, so detailed description thereof will be omitted.
- the robot hand 120 is not limited to the above-mentioned form, and can adopt any of various known configurations.
- the arm unit 140 has one end connected to the base 160b of the moving mechanism 160 and the other end connected to the robot hand 120, and is configured to move the robot hand 120 closer to or farther from the workpiece W based on a control signal from the robot control unit 230 of the control device 200.
- the arm unit 140 is a multi-joint arm having six control axes, and is configured to be able to perform not only the transportation of the workpiece W from the workpiece placement table P, but also the supply (insertion) of the workpiece W to a processing machine, etc., assist in the processing (bending) of the workpiece W, and transport (unload) the product (bent product) from the processing machine, etc.
- the arm unit 140 can adopt various known configurations, so detailed description thereof will be omitted.
- the arm unit 140 is not limited to the configuration of a multi-joint arm having the above-mentioned six control axes, and can arbitrarily adopt various known configurations.
- the moving mechanism 160 is a so-called linear motion mechanism having a rail section 160a laid on the floor surface, a base table 160b that can move along the rail section 160a, and a base table driving means (not shown) that drives the base table 160b, and is configured to move the work supply robot 100 on the floor surface based on a control signal from a robot control section 230 (described later) of the control device 200.
- the moving mechanism 160 can employ various known configurations, so detailed description thereof will be omitted.
- the press brake 10 is equipped with an upper table 11 and a lower table 12 arranged in the center of the front and aligned in the height direction (Z axis direction) so that one side in the depth direction (Y axis direction), for example the outer plate surface, faces the front, and support parts 13 arranged on the left and right sides to support the upper table 11 and the lower table 12.
- the press brake 10 also includes a drive mechanism 16 configured to reciprocate the upper table 11 in the height direction relative to the lower table 12, and a position detection sensor (not shown) that detects the position to which the upper table 11 moves when moved by the drive mechanism 16.
- the press brake 10 further includes a back gauge 17 that positions the workpiece W in the depth direction when it is inserted between the upper die U and the lower die L, and an angle detection sensor 18 that can detect the bending angle of the workpiece W when bending the workpiece W.
- the basic configuration of the press brake 10 can be based on various known configurations, so detailed explanations will be omitted.
- the upper table 11 is made of a plate-like member such as metal, and has a number of upper die holders (punch holders) 14 at its lower part that hold an upper die U such as a punch.
- the lower table 12 is made of a plate-like member such as metal like the upper table 11, and has a lower die holder (die holder) 15 at its upper part that holds a lower die L such as a die. Note that when the upper die U is a die and the lower die L is a punch, the upper die holder 14 becomes the die holder and the lower die holder 15 becomes the punch holder.
- each support section 13 is configured with a plate-like side frame that is formed in a roughly U-shape when viewed from the side, but this is not limited to this and may be configured with a rod-shaped tie bar, etc.
- the driving mechanism 16 is, for example, a hydraulic cylinder that serves as the driving source for the upper table 11, and is attached to the top of each support portion 13.
- Each driving mechanism 16 is configured to reciprocate (move up and down) the upper table 11 relative to the lower table 12 in the height direction.
- each drive mechanism 16 can use other drive means such as a servo motor instead of a hydraulic cylinder.
- the drive mechanism 16 is not limited to the above-mentioned embodiment, and can drive the lower table 12 instead of the upper table 11.
- the position detection sensor detects the relative movement position of the upper mold U with respect to the lower mold L when the upper table 11 is moved by the drive mechanism 16.
- This position detection sensor is, for example, an encoder or a linear scale, and is well known, so a detailed description will be omitted here.
- the backgauge 17 is provided so as to be freely movable in the depth direction rearward of the upper die U and the lower die L, and is configured so that its position can be adjusted left and right in accordance with the bending position of the workpiece W in the longitudinal direction (X-axis direction) of the upper die U and the lower die L and the left and right width dimension of the workpiece W.
- the backgauge 17 is also configured so that its position can be adjusted in the depth and height directions so as to correspond to the depth and height of the abutment position of each workpiece W.
- the position adjustment of the backgauge 17 in each direction is performed by appropriately controlling a movement mechanism such as a servo motor.
- the backgage 17 may be configured to include a sensor (not shown), such as a potentiometer, that detects when the abutting portion of the workpiece W abuts against the backgage 17. Furthermore, the backgage 17 may be controlled by moving the backgage 17 slightly backward after positioning the workpiece W in the front-to-rear direction in order to avoid interference with the workpiece W during bending processing. Note that the backgage 17 may employ a variety of known configurations, and therefore detailed explanations thereof will be omitted.
- the angle detection sensor 18 is attached, for example, to the surface 12a of the lower table 12 facing the work supply robot 100, and is configured to be freely movable in the longitudinal direction of the upper mold U and the lower mold L.
- an angle detection sensor moving part 19 is provided on the facing surface 12a of the lower table 12, and the angle detection sensor 18 is attached to the angle detection sensor moving part 19.
- the angle detection sensor moving unit 19 is a so-called linear motion mechanism having a rail portion 19a laid on the opposing surface 12a of the lower table 12, a base table (not shown) that can move along the rail portion 19a, and a base table driving means (not shown) that drives the base table.
- the angle detection sensor moving unit 19 is configured so that the base table moves on the rail portion 19a based on a control signal from an angle detection sensor control unit 250 (described later) of the control device 200. Note that the angle detection sensor moving unit 19 can employ various known configurations, so detailed explanations thereof will be omitted.
- the angle detection sensor 18 is attached to a base table of the angle detection sensor moving unit 19, and is configured to move in the longitudinal direction of the upper die U and the lower die L when the base table is driven by a base table driving means.
- the angle detection sensor 18 includes, for example, a first sensor (not shown) located close to the bending position by the upper die U and the lower die L, and a second sensor (not shown) located a predetermined distance forward in the depth direction from the first sensor.
- the first and second sensors detect the outer angles of the front and back surfaces relative to the bending line of the workpiece W, and can be, for example, a non-contact sensor using a laser beam and a camera, or a contact sensor using a potentiometer or the like.
- the first and second sensors are provided at the same height.
- the angle detection sensor 18 is configured so that when bending the workpiece W, the first and second sensors take an image by tilting the camera relative to the laser beam, for example, and can calculate the bending angle of the workpiece W based on the line segment of the lower mold L and the line segment of the workpiece W.
- the height detection sensor 20 is configured to be able to detect the height position of the workpiece W inserted between the upper die U and the lower die L, and for example, detects the distance to the workpiece W in the height direction.
- a laser range finder using a laser beam or a potentiometer can be used as the height detection sensor 20.
- the height detection sensor 20 is not limited to the above-mentioned configuration as long as it is configured to detect that the height position of the workpiece W is within a predetermined range.
- the height detection sensor 20 may be configured to detect that the heightwise position of the workpiece W is within a predetermined range by detecting contact with the surface of the workpiece W.
- "contact with the surface of the workpiece W” includes not only complete contact with the surface of the workpiece W, but also close enough to be evaluated as contacting the surface of the workpiece W.
- the height detection sensor may be a reflective photoelectric sensor, in which light emitted from a light-emitting element of the photoelectric sensor is reflected by the surface of the workpiece W, and the reflected light is received by a light-receiving element of the photoelectric sensor, thereby detecting that the height position of the workpiece W is within a predetermined range.
- the height detection sensor 20 may detect that the height position of the workpiece W is within a predetermined range by magnetic force, or may detect that the height position of the workpiece W is within a predetermined range by the extension and contraction of a surface detection rod having an extension section. Furthermore, the height detection sensor 20 may be a contact sensor such as a photoreflector, a proximity sensor, an ultrasonic sensor, an eddy current sensor, or a force sensor.
- the height detection sensor 20 is disposed closer to the work supply robot 100 (forward in the depth direction) than the upper mold U and the lower mold L.
- the height detection sensor 20 is attached, for example, to the surface 12a of the lower table 12 facing the work supply robot 100, and is configured to be freely movable in the longitudinal direction of the upper mold U and the lower mold L.
- a height detection sensor moving part 40 is provided on the facing surface 12a of the lower table 12, and the height detection sensor 20 is attached to the height detection sensor moving part 40.
- the height detection sensor 20 is attached to a base table (described later) of the height detection sensor moving unit 40, and is configured to move in the longitudinal direction of the upper mold U and the lower mold L.
- the height detection sensor moving unit 40 is a so-called linear motion mechanism having a base table (not shown) that can move along the rail portion 19a of the angle detection sensor moving unit 19.
- the height detection sensor moving unit 40 is configured so that the base table moves on the rail portion 19a by the base table driving means of the angle detection sensor moving unit 19.
- the height detection sensor moving unit 40 having such a configuration is configured to move the height detection sensor 20 in the longitudinal direction of the upper mold U and the lower mold L.
- the base of the height detection sensor moving unit 40 has a connecting portion (not shown) that can be connected to and disconnected from the angle detection sensor moving unit 19, and by connecting the height detection sensor moving unit 40 to the angle detection sensor moving unit 19, the base moves on the rail portion 40a, moving the height detection sensor 20 to a predetermined position.
- the mechanical configuration of the height detection sensor moving unit 40 itself can adopt various known configurations, so a detailed description thereof will be omitted.
- the angle detection sensor 18 and height detection sensor 20 having the above-mentioned configuration are configured, for example, so that the height detection sensor 20 moves together with the angle detection sensor 18 from one end of the rail portion 19a to a detection position, and only the angle detection sensor 18 can retreat to one end or the other end of the rail portion 19a. Also, after detecting the height position of the workpiece W, the angle detection sensor 18 moves to the detection position of the height detection sensor 20, and then the height detection sensor 20 can retreat together with the angle detection sensor 18 to one end of the rail portion 19a.
- the height detection sensor moving unit 40 is not limited to the above-mentioned configuration.
- the height detection sensor moving unit 40 may further include a base table driving means (not shown) for driving the base table of the height detection sensor moving unit 40, and the height detection sensor 20 and the angle detection sensor 18 may be configured to be independently movable in the longitudinal direction of the upper mold U and the lower mold L.
- the angle detection sensor 18 and the height detection sensor 20 are configured so that, for example, the height detection sensor 20 moves from one end of the rail portion 19a to a detection position, detects the height position of the workpiece W, and then retreats to one end of the rail portion 19a.
- the angle detection sensor 18 is then configured so that it moves from the other end of the rail portion 19a to a detection position, detects the bending angle of the workpiece W, and then retreats to the other end of the rail portion 19a.
- the height detection sensor moving unit 40 when the height detection sensor moving unit 40 is equipped with a base platform driving means, the height detection sensor moving unit 40 may further include a rail section (not shown) laid on the opposing surface 12a of the lower table 12 facing the work supply robot 100, separate from the rail section 19a of the angle detection sensor moving unit 19, and the base platform of the height detection sensor moving unit 40 may move on the rail section of the height detection sensor moving unit 40.
- a rail section (not shown) laid on the opposing surface 12a of the lower table 12 facing the work supply robot 100, separate from the rail section 19a of the angle detection sensor moving unit 19, and the base platform of the height detection sensor moving unit 40 may move on the rail section of the height detection sensor moving unit 40.
- FIG. 5 is a functional block diagram showing the control device of the present embodiment.
- the control device 200 includes an input unit 210, a display unit 220, a robot control unit 230, a height detection sensor control unit 240, an angle detection sensor control unit 250, and a storage unit 260.
- the control device 200 is connected to the press brake 10 and the work supply robot 100 by various known configurations.
- the input unit 210 is composed of input devices such as a keyboard, mouse, push button switch, tact switch, and key lock switch, and by operating the input unit 210, in addition to the information input function normally required in the bending processing system 1, it is possible to perform operations such as selecting an NC (Numerical Control) control program in the memory unit 260, which will be described later.
- NC Genetic Control
- the display unit 220 has a display as a display device, and in addition to the screen display function normally required in the bending system 1, it displays, for example, a selection screen for selecting an NC control program. Furthermore, the display unit 220 may be configured as a touch panel having the functions of the input unit 210. When the display unit 220 is configured as a touch panel, the user can input various information, such as the selection of an NC control program, to the control device 200, for example, by operating the display unit 220.
- the configurations of the input unit 210 and the display unit 220 are not limited to those described above, and may be any configuration that has equivalent functions in place of the input unit 210 and the display unit 220 (for example, a display means or input means that can be used remotely, etc.).
- the robot control unit 230 is configured to be capable of CNC control (Computerized Numerical Control) of the work supply robot 100. Specifically, the robot control unit 230 is configured to control the arm unit 140 and the moving mechanism 160 so that when transporting (supplying) a work W from the work placement table P, the robot hand 120 reaches the uppermost work W of the multiple work pieces W loaded on the work placement table P based on a robot NC control program described later that is stored in the memory unit 260.
- CNC control Computerized Numerical Control
- the robot control unit 230 is also configured to control the robot hand 120 so that when the robot hand 120 reaches the workpiece W, it grips the workpiece W with the hand body 122, or controls the air suction source so that the suction unit 124 holds the workpiece W, and also controls the arm unit 140 and the moving mechanism 160 so that the held workpiece W is inserted between the upper die U and the lower die L of the press brake 10.
- the robot control unit 230 is configured to control the arm unit 140 and the moving mechanism 160 so that the workpiece W held by the robot hand 120 falls within the allowable range. Furthermore, the robot control unit 230 controls the workpiece supply robot 100 so that the workpiece supply robot 100 performs a following operation to assist the bending process when bending is performed by the press brake 10.
- the height detection sensor control unit 240 includes a height determination processing unit 242, a holding position identification unit 244, and a movement control unit 246.
- the height determination processing unit 242 is configured to determine whether the height position of the workpiece W detected by the height detection sensor 20 is within an allowable range.
- the height determination processing unit 242 acquires the value detected by the height detection sensor 20 from the height detection sensor 20 and determines whether the value is within a predetermined tolerance range. For example, if the height detection sensor 20 detects the distance to the workpiece W in the height direction, the tolerance range is determined by performing calibration based on the vertical distance from the height detection sensor 20 to the XY plane including the tip of the lower die L of the press brake 10, and by the tolerance in the height direction from that distance.
- the height determination processing unit 242 is also configured to cause the robot control unit 230 to adjust the position of the workpiece W if the height position of the workpiece W detected by the height detection sensor 20 is not within the allowable range.
- the holding position identification unit 244 is configured to be able to identify the position of the work supply robot 100 holding the workpiece W. For example, the holding position identification unit 244 identifies the position (holding position) of the work supply robot 100 holding the workpiece W from the robot NC control program in the memory unit 260. The holding position identification unit 244 may also acquire coordinate information of the work supply robot 100, and identify the position of the work supply robot 100 from the acquired coordinate information and information on the robot hand 120 being used.
- the holding position identifying unit 244 may identify the position of the work supply robot 100 from the detection result of the sensor for identifying the holding position. Furthermore, if the bending system 1 further includes a camera, the holding position identifying unit 244 may identify the position of the work supply robot 100 from video or images from the camera.
- the holding position identification unit 244 may also scan the height position of the workpiece W by moving the height detection sensor 20 in the X-axis direction from one end of the workpiece to the other, and identify the point where the height position is the highest, i.e., the point where the workpiece W is least deflected, as the position of the workpiece supply robot 100 holding the workpiece W.
- the movement control unit 246 is configured to move the height detection sensor 20 to the vicinity of the position of the work supply robot 100. Specifically, the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 to move the height detection sensor 20 attached to the base of the height detection sensor moving unit 40 to the vicinity of the position of the work supply robot 100 identified by the holding position identifying unit 244.
- the vicinity of the position of the work supply robot 100 refers to the closest position among the positions where the detection of the work W is not affected even if the detection position of the height detection sensor 20 changes due to a position error of the work supply robot 100 or an error in the gripping position of the work W, the detection range 22 does not interfere with the work supply robot 100, and there is nothing in the detection range 22 that hinders detection, such as holes or unevenness provided in the work W.
- the movement control unit 246 is also configured to control the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that if there is anything within the detection range 22 of the height detection sensor 20 that would hinder detection, such as a hole or unevenness in the workpiece W, these do not enter the detection range 22. Furthermore, the movement control unit 246 is configured to control the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the workpiece supply robot 100 moves out of the detection range 22 of the height detection sensor 20 if the detection range 22 of the height detection sensor 20 overlaps with the robot hand 120 of the workpiece supply robot 100 or if the height detection sensor 20 and the robot hand 120 interfere with each other.
- FIG. 6 is a diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment. 6, the detection position of the height detection sensor 20 will be described when the robot hand 120 of the work supply robot 100 has a hand body 122 that grips the workpiece W.
- the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 is located on an extension line CL of the center of the holding position of the workpiece W of the robot hand 120.
- the detection range 22 of the height detection sensor 20 may overlap with the holding position of the workpiece W.
- the position of the height detection sensor 20 is moved in the X-axis direction so that the amount of movement from the extension line CL is minimized within a range in which the detection range 22 does not deviate from the workpiece W.
- the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 of the height detection sensor 20 is located at a position moved by x1 in the X-axis direction from the position on the extension line CL.
- FIGS 7 to 9 are diagrams showing an example of the positional relationship between the height detection sensor and the robot hand in this embodiment.
- a description will be given of the detection position of the height detection sensor 20 when the robot hand 120 of the work supply robot 100 has a hand body 122' and a plurality of suction parts 124.
- Figures 7(a), 8(a), and 9(a) show the case where the suction parts 124 hold the upper surface (front surface) of the work W
- Figures 7(b), 8(b), and 9(b) show the case where the suction parts 124 hold the lower surface (rear surface) of the work W.
- the movement control unit 246 controls the height detection sensor movement unit 40 so that the center of the detection range 22 is located at the center of the holding position of the workpiece W of the robot hand 120, i.e., on the extension line CL' of the mounting part 122a located at the center of the hand main body 122'.
- the detection range 22 and the holding position of the workpiece W may overlap.
- the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 is located on the extension line CL' of the center of the holding position of the workpiece W of the robot hand 120.
- the suction portion 124 of the robot hand 120 holds the lower surface of the workpiece W
- the robot hand 120 may hinder the detection of the height detection sensor 20, or the robot hand 120 may interfere with the height detection sensor 20.
