Workpiece conveyance method, workpiece conveyance device and workpiece conveyance program

Abstract

To provide a workpiece conveyance method, a workpiece conveyance device and a workpiece conveyance program which can enhance conveyance accuracy from conventional ones, and can convey workpiece by a simple method.SOLUTION: A workpiece conveyance method for conveying workpiece when the workpiece is bent by a press brake having a die supporting the workpiece and a punch which is arranged above the die and presses the workpiece supported by the die presses a surface end on one of the upstream side and the downstream side in workpiece conveyance direction by the punch, then moves the workpiece in one direction of the upstream side and the downstream side in the workpiece conveyance direction, and measures the shape of the surface end of the workpiece pressed by the punch.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a workpiece transport method, a workpiece transport device, and a workpiece transport program. [Background technology]

[0002] Conventionally, bending apparatuses that perform bending on plate materials are known. For example, Patent Document 1 discloses a bending apparatus in which a workpiece is pushed against a bag gauge by a workpiece pusher when the workpiece is transported to a predetermined position. Patent Document 2 discloses a bending apparatus in which supports are fixed to the upstream end and downstream end of the workpiece in the transport direction, and a holding part of an upstream moving device is hooked to one of the supports and a holding part of a downstream moving device is hooked to the other support. In this bending apparatus, the workpiece is transported by moving each moving device with each holding part hooked to the support. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 3-297516 [Patent Document 2] JP 2019-081184 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the bending device of Patent Document 1, which uses a work pusher to push the work to a predetermined position, there is a problem that, when the amount of bending increases due to processing, particularly in incremental forming processing in which a desired shape is obtained by repeating conveyance and pressing, the conveyance accuracy decreases when conveying the work to a predetermined position. Also, in the bending device of Patent Document 2, a process of fixing a support tool to the work and a process of hooking a holding part of a moving device to the support tool are required. Therefore, a simpler method of conveying the work is desired.

[0005] Therefore, an object of the present disclosure is to provide a work transport method, a work transport device, and a work transport program that can increase transport accuracy compared to conventional methods and transport a work in a simple manner. [Means for solving the problem]

[0006] The workpiece transport method disclosed herein is a method for transporting a workpiece during bending processing of the workpiece using a press brake having a die supporting the workpiece and a punch arranged above the die for pressing the workpiece supported by the die, in which, before or after the bending processing, an upstream transport device arranged upstream of the press brake in the transport direction of the workpiece is moved in the transport direction while pressing the upstream end of the workpiece in the transport direction, and a receiving table arranged downstream in the transport direction supports the workpiece from below so as to conform to the shape of the workpiece after it has been pressed by the punch, thereby intermittently transporting the workpiece in the transport direction.

[0007] The work transport device disclosed herein is a work transporting device that transports a work during bending processing of the work using a press brake having a die that supports the work and a punch that is arranged above the die and presses the work, and includes an upstream transporting device arranged upstream of the press brake in the transport direction of the work, a transport drive device that moves the upstream transporting device in the transport direction, a receiving table that is arranged downstream in the transport direction and supports the work from below so as to follow the shape of the work after it has been pressed by the punch, and a control device, and the control device controls the transport drive device to move the upstream transporting device in the transport direction while pressing the upstream end of the work in the transport direction against the upstream transporting device before or after the bending processing, thereby intermittently transporting the work in the transport direction.

[0008] The work transport program disclosed herein is a work transport program to be executed by a computer in a work transport device that transports the work during bending processing of the work by a press brake having a die that supports the work and a punch that is arranged above the die and presses the work supported by the die, and causes the computer to function as a transport control means that, before or after the bending processing, moves an upstream transport device arranged upstream of the press brake in the transport direction of the work while pressing the upstream end of the work in the transport direction, and supports the work from below on a receiving table arranged downstream in the transport direction so as to conform to the shape of the work after it has been pressed by the punch, thereby intermittently transporting the work in the transport direction. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a work transport method, a work transport device, and a work transport program that can improve transport accuracy compared to conventional methods and transport a work in a simple manner. [Brief description of the drawings]

[0010] [Figure 1] 1 is a plan view showing a bending system including a plurality of workpiece transport devices according to an embodiment of the present disclosure. [Diagram 2] 2 is a perspective view of the workpiece transport device in FIG. 1 as viewed from the downstream side in the transport direction. [Diagram 3] 2 is a perspective view of the workpiece transport device in FIG. 1 as viewed from the upstream side in the transport direction. [Figure 4] FIG. 2 is a block diagram showing a control system in the workpiece transport device. [Diagram 5] FIG. 13 is a schematic diagram showing an upstream conveying device that presses the workpiece during the initial bending. [Figure 6] FIG. 13 is a schematic diagram showing an upstream transport device and a downstream transport device that press the workpiece during rebending. [Figure 7]13A and 13B are diagrams showing a state in which the positioning portions of the contact portions are engaged with the positioned portion of the workpiece. [Figure 8A] FIG. 4 is a side view showing the arrangement of distance sensors. [Figure 8B] FIG. 4 is a front view showing the arrangement of distance sensors. [Figure 9] FIG. 11 is a front view showing an arrangement of distance sensors according to another embodiment. [Figure 10] 1 is a flowchart showing a flow of a bending process. [Figure 11] 1 is a flowchart showing a flow of a bending process. [Figure 12] 11A and 11B are diagrams for explaining a method of pressing the surface end portion of a workpiece with a punch. [Figure 13] 11 is a diagram for explaining a method of acquiring values ​​relating to the shape of the surface end portion of a workpiece. FIG. [Figure 14] 11 is a diagram showing a manner in which values ​​relating to the shape of a workpiece are acquired while the workpiece is held by a suction device; FIG. [Figure 15] 11A and 11B are diagrams for explaining deformation portions provided in the upstream transport device and the downstream transport device. [Figure 16A] 11A to 11C are diagrams illustrating a flow of workpiece transport and bending processing of the end portion by an upstream transport device and a downstream transport device having a deformation portion. [Figure 16B] 11A to 11C are diagrams illustrating a flow of workpiece transport and bending processing of the end portion by an upstream transport device and a downstream transport device having a deformation portion. [Figure 16C] 11A to 11C are diagrams illustrating a flow of workpiece transport and bending processing of the end portion by an upstream transport device and a downstream transport device having a deformation portion. [Figure 16D] 11A to 11C are diagrams illustrating a flow of workpiece transport and bending processing of the end portion by an upstream transport device and a downstream transport device having a deformation portion. [Figure 16E] 11A to 11C are diagrams illustrating a flow of workpiece transport and bending processing of the end portion by an upstream transport device and a downstream transport device having a deformation portion. [Figure 17]13A and 13B are diagrams showing a manner in which the cradle is rotated around a predetermined rotation axis by the cradle drive device. [Figure 18] 13A and 13B are diagrams showing a manner in which the cradle is raised and lowered by the cradle drive device. [Figure 19A] FIG. 13 is a diagram showing a plurality of rollers that support a workpiece from below. [Figure 19B] FIG. 13 is a diagram showing a state in which the roller is moved. [Figure 20] 13A and 13B are diagrams showing a manner in which the downstream roller guide is rotated. [Figure 21] 13A and 13B are diagrams showing how the upstream and downstream roller guides are rotated. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A workpiece transport method, a workpiece transport device, and a workpiece transport program according to an embodiment of the present disclosure will be described below with reference to the drawings. The workpiece transport method, the workpiece transport device, and the workpiece transport program described below are merely one embodiment of the present disclosure. Therefore, the present disclosure is not limited to the following embodiment, and additions, deletions, and modifications are possible within the scope of the present disclosure.

