Bending system and method of using the same

Abstract

In a bending processing system (10) and a method for using the same, the bending processing system (10) is provided with a bending robot (22) disposed between a bending machine (12) and a predetermined setting area (SA) arranged in front of the bending machine (12) to assist in bending processing of a workpiece (W). The bending robot (22) has a robot hand (26) holding the workpiece (W) set on a tray (14) in the predetermined setting area (SA). A shooting unit (30) is arranged above the front of the predetermined setting area (SA) to shoot the workpiece (W) on the tray (14) from an oblique direction. A first lighting unit (32) is vertically arranged in front of the left of the predetermined setting area (SA) to irradiate lighting light toward a shooting range of the shooting unit (30). A second lighting unit (60) is vertically arranged in front of the right of the predetermined setting area (SA) to irradiate lighting light toward the shooting range of the shooting unit (30).

Description

TECHNICAL FIELD

[0001] The present application relates to a bending processing system that automatically performs bending processing on a plate-shaped workpiece, and a method for using the same. BACKGROUND

[0002] In recent years, in the field of sheet metal processing, bending processing systems are becoming widespread, and the structure of a bending processing system and the like will be briefly described as follows (see Patent Literature 1).

[0003] The bending processing system is provided with a bending machine that performs bending processing on a workpiece. A bending robot that assists in the bending processing of the workpiece is provided between the bending machine and a predetermined set area disposed in front of the bending machine. The bending robot has a robot hand that holds a workpiece set on a pallet in the predetermined set area. Further, a camera as an imaging unit that images the workpiece on the pallet from a vertical upward direction is provided above the predetermined set area. A first illumination unit that irradiates an illumination light toward an imaging range of the camera is provided near the left side of the predetermined set area. A second illumination unit that irradiates an illumination light toward the imaging range of the camera is provided near the right side of the predetermined set area.

[0004] The bending processing system is provided with a numerical control device that controls the bending machine, a robot control device that controls the bending robot, and an image processing device that performs image processing on an imaging image from the camera. The image processing device detects the position of the workpiece on the pallet based on the imaging image from the camera. The robot control device controls the bending robot so that the robot hand holds a predetermined portion of the workpiece based on the detected position of the workpiece. Therefore, even if the workpiece is not correctly placed on the predetermined portion of the pallet, the bending robot can be appropriately operated, and the processing accuracy of the bending processing can be sufficiently ensured.

[0005] Further, as related prior art, in addition to Patent Literature 1, there are the technologies described in Patent Literatures 2 to 4.

[0006] Prior Art Documents

[0007] Patent Literature

[0008] Patent Literature 1: Japanese Patent Application Publication No. 2018-120388

[0009] Patent Literature 2: Japanese Patent Application Publication No. 2017-124469

[0010] Patent Literature 3: Japanese Patent Application Publication No. 2015-13303

[0011] Patent Literature 4: Japanese Patent Application Publication No. 2019-14027 SUMMARY

[0012] However, in the existing bending processing system, the camera is positioned above the predetermined set region without being sufficiently separated from the predetermined set region. The two illumination units are positioned near the predetermined set region without being sufficiently separated from the predetermined set region. As a result, in order to prevent the part of the bending robot and the workpiece held by the robot hand from interfering with the camera and the like, the range of motion of the bending robot is limited, resulting in many cases where the workpiece cannot be subjected to bending processing. That is, there is a problem that it is difficult to improve the degree of freedom of processing of the bending processing system while sufficiently ensuring the processing accuracy of bending processing.

[0013] The bending processing system of the first embodiment of the present application includes a bending robot provided between a bending machine and a predetermined set region arranged in front of the bending machine, having a robot hand holding a workpiece set on a pallet in the predetermined set region, and assisting in bending processing of the workpiece, and a photographing unit provided above and in front of the predetermined set region, photographing the workpiece on the pallet from an obliquely upward direction. The bending processing system of the first embodiment includes a first illumination unit provided upright in front of the left of the predetermined set region, irradiating illumination light toward a photographing range of the photographing unit, and a second illumination unit provided upright in front of the right of the predetermined set region, irradiating illumination light toward the photographing range of the photographing unit.