- the position of the height detection sensor 20 is moved in the X-axis direction so that the amount of movement from the extension line CL' is minimized within a range in which the detection range 22 does not deviate from the workpiece W.
- the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 of the height detection sensor 20 is located at a position moved by x2 , x3 in the X-axis direction from the position on the extension line CL', as shown in Figures 8(b) and 9(b).
- the robot control unit 230 and the height detection sensor control unit 240 having the above configuration are configured to be able to execute the sensor movement control program 262 and the bending process program 264 described below in the memory unit 260.
- the robot control unit 230 and the height detection sensor control unit 240 can execute the sensor movement control program 262 and the bending process program 264 consecutively or in parallel.
- the angle detection sensor control unit 250 is configured to control the angle detection sensor moving unit 19 to move the angle detection sensor 18 attached to the base of the angle detection sensor moving unit 19 to a predetermined position.
- the angle detection sensor control unit 250 is also configured to determine whether the angle detected by the angle detection sensor 18 is within an allowable range when bending the workpiece W. Note that the angle detection sensor control unit 250 can employ various known configurations, and therefore a detailed description thereof will be omitted.
- the memory unit 260 has a robot NC control program (not shown) for causing the work supply robot 100 to supply (insert) the work W from the work placement table P to the press brake 10, assist in bending the work W, and transport (remove) the work W after bending.
- the memory unit 260 also has a press brake NC control program (not shown) for causing the press brake 10 to perform a specified bending process.
- the memory unit 260 further has a sensor movement control program 262 and a bending process program 264.
- the sensor movement control program 262 causes the control device 200 to execute a holding position identification process to identify the position of the work supply robot 100 holding the workpiece W, a height detection sensor movement process to move the height detection sensor 20 to the vicinity of the position of the work supply robot 100 identified by the holding position identification process, a height detection process to detect the heightwise position of the workpiece W, and a height determination process to determine whether the heightwise position of the workpiece W detected by the height detection sensor 20 is within an acceptable range.
- the bending program 264 causes the control device 200 to execute a work insertion process that causes the work supply robot 100 to insert the work W between the upper die U and the lower die L of the press brake 10, a work position adjustment process that operates the work supply robot 100 to adjust the position of the work W if the height position of the work W detected by the height detection sensor 20 in the height determination process of the sensor movement control program 262 is not within the allowable range, and a bending process that performs bending of the work W.
- the sensor movement control program 262 and the bending program 264 are described as separate programs, but are not limited to this and may be one program.
- the sensor movement control program 262 is described as causing the control device 200 to execute the holding position identification process, but are not limited to this.
- the bending system 1 may further include a design support device (not shown) that creates an NC control program for the robot and an NC control program for the press brake.
- the design support device executes a holding position identification process that identifies the holding position of the workpiece W of the workpiece supply robot 100 from the NC control program for the robot, and the sensor movement control program 262 incorporates the identification result (position information) of the design support device.
- the control unit 200 does not need to include the holding position identification unit 244.
- FIGS 10 to 13 are schematic diagrams showing an example of the operation of the bending system of this embodiment.
- An example of the operation of the bending system 1 having the above configuration will be described with reference to Figures 10 to 13.
- the workpiece W is inserted between the upper die U and the lower die L of the press brake 10 by the workpiece supply robot 100.
- the height detection sensor 20 detects the height direction position of the workpiece W.
- the workpiece supply robot 100 adjusts the height direction position of the workpiece W so that the height direction position of the workpiece W falls within an allowable range.
- the workpiece supply robot 100 adjusts the depth direction position of the workpiece W by abutting the abutment portion of the workpiece W against the back gauge 17.
- the bending system 1 of this embodiment preferably moves the workpiece W away once after adjusting the height position of the workpiece W and before adjusting the depth position, then moves the angle detection sensor 18 and the height detection sensor 20, and then returns the position of the workpiece W to the position after the height adjustment, but is not limited to this.
- the bending system 1 may adjust the height position of the workpiece W after adjusting the depth position of the workpiece W.
- the bending system 1 may adjust the height position and depth position of the workpiece W simultaneously.
- the sensor movement control method according to this embodiment generally includes a height detection sensor moving step of moving the height detection sensor 20 to the vicinity of the position of the work supply robot 100 that holds the workpiece W, a height detection step of detecting the position of the workpiece W in the height direction, and a height determination step of determining whether the position of the workpiece W in the height direction detected by the height detection sensor 20 is within an allowable range.
- FIG. 14 is a flowchart showing an example of a sensor movement control method according to this embodiment.
- the sensor movement control method according to this embodiment will be described in detail with reference to Fig. 14.
- the holding position identification unit 244 of the height detection sensor control unit 240 of the control device 200 identifies the position of the work supply robot 100 that holds the workpiece W (S10 in Fig. 14: holding position identification process).
- the movement control unit 246 of the height detection sensor control unit 240 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 based on the position information identified by the holding position identification unit 244, and moves the height detection sensor 20 to the vicinity of the holding position of the work supply robot 100 (S20 in Fig. 14: height detection sensor moving process).
- the height detection sensor 20 detects the height position of the workpiece W (S30 in FIG. 14: height detection process).
- the height detection sensor 20 may detect the height position of only one point on the workpiece W, or may move from one detection point to detect the height positions of multiple points on the workpiece W.
- the height determination processing unit 242 of the height detection sensor control unit 240 of the control device 200 acquires the height value of the workpiece W detected by the height detection sensor 20, and determines whether the acquired height position of the workpiece W is within the allowable range (S40 in FIG. 14: height determination process). If the height position of the workpiece W is not within the allowable range (NO in S40 in FIG. 14), the height determination processing unit 242 causes the robot control unit 230 to adjust the position of the workpiece W (S50 in FIG. 14). Note that, it is preferable to adjust the height position of the workpiece W by moving the workpiece W in the negative direction of the Z axis to prevent errors due to backlash, but this is not limited to this.
- the movement control unit 246 of the height detection sensor control unit 240 of the control device 200 controls the height detection sensor movement unit 40 to move the height detection sensor 20 to a predetermined standby position (S60 in FIG. 14: sensor movement process).
- the bending method according to this embodiment generally includes a work insertion step in which the work supply robot 100 inserts the work W between the upper die U and the lower die L of the press brake 10, a work position adjustment step in which the work supply robot 100 is operated to adjust the position of the work W when the height direction position of the work W detected by the height detection sensor 20 in the height determination step of the sensor movement control method is not within the allowable range, and a bending step in which the work W is bent.
- FIG. 15 is a flowchart showing an example of the bending method of this embodiment.
- the bending method according to this embodiment will be described in detail with reference to Fig. 15.
- the work supply robot 100 holds the work W on the work placement table P and supplies it to the press brake 10. Specifically, the work supply robot 100 inserts the held work W between the upper die U and the lower die L of the press brake 10 (S100 in Fig. 15: work insertion process).
- the work supply robot 100 adjusts the height position of the work W. Specifically, if the height position of the work W detected by the height detection sensor 20 in the height determination step of the sensor movement control method is not within the allowable range, the work supply robot 100 lowers or raises the inserted work W in the Z-axis direction (S110 in FIG. 15: work position adjustment step). Note that if the height position of the work W is within the allowable range, the work supply robot 100 maintains the current height.
- the work supply robot 100 adjusts the depth direction of the work W and the longitudinal positions of the upper die U and lower die L by abutting the abutment portion of the work W against the back gauge 17 (S120 in FIG. 15).
- the press brake 10 moves the upper die U closer to the lower die L and clamps the work W between the upper die U and lower die L.
- the press brake 10 moves the upper die U even closer to the lower die L while the work supply robot 100 executes a following operation, and bending is performed (S130 in FIG. 15: bending process).
- the angle detection sensor control unit 250 of the control device 200 moves the angle detection sensor 18 to a predetermined position and detects the bending angle of the workpiece W. The angle detection sensor control unit 250 then determines whether the angle detected by the angle detection sensor 18 is within the allowable range.
- the upper die U of the press brake 10 moves away from the lower die L, and the work supply robot 100 transports the bent work W that it is holding to a predetermined position.
- the height, depth, and width adjustments are performed only in the first test run (check run), and the height, depth, and width information from the test run is stored (learned) in the work supply robot 100 and the control device 200, so that adjustments from the second time onwards can be omitted, or the height, depth, and width adjustments can be performed each time.
- the sensor movement control method and the bending method are described separately, but this is not limited to the above, and the sensor movement control method may be executed as part of the bending method.
- the press brake 10 includes upper and lower dies U and L that are movable relative to one another, a height detection sensor 20 that can detect the height position of the workpiece W inserted between the upper and lower dies U and L, a height detection sensor moving unit 40 that moves the height detection sensor 20 in the longitudinal direction of the upper and lower dies U and L, and a control unit (height detection sensor control unit 240).
- the control unit includes a movement control unit 246 that moves the height detection sensor 20 to the vicinity of the position of the work holding means (work supply robot 100) that holds the workpiece W, and a height determination processing unit 242 that determines whether the height position of the workpiece W detected by the height detection sensor 20 is within an acceptable range.
- the press brake 10 has such a configuration, and since the height detection sensor 20 detects the height position of the workpiece W and the height determination processing unit 242 determines whether the height position of the workpiece W detected by the height detection sensor 20 is within an allowable range, it has the advantage that the workpiece W can be positioned in the height direction without visually checking the vicinity of the workpiece W to be bent.
- the sensor movement control device makes it possible to automatically position the workpiece W in the height direction, which makes it possible to increase the operation rate of the press brake and reduce the need for skilled workers.
- the height detection sensor 20 can move to the vicinity of the position of the workpiece holding means (workpiece supply robot 100) to detect the height position of the workpiece W, it has the advantage that it is less affected by the deflection of the workpiece W when detecting the height position. Since the workpiece W deflects more the farther it is from the holding position of the workpiece holding means (workpiece supply robot 100), for example, when placing a workpiece at the tip of the lower mold L, even if the greatly deflected part of the workpiece W reaches the height of the tip of the lower mold L, the part with small deflection may be located above the height of the tip of the lower mold L, and the height position may not be within the allowable range.
- the height position of the workpiece W can be detected by moving to the part with small deflection, i.e., the vicinity of the position of the workpiece holding means (workpiece supply robot 100), so the height position of the workpiece W can be more accurately positioned.
- the press brake 10 includes a lower table 12 on which the lower die U is attached, and the height detection sensor 20 is movably attached to the surface 12a of the lower table 12 facing the work holding means (work supply robot 100).
- the height detection sensor 20 detects the height direction position of the work W behind the upper die U and the lower die L in the depth direction, even if the height direction position of the part of the work W sandwiched between the upper die U and the lower die L, i.e., the bending part of the work W, is not within the allowable range, it may be determined that the work W is within the allowable range because the height direction position of the tip part (abutment part) of the work W is within the allowable range.
- the height detection sensor 20 is disposed closer to the work holding means (work supply robot 100) than the upper die U and the lower die L, so that such erroneous determination can be prevented.
- the height detection sensor 20 can detect the height direction position of the work W at a position closer to the work holding means (work supply robot 100). Furthermore, by attaching it to the lower table 12, it has the advantage of reducing manufacturing costs and preventing the press brake 10 from becoming too large.
- the control unit (height detection sensor control unit 240) is configured to control the height detection sensor movement unit 40 so that the work holding means (work supply robot 100) is moved out of the detection range of the height detection sensor 20.
- This configuration has the advantage that the work holding means (work supply robot 100) can be prevented from being erroneously detected as the work W by the work holding means (work supply robot 100) entering the detection range of the height detection sensor 20, and the height position of the work W can be detected more accurately.
- the sensor movement control device it is also possible to prevent physical interference between the work holding means (work supply robot 100) and the height detection sensor 20.
- the press brake 10 also includes an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W, and the angle detection sensor 18 is configured to be movable in the longitudinal direction of the upper die U and the lower die L, and the height detection sensor 20 and the angle detection sensor 18 are configured to be movable independently in the longitudinal direction of the upper die U and the lower die L.
- This configuration has the advantage of preventing interference between the workpiece holding means (workpiece supply robot 100) or the workpiece W and the angle detection sensor 18, preventing the height detection sensor 20 from being unable to approach sufficiently close to the position of the workpiece holding means (workpiece supply robot 100).
- the press brake 10 is provided with a lower table 12 on which the lower die L is attached, and the height detection sensor 20 is described as being movably attached to the surface 12a of the lower table 12 facing the work holding means (work supply robot 100), but this is not limited to the above.
- the height detection sensor 20 may be attached to a surface other than the surface 12a of the lower table 12 facing the work holding means (work supply robot 100), or may be attached to a location other than the lower table 12, such as the lower die holder 15, upper table 11, or upper die holder 14 of the press brake 10.
- the height detection sensor 20 may also be movably attached to the floor or ceiling of a factory or the like in which the press brake 10 is used.
- control unit has been described as being configured to control the height detection sensor moving unit 40 so that the work holding means (work supply robot 100) moves out of the detection range of the height detection sensor 20, but this is not limited thereto.
- the work holding means may be within the detection range of the height detection sensor 20 as long as it is within a range that does not interfere with the operation of the work holding means (work supply robot 100).
- the press brake 10 is provided with an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W, the angle detection sensor 18 is configured to be freely movable in the longitudinal direction of the upper die U and the lower die L, and the height detection sensor 20 and the angle detection sensor 18 are configured to be independently movable in the longitudinal direction of the upper die U and the lower die L, but this is not limited to the above.
- the press brake 10 does not need to be provided with an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W.
- the height detection sensor 20 may be used as the angle detection sensor 18, or the angle detection may not be performed.
- the press brake 10 may have a height detection sensor 20 attached to the angle detection sensor 18, for example, and the height detection sensor 20 and the angle detection sensor 18 may move together.
- the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 can be integrated into one, which reduces manufacturing costs and prevents the press brake 10 from becoming larger.
- multiple height detection sensors 20 When multiple height detection sensors 20 are installed, they may each be configured to be independently movable. When multiple height detection sensors 20 are provided, multiple height detection sensors 20 may be provided in the longitudinal direction of the upper mold U and lower mold L, or multiple height detection sensors 20 may be provided in front and behind (depth direction) the upper mold U and lower mold L. A combination of both may also be used.
- the robot hand 120 has been described as having the hand body 122 or the hand body 122' and the suction part 124, but this is not limited thereto.
- the robot hand 120 may have the hand body 120 and the suction part 124 and may be used to grasp the workpiece W and hold it by suction instead.
- the bending method has been described as adjusting the depth and width positions of the workpiece W simultaneously with or after the height adjustment, but this is not limited to this, and the height adjustment may be performed after the depth and width positions are adjusted.
- the angle detection sensor 18 is attached only to the surface 12a of the lower table 12 that faces the work supply robot 100, but this is not limited to the above.
- the press brake 10 may further include an angle detection sensor 18 on the surface behind the surface 12a of the lower table 12 that faces the work supply robot 100.
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Abstract
The present invention comprises: an upper mold and a lower mold which can move relative to each other; a height detection sensor capable of detecting the position in the height direction of a workpiece inserted between the upper mold and the lower mold; a height detection sensor movement part which moves the height detection sensor in the longitudinal direction of the upper mold and the lower mold; and a control unit, wherein the control unit includes a movement control unit which moves the height detection sensor to the vicinity of the position of a workpiece holding means that holds the workpiece, and a height determination processing unit which determines whether the position in the height direction of the workpiece detected by the height detection sensor is within an allowable range.
Description
本発明は、プレスブレーキ、曲げ加工システム及びセンサ移動制御方法に関する。
The present invention relates to a press brake, a bending system, and a sensor movement control method.
従来、所定長さの板状のワークの曲げ加工を行うためのパンチ、ダイ及びワークの前後方向の位置決めを行うバックゲージを備えたプレスブレーキと、パンチ及びダイによる曲げ加工位置に対してワークの搬送位置決めを行う搬送ロボットと、搬送ロボット及びバックゲージの動作を制御するための制御装置とを備えた曲げ加工システムがある(特許文献1等)。
Conventionally, there is a bending system that includes a press brake equipped with a punch, a die, and a back gauge that positions the work in the front-to-rear direction to perform bending processing on a plate-shaped workpiece of a predetermined length, a transport robot that transports and positions the workpiece relative to the bending processing position using the punch and die, and a control device that controls the operation of the transport robot and the back gauge (Patent Document 1, etc.).
このような曲げ加工システムは、パンチ及びダイの間へワークWの搬送供給を行う搬送ロボットがプレスブレーキの前側に前後方向、左右方向及び上下方向へ移動自在に配置されている。
In this type of bending system, a transport robot that transports and supplies the workpiece W between the punch and die is positioned in front of the press brake so that it can move freely in the forward/backward, left/right, and up/down directions.
しかしながら、従来の曲げ加工システムでは、ワークの搬送位置決めをする際に、ワークの前後方向の位置決めは、バックゲージを使用して行うことができるが、上下方向の位置決めは、作業者が搬送ロボットやワークの近傍で目視確認を行いながら手動操作により位置決めをする必要がある。
However, in conventional bending systems, while the positioning of the workpiece in the forward and backward directions can be done using a backgauge, the positioning in the upward and downward directions must be done manually by an operator while visually checking the positioning in the vicinity of the transport robot and the workpiece.
上下方向の位置決めにかかる時間は、作業者の経験や勘によって左右されてしまい、経験の浅い作業員では、ワークとパンチ及びダイの隙間を確認しながら何度も目視確認と調整を繰り返すことになり、曲げ加工システムの高稼働化の妨げや熟練作業員への作業の集中等の問題がある。
The time it takes to position the workpiece in the vertical direction depends on the experience and intuition of the worker, and an inexperienced worker will have to repeatedly visually check and adjust the gap between the workpiece and the punch and die, which hinders the bending system from operating at a high rate and causes problems such as the concentration of work on experienced workers.
本発明の一態様は、曲げ加工を行うワークの近傍で目視確認することなくワークの高さ方向の位置決めができるプレスブレーキ、曲げ加工システム及びセンサ移動制御方法である。
One aspect of the present invention is a press brake, bending system, and sensor movement control method that can position a workpiece in the vertical direction without visually checking the workpiece near the workpiece to be bent.