[0012] FIG. 1 is a plan view showing a bending system 200 including a plurality of work transportation devices 100 according to an embodiment of the present disclosure. FIG. 2 is a perspective view of the work transportation device 100 in FIG. 1 as seen from the downstream side in the transport direction, and FIG. 3 is a perspective view of the work transportation device 100 in FIG. 1 as seen from the upstream side in the transport direction. In the following description, the transport direction of the work W transported by the work transportation device 100 is defined as D1, and two directions perpendicular to the transport direction D1 are defined as a first orthogonal direction D2 and a second orthogonal direction D3. The second orthogonal direction D3 is, for example, a vertical direction, and is a direction in which the work W is pressed. The first orthogonal direction D2 corresponds to the intersecting direction.

[0013] The bending system 200 bends the workpiece W into a predetermined shape by repeating a process of pitch-transporting the flat workpiece W in the transport direction D1 and a process of pressing the workpiece W from a second orthogonal direction D3. As shown in Fig. 1, the bending system 200 includes a press brake 1 including a die 2 as a lower die and a punch 3 as an upper die, and a plurality of workpiece transportation devices 100. Although Fig. 1 illustrates four workpiece transportation devices 100 arranged side by side in the first orthogonal direction D2, the number of workpiece transportation devices 100 may be one, or five or more.

[0014] The die 2 extends in the first orthogonal direction D2. The upper edge of the die 2 is chamfered. A groove 2a is provided at the top of the die 2, and a backup plate BP is provided to cover the groove 2a. The backup plate BP supports the workpiece W. The backup plate BP is configured so as not to undergo plastic deformation when pressed by the punch 3 through the workpiece W. The die 2 supports the workpiece W. The punch 3 is positioned above the die 2. The punch 3 presses the workpiece W supported by the die 2. The punch 3 extends in the first orthogonal direction D2. For simplicity, the groove 2a and the backup plate BP are omitted from Figure 4 onwards.

[0015] The work transport device 100 will be described. Each work transport device 100 has the same configuration. The work transport device 100 includes an upstream transport device 15a including a contact portion 4a and a holding portion 5, a downstream transport device 15b including a contact portion 4b and a holding portion 5, a receiving table 6, a roller guide 7, a guide rail 8, and a guide rail 9.

[0016] The upstream conveying device 15a is disposed on the upstream side of the conveying direction D1 with respect to the press brake 1. The contact parts 4a and 4b are formed in a block shape and are made of, for example, resin. The contact part 4a contacts the upstream end Wz of the work W. The contact part 4a presses the end Wz without gripping it. The contact part 4a is held by the holding part 5. The holding part 5 is connected to the conveying drive device 26 shown in FIG. 4. The holding part 5 corresponds to a connection part between the contact part 4a and the conveying drive device 26 and is made of, for example, metal. The holding part 5 rotates around an axis parallel to the first orthogonal direction D2. Note that, when the flat work W before bending starts to be conveyed to the die 2, the side where the contact part 4a and the contact part 4b are located at a position where the distance to the die 2 is long is defined as the upstream side of the conveying direction D1 with respect to the press brake 1, and the opposite side is defined as the downstream side of the conveying direction D1.

[0017] The downstream conveying device 15b is disposed downstream in the conveying direction D1 with respect to the press brake 1. The contact portion 4b contacts the downstream end Wk of the workpiece W. The contact portion 4b presses the end Wk without gripping it. The contact portion 4b is held by a holding portion 5 of the downstream conveying device 15b. The holding portion 5 is connected to a conveying drive device 26.

[0018] Before the workpiece W is pressed by the punch 3, the workpiece W is flat. Therefore, when the flat workpiece W is pressed by the contact portion 4a and transported, the contact portion 4a comes into surface contact with the upstream end Wz of the workpiece W. At this time, the contact portion 4a comes into surface contact with the upstream end face of the flat workpiece W that intersects with the face to be pressed by the punch 3. Therefore, in the present disclosure, the end face Wz includes the upstream end face of the workpiece W.

[0019] On the other hand, after pressing the workpiece W with the punch 3 to form a workpiece W bent in an arc (hereinafter, sometimes referred to as the first bending), if the shape is not as desired, additional bending (hereinafter, sometimes referred to as re-bending) may be performed by pressing again with the punch 3. In this case, the workpiece W after the first bending is pressed by the contact parts 4a and 4b and transported. In this case, since the workpiece W after the first bending is in an arc shape, the contact part 4a makes surface contact with the upstream end face intersecting with the face to be pressed by the punch 3 among the faces of the flat workpiece W, or makes line contact with the ridge (edge) constituting the end face. In addition, the contact part 4b makes surface contact with the downstream end face intersecting with the face to be pressed by the punch 3 among the faces of the flat workpiece W, or makes line contact with the ridge constituting the end face. Therefore, in the present disclosure, the end part Wz further includes the ridge constituting the upstream end face of the workpiece W. In addition, the end part Wk includes the downstream end face of the workpiece W and the ridge constituting the end face.

[0020] The receiving tables 6 support the workpiece W while the workpiece W is being pressed or while the shape of the workpiece W is being measured. For example, two receiving tables 6 are provided on the upstream side of the conveying direction D1 and two are provided on the downstream side of the conveying direction D1, but one each on the upstream side and downstream side may be provided, or three or more may be provided. The receiving tables 6 on the upstream side are provided at a predetermined interval in the first orthogonal direction D2, and the receiving tables 6 on the downstream side are provided at a predetermined interval in the first orthogonal direction D2.

[0021] The receiving table 6 has a plurality of rollers 6r. The upper edge of the receiving table 6 is formed in an arc shape. The rollers 6r are arranged in an arc shape on the upper edge of the receiving table 6 at a predetermined interval in the conveying direction D1. The rollers 6r are supported between two plate materials that constitute the receiving table 6 and are arranged at a predetermined interval in the first orthogonal direction D2, and are rotatable around an axis parallel to the first orthogonal direction D2. The rollers 6r rotate when the workpiece W comes into contact with them. Preferably, a line connecting the upper edges of the plurality of rollers 6r matches the contour shape of the workpiece W after bending. The receiving table 6 moves in a direction approaching the workpiece W and a direction away from the workpiece W, such as the second orthogonal direction D3. The receiving table 6 may also rotate around a predetermined rotation axis parallel to the first orthogonal direction D2, instead of moving in a direction approaching the workpiece W and a direction away from the workpiece W. Further, in the receiving base 6, instead of the rollers 6r being journalled between two plates, each of the rollers 6r may be movable in the second orthogonal direction D3 by a motor or the like.

[0022] The roller guides 7 support the workpiece W during transport of the workpiece W. For example, two roller guides 7 are provided on the upstream side of the transport direction D1, and two roller guides 7 are provided on the downstream side of the transport direction D1, but one each on the upstream side and downstream side may be provided, or three or more roller guides may be provided. The downstream end of the upstream roller guide 7 is located downstream of the downstream end of the upstream receiving table 6. The upstream end of the downstream roller guide 7 is located upstream of the upstream end of the downstream receiving table 6. The upstream roller guides 7 are provided at a predetermined interval from each other in the first orthogonal direction D2, and the downstream roller guides 7 are provided at a predetermined interval from each other in the first orthogonal direction D2.