[0014] On the basis of the structure of the bending processing system of the first embodiment, the bending processing system of the second embodiment is configured such that the first illumination unit has a plurality of first illuminations irradiating illumination light in a right obliquely downward direction, the irradiation direction of each first illumination is configured to be adjustable so as to irradiate illumination light from the plurality of first illuminations to the entire region on the pallet. Further, the second illumination unit has a plurality of second illuminations irradiating illumination light in a left obliquely downward direction, the irradiation direction of each second illumination is configured to be adjustable so as to irradiate illumination light from the plurality of second illuminations to the entire region on the pallet.

[0015] According to the structure of the bending processing system of the first and second embodiments, as described above, since the photographing unit is positioned above and in front of the predetermined set region, the photographing unit can be sufficiently separated from the predetermined set region. Since the first illumination unit is positioned in front of the left of the predetermined set region and the second illumination unit is positioned in front of the right of the predetermined set region, the first illumination unit and the second illumination unit can be sufficiently separated from the predetermined set region. Therefore, the part of the bending robot or the workpiece held by the robot hand does not interfere with the photographing unit, the first illumination unit, or the second illumination unit, and the range of motion of the bending robot is not limited by the photographing unit and the like.

[0016] The method of using the bending processing system of the third embodiment is a method for using the bending processing system of the second embodiment. Also, in a state where the adjustment sheet covers the entire region on the tray, the irradiation direction of each first illuminator is adjusted so that visible light from a laser pointer installed in the adjustment jig of each first illuminator is irradiated to a portion in the adjustment sheet corresponding to the irradiation range of each first illuminator. Also, the irradiation direction of each second illuminator is adjusted so that visible light from the laser pointer installed in the adjustment jig of each second illuminator is irradiated to a portion in the adjustment sheet corresponding to the irradiation range of each second illuminator.

[0017] The method of using the bending processing system of the fourth embodiment is a method for using the bending processing system of the second embodiment. Also, when the photographing unit photographs the workpiece on the tray from an obliquely upward direction, the lighting operation of the first illuminator unit is performed so that the illuminating light from the plurality of first illuminators is irradiated to the entire region on the tray. Also, the lighting operation of the second illuminator unit is performed so that the illuminating light from the plurality of second illuminators is irradiated to the entire region on the tray.

[0018] According to the bending processing system and the method of using the same, the processing accuracy of the bending processing can be sufficiently ensured, and the degree of freedom of the bending processing of the bending processing system can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the bending processing system of the first embodiment.

[0020] Figure 2 is a plan view of the bending processing system of the first embodiment.

[0021] Figure 3 is a front view of the bending processing system of the first embodiment.

[0022] Figure 4 is a perspective view showing a plurality of pedestals provided in a predetermined set region.

[0023] Figure 5A is a view of the first irradiation stage as viewed from the opposite side (back side) of the irradiation side.

[0024] Figure 5B is a view of the first irradiation stage as viewed from the right side of Figure 5A .

[0025] Figure 6 is an enlarged view of the VI portion in Figure 5A .

[0026] Figure 7A is a view of the illuminator with bracket (first illuminator or second illuminator) as viewed from the irradiation side (front side).

[0027] Figure 7B is a view of the bracketed illumination viewed from the opposite side of the irradiation side.

[0028] Figure 8A is a perspective view of the bracketed illumination.

[0029] Figure 8B is a perspective view of the bracketed illumination, showing a case where an adjustment jig is attached to the bracketed illumination.

[0030] Figure 9 is a view illustrating the irradiation range of each first illumination.

[0031] Figure 10A is a view of the second irradiation stage viewed from the opposite side (back side) of the irradiation side.

[0032] Figure 10B is a view of the second irradiation stage viewed from the left side of Figure 10A .