本発明の一態様に係るプレスブレーキは、相対移動可能な上型及び下型と、前記上型及び前記下型の間に挿入されるワークの高さ方向の位置を検出可能な高さ検出センサと、前記高さ検出センサを前記上型及び下型の長手方向に移動させる高さ検出センサ移動部と、制御部とを備え、前記制御部は、前記ワークを保持するワーク保持手段の位置の近傍に前記高さ検出センサを移動させる移動制御部と、前記高さ検出センサにより検出された前記ワークの高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定処理部とを含む。
A press brake according to one embodiment of the present invention includes upper and lower dies that are movable relative to one another, a height detection sensor that can detect the height position of a workpiece inserted between the upper and lower dies, a height detection sensor movement unit that moves the height detection sensor in the longitudinal direction of the upper and lower dies, and a control unit, the control unit including a movement control unit that moves the height detection sensor to the vicinity of the position of a work holding means that holds the workpiece, and a height determination processing unit that determines whether the height position of the workpiece detected by the height detection sensor is within an acceptable range.
本発明の一態様に係る曲げ加工システムは、所定長さの板状のワークの曲げ加工を行うプレスブレーキと、前記プレスブレーキに前記ワークを供給するワーク供給ロボットと、高さ検出センサと、高さ検出センサ移動部と、前記プレスブレーキ、前記ワーク供給ロボット、前記高さ検出センサ及び前記高さ検出センサ移動部を制御する制御装置とを備え、前記プレスブレーキは、相対移動可能な上型及び下型を含み、前記ワーク供給ロボットは、上型及び下型の間に前記ワークを挿入するよう構成されており、前記高さ検出センサは、前記上型及び前記下型の間に挿入される前記ワークの高さ方向の位置を検出可能に構成されており、前記高さ検出センサ移動部は、前記高さ検出センサを前記上型及び前記下型の長手方向に移動させるよう構成されており、前記制御装置は、前記ワークを保持するワーク保持手段の位置の近傍に前記高さ検出センサを移動させる移動制御部と、前記高さ検出センサにより検出された前記ワークの高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定処理部とを含む。
The bending system according to one aspect of the present invention includes a press brake that bends a plate-shaped workpiece of a predetermined length, a workpiece supply robot that supplies the workpiece to the press brake, a height detection sensor, a height detection sensor moving unit, and a control device that controls the press brake, the workpiece supply robot, the height detection sensor, and the height detection sensor moving unit. The press brake includes upper and lower molds that are relatively movable, the workpiece supply robot is configured to insert the workpiece between the upper and lower molds, the height detection sensor is configured to detect the height position of the workpiece inserted between the upper and lower molds, the height detection sensor moving unit is configured to move the height detection sensor in the longitudinal direction of the upper and lower molds, and the control device includes a movement control unit that moves the height detection sensor to the vicinity of the position of a workpiece holding means that holds the workpiece, and a height determination processing unit that determines whether the height position of the workpiece detected by the height detection sensor is within an allowable range.
本発明の一態様に係るセンサ移動制御方法は、相対移動可能な上型及び下型の間に挿入されるワークを保持するワーク保持手段の位置の近傍に前記ワークの高さ方向の位置を検出可能な高さ検出センサを移動させる高さ検出センサ移動工程と、前記ワークの前記高さ方向の前記位置を検出する高さ検出工程と、前記高さ検出センサにより検出された前記ワークの前記高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定工程とを備える。
A sensor movement control method according to one embodiment of the present invention includes a height detection sensor moving step of moving a height detection sensor capable of detecting the height position of a workpiece to the vicinity of the position of a workpiece holding means that holds the workpiece inserted between upper and lower dies that are relatively movable, a height detection step of detecting the position of the workpiece in the height direction, and a height determination step of determining whether the position of the workpiece in the height direction detected by the height detection sensor is within an allowable range.
本発明の一態様に係るプレスブレーキ、曲げ加工システム及びセンサ移動制御方法によれば、高さ検出センサにより検出されたワークの高さ方向の位置が許容範囲に収まっているか否かを判定するため、曲げ加工を行うワークの近傍で目視確認することなくワークの高さ方向の位置決めができる。
The press brake, bending system, and sensor movement control method according to one embodiment of the present invention determine whether the height position of the workpiece detected by the height detection sensor is within an acceptable range, making it possible to position the workpiece in the height direction without visually checking the vicinity of the workpiece to be bent.
本発明の一態様に係るプレスブレーキ、曲げ加工システム及びセンサ移動制御方法によれば、曲げ加工を行うワークの近傍で目視確認することなくワークの高さ方向の位置決めができる。
The press brake, bending system, and sensor movement control method according to one aspect of the present invention allow the workpiece to be positioned in the height direction without visually checking the vicinity of the workpiece to be bent.
以下、本発明を実施するための最良の実施形態について、図面を用いて説明する。なお、以下の実施形態は、各請求項に係る発明を限定するものではなく、また、実施形態の中で説明されている特徴の組み合わせの全てが発明の解決手段に必須であるとは限らない。
Below, the best embodiment for carrying out the present invention will be explained with reference to the drawings. Note that the following embodiment does not limit the inventions related to each claim, and not all of the combinations of features explained in the embodiment are necessarily essential to the solution of the invention.
[本実施形態に係る曲げ加工システムの全体構成]
図1は、本発明の実施形態に係る曲げ加工システムを示す概略図である。図4は、本実施形態のプレスブレーキを示す正面図である。
まず、図1及び図4を参照して、本発明の実施形態に係る曲げ加工システム1を概説する。本実施形態に係る曲げ加工システム1は、図1及び図4に示すように、所定長さの板状のワークWの曲げ加工を行うプレスブレーキ10と、プレスブレーキ10にワークWを供給するワーク供給ロボット100と、高さ検出センサ20と、高さ検出センサ移動部40と、プレスブレーキ10、ワーク供給ロボット100、高さ検出センサ20及び高さ検出センサ移動部40を制御する制御装置200とを備える。高さ検出センサ20及び制御装置200は、センサ移動制御装置として機能する。 [Overall configuration of bending system according to this embodiment]
Fig. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention, Fig. 4 is a front view showing a press brake according to the embodiment.
First, a bending system 1 according to an embodiment of the present invention will be outlined with reference to Figures 1 and 4. As shown in Figures 1 and 4, the bending system 1 according to this embodiment includes apress brake 10 that bends a plate-shaped workpiece W of a predetermined length, a workpiece supply robot 100 that supplies the workpiece W to the press brake 10, a height detection sensor 20, a height detection sensor moving unit 40, and a control device 200 that controls the press brake 10, the workpiece supply robot 100, the height detection sensor 20, and the height detection sensor moving unit 40. The height detection sensor 20 and the control device 200 function as a sensor movement control device.
図1は、本発明の実施形態に係る曲げ加工システムを示す概略図である。図4は、本実施形態のプレスブレーキを示す正面図である。
まず、図1及び図4を参照して、本発明の実施形態に係る曲げ加工システム1を概説する。本実施形態に係る曲げ加工システム1は、図1及び図4に示すように、所定長さの板状のワークWの曲げ加工を行うプレスブレーキ10と、プレスブレーキ10にワークWを供給するワーク供給ロボット100と、高さ検出センサ20と、高さ検出センサ移動部40と、プレスブレーキ10、ワーク供給ロボット100、高さ検出センサ20及び高さ検出センサ移動部40を制御する制御装置200とを備える。高さ検出センサ20及び制御装置200は、センサ移動制御装置として機能する。 [Overall configuration of bending system according to this embodiment]
Fig. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention, Fig. 4 is a front view showing a press brake according to the embodiment.
First, a bending system 1 according to an embodiment of the present invention will be outlined with reference to Figures 1 and 4. As shown in Figures 1 and 4, the bending system 1 according to this embodiment includes a
また、曲げ加工システム1は、加工前の複数のワークWを載置しておくワーク載置台Pを更に備えてもよい。なお、ワーク載置台Pは、平台に限定されず、可搬性を有するパレットや、ローディング装置、クシバ台等であってもよい。また、曲げ加工システム1は、ワーク載置台Pの代わりにワーク供給ロボット100にワークWを受け渡すロボットや装置を備えてもよい。プレスブレーキ10は、対向して設けられる上型U及び下型Lを含む。本実施形態において、プレスブレーキ10は、上型Uがパンチで下型Lがダイであるが、これに限定されず、上型Uがダイで下型Lがパンチであってもよい。
The bending system 1 may further include a workpiece placement table P on which multiple workpieces W before processing are placed. The workpiece placement table P is not limited to a flat table, and may be a portable pallet, a loading device, a comb table, etc. The bending system 1 may also include a robot or device that transfers the workpiece W to the work supply robot 100 instead of the workpiece placement table P. The press brake 10 includes an upper die U and a lower die L that are disposed opposite each other. In this embodiment, the upper die U of the press brake 10 is a punch and the lower die L is a die, but the present invention is not limited to this, and the upper die U may be a die and the lower die L may be a punch.
以下の説明において、「Z軸方向(高さ方向)」は、下型Lの鉛直方向の上方に上型Uを対向配置された状態における上型Uと下型Lの対向方向を意味する。また、「X軸方向(上型U及び下型Lの長手方向)」は、プレスブレーキ10の正面に正対した時のZ軸と直交する左右方向を意味し、「Y軸方向」は、この場合のZ軸及びX軸と直交する奥行き方向を意味する。
In the following description, the "Z-axis direction (height direction)" refers to the opposing direction of the upper mold U and the lower mold L when the upper mold U is placed vertically above the lower mold L. Additionally, the "X-axis direction (longitudinal direction of the upper mold U and the lower mold L)" refers to the left-right direction perpendicular to the Z-axis when facing the front of the press brake 10, and the "Y-axis direction" refers to the depth direction perpendicular to the Z-axis and X-axis in this case.
[ワーク供給ロボットの構成]
ワーク供給ロボット100は、ワーク載置台Pとプレスブレーキ10との間に配置されており、ワーク保持手段として、上型U及び下型Lの間にワークWを供給するよう構成されている。なお、ワーク供給ロボット100は、プレスブレーキ10の上型U及び下型Lと対向して設けられていることが好ましいが、これに限定されない。 [Configuration of work supply robot]
Thework supply robot 100 is disposed between the work placement table P and the press brake 10, and is configured as a work holding means to supply the work W between the upper die U and the lower die L. Note that the work supply robot 100 is preferably provided facing the upper die U and the lower die L of the press brake 10, but is not limited thereto.
ワーク供給ロボット100は、ワーク載置台Pとプレスブレーキ10との間に配置されており、ワーク保持手段として、上型U及び下型Lの間にワークWを供給するよう構成されている。なお、ワーク供給ロボット100は、プレスブレーキ10の上型U及び下型Lと対向して設けられていることが好ましいが、これに限定されない。 [Configuration of work supply robot]
The
ワーク供給ロボット100は、ワーク載置台Pに積載された複数のワークWのうちの最上部のワークWを保持し、そのワークWをプレスブレーキ10に供給(挿入)するよう構成されると共に、プレスブレーキ10による曲げ加工時にフォローイング動作を実行するよう構成されている。また、ワーク供給ロボット100は、曲げ加工後のワークWを所定の場所に搬送(搬出)するよう構成されている。
The work supply robot 100 is configured to hold the topmost work W of multiple work pieces W loaded on the work placement table P and supply (insert) that work piece W to the press brake 10, and is also configured to perform a following operation during bending by the press brake 10. The work supply robot 100 is also configured to transport (carry out) the work piece W to a specified location after bending.
具体的には、ワーク供給ロボット100は、図1に示すように、ワーク保持部としてワークWを保持可能なロボットハンド(robotic hand)120と、ロボットハンド120をワークWに対して接近又は離間させるアーム部140とを含んでいる。また、ワーク供給ロボット100は、ワーク供給ロボット100を移動させるための移動機構160を更に含んでもよい。
Specifically, as shown in FIG. 1, the work supply robot 100 includes a robotic hand 120 capable of holding a work W as a work holding section, and an arm section 140 that moves the robotic hand 120 toward or away from the work W. In addition, the work supply robot 100 may further include a movement mechanism 160 for moving the work supply robot 100.
図2は、本実施形態の曲げ加工システムの変形例を示す概略図である。
ロボットハンド120は、図1に示すように、アーム部140の先端部に着脱可能に装着される。ロボットハンド120は、ワークWを把持するハンド本体122を有してもよいし、図2に示すように、アーム部140の先端部に着脱可能に装着されるハンド本体122′と、ハンド本体122′に取り付けられ、ワークWを保持可能に構成された複数の吸着部124とを有してもよい。 FIG. 2 is a schematic diagram showing a modified example of the bending system of the present embodiment.
1, therobot hand 120 is detachably attached to the tip of the arm unit 140. The robot hand 120 may have a hand body 122 that grips the workpiece W, or may have a hand body 122' that is detachably attached to the tip of the arm unit 140 and a plurality of suction units 124 that are attached to the hand body 122' and configured to be able to hold the workpiece W, as shown in FIG.
ロボットハンド120は、図1に示すように、アーム部140の先端部に着脱可能に装着される。ロボットハンド120は、ワークWを把持するハンド本体122を有してもよいし、図2に示すように、アーム部140の先端部に着脱可能に装着されるハンド本体122′と、ハンド本体122′に取り付けられ、ワークWを保持可能に構成された複数の吸着部124とを有してもよい。 FIG. 2 is a schematic diagram showing a modified example of the bending system of the present embodiment.
1, the
図3は、本実施形態のロボットハンドの変形例を示す概略図である。
ハンド本体122′は、図3に示すように、アーム部140の先端部に着脱可能に装着される装着部122aと、装着部122aに結合された第1支持バー122bと、第1支持バー122bにその長手方向に間隔を置いて設けられた複数の第2支持バー122cとを有している。なお、ハンド本体122,122′の形状は、図示の例に限定されず、ワークWの形状等に応じて任意に変更することが可能である。 FIG. 3 is a schematic diagram showing a modified example of the robot hand of this embodiment.
3, the hand body 122' has anattachment part 122a that is detachably attached to the tip of the arm part 140, a first support bar 122b that is connected to the attachment part 122a, and a plurality of second support bars 122c that are provided on the first support bar 122b at intervals in the longitudinal direction thereof. Note that the shape of the hand bodies 122, 122' is not limited to the example shown in the figure, and can be arbitrarily changed depending on the shape of the workpiece W, etc.
ハンド本体122′は、図3に示すように、アーム部140の先端部に着脱可能に装着される装着部122aと、装着部122aに結合された第1支持バー122bと、第1支持バー122bにその長手方向に間隔を置いて設けられた複数の第2支持バー122cとを有している。なお、ハンド本体122,122′の形状は、図示の例に限定されず、ワークWの形状等に応じて任意に変更することが可能である。 FIG. 3 is a schematic diagram showing a modified example of the robot hand of this embodiment.
3, the hand body 122' has an
吸着部124は、各第2支持バー122cの両末端部にそれぞれ取り付けられており、それぞれ、エアを吸引するエア吸引源(図示せず)に配管を介して接続されている。各吸着部124は、その下端部にワークWの表面に吸着可能(接触可能)な平型の吸着パッドを有しており、エア吸引源によるエアの吸引力によって、ワーク載置台Pに積載された複数のワークWのうちの最上部のワークWの表面に吸着するよう構成されている。なお、ロボットハンド120は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。また、ロボットハンド120は、上述した形態に限定されず、種々の公知の構成を任意に採用することが可能である。
The suction parts 124 are attached to both ends of each second support bar 122c, and are connected via piping to an air suction source (not shown) that sucks in air. Each suction part 124 has a flat suction pad at its lower end that can be sucked (contacted) onto the surface of the workpiece W, and is configured to be sucked onto the surface of the uppermost workpiece W among the multiple workpieces W loaded on the workpiece mounting table P by the suction force of air from the air suction source. Note that the robot hand 120 can adopt various known configurations, so detailed description thereof will be omitted. Furthermore, the robot hand 120 is not limited to the above-mentioned form, and can adopt any of various known configurations.
アーム部140は、一端部が移動機構160のベース台160bに連結されると共に、他端部がロボットハンド120に連結されており、制御装置200のロボット制御部230からの制御信号に基づいて、ロボットハンド120をワークWに対して接近又は離間させるよう構成されている。本実施形態において、アーム部140は、6軸の制御軸を有する多関節アームであり、ワーク載置台PからのワークWの搬送だけではなく、加工機等へのワークWの供給(挿入)、ワークWの加工(曲げ加工)の補助、及び、加工機等からの製品(曲げ加工品)の搬送(搬出)等を実行可能に構成されている。なお、アーム部140は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。また、アーム部140は、上述した6軸の制御軸を有する多関節アームの構成に限定されず、種々の公知の構成を任意に採用することが可能である。
The arm unit 140 has one end connected to the base 160b of the moving mechanism 160 and the other end connected to the robot hand 120, and is configured to move the robot hand 120 closer to or farther from the workpiece W based on a control signal from the robot control unit 230 of the control device 200. In this embodiment, the arm unit 140 is a multi-joint arm having six control axes, and is configured to be able to perform not only the transportation of the workpiece W from the workpiece placement table P, but also the supply (insertion) of the workpiece W to a processing machine, etc., assist in the processing (bending) of the workpiece W, and transport (unload) the product (bent product) from the processing machine, etc. Note that the arm unit 140 can adopt various known configurations, so detailed description thereof will be omitted. In addition, the arm unit 140 is not limited to the configuration of a multi-joint arm having the above-mentioned six control axes, and can arbitrarily adopt various known configurations.
移動機構160は、床面上に敷設されたレール部160aと、レール部160a上に沿って移動可能なベース台160bと、ベース台160bを駆動させるベース台駆動手段(図示せず)とを有する所謂直動機構であり、制御装置200の後述するロボット制御部230からの制御信号に基づいて、床面上においてワーク供給ロボット100を移動させるよう構成されている。なお、移動機構160は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
The moving mechanism 160 is a so-called linear motion mechanism having a rail section 160a laid on the floor surface, a base table 160b that can move along the rail section 160a, and a base table driving means (not shown) that drives the base table 160b, and is configured to move the work supply robot 100 on the floor surface based on a control signal from a robot control section 230 (described later) of the control device 200. Note that the moving mechanism 160 can employ various known configurations, so detailed description thereof will be omitted.