[0023] The roller guide 7 extends in the conveying direction D1. The roller guide 7 has a plurality of rollers 7r. Each roller 7r is supported between two plate members that constitute the roller guide 7 and are arranged at a predetermined interval in the first orthogonal direction D2, and is rotatable around an axis parallel to the first orthogonal direction D2. The rollers 7r rotate when the workpiece W comes into contact with them. The roller guide 7 rotates around a predetermined rotation axis parallel to the first orthogonal direction D2. The roller guide may have any shape, but is preferably flat.

[0024] The guide rails 9 are provided on both the upstream side and the downstream side of the conveying direction D1. The guide rails 9 extend in the conveying direction D1. The guide rails 9 support the holding portion 5 from below and guide the holding portion 5 in the conveying direction D1 and in the direction opposite to the conveying direction D1. This causes the contact portions 4a and 4b to move in the conveying direction D1 and in the direction opposite to the conveying direction D1.

[0025] The guide rails 8 are provided on both the upstream and downstream sides of the conveying direction D1. The guide rails 8 extend in a first orthogonal direction D2. The guide rails 8 support the guide rails 9 from below and guide the guide rails 9 and the holding portion 5 supported on the guide rails 9 in the first orthogonal direction D2. This causes the contact portions 4a and 4b to move in the first orthogonal direction D2.

[0026] As shown in Figs. 2 and 3, a distance sensor 10 is provided at the contact portion 4a. The distance sensor 10 detects the distance between the contact portion 4a and the upstream end Wz of the workpiece W. When the distance detected by the distance sensor 10 is 0, it means that the contact portion 4a is in contact with the end Wz. The distance sensor 10 is, for example, a proximity sensor, a laser distance sensor, or an image sensor. When an image sensor is used as the distance sensor 10, the size of the ends Wz, Wk of the workpiece W in the image obtained by the image sensor can be obtained as information about the distance (without directly calculating the distance). In this way, information about the distance is not limited to direct distance information, but also includes information that allows the distance to be indirectly estimated.

[0027] A distance sensor 10 is provided at the contact portion 4b. The distance sensor 10 provided at the contact portion 4b detects the distance between the contact portion 4b and the downstream end Wk of the workpiece W. In addition, in Fig. 3, the workpiece W is indicated by a two-dot chain line to clearly show each component of the conveying device 100.

[0028] The workpiece conveying device 100 includes a plurality of shape sensors 11. Each shape sensor 11 is disposed near the die 2. Specifically, each shape sensor 11 is disposed below the workpiece W supported by the die 2. Each shape sensor 11 is disposed upstream of the conveying direction D1 at a predetermined interval in the first orthogonal direction D2, and downstream of the conveying direction D1 at a predetermined interval in the first orthogonal direction D2. The shape sensor 11 is, for example, a proximity sensor, a laser distance measuring sensor, a contact sensor, or an image sensor. The shape sensor 11 acquires a value related to the shape of the workpiece W. Specifically, the shape sensor 11 acquires an angle (for example, an angle with respect to a horizontal plane) or a curvature of the portion of the workpiece W pressed by the punch 3.

[0029] The upstream-side transport device 15a and the downstream-side transport device 15b are each provided with a suction device 12. The suction device 12 suctions and holds the workpiece W. Examples of the suction method of the suction device 12 include air suction using a suction cup and electromagnetic suction.

[0030] Fig. 4 is a block diagram showing a control system in the work transportation device 100. As shown in Fig. 4, the work transportation device 100 includes a control unit 20, a pressing drive device 25, a transport drive device 26, a roller drive device 35, a receiving table drive device 36, and a roller guide drive device 38.

[0031] The control unit 20 includes a control device 21, which is a central processing unit (CPU), a read only memory (ROM) 22, a random access memory (RAM) 23, and a hard disk drive (HDD) 24. The ROM 22 stores various information such as the target positions to which the contact parts 4a and 4b should be moved when the workpiece W is transported. The target positions are positions determined based on information on the contour R of the workpiece W to be formed, and each position in the transport direction D1 of the workpiece W and the height corresponding to the position are determined. The RAM 23 is used as a processing area of ​​the control device 21. The control device 21 corresponds to a transport control means, and the ROM 22, the RAM 23, and the HDD 24 correspond to a storage unit.

[0032] A workpiece transport program for operating the workpiece transport device 100 of the present disclosure is stored in the HDD 24. The workpiece transport program may be received from an external device and stored in the HDD 24, or may be read from a computer-readable recording medium (e.g., a DVD-ROM, a USB flash memory, etc.) on which the workpiece transport program is recorded and stored.

[0033] The control device 21 controls the operation of the pressing drive device 25 so that the punch 3 is pressed against the workpiece W by a predetermined stroke amount. The control device 21 controls the operation of the pressing drive device 25 so that the punch 3 is separated from the workpiece W after being pressed against the workpiece W. The pressing drive device 25 is, for example, a motor and a hydraulic cylinder.

[0034] The control device 21 controls the operation of the transport driving device 26 so that the contact parts 4a, 4b move in the transport direction D1, the first perpendicular direction D2, and the second perpendicular direction D3 based on the target position. The transport driving device 26 will be described in detail later. The control device 21 also controls the operation of the suction device 12 so as to suction and hold the workpiece W.

[0035] The control device 21 controls the operation of the roller drive device 35 so that the rollers 6r of the receiving table 6 move in a direction toward the workpiece W and in a direction away from the workpiece W. The control device 21 also controls the operation of the receiving table drive device 36 so that the receiving table 6 rotates about a predetermined rotation axis. The control device 21 controls the operation of the roller guide drive device 38 so that the roller guide 7 rotates about a predetermined rotation axis. The roller drive device 35 and the receiving table drive device 36 may both be provided, or either one of them may be provided.

[0036] The control device 21 receives information on the distance between the contact portion 4a and the upstream end Wz of the workpiece W from the distance sensor 10 on the upstream side in the conveying direction D1. The control device 21 receives information on the distance between the contact portion 4b and the downstream end Wk of the workpiece W from the distance sensor 10 on the downstream side in the conveying direction D1. The control device 21 changes the operation of the punch 3 and the operation of the conveying drive device 26 according to the distances detected by each distance sensor 10. Specifically, for example, when the distances detected by each distance sensor 10 exceed an allowable value, that is, when an unacceptable gap occurs between the workpiece W and the contact portions 4a and 4b, the control device 21 stops the operation of the punch 3 and the operation of the conveying drive device 26.

[0037] The control device 21 receives information on the angle or curvature of the pressed portion of the workpiece W from each shape sensor 11. The control device 21 may stop the operation of the punch 3 and the operation of the conveyor drive device 26 when an abnormality occurs, such as when the angle or curvature of the pressed portion of the workpiece W falls outside a predetermined range.

[0038] Fig. 5 is a schematic diagram showing the upstream transfer device 15a that presses the workpiece W during the initial bending. Fig. 6 is a schematic diagram showing the upstream transfer device 15a and the downstream transfer device 15b immediately before and after they press the workpiece W during re-bending. Note that Fig. 5 omits illustration of the downstream transfer device 15b and the transfer drive device 26 that drives the downstream transfer device 15b.