[0033] Figure 11 is an enlarged view of the XI portion in Figure 10A .

[0034] Figure 12 is a view illustrating the irradiation range of each second illumination.

[0035] Figure 13 is a view illustrating the portion in the adjustment sheet corresponding to the irradiation range of each first illumination.

[0036] Figure 14 is a view illustrating the portion in the adjustment sheet corresponding to the irradiation range of each second illumination.

[0037] Figure 15 is a perspective view of the bending processing system of the second embodiment.

[0038] Figure 16 is a plan view of the bending processing system of the second embodiment.

[0039] Figure 17 is a front view of the bending processing system of the second embodiment. DETAILED DESCRIPTION

[0040] Hereinafter, the first embodiment and the second embodiment will be described with reference to Figures 1 to 17 The first embodiment and the second embodiment will be described.

[0041] Furthermore, in the specification and claims of this application, "set" refers not only to direct setting but also to indirect setting via other components. "Vertical setting" means setting in an upright state. "Left-right direction" is one of the horizontal directions, synonymous with the direction parallel to the width direction of the bending machine. "Front-back direction" is a horizontal direction orthogonal to the left-right direction, synonymous with the direction parallel to the depth direction of the bending machine. "Holding" includes both adsorption and gripping. In the drawings, "FF" refers to the forward direction, "FR" refers to the rearward direction, "L" refers to the left direction, "R" refers to the right direction, "U" refers to the upward direction, and "D" refers to the downward direction.

[0042] (First Implementation)

[0043] like Figures 1 to 3 As shown, the bending system 10 of the first embodiment is a processing system that automatically bends a plate-shaped workpiece (metal plate) W. The bending system 10 includes a bending machine 12 that bends the workpiece W by the cooperation of a male die (not shown) and a female die (not shown).

[0044] A predetermined setting area (loading area) SA for setting the tray 14 is formed in front of the bending machine 12. The tray 14 supports the workpiece W. In other words, a loading area SA is formed in front of the bending machine 12 for loading the workpiece W into the bending system 10 via the tray 14. The tray 14 is set in the predetermined setting area SA by a forklift (not shown) or a manual lift (not shown). Furthermore, a loading area TA is formed on the right side of the predetermined setting area for loading the bent product out of the bending system 10 via a product tray (not shown).

[0045] like Figure 1 and Figure 4 As shown, multiple supports 16 for the tray 14 are provided on the floor surface of the predetermined setting area SA via downbolts 18 and anchors (not shown). Multiple split shims (not shown) for adjusting the height of each support 16 are sandwiched between each support 16 and the floor surface. Therefore, by adjusting the height of each support 16, the flatness of the upper surface of the tray 14 set in the predetermined setting area SA can be sufficiently ensured.

[0046] like Figures 1 to 3As shown, a guide frame 20 extending in the left-right direction is provided between the bending machine 12 and the predetermined setting area SA. A bending robot 22, which assists in bending the workpiece W, is provided on the guide frame 20 in a manner that allows it to move in the left-right direction. In other words, the bending robot 22 is configured to move in the right direction via the guide frame 20 between the bending machine 12 and the predetermined setting area SA. The bending robot 22 is constructed, for example, with a known structure shown in Patent Document 2, having a multi-jointed robot arm 24. The bending robot 22 has a robot hand 26 detachably provided at the front end of the robot arm 24. The robot hand 26 adsorbs the workpiece W set on the tray 14 in the predetermined setting area SA. Furthermore, as shown in Patent Documents 3 and 4, the robot hand 26 may also have a clamping member (not shown) that holds the end of the workpiece W.