[プレスブレーキの構成]
プレスブレーキ10は、図4に示すように、正面中央に、奥行き方向(Y軸方向)の一方の面、例えば外側の板面がそれぞれ正面を向くように高さ方向(Z軸方向)に整列して配置された上部テーブル11及び下部テーブル12と、上部テーブル11及び下部テーブル12を支持し、左右それぞれに配置された支持部13とを備える。 [Press brake configuration]
As shown in Figure 4, thepress brake 10 is equipped with an upper table 11 and a lower table 12 arranged in the center of the front and aligned in the height direction (Z axis direction) so that one side in the depth direction (Y axis direction), for example the outer plate surface, faces the front, and support parts 13 arranged on the left and right sides to support the upper table 11 and the lower table 12.
プレスブレーキ10は、図4に示すように、正面中央に、奥行き方向(Y軸方向)の一方の面、例えば外側の板面がそれぞれ正面を向くように高さ方向(Z軸方向)に整列して配置された上部テーブル11及び下部テーブル12と、上部テーブル11及び下部テーブル12を支持し、左右それぞれに配置された支持部13とを備える。 [Press brake configuration]
As shown in Figure 4, the
また、プレスブレーキ10は、図1に示すように、例えば、上部テーブル11を下部テーブル12に対して高さ方向に沿って往復動させるよう構成された駆動機構16と、駆動機構16によって上部テーブル11が移動する際の移動位置を検出する位置検出センサ(図示せず)とを備える。
As shown in FIG. 1, the press brake 10 also includes a drive mechanism 16 configured to reciprocate the upper table 11 in the height direction relative to the lower table 12, and a position detection sensor (not shown) that detects the position to which the upper table 11 moves when moved by the drive mechanism 16.
さらに、プレスブレーキ10は、上型U及び下型Lの間に挿入されるワークWの奥行き方向の位置決めを行うバックゲージ17と、ワークWの曲げ加工時に、ワークWの曲げ角度を検出可能な角度検出センサ18とを備える。
The press brake 10 further includes a back gauge 17 that positions the workpiece W in the depth direction when it is inserted between the upper die U and the lower die L, and an angle detection sensor 18 that can detect the bending angle of the workpiece W when bending the workpiece W.
なお、以下の説明において、プレスブレーキ10の基本的な構成は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
In the following explanation, the basic configuration of the press brake 10 can be based on various known configurations, so detailed explanations will be omitted.
上部テーブル11は、例えば金属等の板状部材からなり、その下部においてパンチ等の上型Uを保持する複数の上型ホルダ(パンチホルダ)14を有する。下部テーブル12は、上部テーブル11と同様の金属等の板状部材からなり、その上部においてダイ等の下型Lを保持する下型ホルダ(ダイホルダ)15を有する。なお、上型Uがダイ、下型Lがパンチの場合、上型ホルダ14がダイホルダとなり、下型ホルダ15がパンチホルダとなる。
The upper table 11 is made of a plate-like member such as metal, and has a number of upper die holders (punch holders) 14 at its lower part that hold an upper die U such as a punch. The lower table 12 is made of a plate-like member such as metal like the upper table 11, and has a lower die holder (die holder) 15 at its upper part that holds a lower die L such as a die. Note that when the upper die U is a die and the lower die L is a punch, the upper die holder 14 becomes the die holder and the lower die holder 15 becomes the punch holder.
各支持部13は、本実施形態において、側方視で略コの字状に形成された板状のサイドフレームにより構成されるが、これに限定されるものではなく、棒状のタイバー等によって構成されてもよい。
In this embodiment, each support section 13 is configured with a plate-like side frame that is formed in a roughly U-shape when viewed from the side, but this is not limited to this and may be configured with a rod-shaped tie bar, etc.
駆動機構16は、例えば、上部テーブル11の駆動源となる油圧シリンダであり、各支持部13の上部にそれぞれ取り付けられている。各駆動機構16は、上部テーブル11を下部テーブル12に対して高さ方向に沿って相対的に往復動(上下動)させるよう構成されている。このような構成を備えることにより、上部テーブル11の上型ホルダ14に取り付けられる上型Uと、下部テーブル12の下型ホルダ15に取り付けられる下型Lとが相対移動可能となる。
The driving mechanism 16 is, for example, a hydraulic cylinder that serves as the driving source for the upper table 11, and is attached to the top of each support portion 13. Each driving mechanism 16 is configured to reciprocate (move up and down) the upper table 11 relative to the lower table 12 in the height direction. With this configuration, the upper mold U attached to the upper mold holder 14 of the upper table 11 and the lower mold L attached to the lower mold holder 15 of the lower table 12 can move relative to each other.
なお、各駆動機構16は、油圧シリンダに代えて、サーボモータ等の他の駆動手段を用いることも可能である。また、駆動機構16は、上述した実施形態に限定されず、上部テーブル11の代わりに下部テーブル12を駆動させてもよい。
In addition, each drive mechanism 16 can use other drive means such as a servo motor instead of a hydraulic cylinder. Also, the drive mechanism 16 is not limited to the above-mentioned embodiment, and can drive the lower table 12 instead of the upper table 11.
位置検出センサは、例えば、駆動機構16によって上部テーブル11が移動する際の下型Lに対する上型Uの相対的な移動位置を検出する。この位置検出センサは、例えば、エンコーダやリニアスケール等からなるものであり、公知のものであるため、ここでは詳細な説明は省略する。
The position detection sensor detects the relative movement position of the upper mold U with respect to the lower mold L when the upper table 11 is moved by the drive mechanism 16. This position detection sensor is, for example, an encoder or a linear scale, and is well known, so a detailed description will be omitted here.
バックゲージ17は、図1に示すように、上型U及び下型Lよりも奥行き方向の後方に移動自在に設けられており、上型U及び下型Lの長手方向(X軸方向)におけるワークWの曲げ加工位置やワークWの左右方向の幅寸法に対応して左右方向へ位置調整が可能に構成されている。また、バックゲージ17は、ワークW毎の突き当て位置の奥行き及び高さに対応できるように奥行き方向及び高さ方向へ位置調整が可能に構成されている。バックゲージ17の各方向への位置調整は、サーボモータ等の移動機構を適宜に制御することによって行われるものである。
As shown in FIG. 1, the backgauge 17 is provided so as to be freely movable in the depth direction rearward of the upper die U and the lower die L, and is configured so that its position can be adjusted left and right in accordance with the bending position of the workpiece W in the longitudinal direction (X-axis direction) of the upper die U and the lower die L and the left and right width dimension of the workpiece W. The backgauge 17 is also configured so that its position can be adjusted in the depth and height directions so as to correspond to the depth and height of the abutment position of each workpiece W. The position adjustment of the backgauge 17 in each direction is performed by appropriately controlling a movement mechanism such as a servo motor.
また、バックゲージ17においては、ワークWの突き当て部がバックゲージ17に当接したことを検知するセンサ(図示省略)、例えば、ポテンショメータ等を備える構成も知られている。さらに、バックゲージ17の制御としては、ワークWの前後方向の位置決めを行った後に、ワークWの曲げ加工時にワークWと干渉することを回避するために、バックゲージ17を僅かに後側へ移動することも行われている。なお、バックゲージ17は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
Also, the backgage 17 may be configured to include a sensor (not shown), such as a potentiometer, that detects when the abutting portion of the workpiece W abuts against the backgage 17. Furthermore, the backgage 17 may be controlled by moving the backgage 17 slightly backward after positioning the workpiece W in the front-to-rear direction in order to avoid interference with the workpiece W during bending processing. Note that the backgage 17 may employ a variety of known configurations, and therefore detailed explanations thereof will be omitted.
角度検出センサ18は、図1及び図4に示すように、例えば、下部テーブル12のワーク供給ロボット100との対向面12aに取り付けられており、上型U及び下型Lの長手方向に移動自在に構成されている。具体的には、下部テーブル12の対向面12aには、角度検出センサ移動部19が設けられており、角度検出センサ移動部19上に角度検出センサ18が取り付けられている。
As shown in Figures 1 and 4, the angle detection sensor 18 is attached, for example, to the surface 12a of the lower table 12 facing the work supply robot 100, and is configured to be freely movable in the longitudinal direction of the upper mold U and the lower mold L. Specifically, an angle detection sensor moving part 19 is provided on the facing surface 12a of the lower table 12, and the angle detection sensor 18 is attached to the angle detection sensor moving part 19.
角度検出センサ移動部19は、下部テーブル12の対向面12a上に敷設されたレール部19aと、レール部19a上に沿って移動可能なベース台(図示せず)と、ベース台を駆動させるベース台駆動手段(図示せず)とを有する所謂直動機構である。角度検出センサ移動部19は、制御装置200の後述する角度検出センサ制御部250からの制御信号に基づいて、レール部19a上をベース台が移動するよう構成されている。なお、角度検出センサ移動部19は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
The angle detection sensor moving unit 19 is a so-called linear motion mechanism having a rail portion 19a laid on the opposing surface 12a of the lower table 12, a base table (not shown) that can move along the rail portion 19a, and a base table driving means (not shown) that drives the base table. The angle detection sensor moving unit 19 is configured so that the base table moves on the rail portion 19a based on a control signal from an angle detection sensor control unit 250 (described later) of the control device 200. Note that the angle detection sensor moving unit 19 can employ various known configurations, so detailed explanations thereof will be omitted.
角度検出センサ18は、角度検出センサ移動部19のベース台に取り付けられており、ベース台がベース台駆動手段により駆動することで上型U及び下型Lの長手方向に移動するよう構成されている。角度検出センサ18は、例えば、上型U及び下型Lによる曲げ加工位置に近接した第1センサ(図示せず)と、第1センサから所定距離だけ奥行き方向の前方に離間して配置された第2センサ(図示せず)を備えている。
The angle detection sensor 18 is attached to a base table of the angle detection sensor moving unit 19, and is configured to move in the longitudinal direction of the upper die U and the lower die L when the base table is driven by a base table driving means. The angle detection sensor 18 includes, for example, a first sensor (not shown) located close to the bending position by the upper die U and the lower die L, and a second sensor (not shown) located a predetermined distance forward in the depth direction from the first sensor.
第1センサ及び第2センサは、ワークWの曲げ線に対する前面及び後面の外角を検出するもので、例えばレーザ光線とカメラを使用した非接触式センサやポテンショメータ等を使用した接触式センサを採用可能である。なお、第1センサ及び第2センサは、同一高さに備えられている。角度検出センサ18は、ワークWの曲げ加工を行う際に、第1センサ及び第2センサによって、例えばレーザ光線に対しカメラを傾斜させて撮像し、下型Lの線分とワークWの線分を基にして、ワークWの折り曲げ角度を演算可能に構成されている。
The first and second sensors detect the outer angles of the front and back surfaces relative to the bending line of the workpiece W, and can be, for example, a non-contact sensor using a laser beam and a camera, or a contact sensor using a potentiometer or the like. The first and second sensors are provided at the same height. The angle detection sensor 18 is configured so that when bending the workpiece W, the first and second sensors take an image by tilting the camera relative to the laser beam, for example, and can calculate the bending angle of the workpiece W based on the line segment of the lower mold L and the line segment of the workpiece W.
高さ検出センサ20は、上型U及び下型Lの間に挿入されるワークWの高さ方向の位置を検出可能に構成されており、例えば、高さ方向におけるワークWまでの距離を検出するものである。高さ検出センサ20としては、例えば、レーザ光線を使用したレーザ距離計やポテンショメータ等を採用可能である。なお、高さ検出センサ20は、ワークWの高さ方向の位置が所定の範囲内にあることを検出可能な構成であれば、上述した構成に限定されない。
The height detection sensor 20 is configured to be able to detect the height position of the workpiece W inserted between the upper die U and the lower die L, and for example, detects the distance to the workpiece W in the height direction. For example, a laser range finder using a laser beam or a potentiometer can be used as the height detection sensor 20. Note that the height detection sensor 20 is not limited to the above-mentioned configuration as long as it is configured to detect that the height position of the workpiece W is within a predetermined range.
例えば、高さ検出センサ20は、ワークWの表面に接触したことを検出することで、ワークWの高さ方向の位置が所定の範囲内にあることを検出可能に構成されてもよい。なお、本明細書において、「ワークWの表面に接触した」には、ワークWの表面に完全に接触した場合に加え、ワークWの表面に接触したと評価し得る程度に近接した場合も含むこととする。
For example, the height detection sensor 20 may be configured to detect that the heightwise position of the workpiece W is within a predetermined range by detecting contact with the surface of the workpiece W. In this specification, "contact with the surface of the workpiece W" includes not only complete contact with the surface of the workpiece W, but also close enough to be evaluated as contacting the surface of the workpiece W.
具体的には、高さ検出センサは、反射型の光電センサであり、光電センサの投光素子から発せられた光が、ワークWの表面によって反射され、その反射光を光電センサの受光素子が受光することで、ワークWの高さ方向の位置が所定の範囲内にあることを検出してもよい。
Specifically, the height detection sensor may be a reflective photoelectric sensor, in which light emitted from a light-emitting element of the photoelectric sensor is reflected by the surface of the workpiece W, and the reflected light is received by a light-receiving element of the photoelectric sensor, thereby detecting that the height position of the workpiece W is within a predetermined range.
また、高さ検出センサ20は、磁力によりワークWの高さ方向の位置が所定の範囲内にあることを検出してもよいし、伸縮部を有する表面検知ロッド等の伸縮によってワークWの高さ方向の位置が所定の範囲内にあることを検出してもよい。さらに、高さ検出センサ20は、フォトリフレクタ、近接センサ、超音波センサ、渦電流式センサ及び力覚センサ等の接触式のセンサでもよい。
The height detection sensor 20 may detect that the height position of the workpiece W is within a predetermined range by magnetic force, or may detect that the height position of the workpiece W is within a predetermined range by the extension and contraction of a surface detection rod having an extension section. Furthermore, the height detection sensor 20 may be a contact sensor such as a photoreflector, a proximity sensor, an ultrasonic sensor, an eddy current sensor, or a force sensor.
高さ検出センサ20は、図1及び図4に示すように、上型U及び下型Lよりもワーク供給ロボット100側(奥行き方向前方)に配置されている。高さ検出センサ20は、例えば、下部テーブル12のワーク供給ロボット100との対向面12aに取り付けられており、上型U及び下型Lの長手方向に移動自在に構成されている。具体的には、下部テーブル12の対向面12aには、高さ検出センサ移動部40が設けられており、高さ検出センサ移動部40上に高さ検出センサ20が取り付けられている。
As shown in Figures 1 and 4, the height detection sensor 20 is disposed closer to the work supply robot 100 (forward in the depth direction) than the upper mold U and the lower mold L. The height detection sensor 20 is attached, for example, to the surface 12a of the lower table 12 facing the work supply robot 100, and is configured to be freely movable in the longitudinal direction of the upper mold U and the lower mold L. Specifically, a height detection sensor moving part 40 is provided on the facing surface 12a of the lower table 12, and the height detection sensor 20 is attached to the height detection sensor moving part 40.
高さ検出センサ20は、高さ検出センサ移動部40の後述するベース台に取り付けられており、上型U及び下型Lの長手方向に移動するよう構成されている。高さ検出センサ移動部40は、図4及び図10に示すように、角度検出センサ移動部19のレール部19a上に沿って移動可能なベース台(図示せず)を有する所謂直動機構である。高さ検出センサ移動部40は、角度検出センサ移動部19のベース台駆動手段により、レール部19a上をベース台が移動するよう構成されている。
The height detection sensor 20 is attached to a base table (described later) of the height detection sensor moving unit 40, and is configured to move in the longitudinal direction of the upper mold U and the lower mold L. As shown in Figures 4 and 10, the height detection sensor moving unit 40 is a so-called linear motion mechanism having a base table (not shown) that can move along the rail portion 19a of the angle detection sensor moving unit 19. The height detection sensor moving unit 40 is configured so that the base table moves on the rail portion 19a by the base table driving means of the angle detection sensor moving unit 19.
このような構成を備える高さ検出センサ移動部40は、高さ検出センサ20を上型U及び下型Lの長手方向に移動させるよう構成されている。具体的には、高さ検出センサ移動部40のベース台は、角度検出センサ移動部19と連結及び解結可能な連結部(図示せず)を有し、高さ検出センサ移動部40は、角度検出センサ移動部19と連結することで、レール部40a上をベース台が移動し、高さ検出センサ20を所定の位置に移動させる。なお、高さ検出センサ移動部40の機械的構成自体は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
The height detection sensor moving unit 40 having such a configuration is configured to move the height detection sensor 20 in the longitudinal direction of the upper mold U and the lower mold L. Specifically, the base of the height detection sensor moving unit 40 has a connecting portion (not shown) that can be connected to and disconnected from the angle detection sensor moving unit 19, and by connecting the height detection sensor moving unit 40 to the angle detection sensor moving unit 19, the base moves on the rail portion 40a, moving the height detection sensor 20 to a predetermined position. Note that the mechanical configuration of the height detection sensor moving unit 40 itself can adopt various known configurations, so a detailed description thereof will be omitted.
上述した構成を備える角度検出センサ18及び高さ検出センサ20は、例えば、レール部19aの一端から高さ検出センサ20が角度検出センサ18と共に検出位置まで移動し、角度検出センサ18のみがレール部19aの一端又は他端に退避することが可能に構成されている。また、ワークWの高さ方向の位置を検出した後に角度検出センサ18が高さ検出センサ20の検出位置まで移動し、その後、高さ検出センサ20が角度検出センサ18と共にレール部19aの一端に退避することが可能に構成されている。
The angle detection sensor 18 and height detection sensor 20 having the above-mentioned configuration are configured, for example, so that the height detection sensor 20 moves together with the angle detection sensor 18 from one end of the rail portion 19a to a detection position, and only the angle detection sensor 18 can retreat to one end or the other end of the rail portion 19a. Also, after detecting the height position of the workpiece W, the angle detection sensor 18 moves to the detection position of the height detection sensor 20, and then the height detection sensor 20 can retreat together with the angle detection sensor 18 to one end of the rail portion 19a.