[0039] The configuration of the transport drive device 26 that drives the upstream transport device 15a is the same as that of the transport drive device 26 that drives the downstream transport device 15b, so the configuration of the transport drive device 26 that drives the upstream transport device 15a will be representatively described below. The transport drive device 26 includes a first drive unit 26a, a second drive unit 26b, a third drive unit 26c, and a fourth drive unit 26d. A slide mechanism 31 and a lift mechanism 32 are connected to the holding unit 5. The lift mechanism 32 is, for example, a ball screw, and is driven by the first drive unit 26a, which is a drive source such as a motor. The lift mechanism 32 is raised and lowered by the first drive unit 26a. As a result, the holding unit 5 is raised and lowered, and the contact unit 4a is raised and lowered accordingly.

[0040] The slide mechanism 31 is, for example, a ball screw, and is driven by the second drive unit 26b, which is a drive source such as a motor. The second drive unit 26b slides the slide mechanism 31 along the guide rail 9. This causes the holder 5 to slide along the guide rail 9, and the contact portion 4a moves accordingly in the conveying direction D1 and in the direction opposite to the conveying direction D1. The third drive unit 26c is, for example, a drive source such as a motor, and slides the slide mechanism 31 and the guide rail 9 along the guide rail 8. This causes the holder 5 to slide along the guide rail 8, and the contact portion 4a moves accordingly in the first orthogonal direction D2.

[0041] Furthermore, the fourth driving unit 26d is a driving source such as a motor, and rotates a rotation shaft provided in the holder 5 about an axis parallel to the first orthogonal direction D2. This causes the suction device 12 to rotate about an axis parallel to the first orthogonal direction D2. The suction device 12 rotates according to the shape of the workpiece W and suctions the workpiece W.

[0042] When starting to transport the workpiece W to perform the initial bending, the first drive unit 26a, the second drive unit 26b, and the third drive unit 26c move the contact unit 4a to a predetermined position in accordance with instructions from the control device 21. As a result, the contact unit 4a is disposed facing the end Wz of the workpiece W at a position separated from the end Wz in the transport direction D1. From this state, the second drive unit 26b moves the contact unit 4a in the transport direction D1 in accordance with instructions from the control device 21 to abut against the end Wz of the workpiece W, and then presses the end Wz of the workpiece W to move the workpiece W to a position defined by the workpiece transport program. In this manner, the workpiece W is transported in the transport direction D1.

[0043] On the other hand, when starting the transportation of the workpiece W to perform re-bending, the first driving unit 26a, the second driving unit 26b, and the third driving unit 26c move the contact parts 4a and 4b to a predetermined position according to the instruction of the control device 21. Since the workpiece W has a contour R during re-bending, the contact parts 4a and 4b also move in the second orthogonal direction D3. As a result, the contact part 4a is disposed opposite the end Wz of the workpiece W at a position spaced apart from the end Wz in the transport direction D1, and the contact part 4b is disposed opposite the end Wk of the workpiece W at a position spaced apart from the end Wk in the transport direction D1. From this state, the second driving unit 26b moves the contact part 4a in the transport direction D1 according to the instruction of the control device 21 to abut against the end Wz of the workpiece W, and then causes the contact part 4a to press the end Wz of the workpiece W, and moves the workpiece W to a position defined by the workpiece transport program. Next, the second drive unit 26b moves the contact unit 4b in the opposite direction to the transport direction D1 in accordance with instructions from the control device 21, and brings it into contact with the end Wk of the workpiece W at a position defined by the workpiece transport program. This causes the end Wz of the workpiece W to be pressed by the contact unit 4a, and the end Wk to be brought into contact with the contact unit 4b. This allows the workpiece W to be transported while being positioned with high precision by the contact units 4a and 4b.

[0044] FIG. 7 is a diagram showing a state in which the positioning portion 4i of the contact portions 4a, 4b is engaged with the positioned portion Wh of the workpiece W.

[0045] 7, a positioned portion Wh may be provided at each of the upstream end Wz and downstream end Wk in the transport direction D1 of the workpiece W. A plurality of positioned portions Wh may be provided at the ends Wz and Wk of the workpiece W. The positioned portions Wh are formed, for example, in a convex shape extending outward from the ends Wz and Wk.

[0046] Meanwhile, the contact portions 4a and 4b are each provided with a positioning portion 4i. By engaging the positioning portion 4i with the positioned portion Wh, the workpiece W can be positioned with high accuracy in the first orthogonal direction D2.

[0047] The number and arrangement of the positioning portions 4i are determined according to the number and arrangement of the positioned portions Wh of the workpiece W. The positioning portions 4i are formed, for example, in a concave shape. Note that the positioned portions Wh are convex and the positioning portions 4i are concave, but this is not limiting, and the positioned portions Wh may be concave and the positioning portions 4i may be convex. Furthermore, the positioning portions 4i may be multi-step concave and the positioned portions Wh may be multi-step convex. Furthermore, the positioning portions 4i may be multi-step convex and the positioned portions Wh may be multi-step concave.

[0048] Fig. 8A is a side view showing the arrangement of the distance sensor 10, and Fig. 8B is a front view showing the arrangement of the distance sensor 10. Fig. 9 is a front view showing the arrangement of a distance sensor 10a according to another example.

[0049] As shown in FIG. 8A and FIG. 8B, one or more distance sensors 10 are provided on the contact portion 4a. Each distance sensor 10 is provided on a surface that intersects with the surface that faces the end Wz of the workpiece W among the surfaces that constitute the contact portion 4a, that is, on both sides of the contact portion 4a. The same applies to the distance sensors 10 on the contact portion 4b. Examples of the distance sensors 10 include a proximity sensor and a laser distance measuring sensor. When the distance sensors 10 are proximity sensors, each distance sensor 10 is disposed at a different height in order to increase the detection width in the height direction of the contact position of the end Wz of the workpiece W against the contact portion 4a. Note that, if one distance sensor 10 is capable of detecting the required detection width in the height direction, only one distance sensor 10 may be disposed. In addition, when multiple distance sensors 10 are disposed in the height direction, if there is no area in the detection width in the height direction of the sensor 10 where the workpiece W cannot be detected, it is not necessarily necessary to provide them on both sides of the contact portion 4a.

[0050] As another example of the distance sensor 10, a distance sensor 10a that is a laser distance measuring sensor may be adopted. As shown in FIG. 9, a plurality of distance sensors 10a are provided on the contact portion 4a. Each distance sensor 10a is provided on a surface that intersects with the surface that faces the end Wz of the workpiece W among the surfaces that constitute the contact portion 4a, that is, on both sides of the contact portion 4a. The same applies to the distance sensor 10a on the contact portion 4b. In order to increase the detection width in the height direction of the contact position of the end Wz of the workpiece W against the contact portion 4a, each distance sensor 10a is arranged so that the irradiation height of the light source is different. By arranging each distance sensor 10 in this manner, information on the distance between the contact portions 4a, 4b and the end Wz, Wk of the workpiece W, or the distance between the contact portions 4a, 4b and the end Wz, Wk of the workpiece W, can be detected regardless of the position of the contact portions 4a, 4b where the end Wz, Wk of the workpiece W approaches. Note that if one distance sensor 10 is capable of detecting the required detection width in the height direction, only one distance sensor 10 may be arranged. Furthermore, when multiple distance sensors 10 are arranged in the vertical direction, if there is no area within the detection width of the sensor 10 in the vertical direction in which the workpiece W cannot be detected, it is not necessarily necessary to provide them on both sides of the contact portion 4a.