[0047] An L-shaped support column 28 is erected on the floor surface to the left front of the predetermined setting area SA. The support column 28 has a vertical portion 28a and a horizontal portion 28b located above the vertical portion 28a. A single-lens reflex camera 30, serving as the imaging unit, is provided at the front end of the horizontal portion 28b of the support column 28 to capture images of the workpiece W set on the tray 14 of the predetermined setting area SA from an oblique upward direction. In other words, the camera 30 is provided above and in front of the predetermined setting area SA via the support column 28. As the imaging element, the camera 30 has a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). Alternatively, a stereo camera (not shown) can be used instead of the single-lens reflex camera 30.

[0048] like Figures 1 to 3 As shown, a first illumination platform 32, serving as a first illumination unit, is erected in front of the predetermined setting area SA on the left, illuminating the area to be captured by the camera 30. The first illumination platform 32 is arranged at an angle relative to the left and right directions, with its right end positioned further forward than its left end. Furthermore, the specific components of the first illumination platform 32 are as follows.

[0049] like Figure 1 , Figure 3 , Figure 5A , Figure 5B as well as Figure 6As shown, a first support frame 34 is erected in the left front of a predetermined setting area SA. The first support frame 34 has a plurality of (three in this embodiment) first beam members 36 extending in the horizontal direction. Each first beam member 36 is provided with an inverted U-shaped first bracket 38 via a mounting bolt 40. The first bracket 38 is rotatable about the axis of the mounting bolt 40, which is a vertical axis.

[0050] Each first bracket 38 is provided with a first illumination 42 that illuminates light in a rightward and downward direction via mounting bolts 44. In other words, the first illumination table 32 has a plurality of (13 in this embodiment) first illuminations 42. The illumination light from the plurality of first illuminations 42 casts shadows on the right and rear edges (contour portions) of the workpiece W on the tray 14 set in a predetermined setting area SA, making these edges more defined.

[0051] like Figures 6 to 9 As shown, each first illumination 42 is rotatable about the axis of the mounting bolt 44, which is a horizontal axis. Each first illumination 42 is rotatable integrally with the first bracket 38 about the axis of the mounting bolt 40. An arc-shaped slit 38s is formed on each side of each first bracket 38. A movable bolt 46, which is a movable member, is provided on each side of each first illumination 42, and each movable bolt 46 moves in a state guided by the slit 38s of each first bracket 38. Furthermore, each first illumination 42 has: a rectangular box-shaped illumination body 48 provided on each first bracket 38 and open on its surface (illumination side); an acrylic panel 50 provided on the surface of the illumination body 48; and a plurality of light-emitting diodes (LEDs) 52 provided within the illumination body 48.

[0052] As described above, each of the first illumination 42 is configured to rotate about two orthogonal axes. That is, the illumination direction of each of the first illumination 42 is configured to be adjustable so that illumination light from the plurality of first illumination 42 illuminates the entire area of ​​the tray 14 (see reference). Figure 9 The two orthogonal axes mentioned above refer to the horizontal axis and the vertical axis. Figure 9 In the text, each of the first illuminations 42 is marked with a subscript number (421-422) for identification. 13 The illumination range C of each first illumination 42 is marked with subscript numbers (C1 to C2) for identification. 13 Furthermore, when adjusting the illumination direction of each of the first illuminations 42, an adjustment clamp 54 is used. The adjustment clamp 54 has: a clamp body 56 that can be magnetically attached to the appropriate position of each illumination body 48; and a laser pointer 58 provided on the clamp body 56 and illuminating visible light.

[0053] like Figures 1 to 3As shown in FIG. 1, a first lighting stand 32 that irradiates illumination light toward the shooting range of the camera 30 is erected in front of the predetermined set region SA. The first lighting stand 32 is disposed so as to be inclined with respect to the left-right direction in such a manner that the left end side thereof is located further forward than the right end side. The first lighting stand 32 is provided with a plurality of (in the present embodiment, three) first beam members 34 that extend in the horizontal direction. A first bracket 36 of an inverted U shape is provided to each first beam member 34 via a mounting bolt 38. The first bracket 36 is rotatable about the axis of the mounting bolt 38, which is a vertical axis.