なお、高さ検出センサ移動部40は、上述した構成に限定されない。例えば、高さ検出センサ移動部40は、高さ検出センサ移動部40のベース台を駆動させるベース台駆動手段(図示せず)を更に備え、高さ検出センサ20及び角度検出センサ18は、それぞれ独立して上型U及び下型Lの長手方向に移動可能に構成されてもよい。
The height detection sensor moving unit 40 is not limited to the above-mentioned configuration. For example, the height detection sensor moving unit 40 may further include a base table driving means (not shown) for driving the base table of the height detection sensor moving unit 40, and the height detection sensor 20 and the angle detection sensor 18 may be configured to be independently movable in the longitudinal direction of the upper mold U and the lower mold L.
このような構成を備えることにより、角度検出センサ18及び高さ検出センサ20は、例えば、レール部19aの一端から高さ検出センサ20が検出位置まで移動し、ワークWの高さ方向の位置を検出した後にレール部19aの一端に退避することが可能に構成される。また、その後、レール部19aの他端から角度検出センサ18が検出位置まで移動し、ワークWの曲げ角度を検出した後にレール部19aの他端に退避することが可能に構成される。
With this configuration, the angle detection sensor 18 and the height detection sensor 20 are configured so that, for example, the height detection sensor 20 moves from one end of the rail portion 19a to a detection position, detects the height position of the workpiece W, and then retreats to one end of the rail portion 19a. The angle detection sensor 18 is then configured so that it moves from the other end of the rail portion 19a to a detection position, detects the bending angle of the workpiece W, and then retreats to the other end of the rail portion 19a.
また、高さ検出センサ移動部40がベース台駆動手段を備える場合、高さ検出センサ移動部40は、角度検出センサ移動部19のレール部19aとは別に下部テーブル12のワーク供給ロボット100との対向面12a上に敷設されるレール部(図示せず)を更に備え、高さ検出センサ移動部40のベース台は、高さ検出センサ移動部40のレール部上を移動してもよい。
In addition, when the height detection sensor moving unit 40 is equipped with a base platform driving means, the height detection sensor moving unit 40 may further include a rail section (not shown) laid on the opposing surface 12a of the lower table 12 facing the work supply robot 100, separate from the rail section 19a of the angle detection sensor moving unit 19, and the base platform of the height detection sensor moving unit 40 may move on the rail section of the height detection sensor moving unit 40.
[制御装置の構成]
図5は、本実施形態の制御装置を示す機能ブロック図である。
制御装置200は、図5に示すように、入力部210と、表示部220と、ロボット制御部230と、高さ検出センサ制御部240と、角度検出センサ制御部250と、記憶部260とを含んでいる。制御装置200は、種々の公知の構成によりプレスブレーキ10及びワーク供給ロボット100と接続している。 [Configuration of the control device]
FIG. 5 is a functional block diagram showing the control device of the present embodiment.
5, thecontrol device 200 includes an input unit 210, a display unit 220, a robot control unit 230, a height detection sensor control unit 240, an angle detection sensor control unit 250, and a storage unit 260. The control device 200 is connected to the press brake 10 and the work supply robot 100 by various known configurations.
図5は、本実施形態の制御装置を示す機能ブロック図である。
制御装置200は、図5に示すように、入力部210と、表示部220と、ロボット制御部230と、高さ検出センサ制御部240と、角度検出センサ制御部250と、記憶部260とを含んでいる。制御装置200は、種々の公知の構成によりプレスブレーキ10及びワーク供給ロボット100と接続している。 [Configuration of the control device]
FIG. 5 is a functional block diagram showing the control device of the present embodiment.
5, the
入力部210は、例えば、キーボード、マウス、押しボタンスイッチ、タクトスイッチ及びキーロックスイッチ等の入力デバイスにより構成されており、入力部210を操作することにより、曲げ加工システム1において通常必要とされる情報入力の機能に加え、例えば、記憶部260の後述するNC(数値制御:Numerical Control)制御プログラムの選択等の操作をすることができる。
The input unit 210 is composed of input devices such as a keyboard, mouse, push button switch, tact switch, and key lock switch, and by operating the input unit 210, in addition to the information input function normally required in the bending processing system 1, it is possible to perform operations such as selecting an NC (Numerical Control) control program in the memory unit 260, which will be described later.
表示部220は、表示装置としてのディスプレイを有しており、曲げ加工システム1において通常必要とされる画面表示の機能に加え、例えば、NC制御プログラムを選択するための選択画面等を表示する。さらに、表示部220は、入力部210の機能を有するタッチパネルで構成され得る。表示部220がタッチパネルで構成された場合は、ユーザは、例えば表示部220を操作することにより、NC制御プログラムの選択等の各種の情報を制御装置200に対して入力可能となる。
The display unit 220 has a display as a display device, and in addition to the screen display function normally required in the bending system 1, it displays, for example, a selection screen for selecting an NC control program. Furthermore, the display unit 220 may be configured as a touch panel having the functions of the input unit 210. When the display unit 220 is configured as a touch panel, the user can input various information, such as the selection of an NC control program, to the control device 200, for example, by operating the display unit 220.
なお、入力部210及び表示部220の構成は、上述した構成に限定されず、これら入力部210及び表示部220に代わり同等の機能を有する構成であれば(例えば、遠隔から利用可能な表示手段や入力手段等)、これに限定されるものではない。
The configurations of the input unit 210 and the display unit 220 are not limited to those described above, and may be any configuration that has equivalent functions in place of the input unit 210 and the display unit 220 (for example, a display means or input means that can be used remotely, etc.).
ロボット制御部230は、ワーク供給ロボット100のCNC制御(コンピュータ数値制御:Computerized Numerical Control)が可能に構成されている。具体的には、ロボット制御部230は、ワーク載置台PからワークWを搬送(供給)する際に、記憶部260に記憶されている後述するロボット用NC制御プログラムに基づいて、ワーク載置台Pに積載された複数のワークWのうちの最上部のワークWにロボットハンド120が到達するように、アーム部140及び移動機構160を制御するよう構成されている。
The robot control unit 230 is configured to be capable of CNC control (Computerized Numerical Control) of the work supply robot 100. Specifically, the robot control unit 230 is configured to control the arm unit 140 and the moving mechanism 160 so that when transporting (supplying) a work W from the work placement table P, the robot hand 120 reaches the uppermost work W of the multiple work pieces W loaded on the work placement table P based on a robot NC control program described later that is stored in the memory unit 260.
また、ロボット制御部230は、ワークWにロボットハンド120が到達した際に、ハンド本体122によりそのワークWを把持するようロボットハンド120を制御、又は、吸着部124によりそのワークWを保持するようエア吸引源を制御すると共に、保持したワークWをプレスブレーキ10の上型U及び下型Lの間に挿入するように、アーム部140及び移動機構160を制御するよう構成されている。
The robot control unit 230 is also configured to control the robot hand 120 so that when the robot hand 120 reaches the workpiece W, it grips the workpiece W with the hand body 122, or controls the air suction source so that the suction unit 124 holds the workpiece W, and also controls the arm unit 140 and the moving mechanism 160 so that the held workpiece W is inserted between the upper die U and the lower die L of the press brake 10.
さらに、ロボット制御部230は、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていない場合、ロボットハンド120の保持するワークWが許容範囲に収まるようにアーム部140及び移動機構160を制御するよう構成されている。またさらに、ロボット制御部230は、プレスブレーキ10による曲げ加工時に、ワーク供給ロボット100が曲げ加工を補助するフォローイング動作をするようにワーク供給ロボット100を制御する。
Furthermore, when the height direction position of the workpiece W detected by the height detection sensor 20 is not within the allowable range, the robot control unit 230 is configured to control the arm unit 140 and the moving mechanism 160 so that the workpiece W held by the robot hand 120 falls within the allowable range. Furthermore, the robot control unit 230 controls the workpiece supply robot 100 so that the workpiece supply robot 100 performs a following operation to assist the bending process when bending is performed by the press brake 10.
高さ検出センサ制御部240は、高さ判定処理部242と、保持位置特定部244と、移動制御部246とを含む。高さ判定処理部242は、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定するよう構成されている。
The height detection sensor control unit 240 includes a height determination processing unit 242, a holding position identification unit 244, and a movement control unit 246. The height determination processing unit 242 is configured to determine whether the height position of the workpiece W detected by the height detection sensor 20 is within an allowable range.
具体的には、高さ判定処理部242は、高さ検出センサ20から高さ検出センサ20が検出した値を取得し、その値が所定の許容範囲に収まっているか判定する。許容範囲は、例えば、高さ検出センサ20が高さ方向におけるワークWまでの距離を検出するものである場合、高さ検出センサ20からプレスブレーキ10の下型Lの先端部を含むXY平面までの鉛直方向の距離を基準としてキャリブレーションを実施し、その距離からの高さ方向の許容誤差によって決定する。
Specifically, the height determination processing unit 242 acquires the value detected by the height detection sensor 20 from the height detection sensor 20 and determines whether the value is within a predetermined tolerance range. For example, if the height detection sensor 20 detects the distance to the workpiece W in the height direction, the tolerance range is determined by performing calibration based on the vertical distance from the height detection sensor 20 to the XY plane including the tip of the lower die L of the press brake 10, and by the tolerance in the height direction from that distance.
また、高さ判定処理部242は、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていない場合、ロボット制御部230にワークWの位置を調整させるよう構成されている。
The height determination processing unit 242 is also configured to cause the robot control unit 230 to adjust the position of the workpiece W if the height position of the workpiece W detected by the height detection sensor 20 is not within the allowable range.
保持位置特定部244は、ワークWを保持するワーク供給ロボット100の位置を特定可能に構成されている。例えば、保持位置特定部244は、記憶部260のロボット用NC制御プログラムからワークWを保持するワーク供給ロボット100の位置(保持位置)を特定する。また、保持位置特定部244は、ワーク供給ロボット100の座標情報を取得し、取得した座標情報と、使用しているロボットハンド120の情報からワーク供給ロボット100の位置を特定してもよい。
The holding position identification unit 244 is configured to be able to identify the position of the work supply robot 100 holding the workpiece W. For example, the holding position identification unit 244 identifies the position (holding position) of the work supply robot 100 holding the workpiece W from the robot NC control program in the memory unit 260. The holding position identification unit 244 may also acquire coordinate information of the work supply robot 100, and identify the position of the work supply robot 100 from the acquired coordinate information and information on the robot hand 120 being used.
さらに、保持位置特定部244は、曲げ加工システム1が保持位置特定用センサを更に備える場合、保持位置特定用センサの検出結果からワーク供給ロボット100の位置を特定してもよい。またさらに、持位置特定部244は、曲げ加工システム1がカメラを更に備える場合、カメラの映像又は画像からワーク供給ロボット100の位置を特定してもよい。
Furthermore, if the bending system 1 further includes a sensor for identifying the holding position, the holding position identifying unit 244 may identify the position of the work supply robot 100 from the detection result of the sensor for identifying the holding position. Furthermore, if the bending system 1 further includes a camera, the holding position identifying unit 244 may identify the position of the work supply robot 100 from video or images from the camera.
また、保持位置特定部244は、ワークの一端から他端まで高さ検出センサ20をX軸方向に移動させることでワークWの高さ方向の位置を走査し、最も高さ方向の位置が高い箇所、すなわちワークWの撓みが最小の箇所をワークWを保持するワーク供給ロボット100の位置として特定してもよい。
The holding position identification unit 244 may also scan the height position of the workpiece W by moving the height detection sensor 20 in the X-axis direction from one end of the workpiece to the other, and identify the point where the height position is the highest, i.e., the point where the workpiece W is least deflected, as the position of the workpiece supply robot 100 holding the workpiece W.
移動制御部246は、ワーク供給ロボット100の位置の近傍に高さ検出センサ20を移動させるよう構成されている。具体的には、移動制御部246は、角度検出センサ移動部19及び高さ検出センサ移動部40を制御することにより、高さ検出センサ移動部40のベース台に取り付けられた高さ検出センサ20を保持位置特定部244により特定されたワーク供給ロボット100の位置の近傍に移動させる。ここで、「ワーク供給ロボット100(ワーク保持手段)の位置の近傍」とは、ワーク供給ロボット100の位置誤差やワークWの把持位置の誤差により高さ検出センサ20の検出位置が変化したとしてもワークWの検出に影響を受けず、検出範囲22がワーク供給ロボット100に干渉せず、かつ、検出範囲22の中にワークWに設けられた穴や凹凸等の検出の妨げになるものがない位置の中で最も近い位置の領域をいう。
The movement control unit 246 is configured to move the height detection sensor 20 to the vicinity of the position of the work supply robot 100. Specifically, the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 to move the height detection sensor 20 attached to the base of the height detection sensor moving unit 40 to the vicinity of the position of the work supply robot 100 identified by the holding position identifying unit 244. Here, "the vicinity of the position of the work supply robot 100 (work holding means)" refers to the closest position among the positions where the detection of the work W is not affected even if the detection position of the height detection sensor 20 changes due to a position error of the work supply robot 100 or an error in the gripping position of the work W, the detection range 22 does not interfere with the work supply robot 100, and there is nothing in the detection range 22 that hinders detection, such as holes or unevenness provided in the work W.
また、移動制御部246は、高さ検出センサ20の検出範囲22の中にワークWの穴や凹凸等の検出の妨げになるものがある場合、これらが検出範囲22の中に入らないように角度検出センサ移動部19及び高さ検出センサ移動部40を制御するよう構成されている。さらに、移動制御部246は、高さ検出センサ20の検出範囲22とワーク供給ロボット100のロボットハンド120が重なる場合や、高さ検出センサ20とロボットハンド120が干渉する場合、高さ検出センサ20の検出範囲22からワーク供給ロボット100が外れるように角度検出センサ移動部19及び高さ検出センサ移動部40を制御するよう構成されている。
The movement control unit 246 is also configured to control the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that if there is anything within the detection range 22 of the height detection sensor 20 that would hinder detection, such as a hole or unevenness in the workpiece W, these do not enter the detection range 22. Furthermore, the movement control unit 246 is configured to control the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the workpiece supply robot 100 moves out of the detection range 22 of the height detection sensor 20 if the detection range 22 of the height detection sensor 20 overlaps with the robot hand 120 of the workpiece supply robot 100 or if the height detection sensor 20 and the robot hand 120 interfere with each other.
図6は、本実施形態の高さ検出センサとロボットハンドの位置関係の一例を示す図である。
まず、図6を参照してワーク供給ロボット100のロボットハンド120がワークWを把持するハンド本体122を有する場合の高さ検出センサ20の検出位置を説明する。例えば、図6(a)に示すように、ロボットハンド120と高さ検出センサ20の検出範囲22が重ならない場合、移動制御部246は、検出範囲22の中心がロボットハンド120のワークWの保持位置の中心の延長線CL上に位置するように角度検出センサ移動部19及び高さ検出センサ移動部40を制御する。 FIG. 6 is a diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
6, the detection position of theheight detection sensor 20 will be described when the robot hand 120 of the work supply robot 100 has a hand body 122 that grips the workpiece W. For example, as shown in FIG. 6A, when the detection ranges 22 of the robot hand 120 and the height detection sensor 20 do not overlap, the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 is located on an extension line CL of the center of the holding position of the workpiece W of the robot hand 120.
まず、図6を参照してワーク供給ロボット100のロボットハンド120がワークWを把持するハンド本体122を有する場合の高さ検出センサ20の検出位置を説明する。例えば、図6(a)に示すように、ロボットハンド120と高さ検出センサ20の検出範囲22が重ならない場合、移動制御部246は、検出範囲22の中心がロボットハンド120のワークWの保持位置の中心の延長線CL上に位置するように角度検出センサ移動部19及び高さ検出センサ移動部40を制御する。 FIG. 6 is a diagram showing an example of the positional relationship between the height detection sensor and the robot hand of this embodiment.
6, the detection position of the
一方で、ロボットハンド120の保持位置によっては、高さ検出センサ20の検出範囲22の中心がロボットハンド120のワークWの保持位置の中心の延長線CL上に位置すると、検出範囲22とワークWの保持位置が重なることがある。この場合、高さ検出センサ20の位置を検出範囲22がワークWから外れない範囲で延長線CL上からの移動量が最も小さくなるようにX軸方向に移動させる。例えば、移動制御部246は、図6(b)及び図6(c)に示すように、延長線CL上の位置からX軸方向にx1だけ移動した位置に高さ検出センサ20の検出範囲22の中心が位置するように角度検出センサ移動部19及び高さ検出センサ移動部40を制御する。
On the other hand, depending on the holding position of the robot hand 120, when the center of the detection range 22 of the height detection sensor 20 is located on an extension line CL of the center of the holding position of the workpiece W of the robot hand 120, the detection range 22 may overlap with the holding position of the workpiece W. In this case, the position of the height detection sensor 20 is moved in the X-axis direction so that the amount of movement from the extension line CL is minimized within a range in which the detection range 22 does not deviate from the workpiece W. For example, as shown in Figures 6(b) and 6(c), the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 of the height detection sensor 20 is located at a position moved by x1 in the X-axis direction from the position on the extension line CL.
図7~9は、本実施形態の高さ検出センサとロボットハンドの位置関係の一例を示す図である。
次に、図7~9を参照してワーク供給ロボット100のロボットハンド120がハンド本体122′と、複数の吸着部124とを有する場合の高さ検出センサ20の検出位置を説明する。なお、図7(a),8(a),9(a)は、ワークWの上面(表面)を吸着部124が保持する場合を示しており、図7(b),8(b),9(b)は、ワークWの下面(裏面)を吸着部124が保持する場合を示している。 7 to 9 are diagrams showing an example of the positional relationship between the height detection sensor and the robot hand in this embodiment.
Next, with reference to Figures 7 to 9, a description will be given of the detection position of theheight detection sensor 20 when the robot hand 120 of the work supply robot 100 has a hand body 122' and a plurality of suction parts 124. Note that Figures 7(a), 8(a), and 9(a) show the case where the suction parts 124 hold the upper surface (front surface) of the work W, and Figures 7(b), 8(b), and 9(b) show the case where the suction parts 124 hold the lower surface (rear surface) of the work W.