[0051] 10 and 11 are flow charts showing the flow of bending. As shown in FIG. 10, the control device 21 presses the workpiece W with the contact portion 4a of the upstream conveying device 15a so that the downstream surface end portion Ws of the flat workpiece W before forming is positioned at a predetermined position on the die 2, and conveys the workpiece W from the upstream side to the downstream side (step S1). At this time, the control device 21 moves the downstream receiving table 6 to a position where it supports the workpiece W, and moves the upstream receiving table 6 to a position where it does not support the workpiece W. The control device 21 may change, for example, stop the operation of the punch 3 and the operation of the conveying drive device 26 according to the distance detected by the distance sensor 10 during the conveyance and bending of the workpiece W.

[0052] The control device 21 causes the punch 3 to press the downstream surface end Ws of the workpiece W while the upstream end Wz of the workpiece W is in contact with the contact portion 4a of the upstream conveying device 15a (step S2). In the present disclosure, the surface end Ws refers to an interference region on the surface of the workpiece W on the upstream and downstream sides where there is a possibility that the punch 3 and the contact portions 4a, 4b may interfere with each other when pressed by the punch 3.

[0053] Next, in order to measure the shape of the pressed downstream surface end Ws, the control device 21 presses the end Wz of the workpiece W with the contact portion 4a of the upstream transport device 15a, transports the workpiece W to a predetermined measurement position, and then calculates a value related to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 (step S3). Next, the control device 21 causes the contact portion 4a to press the end Wz of the workpiece W and transports the workpiece W to a predetermined position (step S4). The control device 21 causes the punch 3 to press the workpiece W (step S5). Then, the control device 21 presses the end Wz of the workpiece W with the contact portion 4a of the upstream transport device 15a, transports the workpiece W to a predetermined measurement position, and then calculates a value related to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 (step S6).

[0054] If the portion to be pressed next by the punch 3 based on the workpiece transport program is not the upstream surface end Ws (NO in step S7), the control device 21 returns to step S4 and repeats the subsequent processes. On the other hand, if the portion to be pressed next by the punch 3 based on the workpiece transport program is the upstream surface end Ws (YES in step S7), the control device 21 presses the end Wz of the workpiece W with the contact portion 4a to transport the workpiece W so that the upstream surface end Ws is positioned at a predetermined position on the die 2 (step S8).

[0055] With the workpiece W held by suction on the suction device 12 of the downstream transport device 15b, the control device 21 retracts the contact portion 4a and then causes the punch 3 to press the upstream surface end portion Ws of the workpiece W (step S9). Next, the control device 21 transports the workpiece W to a predetermined measurement position in the opposite direction to the transport direction D1, and then calculates a value relating to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 upstream of the die 2 (step S10).

[0056] Next, the control device 21 determines whether or not the workpiece W has a predetermined shape (step S11). In this case, the control device 21 can determine whether or not the workpiece W has a predetermined shape based on the calculated value related to the shape of the pressed portion of the workpiece W. If the workpiece W has a predetermined shape (YES in step S11), the control device 21 ends the bending process.

[0057] On the other hand, if the workpiece W does not have the predetermined shape (NO in step S11), the control device 21 executes rebending of the workpiece W as described below. Note that the following describes a case where rebending is performed on the downstream surface end Ws of the workpiece W, the upstream surface end Ws of the workpiece W, and all of the surface of the workpiece W (surface excluding the downstream and upstream surface end Ws). However, rebending of each portion may be omitted depending on the shape measurement results.

[0058] First, the control device 21 presses the end Wk of the work W formed into an arc shape by the initial bending against the contact portion 4b to transport the work W to a predetermined position in the opposite direction to the transport direction D1, and then transports the work W from the upstream side to the downstream side by the contact portion 4a of the upstream transport device 15a so that the downstream surface end Ws of the work W is positioned at a predetermined position on the die 2 (step S12). Note that the control device 21 may change, for example stop, the operation of the punch 3 and the operation of the transport drive device 26 depending on the distance detected by the distance sensor 10 during the transport and bending of the work W.

[0059] When the area of ​​the workpiece W to be pressed in the re-bending is the downstream surface end Ws of the workpiece W, the control device 21 causes the suction device 12 of the upstream transport device 15a to suction and hold the workpiece W and retracts the contact portion 4b, and then causes the punch 3 to press the downstream surface end Ws of the workpiece W (step S13). Next, the control device 21 causes the contact portion 4a to transport the workpiece W to a predetermined measurement position, and then calculates a value relating to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 (step S14).

[0060] Next, the control device 21 determines whether or not the workpiece W has a predetermined shape (step S15). If the workpiece W has not formed the predetermined shape (NO in step S15), the control device 21 pushes back the workpiece W with the contact portion 4b (step S12), and then repeats the processes from step S13 onward.

[0061] On the other hand, if the workpiece W has a predetermined shape (YES in step S15), and the area of ​​the workpiece W to be pressed in the re-bending is an area between the downstream surface end Ws and the upstream surface end Ws of the workpiece W, the control device 21 moves the contact portion 4b in the conveying direction D1 and makes it wait at a predetermined position. Next, the control device 21 presses the end Wz of the workpiece W with the contact portion 4a so that the workpiece W is placed at a predetermined position on the die 2, and conveys the workpiece W. Next, the control device 21 moves the contact portion 4b in the opposite direction to the conveying direction D1 and makes the contact portion 4b come into contact with the end Wk of the workpiece W. (Step S16). Then, while the end face of the workpiece W is sandwiched between the contact portion 4a and the contact portion 4b, the control device 21 makes the punch 3 press the workpiece W (Step S17). After conveying the workpiece W to a predetermined measurement position, the control device 21 calculates a value related to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 (Step S18).

[0062] Next, the control device 21 determines whether the workpiece W has a predetermined shape (step S19). If the workpiece W does not have the predetermined shape (NO in step S19), the control device 21 moves the contact portion 4a in the opposite direction to the conveying direction D1 and makes it wait at a predetermined position. Next, the control device 21 presses the end face Wk of the workpiece W with the contact portion 4b to push back the workpiece W. Next, the control device 21 moves the contact portion 4a in the conveying direction D1 and makes the contact portion 4a contact the end Wz of the workpiece W (step S16), and then repeats the processing from step S17 onwards.

[0063] On the other hand, if the workpiece W has a predetermined shape (YES in step S19) and the next part to be pressed by the punch 3 based on the workpiece transport program is not the upstream surface end part Ws (NO in step S20), the control device 21 returns to step S16 and repeats the subsequent processing.

[0064] On the other hand, if the workpiece W has a predetermined shape (YES in step S19) and the next part to be pressed by the punch 3 based on the workpiece transport program is the upstream surface end Ws (YES in step S20), the control device 21 transports the workpiece W by the contact portion 4a so that the upstream surface end Ws of the workpiece W is positioned at a predetermined position on the die 2 (step S21).

[0065] The control device 21 causes the suction device 12 of the downstream transport device 15b to suction and hold the workpiece W and retracts the contact portion 4a, and then causes the punch 3 to press the upstream surface end portion Ws of the workpiece W (step S22). Next, the control device 21 transports the workpiece W to a predetermined measurement position in the opposite direction to the transport direction D1, and then calculates a value relating to the shape of the pressed portion of the workpiece W from the detection result by the shape sensor 11 upstream of the die 2 (step S23).

[0066] Next, the control device 21 determines whether the workpiece W has a predetermined shape (step S24). If the workpiece W does not have the predetermined shape (NO in step S24), the control device 21 presses the end Wz of the workpiece W with the contact portion 4a, moves the workpiece W in the conveying direction D1 (step S21), and then repeats the processes from step S22 onwards. On the other hand, if the workpiece W has the predetermined shape (YES in step S24), the control device 21 ends the bending process.