[0054] As shown in FIG. 1, a first lighting stand 32 that irradiates illumination light toward the shooting range of the camera 30 is erected in front of the predetermined set region SA. The first lighting stand 32 is disposed so as to be inclined with respect to the left-right direction in such a manner that the left end side thereof is located further forward than the right end side. The first lighting stand 32 is provided with a plurality of (in the present embodiment, three) first beam members 34 that extend in the horizontal direction. A first bracket 36 of an inverted U shape is provided to each first beam member 34 via a mounting bolt 38. The first bracket 36 is rotatable about the axis of the mounting bolt 38, which is a vertical axis. Figure 1 , Figure 3 , Figure 10A , Figure 10B and Figure 11 As shown in FIG. 1, a second support frame 62 is erected in front of the right of the predetermined set region SA. The second support frame 62 has a plurality of (in the present embodiment, three) second beam members 64 that extend in the horizontal direction. A second bracket 66 of an inverted U shape is provided to each second beam member 64 via a mounting bolt 68. The second bracket 66 is rotatable about the axis of the mounting bolt 68, which is a vertical axis.

[0055] As shown in FIG. 1, a second lighting 70 that irradiates illumination light in a left obliquely downward direction is provided to each second bracket 66 via a mounting bolt 72. In other words, the second lighting stand 60 has a plurality of (in the present embodiment, 13) second lightings 70. The plurality of second lightings 70 form shadows on the left side and the rear side of the edge portion (contour portion) of the workpiece W on the tray 14 set in the predetermined set region SA, and make these edge portions clear.

[0056] As shown in FIG. 1, a second lighting stand 60 that irradiates illumination light toward the shooting range of the camera 30 is erected in front of the right of the predetermined set region SA. The second lighting stand 60 is disposed so as to be inclined with respect to the left-right direction in such a manner that the left end side thereof is located further forward than the right end side. The second lighting stand 60 is provided with a plurality of (in the present embodiment, three) second beam members 64 that extend in the horizontal direction. A second bracket 66 of an inverted U shape is provided to each second beam member 64 via a mounting bolt 68. The second bracket 66 is rotatable about the axis of the mounting bolt 68, which is a vertical axis. Figure 7A , Figure 7B , Figure 8A , Figure 8B , Figures 10A to 12 As shown in FIG. 1, a second lighting stand 60 that irradiates illumination light toward the shooting range of the camera 30 is erected in front of the right of the predetermined set region SA. The second lighting stand 60 is disposed so as to be inclined with respect to the left-right direction in such a manner that the left end side thereof is located further forward than the right end side. The second lighting stand 60 is provided with a plurality of (in the present embodiment, three) second beam members 64 that extend in the horizontal direction. A second bracket 66 of an inverted U shape is provided to each second beam member 64 via a mounting bolt 68. The second bracket 66 is rotatable about the axis of the mounting bolt 68, which is a vertical axis.

[0057] As described above, each of the second illuminations 70 is configured to rotate about two orthogonal axes. That is, the illumination direction of each of the second illuminations 70 is configured to be adjustable so that illumination light from the plurality of second illuminations 70 illuminates the entire area of ​​the tray 14 set in the predetermined setting area SA (see reference). Figure 12 ). Figure 12 In the text, each of the second lighting 70 is marked with a subscript number (701-70) for identification. 13 The illumination range C of each second illumination 70 is marked with subscript numbers (C1 to C2) for identification. 13 Furthermore, when adjusting the illumination direction of each of the second lighting units 70, the adjustment clamp 54 is used as described above. The clamp body 56 of the adjustment clamp 54 can be magnetically attached to the appropriate position of each lighting unit 76.

[0058] like Figures 1 to 3 As shown, a first protective member 82 is provided near the right side of the first lighting platform 32 to protect it. The first protective member 82 is positioned along the first lighting platform 32. A second protective member 84 is provided near the left side of the second lighting platform 60 to protect it. The second protective member 84 is positioned along the second lighting platform 60. Furthermore, a safety barrier 86 is provided around most of the bending processing system 10 to ensure the safety of the bending process. The safety barrier 86 has multiple gates (not shown) for allowing a forklift or manual lift to pass through.