次に、図7~9を参照してワーク供給ロボット100のロボットハンド120がハンド本体122′と、複数の吸着部124とを有する場合の高さ検出センサ20の検出位置を説明する。なお、図7(a),8(a),9(a)は、ワークWの上面(表面)を吸着部124が保持する場合を示しており、図7(b),8(b),9(b)は、ワークWの下面(裏面)を吸着部124が保持する場合を示している。 7 to 9 are diagrams showing an example of the positional relationship between the height detection sensor and the robot hand in this embodiment.
Next, with reference to Figures 7 to 9, a description will be given of the detection position of the
例えば、図7(a),(b)に示すように、ロボットハンド120と高さ検出センサ20の検出範囲22が重ならない場合、移動制御部246は、検出範囲22の中心がロボットハンド120のワークWの保持位置の中心、すなわち、ハンド本体122′の中心に位置する装着部122aの延長線CL′上に位置するように高さ検出センサ移動部40を制御する。
For example, as shown in Figures 7(a) and (b), when the detection ranges 22 of the robot hand 120 and the height detection sensor 20 do not overlap, the movement control unit 246 controls the height detection sensor movement unit 40 so that the center of the detection range 22 is located at the center of the holding position of the workpiece W of the robot hand 120, i.e., on the extension line CL' of the mounting part 122a located at the center of the hand main body 122'.
また、ロボットハンド120の保持位置によっては、高さ検出センサ20の検出範囲22の中心がロボットハンド120のワークWの保持位置の中心の延長線CL′上に位置すると、検出範囲22とワークWの保持位置が重なることがある。
Also, depending on the holding position of the robot hand 120, if the center of the detection range 22 of the height detection sensor 20 is located on an extension line CL' of the center of the holding position of the workpiece W of the robot hand 120, the detection range 22 and the holding position of the workpiece W may overlap.
しかしながら、図8(a),9(a)に示すように、ロボットハンド120の吸着部124がワークWの上面を保持する場合、高さ検出センサ20の検出範囲22とワークWの保持位置が重なっていても、ロボットハンド120が高さ検出センサ20の検出を阻害することや、ロボットハンド120と高さ検出センサ20が干渉することはない。そのため、移動制御部246は、検出範囲22の中心がロボットハンド120のワークWの保持位置の中心の延長線CL′上に位置するように角度検出センサ移動部19及び高さ検出センサ移動部40を制御する。
However, as shown in Figures 8(a) and 9(a), when the suction portion 124 of the robot hand 120 holds the top surface of the workpiece W, even if the detection range 22 of the height detection sensor 20 overlaps with the holding position of the workpiece W, the robot hand 120 does not obstruct the detection of the height detection sensor 20, and the robot hand 120 does not interfere with the height detection sensor 20. Therefore, the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 is located on the extension line CL' of the center of the holding position of the workpiece W of the robot hand 120.
一方で、ロボットハンド120の吸着部124がワークWの下面を保持する場合、高さ検出センサ20が延長線CL′上に位置すると、ロボットハンド120が高さ検出センサ20の検出を阻害することや、ロボットハンド120と高さ検出センサ20が干渉することがある。この場合、高さ検出センサ20の位置を検出範囲22がワークWから外れない範囲で延長線CL′上からの移動量が最も小さくなるようにX軸方向に移動させる。例えば、移動制御部246は、図8(b),9(b)に示すように、延長線CL′上の位置からX軸方向にx2,x3だけ移動した位置に高さ検出センサ20の検出範囲22の中心が位置するように角度検出センサ移動部19及び高さ検出センサ移動部40を制御する。
On the other hand, when the suction portion 124 of the robot hand 120 holds the lower surface of the workpiece W, if the height detection sensor 20 is located on the extension line CL', the robot hand 120 may hinder the detection of the height detection sensor 20, or the robot hand 120 may interfere with the height detection sensor 20. In this case, the position of the height detection sensor 20 is moved in the X-axis direction so that the amount of movement from the extension line CL' is minimized within a range in which the detection range 22 does not deviate from the workpiece W. For example, the movement control unit 246 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 so that the center of the detection range 22 of the height detection sensor 20 is located at a position moved by x2 , x3 in the X-axis direction from the position on the extension line CL', as shown in Figures 8(b) and 9(b).
以上の構成を備えるロボット制御部230及び高さ検出センサ制御部240は、記憶部260の後述するセンサ移動制御プログラム262及び曲げ加工プログラム264を実行可能に構成されている。また、ロボット制御部230及び高さ検出センサ制御部240は、センサ移動制御プログラム262及び曲げ加工プログラム264を連続又は並行して実行可能である。
The robot control unit 230 and the height detection sensor control unit 240 having the above configuration are configured to be able to execute the sensor movement control program 262 and the bending process program 264 described below in the memory unit 260. In addition, the robot control unit 230 and the height detection sensor control unit 240 can execute the sensor movement control program 262 and the bending process program 264 consecutively or in parallel.
角度検出センサ制御部250は、角度検出センサ移動部19を制御することにより、角度検出センサ移動部19のベース台に取り付けられた角度検出センサ18を所定の位置に移動させるよう構成されている。また、角度検出センサ制御部250は、ワークWの曲げ加工を行う際に、角度検出センサ18により検出された角度が許容範囲に収まっているか否かを判定するよう構成されている。なお、角度検出センサ制御部250は、種々の公知の構成を採用可能であるため、その詳細な説明を省略する。
The angle detection sensor control unit 250 is configured to control the angle detection sensor moving unit 19 to move the angle detection sensor 18 attached to the base of the angle detection sensor moving unit 19 to a predetermined position. The angle detection sensor control unit 250 is also configured to determine whether the angle detected by the angle detection sensor 18 is within an allowable range when bending the workpiece W. Note that the angle detection sensor control unit 250 can employ various known configurations, and therefore a detailed description thereof will be omitted.
記憶部260は、ワーク供給ロボット100にワーク載置台Pからプレスブレーキ10へのワークWの供給(挿入)、ワークWの曲げ加工の補助、及び、曲げ加工後のワークWの搬送(搬出)等を実行させるためのロボット用NC制御プログラム(図示せず)を有する。また、記憶部260は、プレスブレーキ10に所定の曲げ加工を実行させるためのプレスブレーキ用NC制御プログラム(図示せず)を有する。さらに記憶部260は、センサ移動制御プログラム262と曲げ加工プログラム264とを有する。
The memory unit 260 has a robot NC control program (not shown) for causing the work supply robot 100 to supply (insert) the work W from the work placement table P to the press brake 10, assist in bending the work W, and transport (remove) the work W after bending. The memory unit 260 also has a press brake NC control program (not shown) for causing the press brake 10 to perform a specified bending process. The memory unit 260 further has a sensor movement control program 262 and a bending process program 264.
センサ移動制御プログラム262は、ワークWを保持するワーク供給ロボット100の位置を特定する保持位置特定処理と、保持位置特定処理により特定されたワーク供給ロボット100の位置の近傍に高さ検出センサ20を移動させる高さ検出センサ移動処理と、ワークWの高さ方向の位置を検出する高さ検出処理と、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する高さ判定処理とを制御装置200に実行させる。
The sensor movement control program 262 causes the control device 200 to execute a holding position identification process to identify the position of the work supply robot 100 holding the workpiece W, a height detection sensor movement process to move the height detection sensor 20 to the vicinity of the position of the work supply robot 100 identified by the holding position identification process, a height detection process to detect the heightwise position of the workpiece W, and a height determination process to determine whether the heightwise position of the workpiece W detected by the height detection sensor 20 is within an acceptable range.
曲げ加工プログラム264は、ワーク供給ロボット100にプレスブレーキ10の上型U及び下型Lの間にワークWを挿入させるワーク挿入処理と、センサ移動制御プログラム262の高さ判定処理で高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていなかった場合に、ワーク供給ロボット100を動作させ、ワークWの位置を調整するワーク位置調整処理と、ワークWの曲げ加工を実施する曲げ処理とを制御装置200に実行させる。
The bending program 264 causes the control device 200 to execute a work insertion process that causes the work supply robot 100 to insert the work W between the upper die U and the lower die L of the press brake 10, a work position adjustment process that operates the work supply robot 100 to adjust the position of the work W if the height position of the work W detected by the height detection sensor 20 in the height determination process of the sensor movement control program 262 is not within the allowable range, and a bending process that performs bending of the work W.
なお、本実施形態において、センサ移動制御プログラム262及び曲げ加工プログラム264は異なるプログラムとして説明したが、これに限定されず、一つのプログラムであってもよい。また、本実施形態において、センサ移動制御プログラム262は、保持位置特定処理を制御装置200に実行させるものとして説明したが、これに限定されない。例えば、曲げ加工システム1は、ロボット用NC制御プログラム及びプレスブレーキ用NC制御プログラムを作成する設計支援装置(図示せず)を更に備えてもよい。この場合、設計支援装置は、ロボット用NC制御プログラムからワーク供給ロボット100のワークWの保持位置を特定する保持位置特定処理を実行し、センサ移動制御プログラム262は、設計支援装置の特定結果(位置情報)が組み込まれている。また、このような構成を備える場合、制御部200は、保持位置特定部244を含まなくてもよい。
In the present embodiment, the sensor movement control program 262 and the bending program 264 are described as separate programs, but are not limited to this and may be one program. In the present embodiment, the sensor movement control program 262 is described as causing the control device 200 to execute the holding position identification process, but are not limited to this. For example, the bending system 1 may further include a design support device (not shown) that creates an NC control program for the robot and an NC control program for the press brake. In this case, the design support device executes a holding position identification process that identifies the holding position of the workpiece W of the workpiece supply robot 100 from the NC control program for the robot, and the sensor movement control program 262 incorporates the identification result (position information) of the design support device. In addition, when such a configuration is provided, the control unit 200 does not need to include the holding position identification unit 244.
図10~13は、本実施形態の曲げ加工システムの動作の一例を示す概略図である。
以上の構成を備える曲げ加工システム1の動作の一例について図10~13を参照して説明する。まず、曲げ加工システム1は、図10及び図11に示すように、ワーク供給ロボット100によってプレスブレーキ10の上型U及び下型Lの間にワークWが挿入される。次に、図11の状態において、高さ検出センサ20によりワークWの高さ方向の位置を検出される。そして、ワーク供給ロボット100は、図12に示すように、ワークWの高さ方向の位置が許容範囲に収まるようにワークWの高さ方向の位置を調整する。その後、図13に示すように、ワーク供給ロボット100は、バックゲージ17にワークWの突き当て部を突き当てることでワークWの奥行き方向の位置を調整する。 10 to 13 are schematic diagrams showing an example of the operation of the bending system of this embodiment.
An example of the operation of the bending system 1 having the above configuration will be described with reference to Figures 10 to 13. First, in the bending system 1, as shown in Figures 10 and 11, the workpiece W is inserted between the upper die U and the lower die L of thepress brake 10 by the workpiece supply robot 100. Next, in the state shown in Figure 11, the height detection sensor 20 detects the height direction position of the workpiece W. Then, as shown in Figure 12, the workpiece supply robot 100 adjusts the height direction position of the workpiece W so that the height direction position of the workpiece W falls within an allowable range. Thereafter, as shown in Figure 13, the workpiece supply robot 100 adjusts the depth direction position of the workpiece W by abutting the abutment portion of the workpiece W against the back gauge 17.
以上の構成を備える曲げ加工システム1の動作の一例について図10~13を参照して説明する。まず、曲げ加工システム1は、図10及び図11に示すように、ワーク供給ロボット100によってプレスブレーキ10の上型U及び下型Lの間にワークWが挿入される。次に、図11の状態において、高さ検出センサ20によりワークWの高さ方向の位置を検出される。そして、ワーク供給ロボット100は、図12に示すように、ワークWの高さ方向の位置が許容範囲に収まるようにワークWの高さ方向の位置を調整する。その後、図13に示すように、ワーク供給ロボット100は、バックゲージ17にワークWの突き当て部を突き当てることでワークWの奥行き方向の位置を調整する。 10 to 13 are schematic diagrams showing an example of the operation of the bending system of this embodiment.
An example of the operation of the bending system 1 having the above configuration will be described with reference to Figures 10 to 13. First, in the bending system 1, as shown in Figures 10 and 11, the workpiece W is inserted between the upper die U and the lower die L of the
なお、本実施形態の曲げ加工システム1は、ワークWと、角度検出センサ18及び高さ検出センサ20とが干渉することを回避するために、ワークWの高さ方向の位置調整後、奥行き方向の位置を調整する前にワークWを一旦退避させた後に、角度検出センサ18及び高さ検出センサ20を移動させ、その後ワークWの位置を高さ調整後の位置に戻すことが好ましいが、これに限定されない。また、曲げ加工システム1は、ワークWの奥行き方向の位置を調整した後にワークWの高さ方向の位置を調整してもよい。また、曲げ加工システム1は、ワークWの高さ方向の位置と奥行き方向の位置を同時に調整してもよい。
In addition, in order to avoid interference between the workpiece W and the angle detection sensor 18 and height detection sensor 20, the bending system 1 of this embodiment preferably moves the workpiece W away once after adjusting the height position of the workpiece W and before adjusting the depth position, then moves the angle detection sensor 18 and the height detection sensor 20, and then returns the position of the workpiece W to the position after the height adjustment, but is not limited to this. Furthermore, the bending system 1 may adjust the height position of the workpiece W after adjusting the depth position of the workpiece W. Furthermore, the bending system 1 may adjust the height position and depth position of the workpiece W simultaneously.
[本実施形態に係るセンサ移動制御方法]
次に、本実施形態に係る曲げ加工システム1によるセンサ移動制御方法について説明する。本実施形態に係るセンサ移動制御方法は、概略的には、ワークWを保持するワーク供給ロボット100の位置の近傍に高さ検出センサ20を移動させる高さ検出センサ移動工程と、ワークWの高さ方向の位置を検出する高さ検出工程と、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する高さ判定工程とを備える。 [Sensor movement control method according to this embodiment]
Next, a description will be given of a sensor movement control method by the bending system 1 according to this embodiment. The sensor movement control method according to this embodiment generally includes a height detection sensor moving step of moving theheight detection sensor 20 to the vicinity of the position of the work supply robot 100 that holds the workpiece W, a height detection step of detecting the position of the workpiece W in the height direction, and a height determination step of determining whether the position of the workpiece W in the height direction detected by the height detection sensor 20 is within an allowable range.
次に、本実施形態に係る曲げ加工システム1によるセンサ移動制御方法について説明する。本実施形態に係るセンサ移動制御方法は、概略的には、ワークWを保持するワーク供給ロボット100の位置の近傍に高さ検出センサ20を移動させる高さ検出センサ移動工程と、ワークWの高さ方向の位置を検出する高さ検出工程と、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する高さ判定工程とを備える。 [Sensor movement control method according to this embodiment]
Next, a description will be given of a sensor movement control method by the bending system 1 according to this embodiment. The sensor movement control method according to this embodiment generally includes a height detection sensor moving step of moving the
図14は、本実施形態のセンサ移動制御方法の一例を示すフローチャートである。
本実施形態に係るセンサ移動制御方法について図14を参照して詳述する。まず、曲げ加工システム1は、制御装置200の高さ検出センサ制御部240の保持位置特定部244がワークWを保持するワーク供給ロボット100の位置を特定する(図14のS10:保持位置特定工程)。続いて、高さ検出センサ制御部240の移動制御部246は、保持位置特定部244が特定した位置情報に基づいて、角度検出センサ移動部19及び高さ検出センサ移動部40を制御し、高さ検出センサ20をワーク供給ロボット100の保持位置の近傍に移動させる(図14のS20:高さ検出センサ移動工程)。 FIG. 14 is a flowchart showing an example of a sensor movement control method according to this embodiment.
The sensor movement control method according to this embodiment will be described in detail with reference to Fig. 14. First, in the bending system 1, the holding position identification unit 244 of the height detectionsensor control unit 240 of the control device 200 identifies the position of the work supply robot 100 that holds the workpiece W (S10 in Fig. 14: holding position identification process). Next, the movement control unit 246 of the height detection sensor control unit 240 controls the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 based on the position information identified by the holding position identification unit 244, and moves the height detection sensor 20 to the vicinity of the holding position of the work supply robot 100 (S20 in Fig. 14: height detection sensor moving process).
本実施形態に係るセンサ移動制御方法について図14を参照して詳述する。まず、曲げ加工システム1は、制御装置200の高さ検出センサ制御部240の保持位置特定部244がワークWを保持するワーク供給ロボット100の位置を特定する(図14のS10:保持位置特定工程)。続いて、高さ検出センサ制御部240の移動制御部246は、保持位置特定部244が特定した位置情報に基づいて、角度検出センサ移動部19及び高さ検出センサ移動部40を制御し、高さ検出センサ20をワーク供給ロボット100の保持位置の近傍に移動させる(図14のS20:高さ検出センサ移動工程)。 FIG. 14 is a flowchart showing an example of a sensor movement control method according to this embodiment.
The sensor movement control method according to this embodiment will be described in detail with reference to Fig. 14. First, in the bending system 1, the holding position identification unit 244 of the height detection
その後、高さ検出センサ20は、ワークWの高さ方向の位置を検出する(図14のS30:高さ検出工程)。なお、高さ検出センサ20は、ワークWの一箇所のみの高さ方向の位置を検出してもよいし、一の検出箇所から移動し、ワークWの複数箇所の高さ方向の位置を検出してもよい。
Then, the height detection sensor 20 detects the height position of the workpiece W (S30 in FIG. 14: height detection process). The height detection sensor 20 may detect the height position of only one point on the workpiece W, or may move from one detection point to detect the height positions of multiple points on the workpiece W.