[0067] 12 is a diagram for explaining a method for pressing the upstream surface end Ws of the workpiece W with the punch 3, as shown in steps S8 and S9 of the above-mentioned Fig. 10. When pressing the surface end Ws of the workpiece W with the punch 3, it is necessary to prevent interference between the contact portion 4a pressing the end Wz and the punch 3.

[0068] As shown in Fig. 12, after the contact portion 4a that presses the end portion Wz of the workpiece W is moved onto the die 2, the workpiece W is adsorbed and held by the suction device 12 provided on the downstream conveying device 15b. Then, the contact portion 4a is moved in the opposite direction to the conveying direction D1 and retreated to a predetermined position. Even if the contact portion 4a is retreated in this manner, the position of the workpiece W can be stably maintained by the suction device 12.

[0069] Moreover, after the contact portion 4a is retracted from the position above the die 2 in the opposite direction to the conveying direction D1, the surface end portion Ws of the workpiece W is pressed by the punch 3. This allows the surface end portion Ws of the workpiece W to be pressed by the punch 3 without causing interference between the contact portion 4a and the punch 3. Note that, as shown in steps 1 and 2, or steps S12 and S13, when the surface end portion Ws of the workpiece W is pressed by the punch 3, the surface end portion Ws is pressed by the punch 3 in the same manner while the workpiece W is being adsorbed by the suction device 12 of the upstream conveying device 15a.

[0070] FIG. 13 is a diagram for explaining a method of acquiring values ​​related to the shape of the surface end Ws of the workpiece W shown in step S10 of FIG. 10 or step S23 of FIG. 11 described above. As shown in FIG. 13, the surface end Ws of the workpiece W is pressed by the punch 3. The value related to the shape of this surface end Ws becomes unstable because the surface end Ws is on the die 2 and falls from the die 2 when it is transported further downstream, and cannot be acquired by the downstream shape sensor 11. Therefore, after the pressed workpiece W is pushed back in the opposite direction to the transport direction D1 by the contact portion 4a, or the contact portion 4a and the contact portion 4b, the workpiece W is adsorbed by the suction device 12 of the downstream transport device 15b, and the value related to the shape of the surface end Ws is acquired by the shape sensor 11 provided on the upstream side in a state in which the contact portion 4a is retracted in the opposite direction to the transport direction D1. In this case, the value can be acquired by the shape sensor 11 in a state in which the workpiece W is supported by the die 2. This makes it possible to obtain an accurate shape of the workpiece W. In the description of Figure 13, the workpiece W after pressing is pushed back in the opposite direction to the conveying direction D1 by the contact portion 4a, or by the contact portion 4a and the contact portion 4b. However, the workpiece W may be pushed back in the opposite direction to the conveying direction D1 by adsorbing the workpiece W to the suction device 12 of the downstream conveying device 15b.

[0071] 14 shows details of the measurement of shape-related values ​​shown in another example of FIG. 13 relating to step S10 of FIG. 10 or step S23 of FIG. 11 described above, or step S3 of FIG. 10 or step S14 of FIG. 11, and is a diagram showing a manner in which values ​​related to the shape of the workpiece W are obtained while the workpiece W is held by the suction device 12.

[0072] As shown in Fig. 14, values ​​relating to the shape of the workpiece W may be acquired by the shape sensor 11 while the workpiece W is held by the suction device 12. By stably holding the workpiece W by the support of the suction device 12 and the die 2, it is possible to prevent the workpiece W from shifting in position during acquisition. This makes it possible to obtain an accurate shape of the workpiece W. Note that, in Fig. 14, as an example, the workpiece W is adsorbed only by the suction device 12 of the upstream transport device 15a, but the workpiece W may also be adsorbed by the suction device 12 of the downstream transport device 15b.

[0073] Fig. 15 is a diagram for explaining the deformation portion 4h provided on the upstream conveying device 15a and the downstream conveying device 15b. Fig. 16A to Fig. 16E are diagrams showing the flow of conveying the workpiece W by the upstream conveying device 15a and the downstream conveying device 15b having the deformation portion 4h and bending the upstream surface end Ws. Fig. 16A to Fig. 16E correspond to steps S8 and S9 in Fig. 10, or steps S21 and S22 in Fig. 11. Note that the receiving table 6 is omitted in Fig. 16A to Fig. 16E.

[0074] As shown in Fig. 15, each of the upstream transport device 15a and the downstream transport device 15b may have a deformation portion 4h that allows the displacement of the contact portions 4a, 4b by deforming only when the contact portions 4a, 4b receive pressure equal to or greater than a specified pressure or pressure from a direction other than the transport direction D1 of the workpiece W. The deformation portion 4h may be anything that can deform when the contact portions 4a, 4b receive pressure from the workpiece W, and examples of the deformation portion 4h include a hinge, a spring, and an elastic body. Fig. 15 illustrates a hinge as an example of the deformation portion 4h.

[0075] The deformation parts 4h are provided between the holding part 5 and the contact parts 4a, 4b, respectively. The deformation parts 4h deform only when the contact parts 4a, 4b receive pressure equal to or greater than a specified value or pressure from a direction other than the direction along the conveying direction D1 of the workpiece W, thereby allowing the displacement of the contact parts 4a, 4b. As a result, when the contact parts 4a and 4b press and grip the workpiece W, the contact parts 4a, 4b are displaced only when pressure equal to or greater than a specified value or pressure from a direction other than the direction along the conveying direction D1 of the workpiece W is received. Therefore, it is possible to prevent overloading of the workpiece W and the contact parts 4a, 4b without reducing the positioning accuracy of the workpiece W.

[0076] 16A, the upstream end face Wz of the workpiece W is pressed by the contact portion 4a to transport the workpiece W to a predetermined position, and the downstream receiving table 6 supports the workpiece W. At this time, the control device 21 positions the contact portion 4a so that the lower surface of the contact portion 4a is located lower than the upper surface of the die 2. The downstream transport device 15b is made to wait at a predetermined position in the transport direction D1.

[0077] Next, as shown in Fig. 16B, when the control device 21 moves the contact portion 4a in the conveying direction D1, the deformation portion 4h, which is a hinge, opens when the contact portion 4a comes into contact with the die 2, displacing the contact portion 4a. At this time, the contact portion 4a rides onto the die 2. As a result, the upstream surface end portion Ws of the workpiece W to be pressed by the punch 3 is supported by the die 2. After the surface end portion Ws of the workpiece W is supported by the die 2, the suction device 12 of the downstream conveying device 15b suctions and holds the workpiece W, as shown in Fig. 16C.

[0078] After the workpiece W is sucked by the suction device 12, the contact portion 4a is moved in the opposite direction to the conveying direction D1 and retreated to a predetermined position as shown in Fig. 16D. Even if the contact portion 4a is retreated, the position of the workpiece W is stably maintained by the holding by the suction device 12. After the contact portion 4a is retreated, the upstream surface end portion Ws of the workpiece W is pressed by the punch 3 as shown in Fig. 16E. Note that, when the workpiece W is conveyed in the opposite direction to the conveying direction D1 and the downstream surface end portion Ws of the workpiece W is bent as in steps S12 and S13 of Fig. 11, the upstream process and the downstream process in Figs. 16A to 16E can be reversed and the same procedure can be performed.