[0059] Although not illustrated, the bending system 10 includes a numerical control device (main control device) for controlling the bending machine 12 and a robot control device for controlling the bending robot 22. The bending system 10 includes an illumination control device for controlling the first illumination stage 32 and the second illumination stage 60, and an image processing device for processing images captured by the camera 30. The illumination control device separately executes the illumination actions from multiple first illumination stages 42 and multiple second illumination stages 70. The image processing device corrects for distortion in the images captured by the camera 30 due to the tilt of the camera's shooting direction relative to the vertical direction. The image processing device detects the position of the workpiece W on the tray 14 based on the corrected image from the camera 30. The robot control device controls the bending robot 22 to hold the workpiece W at a predetermined position using the robot arm 26 based on the detected position of the workpiece W. Therefore, even if the workpiece W is not correctly placed at the predetermined position on the tray 14, the bending robot 22 can be made to move appropriately, ensuring sufficient processing accuracy in the bending process.

[0060] Next, the method of using the bending processing system of the first embodiment will be described.

[0061] like Figure 9 and Figure 13As shown, with the entire area of ​​tray 14 covered by the white adjustment piece FS, the illumination direction of each first illumination 42 is adjusted so that the laser pointer 58 (refer to) from the adjustment tool 54 mounted on each first illumination 42 is aligned. Figure 8B Visible light is irradiated onto the portion P in the adjustment plate FS corresponding to the illumination range C of each first illumination 42. This allows for adjustment of the illumination light of the first illumination stage 32. Figure 13 In the text, each of the first illuminations 42 is marked with a subscript number (421-422) for identification. 13 For each of the first illuminations 42 (421-42) 13 The irradiation range C (C1~C) 13 The corresponding part P is marked with a subscript number (P1~P) for identification. 13 ).

[0062] And, as Figure 12 and Figure 14 As shown, with the entire area on the tray 14 covered by the adjustment piece FS, the illumination direction of each second illumination 70 is adjusted so that the laser pointer 58 (refer to) from the adjustment fixture 54 mounted on each second illumination 70 is illuminated. Figure 8B Visible light is irradiated onto the portion P in the adjustment plate FS corresponding to the illumination range C of each second illumination 70. This allows for adjustment of the illumination light of the second illumination stage 60. Figure 14 In the text, each of the second lighting 70 is marked with a subscript number (701-70) for identification. 13 For each of the second lighting 70 (701-70) 13 The irradiation range C (C1~C) 13 The corresponding part P is marked with a subscript number (P1~P) for identification. 13 ).

[0063] like Figures 1 to 3As shown, when the camera 30 captures the workpiece W on the tray 14 from the obliquely upper direction, the lighting operation of the first lighting stage 32 is performed so as to radiate the illumination light from the plurality of first illuminations 42 to the entire area on the tray 14. Thus, the shadow can be formed at the edge portions of the right side and the rear side of the workpiece W on the tray 14, and these edge portions become clear. Since the plurality of first illuminations 42 radiate the illumination light to the right obliquely lower direction, the end surface of the edge portions of the left side and the front side of the workpiece W on the tray 14 can be recognized by the camera 30, and the shadow does not need to be formed at these edge portions. Further, the lighting operation of the second lighting stage 60 is performed so as to radiate the illumination light from the plurality of second illuminations 70 to the entire area on the tray 14. Thus, the shadow can be formed at the edge portions of the left side and the rear side of the workpiece W on the tray 14, and these edge portions become clear. Since the plurality of second illuminations 70 radiate the illumination light to the left obliquely lower direction, the end surface of the edge portions of the right side and the front side of the workpiece W on the tray 14 can be recognized by the camera 30, and the shadow does not need to be formed at these edge portions. The timing of the lighting operation of the first lighting stage 32 and the lighting operation of the second lighting stage 60 are shifted. By making the edge portions of the right side, the left side, and the rear side of the workpiece W on the tray 14 clear, the image processing device easily detects the position of the workpiece W by pattern matching.