そして、制御装置200の高さ検出センサ制御部240の高さ判定処理部242は、高さ検出センサ20の検出したワークWの高さ方向の値を取得し、取得したワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する(図14のS40:高さ判定工程)。高さ判定処理部242は、ワークWの高さ方向の位置が許容範囲に収まっていない場合(図14のS40にてNO)、ロボット制御部230にワークWの位置を調整させる(図14のS50)。なお、ワークWの高さ方向の位置調整は、バックラッシュによる誤差を生じさせないようにするためにZ軸のマイナス方向にワークWを動かして調整することが好ましいが、これに限定されない。
Then, the height determination processing unit 242 of the height detection sensor control unit 240 of the control device 200 acquires the height value of the workpiece W detected by the height detection sensor 20, and determines whether the acquired height position of the workpiece W is within the allowable range (S40 in FIG. 14: height determination process). If the height position of the workpiece W is not within the allowable range (NO in S40 in FIG. 14), the height determination processing unit 242 causes the robot control unit 230 to adjust the position of the workpiece W (S50 in FIG. 14). Note that, it is preferable to adjust the height position of the workpiece W by moving the workpiece W in the negative direction of the Z axis to prevent errors due to backlash, but this is not limited to this.
ワークWの高さ方向の位置が許容範囲に収まっていた場合(図14のS40にてYES)、又はワークWの高さ方向の位置が調整後に許容範囲に収まった場合、制御装置200の高さ検出センサ制御部240の移動制御部246は、高さ検出センサ移動部40を制御し、高さ検出センサ20を所定の待機位置に移動させる(図14のS60:センサ移動工程)。以上の工程により、本実施形態に係る曲げ加工システム1による一連のセンサ移動制御方法が実行される。
If the height direction position of the workpiece W is within the allowable range (YES in S40 in FIG. 14), or if the height direction position of the workpiece W falls within the allowable range after adjustment, the movement control unit 246 of the height detection sensor control unit 240 of the control device 200 controls the height detection sensor movement unit 40 to move the height detection sensor 20 to a predetermined standby position (S60 in FIG. 14: sensor movement process). Through the above processes, a series of sensor movement control methods are performed by the bending processing system 1 according to this embodiment.
[本実施形態に係る曲げ加工方法]
次に、本実施形態に係る曲げ加工システム1による曲げ加工方法について説明する。本実施形態に係る曲げ加工方法は、概略的には、ワーク供給ロボット100によりプレスブレーキ10の上型U及び下型Lの間にワークWを挿入するワーク挿入工程と、センサ移動制御方法の高さ判定工程で高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていなかった場合に、ワーク供給ロボット100を動作させ、ワークWの位置を調整するワーク位置調整工程と、ワークWの曲げ加工を実施する曲げ工程とを備える。 [Bending method according to this embodiment]
Next, a bending method using the bending system 1 according to this embodiment will be described. The bending method according to this embodiment generally includes a work insertion step in which thework supply robot 100 inserts the work W between the upper die U and the lower die L of the press brake 10, a work position adjustment step in which the work supply robot 100 is operated to adjust the position of the work W when the height direction position of the work W detected by the height detection sensor 20 in the height determination step of the sensor movement control method is not within the allowable range, and a bending step in which the work W is bent.
次に、本実施形態に係る曲げ加工システム1による曲げ加工方法について説明する。本実施形態に係る曲げ加工方法は、概略的には、ワーク供給ロボット100によりプレスブレーキ10の上型U及び下型Lの間にワークWを挿入するワーク挿入工程と、センサ移動制御方法の高さ判定工程で高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていなかった場合に、ワーク供給ロボット100を動作させ、ワークWの位置を調整するワーク位置調整工程と、ワークWの曲げ加工を実施する曲げ工程とを備える。 [Bending method according to this embodiment]
Next, a bending method using the bending system 1 according to this embodiment will be described. The bending method according to this embodiment generally includes a work insertion step in which the
図15は、本実施形態の曲げ加工方法の一例を示すフローチャートである。
本実施形態に係る曲げ加工方法について図15を参照して詳述する。まず、曲げ加工システム1は、ワーク供給ロボット100がワーク載置台P上のワークWを保持し、プレスブレーキ10に供給する。具体的には、ワーク供給ロボット100は、プレスブレーキ10の上型U及び下型Lの間に保持しているワークWを挿入する(図15のS100:ワーク挿入工程)。 FIG. 15 is a flowchart showing an example of the bending method of this embodiment.
The bending method according to this embodiment will be described in detail with reference to Fig. 15. First, in the bending system 1, thework supply robot 100 holds the work W on the work placement table P and supplies it to the press brake 10. Specifically, the work supply robot 100 inserts the held work W between the upper die U and the lower die L of the press brake 10 (S100 in Fig. 15: work insertion process).
本実施形態に係る曲げ加工方法について図15を参照して詳述する。まず、曲げ加工システム1は、ワーク供給ロボット100がワーク載置台P上のワークWを保持し、プレスブレーキ10に供給する。具体的には、ワーク供給ロボット100は、プレスブレーキ10の上型U及び下型Lの間に保持しているワークWを挿入する(図15のS100:ワーク挿入工程)。 FIG. 15 is a flowchart showing an example of the bending method of this embodiment.
The bending method according to this embodiment will be described in detail with reference to Fig. 15. First, in the bending system 1, the
続いて、ワーク供給ロボット100は、ワークWの高さ方向の位置を調整する。具体的には、ワーク供給ロボット100は、センサ移動制御方法の高さ判定工程で高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっていなかった場合、挿入したワークWをZ軸方向に降下又は上昇させる(図15のS110:ワーク位置調整工程)。なお、ワークWの高さ方向の位置が許容範囲に収まっている場合、ワーク供給ロボット100は、そのままの高さを維持する。
Then, the work supply robot 100 adjusts the height position of the work W. Specifically, if the height position of the work W detected by the height detection sensor 20 in the height determination step of the sensor movement control method is not within the allowable range, the work supply robot 100 lowers or raises the inserted work W in the Z-axis direction (S110 in FIG. 15: work position adjustment step). Note that if the height position of the work W is within the allowable range, the work supply robot 100 maintains the current height.
高さ調整と同時に、又はその後、ワーク供給ロボット100は、バックゲージ17にワークWの突き当て部を突き当てることでワークWの奥行き方向と上型U及び下型Lの長手方向の位置を調整する(図15のS120)。ワークWの位置調整が完了した後、プレスブレーキ10は、上型Uを下型Lに接近させ、ワークWを上型U及び下型Lで挟む。そして、プレスブレーキ10が更に上型Uを下型Lに接近させると共に、ワーク供給ロボット100がフォローイング動作を実行し、曲げ加工が行われる(図15のS130:曲げ工程)。
At the same time as or after the height adjustment, the work supply robot 100 adjusts the depth direction of the work W and the longitudinal positions of the upper die U and lower die L by abutting the abutment portion of the work W against the back gauge 17 (S120 in FIG. 15). After the position adjustment of the work W is completed, the press brake 10 moves the upper die U closer to the lower die L and clamps the work W between the upper die U and lower die L. Then, the press brake 10 moves the upper die U even closer to the lower die L while the work supply robot 100 executes a following operation, and bending is performed (S130 in FIG. 15: bending process).
また、曲げ工程時に、制御装置200の角度検出センサ制御部250は、角度検出センサ18を所定の位置に移動させ、ワークWの折り曲げ角度を検出させる。そして、角度検出センサ制御部250は、角度検出センサ18により検出された角度が許容範囲に収まっているか否かを判定する。
During the bending process, the angle detection sensor control unit 250 of the control device 200 moves the angle detection sensor 18 to a predetermined position and detects the bending angle of the workpiece W. The angle detection sensor control unit 250 then determines whether the angle detected by the angle detection sensor 18 is within the allowable range.
その後、プレスブレーキ10の上型Uが下型Lから離間し、ワーク供給ロボット100は、保持している曲げ加工済みのワークWを所定の位置に搬送する。以上の工程により、本実施形態に係る曲げ加工システム1による一連の曲げ加工方法が実行される。
Then, the upper die U of the press brake 10 moves away from the lower die L, and the work supply robot 100 transports the bent work W that it is holding to a predetermined position. Through the above steps, a series of bending methods are performed by the bending system 1 according to this embodiment.
なお、本実施形態に係る曲げ加工方法を連続して行う場合、最初の試運転(チェック運転)のみ高さ調整と奥行き調整と幅調整(上型U及び下型Lの長手方向の調整)とを行い、試運転時の高さ情報、奥行き情報及び幅情報をワーク供給ロボット100及び制御装置200に記憶(学習)させることで2度目以降の調整を省略してもよいし、都度高さ調整、奥行き調整及び幅調整を行ってもよい。
When the bending method according to this embodiment is performed continuously, the height, depth, and width adjustments (longitudinal adjustments of the upper die U and the lower die L) are performed only in the first test run (check run), and the height, depth, and width information from the test run is stored (learned) in the work supply robot 100 and the control device 200, so that adjustments from the second time onwards can be omitted, or the height, depth, and width adjustments can be performed each time.
また、本実施形態において、センサ移動制御方法と曲げ加工方法を分けて説明したが、これに限定されず、曲げ加工方法の一部としてセンサ移動制御方法が実行されてもよい。
In addition, in this embodiment, the sensor movement control method and the bending method are described separately, but this is not limited to the above, and the sensor movement control method may be executed as part of the bending method.
[本実施形態に係るプレスブレーキ、曲げ加工システム及びセンサ移動制御方法の利点]
以上説明したように、本実施形態に係るプレスブレーキ10は、相対移動可能な上型U及び下型Lと、上型U及び下型Lの間に挿入されるワークWの高さ方向の位置を検出可能な高さ検出センサ20と、高さ検出センサ20を上型U及び下型Lの長手方向に移動させる高さ検出センサ移動部40と、制御部(高さ検出センサ制御部240)とを備え、制御部(高さ検出センサ制御部240)は、ワークWを保持するワーク保持手段(ワーク供給ロボット100)の位置の近傍に高さ検出センサ20を移動させる移動制御部246と、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する高さ判定処理部242とを含む。 [Advantages of the press brake, bending system, and sensor movement control method according to the present embodiment]
As described above, thepress brake 10 according to this embodiment includes upper and lower dies U and L that are movable relative to one another, a height detection sensor 20 that can detect the height position of the workpiece W inserted between the upper and lower dies U and L, a height detection sensor moving unit 40 that moves the height detection sensor 20 in the longitudinal direction of the upper and lower dies U and L, and a control unit (height detection sensor control unit 240). The control unit (height detection sensor control unit 240) includes a movement control unit 246 that moves the height detection sensor 20 to the vicinity of the position of the work holding means (work supply robot 100) that holds the workpiece W, and a height determination processing unit 242 that determines whether the height position of the workpiece W detected by the height detection sensor 20 is within an acceptable range.
以上説明したように、本実施形態に係るプレスブレーキ10は、相対移動可能な上型U及び下型Lと、上型U及び下型Lの間に挿入されるワークWの高さ方向の位置を検出可能な高さ検出センサ20と、高さ検出センサ20を上型U及び下型Lの長手方向に移動させる高さ検出センサ移動部40と、制御部(高さ検出センサ制御部240)とを備え、制御部(高さ検出センサ制御部240)は、ワークWを保持するワーク保持手段(ワーク供給ロボット100)の位置の近傍に高さ検出センサ20を移動させる移動制御部246と、高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定する高さ判定処理部242とを含む。 [Advantages of the press brake, bending system, and sensor movement control method according to the present embodiment]
As described above, the
そして、本実施形態に係るプレスブレーキ10は、このような構成を備えることにより、高さ検出センサ20がワークWの高さ方向の位置を検出し、高さ判定処理部242が高さ検出センサ20により検出されたワークWの高さ方向の位置が許容範囲に収まっているか否かを判定するため、曲げ加工を行うワークWの近傍で目視確認することなくワークWの高さ方向の位置決めができるという利点を有している。特に、本実施形態に係るセンサ移動制御装置によれば、ワークWの高さ方向の位置決めを自動で実行することが可能であるため、プレスブレーキの高稼働化や作業員のスキルレス化を図ることが可能となる。
The press brake 10 according to this embodiment has such a configuration, and since the height detection sensor 20 detects the height position of the workpiece W and the height determination processing unit 242 determines whether the height position of the workpiece W detected by the height detection sensor 20 is within an allowable range, it has the advantage that the workpiece W can be positioned in the height direction without visually checking the vicinity of the workpiece W to be bent. In particular, the sensor movement control device according to this embodiment makes it possible to automatically position the workpiece W in the height direction, which makes it possible to increase the operation rate of the press brake and reduce the need for skilled workers.
また、高さ検出センサ20がワーク保持手段(ワーク供給ロボット100)の位置の近傍に移動してワークWの高さ方向の位置を検出することができるため、高さ方向の位置を検出する際にワークWの撓みの影響を受けにくくなるという利点を有している。ワークWは、ワーク保持手段(ワーク供給ロボット100)の保持位置から離れるほど撓むため、例えば、下型Lの先端部にワークを配置する際に、ワークWの大きく撓んだ箇所が下型Lの先端部の高さに達していても、撓みが小さい箇所は下型Lの先端部の高さよりも上方に位置しており、高さ方向の位置が許容範囲に収まっていない場合がある。本実施形態に係るセンサ移動制御装置では、撓みが小さい箇所、即ち、ワーク保持手段(ワーク供給ロボット100)の位置の近傍に移動してワークWの高さ方向の位置を検出することができるため、より正確にワークWの高さ方向の位置決めができる。
Furthermore, since the height detection sensor 20 can move to the vicinity of the position of the workpiece holding means (workpiece supply robot 100) to detect the height position of the workpiece W, it has the advantage that it is less affected by the deflection of the workpiece W when detecting the height position. Since the workpiece W deflects more the farther it is from the holding position of the workpiece holding means (workpiece supply robot 100), for example, when placing a workpiece at the tip of the lower mold L, even if the greatly deflected part of the workpiece W reaches the height of the tip of the lower mold L, the part with small deflection may be located above the height of the tip of the lower mold L, and the height position may not be within the allowable range. With the sensor movement control device according to this embodiment, the height position of the workpiece W can be detected by moving to the part with small deflection, i.e., the vicinity of the position of the workpiece holding means (workpiece supply robot 100), so the height position of the workpiece W can be more accurately positioned.
さらに、本実施形態に係るプレスブレーキ10は、下型Uを取り付ける下部テーブル12を備え、高さ検出センサ20は、下部テーブル12のワーク保持手段(ワーク供給ロボット100)との対向面12aに移動自在に取り付けられている。このような構成を備えることにより、より正確にワークWの高さ方向の位置が許容範囲に収まっているか判定できるという利点を有している。例えば、上型U及び下型Lよりも奥行き方向の後方で高さ検出センサ20がワークWの高さ方向の位置を検出する場合、ワークWの上型U及び下型Lの間に挟まれる箇所、即ちワークWの折り曲げ箇所の高さ方向の位置が許容範囲に収まっていない状態であっても、ワークWの先端部(突き当て部)の高さ方向の位置が許容範囲に収まっていることで、許容範囲内と判定される場合がある。本実施形態に係るセンサ移動制御装置において、高さ検出センサ20は、上型U及び下型Lよりもワーク保持手段(ワーク供給ロボット100)側に配置されていることでこのような誤判定を防止できる。また、高さ検出センサ20がよりワーク保持手段(ワーク供給ロボット100)に近い位置でワークWの高さ方向の位置を検出できるという利点を有している。さらに、下部テーブル12に取り付けることで製造コスト削減とプレスブレーキ10の大型化を防ぐことができるという利点を有している。
Furthermore, the press brake 10 according to this embodiment includes a lower table 12 on which the lower die U is attached, and the height detection sensor 20 is movably attached to the surface 12a of the lower table 12 facing the work holding means (work supply robot 100). By providing such a configuration, it has the advantage of being able to more accurately determine whether the height direction position of the work W is within the allowable range. For example, when the height detection sensor 20 detects the height direction position of the work W behind the upper die U and the lower die L in the depth direction, even if the height direction position of the part of the work W sandwiched between the upper die U and the lower die L, i.e., the bending part of the work W, is not within the allowable range, it may be determined that the work W is within the allowable range because the height direction position of the tip part (abutment part) of the work W is within the allowable range. In the sensor movement control device according to this embodiment, the height detection sensor 20 is disposed closer to the work holding means (work supply robot 100) than the upper die U and the lower die L, so that such erroneous determination can be prevented. In addition, it has the advantage that the height detection sensor 20 can detect the height direction position of the work W at a position closer to the work holding means (work supply robot 100). Furthermore, by attaching it to the lower table 12, it has the advantage of reducing manufacturing costs and preventing the press brake 10 from becoming too large.
またさらに、本実施形態に係るプレスブレーキ10において、制御部(高さ検出センサ制御部240)は、高さ検出センサ20の検出範囲からワーク保持手段(ワーク供給ロボット100)が外れるように高さ検出センサ移動部40を制御するよう構成されている。このような構成を備えることにより、高さ検出センサ20の検出範囲にワーク保持手段(ワーク供給ロボット100)が入ることで、ワーク保持手段(ワーク供給ロボット100)をワークWとして誤検出することを防止でき、ワークWの高さ方向の位置をより正確に検出できるという利点を有している。また、このような本実施形態に係るセンサ移動制御装置によれば、ワーク保持手段(ワーク供給ロボット100)と高さ検出センサ20との物理的な干渉を防ぐことも可能となる。
Furthermore, in the press brake 10 according to this embodiment, the control unit (height detection sensor control unit 240) is configured to control the height detection sensor movement unit 40 so that the work holding means (work supply robot 100) is moved out of the detection range of the height detection sensor 20. This configuration has the advantage that the work holding means (work supply robot 100) can be prevented from being erroneously detected as the work W by the work holding means (work supply robot 100) entering the detection range of the height detection sensor 20, and the height position of the work W can be detected more accurately. Furthermore, according to the sensor movement control device according to this embodiment, it is also possible to prevent physical interference between the work holding means (work supply robot 100) and the height detection sensor 20.