[0079] Fig. 17 is a diagram showing how the receiving table 6 is rotated around a predetermined rotation axis by the receiving table drive device 36. Fig. 18 is a diagram showing how the receiving table 6 is raised and lowered by the receiving table drive device 36. Note that the rollers 6r are omitted in Figs. 17 and 18.

[0080] As shown in FIG. 17, each of the receiving tables 6 on the upstream side in the conveying direction D1 and the receiving tables 6 on the downstream side in the conveying direction D1 has a rotation axis 6k at the end closer to the die 2. The rotation axis 6k is parallel to the extension direction of the die 2. A receiving table drive device 36 is connected to each receiving table 6. The receiving table drive device 36 includes an actuator such as various cylinders, and rotates the receiving table 6 around the rotation axis 6k by pushing and pulling the receiving table 6. Note that, although the receiving table drive devices 36 are provided on the upstream and downstream receiving tables 6, this is not limiting, and the receiving table drive device 36 may be provided on only one of the receiving tables 6 on the upstream side or the downstream side.

[0081] When acquiring values ​​related to the shape of the pressed portion of the workpiece W in step S3, step S6, step S10, step S14, step S18, or step S23, one of the upstream and downstream receiving tables 6 supporting the workpiece W is rotated, i.e., moved, to release the support by the receiving table 6. Specifically, when the pressed portion of the workpiece W to be acquired is located on the upstream side of the conveying direction D1, the upstream receiving table 6 is moved by the receiving table drive device 36 to release the support by the receiving table 6. Also, when the pressed portion of the workpiece W to be acquired is located on the downstream side of the conveying direction D1, the downstream receiving table 6 is moved by the receiving table drive device 36 to release the support by the receiving table 6. Then, the shape sensor 11 acquires values ​​related to the shape of the pressed portion of the workpiece W supported by the moved receiving table 6. This allows the above acquisition to be performed without pressure from the receiving table 6 being applied to the pressed portion to be acquired, thereby obtaining an accurate shape of the workpiece W.

[0082] When performing the initial bending of the workpiece W with the punch 3, the downstream receiving table 6 is moved to a position where it supports the workpiece W, and the upstream receiving table 6 is moved to a position where it does not support the workpiece W, and the workpiece W is pressed by the punch 3.

[0083] 17 in which the receiving table 6 is rotated, a configuration in which the receiving table 6 is raised and lowered by a receiving table drive device 37 as shown in FIG. 18 may be adopted. The receiving table drive device 37 includes actuators such as various cylinders or motors, and raises and lowers the receiving table 6 by pushing and pulling the receiving table 6 or by rotating a ball screw. When acquiring values ​​related to the shape of the pressed portion of the workpiece W in step S3, step S6, step S10, step S14, step S18, or step S23, one of the receiving tables 6 on the upstream side and the receiving table 6 on the downstream side supporting the workpiece W is lowered to release the support by the receiving table 6.

[0084] Fig. 19A is a diagram showing a plurality of rollers 6r that support the workpiece W from below, and Fig. 19B is a diagram showing a state in which the rollers 6r have been moved. Instead of the configuration of Fig. 17 in which the receiving table 6 is rotated, or the configuration of Fig. 18 in which the receiving table 6 is raised and lowered by the receiving table drive device 37, a configuration of Figs. 19A and 19B in which the rollers 6r are raised and lowered may be employed. In this case, each roller 6r corresponds to the receiving table.

[0085] As shown in FIG. 19A, the roller driving device 35 is provided corresponding to each roller 6r. The roller driving device 35 includes an actuator such as a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, a rack and pinion, a motor, etc., and moves the roller 6r in a direction approaching the workpiece W and in a direction away from the workpiece W. Each roller 6r can be moved to an arbitrary position individually by the corresponding roller driving device 35. This makes it possible to move each roller 6r according to the shape of the workpiece W as shown in FIG. 19B, and to support the workpiece W on each roller 6r. When supporting the arc-shaped workpiece W shown in FIG. 19B, the movement amount of the roller 6r from the initial position increases as it moves away from the die 2 supporting the workpiece W in the conveying direction D1 and in the direction opposite to the conveying direction D1.

[0086] Fig. 20 is a diagram showing a manner in which the downstream roller guide 7 is rotated in the initial bending, and Fig. 21 is a diagram showing a manner in which the upstream roller guide 7 and the downstream roller guide 7 are rotated.

[0087] As shown in FIG. 20, each of the roller guides 7 on the upstream side in the conveying direction D1 and the roller guides 7 on the downstream side in the conveying direction D1 has a rotation shaft 7k at the end farther from the die 2. The rotation shaft 7k is parallel to the extension direction of the die 2. A roller guide drive device 38 is connected to each roller guide 7. The roller guide drive device 38 includes an actuator such as various cylinders, and rotates the roller guide 7 about the rotation shaft 7k by pushing and pulling the roller guide 7. Note that the rotation shaft 7k may be located at any position along the conveying direction D1 of the roller guide 7, instead of being located at the end farther from the die 2 as described above.

[0088] After the contact portion 4a starts conveying the workpiece W to perform the first bending, the downstream roller guide 7 is rotated to press the workpiece W from below until the workpiece W is supported by the downstream receiving table 6, as shown in Fig. 20. This not only prevents the workpiece W from contacting the die 2 during conveyance, but also prevents the workpiece W from moving due to inertia when the contact portion 4a presses the end portion Wz of the workpiece W, and makes it possible to press the workpiece W against the contact portion 4a by utilizing the workpiece W's own weight. This prevents the workpiece W from coming off the contact portion 4a during conveyance, improving conveyance accuracy.

[0089] During transport of the work W after it is supported on the downstream receiving table 6, the upstream and downstream roller guides 7 are rotated so that one end of each roller guide 7 on the die 2 side is positioned higher than the other end, as shown in Fig. 21. This makes it possible to prevent the work W from contacting the die 2 during transport.

[0090] As described above, according to this embodiment, the upstream end Wz of the workpiece W is pressed by the contact portion 4a of the upstream conveying device while being conveyed in the conveying direction D1, and the receiving table 6 arranged on the downstream side of the conveying direction D1 supports the workpiece W from below so as to conform to the shape of the workpiece W after being pressed by the punch 3. As a result, in the incremental forming process in which conveying and pressing are repeated to obtain a desired shape, even if the amount of bending increases due to processing, the conveying accuracy when conveying the workpiece W to a predetermined position does not decrease. Therefore, the conveying accuracy with respect to the pressing position of the punch 3 is improved compared to the conventional configuration in which the workpiece is pushed by a work pusher provided only on the upstream side of the conveying direction D1. In addition, since there is no need for a process of fixing a support tool (attachment) to the workpiece W and a process of hooking a holding part of a moving device to the support tool, it is possible to convey the workpiece W in a simpler manner than in the past.

[0091] (Modification) In addition to the above-described embodiment, the present disclosure can be modified in various ways without departing from the spirit and scope of the present disclosure.

[0092] In the above embodiment, the roller guide 7 is configured to rotate around the rotation axis 7k, but this is not limited to this. For example, the roller guide 7 may be raised and lowered using a motor and a ball screw, or the roller guide 7 may be moved in the conveying direction D1 and the opposite direction.