[0064] Next, the effect of the first embodiment will be described.

[0065] As described above, since the camera 30 is located above the front of the predetermined set area SA, the camera 30 can be sufficiently separated from the predetermined set area SA. Since the first lighting stage 32 is located at the left front of the predetermined set area SA and the second lighting stage 60 is located at the right front of the predetermined set area SA, the first lighting stage 32 and the second lighting stage 60 can be sufficiently separated from the predetermined set area SA. Therefore, the workpiece W sucked by the bending robot 22 or a part of the bending robot 22 does not interfere with the camera 30, the first lighting stage 32, and the second lighting stage 60. In other words, the range of motion of the bending robot 22 that sucks the workpiece W is not limited by the camera 30 and the like. Therefore, according to the first embodiment, the processing accuracy of the bending process can be sufficiently ensured, and the degree of freedom of the bending process of the bending process system 10 is improved.

[0066] As described above, the first lighting stand 32 is disposed obliquely with respect to the left-right direction in such a manner that the right end side thereof is located more forward than the left end side. The second lighting stand 60 is disposed obliquely with respect to the left-right direction in such a manner that the left end side thereof is located more forward than the right end side. The access passage EG is formed between the first lighting stand 32 and the second lighting stand 60. Therefore, the access of the tray 14 with respect to the predetermined set region SA can be performed, and the movement line of the worker can be sufficiently ensured at the periphery of the predetermined set region SA. As a result, according to the first embodiment, the workability and the operability of the bending processing system 10 can be improved.

[0067] As described above, the first protection member 82 is provided near the right side of the first lighting stand 32, and the second protection member 84 is provided near the left side of the second lighting stand 60. Therefore, according to the first embodiment, the damage of the first lighting stand 32 or the second lighting stand 60 due to the contact with the fork lift or the manual lift can be sufficiently prevented.

[0068] (Second Embodiment)

[0069] As Figures 15 to 17 described above, the bending processing system 88 of the second embodiment is a processing system that automatically performs the bending processing on the workpiece W, like the bending processing system 10 (refer to Figure 1 ) of the first embodiment. The bending processing system 88 has the same structure as the bending processing system 10 except for a part thereof, and the structure of the bending processing system 88 that is different from the bending processing system 10 will be described. Further, in the drawings, the same reference numerals are attached to the constituent members of the bending processing system 88 that correspond to the constituent members of the bending processing system 10.

[0070] The first lighting stand 32 that irradiates the lighting light toward the photographing range of the camera 30 is vertically provided in front of the left side of the predetermined set region SA. The first lighting stand 32 is disposed in parallel along the left-right direction. The second lighting stand 60 that irradiates the lighting light toward the photographing range of the camera 30 is vertically provided in front of the right side of the predetermined set region SA. The second lighting stand 60 is disposed in parallel along the left-right direction. Further, the first lighting stand 32 and the second lighting stand 60 can each have a caster with a brake (omitted from illustration). A first protection member (omitted from illustration) that protects the first lighting stand 32 can be provided near the first lighting stand 32. A second protection member (omitted from illustration) that protects the second lighting stand 60 can be provided near the second lighting stand 60.

[0071] Next, the effects of the second embodiment will be described.

[0072] As with the effect of the first embodiment, the first and second lighting stages 32 and 60 are sufficiently separated from the predetermined set region SA. Therefore, a portion of the bending robot 22 or the workpiece W sucked by the robot hand 26 does not interfere with the camera 30, the first lighting stage 32, and the second lighting stage 60. In other words, the range of motion of the bending robot 22 that sucks the workpiece W is not limited by the camera 30 and the like. Therefore, according to the second embodiment, the processing accuracy of the bending processing can be sufficiently ensured, and the degree of freedom of the bending processing of the bending processing system 88 is improved.