また、本実施形態に係るプレスブレーキ10は、ワークWの曲げ加工時に、ワークWの曲げ角度を検出可能な角度検出センサ18を備え、角度検出センサ18は、上型U及び下型Lの長手方向に移動自在に構成されており、高さ検出センサ20及び角度検出センサ18は、それぞれ独立して上型U及び下型Lの長手方向に移動可能に構成されている。このような構成を備えることにより、ワーク保持手段(ワーク供給ロボット100)又はワークWと角度検出センサ18が干渉し、高さ検出センサ20がワーク保持手段(ワーク供給ロボット100)の位置の近傍に十分に接近できなくなることを防止できるという利点を有している。
The press brake 10 according to this embodiment also includes an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W, and the angle detection sensor 18 is configured to be movable in the longitudinal direction of the upper die U and the lower die L, and the height detection sensor 20 and the angle detection sensor 18 are configured to be movable independently in the longitudinal direction of the upper die U and the lower die L. This configuration has the advantage of preventing interference between the workpiece holding means (workpiece supply robot 100) or the workpiece W and the angle detection sensor 18, preventing the height detection sensor 20 from being unable to approach sufficiently close to the position of the workpiece holding means (workpiece supply robot 100).
[変形例]
以上、本発明の好適な実施形態について説明したが、本発明の技術的範囲は、上述した実施形態に記載の範囲には限定されない。上述した実施形態には、多様な変更又は改良を加えることが可能である。 [Modification]
Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-mentioned embodiments. Various modifications and improvements can be made to the above-mentioned embodiments.
以上、本発明の好適な実施形態について説明したが、本発明の技術的範囲は、上述した実施形態に記載の範囲には限定されない。上述した実施形態には、多様な変更又は改良を加えることが可能である。 [Modification]
Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-mentioned embodiments. Various modifications and improvements can be made to the above-mentioned embodiments.
例えば、上述した実施形態において、プレスブレーキ10は、下型Lを取り付ける下部テーブル12を備え、高さ検出センサ20は、下部テーブル12のワーク保持手段(ワーク供給ロボット100)との対向面12aに移動自在に取り付けられているものとして説明したが、これに限定されない。例えば、高さ検出センサ20は、下部テーブル12のワーク保持手段(ワーク供給ロボット100)との対向面12a以外の面に取り付けられてもよいし、プレスブレーキ10の下型ホルダ15や、上部テーブル11、上型ホルダ14等の下部テーブル12以外の場所に取り付けられてもよい。また、高さ検出センサ20は、プレスブレーキ10を使用する工場等の床面や天井面に移動自在に取り付けられてもよい。
For example, in the above embodiment, the press brake 10 is provided with a lower table 12 on which the lower die L is attached, and the height detection sensor 20 is described as being movably attached to the surface 12a of the lower table 12 facing the work holding means (work supply robot 100), but this is not limited to the above. For example, the height detection sensor 20 may be attached to a surface other than the surface 12a of the lower table 12 facing the work holding means (work supply robot 100), or may be attached to a location other than the lower table 12, such as the lower die holder 15, upper table 11, or upper die holder 14 of the press brake 10. The height detection sensor 20 may also be movably attached to the floor or ceiling of a factory or the like in which the press brake 10 is used.
上述した実施形態において、制御部(高さ検出センサ制御部240)は、高さ検出センサ20の検出範囲からワーク保持手段(ワーク供給ロボット100)が外れるように高さ検出センサ移動部40を制御するよう構成されているものとして説明したが、これに限定されない。ワーク保持手段(ワーク供給ロボット100)の動作を妨げない範囲であれば、高さ検出センサ20の検出範囲にワーク保持手段(ワーク供給ロボット100)が入ってもよい。
In the above embodiment, the control unit (height detection sensor control unit 240) has been described as being configured to control the height detection sensor moving unit 40 so that the work holding means (work supply robot 100) moves out of the detection range of the height detection sensor 20, but this is not limited thereto. The work holding means (work supply robot 100) may be within the detection range of the height detection sensor 20 as long as it is within a range that does not interfere with the operation of the work holding means (work supply robot 100).
上述した実施形態において、プレスブレーキ10は、ワークWの曲げ加工時に、ワークWの曲げ角度を検出可能な角度検出センサ18を備え、角度検出センサ18は、上型U及び下型Lの長手方向に移動自在に構成されており、高さ検出センサ20及び角度検出センサ18は、それぞれ独立して上型U及び下型Lの長手方向に移動可能に構成されているものとして説明したが、これに限定されない。プレスブレーキ10は、ワークWの曲げ加工時に、ワークWの曲げ角度を検出可能な角度検出センサ18を備えなくてもよい。すなわち、高さ検出センサ20を角度検出センサ18として利用しても良いし、角度検出を行わない構成としても良い。また、プレスブレーキ10は、例えば、角度検出センサ18に高さ検出センサ20が取り付けられており、高さ検出センサ20と角度検出センサ18が一体となって移動してもよい。高さ検出センサ20と角度検出センサ18が一体となって移動する場合、角度検出センサ移動部19と高さ検出センサ移動部40を一つにできるため、製造コスト削減とプレスブレーキ10の大型化を防ぐことができる。
In the above embodiment, the press brake 10 is provided with an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W, the angle detection sensor 18 is configured to be freely movable in the longitudinal direction of the upper die U and the lower die L, and the height detection sensor 20 and the angle detection sensor 18 are configured to be independently movable in the longitudinal direction of the upper die U and the lower die L, but this is not limited to the above. The press brake 10 does not need to be provided with an angle detection sensor 18 capable of detecting the bending angle of the workpiece W during bending processing of the workpiece W. In other words, the height detection sensor 20 may be used as the angle detection sensor 18, or the angle detection may not be performed. In addition, the press brake 10 may have a height detection sensor 20 attached to the angle detection sensor 18, for example, and the height detection sensor 20 and the angle detection sensor 18 may move together. When the height detection sensor 20 and the angle detection sensor 18 move together, the angle detection sensor moving unit 19 and the height detection sensor moving unit 40 can be integrated into one, which reduces manufacturing costs and prevents the press brake 10 from becoming larger.
上述した実施形態において、高さ検出センサ20は、1つであることを前提として説明したが、これに限定されず、高さ検出センサ20は、複数あってもよい。高さ検出センサ20が複数設置される場合には、それぞれ独立して移動可能な構成としても良い。高さ検出センサ20を複数備える場合、高さ検出センサ20は、上型U及び下型Lの長手方向に複数設けられてもよいし、上型U及び下型Lの前方と後方(奥行き方向)に複数設けられてもよい。また、その両方を組み合わせてもよい。
In the above embodiment, it has been explained on the assumption that there is only one height detection sensor 20, but this is not limited to the above, and there may be multiple height detection sensors 20. When multiple height detection sensors 20 are installed, they may each be configured to be independently movable. When multiple height detection sensors 20 are provided, multiple height detection sensors 20 may be provided in the longitudinal direction of the upper mold U and lower mold L, or multiple height detection sensors 20 may be provided in front and behind (depth direction) the upper mold U and lower mold L. A combination of both may also be used.
上述した実施形態において、ロボットハンド120は、ハンド本体122又はハンド本体122′及び吸着部124を備えるものとして説明したが、これに限定されず、ロボットハンド120は、ハンド本体120と吸着部124とを備え、ワークWの把持と吸着による保持とを使い分けてもよい。
In the above embodiment, the robot hand 120 has been described as having the hand body 122 or the hand body 122' and the suction part 124, but this is not limited thereto. The robot hand 120 may have the hand body 120 and the suction part 124 and may be used to grasp the workpiece W and hold it by suction instead.
上述した実施形態において、曲げ加工方法は、高さ調整と同時に、又はその後、ワークWの奥行き方向及び幅方向の位置を調整するものとして説明したが、これに限定されず、奥行き方向及び幅方向の位置を調整した後に高さ調整をしてもよい。
In the above embodiment, the bending method has been described as adjusting the depth and width positions of the workpiece W simultaneously with or after the height adjustment, but this is not limited to this, and the height adjustment may be performed after the depth and width positions are adjusted.
上述した実施形態において、角度検出センサ18は、下部テーブル12のワーク供給ロボット100との対向面12aにのみ取り付けられていることを前提として説明したが、これに限定されない。プレスブレーキ10は、下部テーブル12のワーク供給ロボット100との対向面12aの裏側の面に角度検出センサ18を更に備えてもよい。
In the above embodiment, the angle detection sensor 18 is attached only to the surface 12a of the lower table 12 that faces the work supply robot 100, but this is not limited to the above. The press brake 10 may further include an angle detection sensor 18 on the surface behind the surface 12a of the lower table 12 that faces the work supply robot 100.
1 曲げ加工システム
10 プレスブレーキ
11 上部テーブル
12 下部テーブル
13 支持部
14 上型ホルダ
15 下型ホルダ
16 駆動機構
17 バックゲージ
18 角度検出センサ
19 角度検出センサ移動部
19a レール部
20 高さ検出センサ
22 検出範囲
40 高さ検出センサ移動部
100 ワーク供給ロボット
120 ロボットハンド
122,122′ ハンド本体
124 吸着部
140 アーム部
160 移動機構
160a レール部
160b ベース台
200 制御装置
210 入力部
220 表示部
230 ロボット制御部
240 高さ検出センサ制御部
242 高さ判定処理部
244 保持位置特定部
246 移動制御部
250 角度検出センサ制御部
260 記憶部
262 センサ移動制御プログラム
264 曲げ加工プログラム
L 下型
P ワーク載置台
U 上型
W ワーク LIST OF SYMBOLS 1Bending system 10 Press brake 11 Upper table 12 Lower table 13 Support section 14 Upper die holder 15 Lower die holder 16 Drive mechanism 17 Back gauge 18 Angle detection sensor 19 Angle detection sensor moving section 19a Rail section 20 Height detection sensor 22 Detection range 40 Height detection sensor moving section 100 Work supply robot 120 Robot hand 122, 122' Hand body 124 Suction section 140 Arm section 160 Moving mechanism 160a Rail section 160b Base stand 200 Control device 210 Input section 220 Display section 230 Robot control section 240 Height detection sensor control section 242 Height determination processing section 244 Holding position identification section 246 Movement control section 250 Angle detection sensor control section 260 Memory section 262 Sensor movement control program 264 Bending program L Lower die P Work placement table U Upper die W Work
10 プレスブレーキ
11 上部テーブル
12 下部テーブル
13 支持部
14 上型ホルダ
15 下型ホルダ
16 駆動機構
17 バックゲージ
18 角度検出センサ
19 角度検出センサ移動部
19a レール部
20 高さ検出センサ
22 検出範囲
40 高さ検出センサ移動部
100 ワーク供給ロボット
120 ロボットハンド
122,122′ ハンド本体
124 吸着部
140 アーム部
160 移動機構
160a レール部
160b ベース台
200 制御装置
210 入力部
220 表示部
230 ロボット制御部
240 高さ検出センサ制御部
242 高さ判定処理部
244 保持位置特定部
246 移動制御部
250 角度検出センサ制御部
260 記憶部
262 センサ移動制御プログラム
264 曲げ加工プログラム
L 下型
P ワーク載置台
U 上型
W ワーク LIST OF SYMBOLS 1
Claims (6)
- 相対移動可能な上型及び下型と、
前記上型及び前記下型の間に挿入されるワークの高さ方向の位置を検出可能な高さ検出センサと、
前記高さ検出センサを前記上型及び下型の長手方向に移動させる高さ検出センサ移動部と、
制御部と
を備え、
前記制御部は、
前記ワークを保持するワーク保持手段の位置の近傍に前記高さ検出センサを移動させる移動制御部と、
前記高さ検出センサにより検出された前記ワークの高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定処理部と、
を含む
プレスブレーキ。 An upper mold and a lower mold that are relatively movable;
a height detection sensor capable of detecting a height direction position of a workpiece inserted between the upper die and the lower die;
a height detection sensor moving unit that moves the height detection sensor in a longitudinal direction of the upper mold and the lower mold;
A control unit and
The control unit is
a movement control unit that moves the height detection sensor to the vicinity of a position of a workpiece holding means that holds the workpiece;
a height determination processing unit that determines whether the position in the height direction of the workpiece detected by the height detection sensor is within an allowable range;
Including press brakes. - 前記下型を取り付ける下部テーブルを備え、
前記高さ検出センサは、前記下部テーブルの前記ワーク保持手段との対向面に移動自在に取り付けられている
請求項1に記載のプレスブレーキ。 a lower table for mounting the lower mold,
2. The press brake according to claim 1, wherein the height detection sensor is movably attached to a surface of the lower table facing the workpiece holding means. - 前記制御部は、前記高さ検出センサの検出範囲から前記ワーク保持手段が外れるように前記高さ検出センサ移動部を制御するよう構成されている
請求項1又は2に記載のプレスブレーキ。 The press brake according to claim 1 or 2, wherein the control unit is configured to control the height detection sensor moving unit so that the workpiece holding means is moved out of a detection range of the height detection sensor. - 前記ワークの曲げ加工時に、前記ワークの曲げ角度を検出可能な角度検出センサを備え、
前記角度検出センサは、前記上型及び前記下型の長手方向に移動自在に構成されており、
前記高さ検出センサ及び前記角度検出センサは、それぞれ独立して前記上型及び前記下型の長手方向に移動可能に構成されている
請求項1又は2に記載のプレスブレーキ。 An angle detection sensor is provided that can detect a bending angle of the workpiece during bending of the workpiece,
The angle detection sensor is configured to be movable in a longitudinal direction of the upper mold and the lower mold,
The press brake according to claim 1 or 2, wherein the height detection sensor and the angle detection sensor are configured to be independently movable in the longitudinal direction of the upper mold and the lower mold. - 所定長さの板状のワークの曲げ加工を行うプレスブレーキと、
前記プレスブレーキに前記ワークを供給するワーク供給ロボットと、
高さ検出センサと、
高さ検出センサ移動部と、
前記プレスブレーキ、前記ワーク供給ロボット、前記高さ検出センサ及び前記高さ検出センサ移動部を制御する制御装置と
を備え、
前記プレスブレーキは、相対移動可能な上型及び下型を含み、
前記ワーク供給ロボットは、上型及び下型の間に前記ワークを挿入するよう構成されており、
前記高さ検出センサは、前記上型及び前記下型の間に挿入される前記ワークの高さ方向の位置を検出可能に構成されており、
前記高さ検出センサ移動部は、前記高さ検出センサを前記上型及び前記下型の長手方向に移動させるよう構成されており、
前記制御装置は、
前記ワークを保持するワーク保持手段の位置の近傍に前記高さ検出センサを移動させる移動制御部と、
前記高さ検出センサにより検出された前記ワークの高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定処理部と、
を含む
曲げ加工システム。 A press brake that performs bending processing on a plate-shaped workpiece of a predetermined length;
A work supply robot that supplies the work to the press brake;
A height detection sensor;
A height detection sensor moving unit;
a control device for controlling the press brake, the work supply robot, the height detection sensor, and the height detection sensor moving unit,
The press brake includes upper and lower dies that are relatively movable,
The work supply robot is configured to insert the work between an upper mold and a lower mold,
The height detection sensor is configured to be capable of detecting a position in a height direction of the workpiece inserted between the upper mold and the lower mold,
the height detection sensor moving unit is configured to move the height detection sensor in a longitudinal direction of the upper mold and the lower mold,
The control device includes:
a movement control unit that moves the height detection sensor to the vicinity of a position of a workpiece holding means that holds the workpiece;
a height determination processing unit that determines whether the position in the height direction of the workpiece detected by the height detection sensor is within an allowable range;
Includes bending system. - 相対移動可能な上型及び下型の間に挿入されるワークを保持するワーク保持手段の位置の近傍に前記ワークの高さ方向の位置を検出可能な高さ検出センサを移動させる高さ検出センサ移動工程と、
前記ワークの前記高さ方向の前記位置を検出する高さ検出工程と、
前記高さ検出センサにより検出された前記ワークの前記高さ方向の前記位置が許容範囲に収まっているか否かを判定する高さ判定工程と
を備える
センサ移動制御方法。
a height detection sensor moving step of moving a height detection sensor capable of detecting a position in a height direction of a workpiece to the vicinity of a position of a workpiece holding means for holding the workpiece to be inserted between upper and lower dies which are relatively movable;
a height detection step of detecting the position of the workpiece in the height direction;
and a height determination step of determining whether or not the position in the height direction of the workpiece detected by the height detection sensor is within an allowable range.
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JP2022158337A JP7472223B2 (en) | 2022-09-30 | 2022-09-30 | Press brake, bending system and sensor movement control method |
JP2022-158337 | 2022-09-30 |
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WO2024070569A1 true WO2024070569A1 (en) | 2024-04-04 |
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PCT/JP2023/032717 WO2024070569A1 (en) | 2022-09-30 | 2023-09-07 | Press brake, bending processing system, and method for controlling sensor movement |
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JP (1) | JP7472223B2 (en) |
WO (1) | WO2024070569A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08132368A (en) * | 1994-11-07 | 1996-05-28 | Toyo Kohan Co Ltd | Positioning method and device in plate working machine/ robot system |
JP2000263135A (en) * | 1999-03-15 | 2000-09-26 | Amada Co Ltd | Bending method and bending system |
JP2013111695A (en) * | 2011-11-29 | 2013-06-10 | Amada Co Ltd | Plate material supply device for working machine |
JP2014147955A (en) * | 2013-02-01 | 2014-08-21 | Amada Co Ltd | Positioning method of work and press brake |
JP2018001255A (en) * | 2016-07-07 | 2018-01-11 | 株式会社アマダホールディングス | Press brake and angle detection device |
-
2022
- 2022-09-30 JP JP2022158337A patent/JP7472223B2/en active Active
-
2023
- 2023-09-07 WO PCT/JP2023/032717 patent/WO2024070569A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08132368A (en) * | 1994-11-07 | 1996-05-28 | Toyo Kohan Co Ltd | Positioning method and device in plate working machine/ robot system |
JP2000263135A (en) * | 1999-03-15 | 2000-09-26 | Amada Co Ltd | Bending method and bending system |
JP2013111695A (en) * | 2011-11-29 | 2013-06-10 | Amada Co Ltd | Plate material supply device for working machine |
JP2014147955A (en) * | 2013-02-01 | 2014-08-21 | Amada Co Ltd | Positioning method of work and press brake |
JP2018001255A (en) * | 2016-07-07 | 2018-01-11 | 株式会社アマダホールディングス | Press brake and angle detection device |
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JP7472223B2 (en) | 2024-04-22 |
JP2024051939A (en) | 2024-04-11 |
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