[0073] Furthermore, the present application is not limited to the above-described several embodiments, and can be implemented in various other ways by making appropriate modifications. Moreover, the scope of the rights encompassed by the present application is not limited to the above-described embodiments.

[0074] The entire contents of Japanese Patent Application No. 2020-089699 (Filing Date: May 22, 2020) are hereby incorporated by reference herein.

Claims

1. A bending system characterized by, Possessing: a bending robot provided between a bending machine and a predetermined set region arranged in front of the bending machine, having a robot hand that holds a workpiece on a pallet set in the predetermined set region, and assisting in bending processing of the workpiece; a photographing unit provided above the front of the predetermined set region, provided on the opposite side of the bending robot from the predetermined set region, and photographing the workpiece on the pallet from an obliquely upward direction; a first lighting unit provided upright in front of the left of the predetermined set region and on the opposite side of the bending robot from the predetermined set region, and irradiating illumination light toward the photographing range of the photographing unit; and a second lighting unit provided upright in front of the right of the predetermined set region and on the opposite side of the bending robot from the predetermined set region, and irradiating illumination light toward the photographing range of the photographing unit, a passage is formed between the first lighting unit and the second lighting unit, the first lighting unit is arranged obliquely with respect to the left-right direction with the right end side located further forward than the left end side, and the second lighting unit is arranged obliquely with respect to the left-right direction with the left end side located further forward than the right end side, a safety fence for ensuring the safety of the bending processing is provided around most of the bending processing system.

2. The bending processing system according to claim 1, wherein the first lighting unit has a plurality of first lights that irradiate illumination light in a right obliquely downward direction, the irradiation direction of each first light is configured to be adjustable so as to irradiate illumination light from the plurality of first lights to the entire region on the pallet, the second lighting unit has a plurality of second lights that irradiate illumination light in a left obliquely downward direction, the irradiation direction of each second light is configured to be adjustable so as to irradiate illumination light from the plurality of second lights to the entire region on the pallet.

3. The bending processing system according to claim 2, wherein the first lighting unit has a first support frame provided upright in front of the left of the predetermined set region, and a plurality of first brackets provided turnably around a vertical axis in the first support frame, each first light is provided turnably around a horizontal axis in each first bracket, the second lighting unit has a second support frame provided upright in front of the right of the predetermined set region, and a plurality of second brackets provided turnably around a vertical axis in the second support frame, each second light is provided turnably around a horizontal axis in each second bracket.

4. The bending processing system according to any one of claims 1 to 3, wherein possessing: a first protection member provided in the vicinity of the first lighting unit and protecting the first lighting unit; and a second protection member provided in the vicinity of the second lighting unit and protecting the second lighting unit.

5. A method of using a bending processing system, which is a method of using the bending processing system according to claim 2, wherein In a state where the adjustment sheet covers the entire area of the tray, the irradiation direction of each first illuminator is adjusted so that visible light from a laser pointer installed in an adjustment jig of each first illuminator is irradiated to a portion of the adjustment sheet corresponding to an irradiation range of each first illuminator, and the irradiation direction of each second illuminator is adjusted so that visible light from the laser pointer installed in the adjustment jig of each second illuminator is irradiated to a portion of the adjustment sheet corresponding to an irradiation range of each second illuminator.

6. A method of using a bending system according to claim 2, wherein When the photographing unit photographs the workpiece on the tray from an oblique upper direction, the illuminating operation of the first illuminating unit is performed so that illuminating light from the plurality of first illuminators is irradiated to the entire area on the tray, and the illuminating operation of the second illuminating unit is performed so that illuminating light from the plurality of second illuminators is irradiated to the entire area on the tray.

7. A method of using a bending system according to claim 6, wherein The timing of the execution of the illuminating operation of the first illuminating unit and the illuminating operation of the second illuminating unit is staggered.

Images