[0093] In the above embodiment, the receiving table 6 is rotated around the rotation axis 6k, the receiving table 6 is raised and lowered, or each roller 6r is raised and lowered, but the present invention is not limited to this. For example, the receiving table 6 may be moved in the conveying direction D1 and the opposite direction by a motor and a ball screw, etc., to move in a direction toward the workpiece or in a direction away from the workpiece. In the case of a configuration in which the receiving table 6 is moved in the conveying direction D1 and the opposite direction, a value related to the shape of the pressed portion of the workpiece W is obtained after the receiving table 6 is moved in a direction away from the die 2.

[0094] In the above embodiment, the receiving stand 6 is provided with a plurality of rollers 6r, but the present invention is not limited to this, and the number of rollers 6r may be one.

[0095] In addition, in the above embodiment, the configuration of the upstream conveying device 15a on the upstream side and the configuration of the downstream conveying device 15b on the downstream side in the work conveying device 100 are the same, but this is not limited to the above, and the configuration of the upstream conveying device 15a and the configuration of the downstream conveying device 15b on the downstream side may be different.

[0096] In the above embodiment, a proximity sensor or a laser distance measuring sensor is used as the distance sensor 10 that detects the distance between the contact portion 4a and the upstream end Wz of the workpiece W and the distance between the contact portion 4b and the downstream end Wk of the workpiece W. However, the present invention is not limited to this, and multiple types of distance sensors 10 may be combined and arranged.

[0097] In addition, in the above embodiment, the receiving platform drive device 36 is connected to each of the upstream receiving platform 6 and the downstream receiving platform 6, but this is not limited to the above, and the receiving platform drive device 36 may be connected to only one of the receiving platforms 6.

[0098] In addition, in the above embodiment, the roller guide drive device 38 is connected to each of the upstream roller guide 7 and the downstream roller guide 7, but this is not limited to the above, and the roller guide drive device 38 may be connected to only one of the roller guides 7.

[0099] In the above embodiment, the holding unit 5 is moved by the guide rails 8 and 9, but the present invention is not limited to this and any mechanism capable of moving the holding unit 5 in the first orthogonal direction D2 and the second orthogonal direction D3 may be used. For example, the mechanism may be a conveyor or a robot such as an articulated robot.

[0100] Furthermore, in the above embodiment, the third drive unit 26c is a drive source such as a motor, but the slide mechanism 31 may be slid along the guide rail 8 manually.

[0101] In addition, in the above embodiment, the first drive unit 26a, the second drive unit 26b, and the third drive unit 26c are motors, and the slide mechanism 31 and the lifting mechanism 32 are ball screws, but they may also be configured with known drive mechanisms such as a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, or a rack and pinion.

[0102] 19A and 19B, the workpiece W is supported by the rollers 6r driven by the roller drive device 35, but this is not limited thereto. A combination of the receiving table 6 rotated by the receiving table drive device 36 and the rollers 6r driven by the roller drive device 35 may be used as the receiving table 6. Also, a combination of the receiving table 6 raised and lowered by the receiving table drive device 37 and the rollers 6r driven by the roller drive device 35 may be used as the receiving table 6.

[0103] The configuration for realizing the control by the control device 21 is not limited to the above-mentioned exemplary configuration. The functions disclosed herein can be performed using circuits or processing circuits including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. When the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0104] According to the present disclosure, the upstream conveying device conveys the workpiece in the conveying direction while pressing the upstream end of the workpiece, and the receiving table arranged downstream in the conveying direction supports the workpiece from below so as to conform to the shape of the workpiece after pressing by the punch. As a result, in the incremental forming process in which a desired shape is obtained by repeating conveying and pressing, even if the amount of bending increases due to processing, the conveying accuracy when conveying the workpiece to a predetermined position does not decrease. Therefore, the conveying accuracy with respect to the pressing position of the punch is improved compared to the conventional configuration in which the workpiece is pushed by a work pusher provided only upstream in the conveying direction. In addition, since there is no need for a process of fixing a support tool (attachment) to the workpiece and a process of hooking a holding part of a moving device to the support tool, it is possible to convey the workpiece in a simpler manner than before.

[0105] In the above disclosure, a downstream conveying device arranged downstream in the conveying direction of the workpiece may be moved in the conveying direction, and while the upstream conveying device presses the upstream end of the workpiece in the conveying direction, the upstream conveying device may be moved in the conveying direction, and the downstream conveying device may be moved to bring the downstream end of the workpiece in the conveying direction into contact with the downstream conveying device, thereby intermittently conveying the workpiece in the conveying direction.

[0106] According to the above configuration, the conveying accuracy does not decrease even when the workpiece is re-bended.

[0107] In the above disclosure, a target position to which the upstream conveying device is to be moved may be stored in a memory unit, the target position of the upstream conveying device may be acquired from the memory unit, and the upstream conveying device may be moved based on the target position of the upstream conveying device, thereby conveying the work in the conveying direction.

[0108] According to the above configuration, the workpiece can be steadily transported by the set transport amount.

[0109] In the above disclosure, information regarding the distance between the upstream conveying device and an end of the workpiece may be detected, and the operation of the press brake and the operation of the upstream conveying device may be changed according to the information regarding the distance.

[0110] According to the above configuration, it is possible to avoid molding defects caused by transporting the workpiece in a state where a gap exists between the upstream transport device and the workpiece.

[0111] In the above disclosure, the upstream conveying device or the downstream conveying device arranged downstream of the press brake in the conveying direction has an suction device that adsorbs the workpiece, and the workpiece is adsorbed and held by the suction device of one of the upstream conveying device and the downstream conveying device, and the other of the upstream conveying device and the downstream conveying device is moved in a direction away from the press brake to release the pressure on the end of the workpiece.

[0112] According to the above configuration, interference between the punch and the conveying device that presses the end portion of the workpiece can be prevented.

[0113] In the above disclosure, each of the upstream conveying device and the downstream conveying device arranged downstream of the press brake in the conveying direction includes a contact portion that contacts an end face of the workpiece and a deformation portion that deforms when the contact portion receives a pressure equal to or greater than a specified pressure or a pressure from a direction other than along the conveying direction of the workpiece to allow displacement of the contact portion, and before the punch presses the surface end portion upstream or downstream of the conveying direction of the workpiece, the contact portion of one of the upstream conveying device and the downstream conveying device is moved in a direction approaching the press brake while positioning the lower surface of the contact portion below the upper surface of the die to convey the workpiece, and when the contact portion contacts the die, the deformation portion deforms to displace the contact portion and lift it onto the die, and the workpiece is adsorbed and held by an suction device of the other of the upstream conveying device and the downstream conveying device, and the one of the conveying devices is retracted in a direction away from the press brake.

[0114] According to the above configuration, when the contact portion comes into contact with the die, the deformation portion deforms, displacing the contact portion, and the end portion of the workpiece can be transported to a position above the die. In addition, by sucking and holding the workpiece with the suction device, one of the transport devices can be retracted, thereby preventing interference between the one of the transport devices and the punch.

[0115] In the above disclosure, after pressing one of the surface end portions of the workpiece on the upstream or downstream side in the conveying direction with the punch, the workpiece may be moved in the upstream or downstream direction in the conveying direction of the workpiece by a conveying device arranged on one or both of the upstream or downstream sides of the conveying direction of the workpiece, and the shape of the surface end portion of the workpiece pressed by the punch may be measured.

[0116] According to the above-mentioned configuration, the measurement can be performed in a state where the workpiece is stably supported by the die.

[0117] In the above disclosure, after pressing the surface end portion of the workpiece on one of the upstream or downstream sides in the conveying direction with the punch, the workpiece is adsorbed by an adsorption device possessed by a conveying device arranged on the other of the upstream or downstream sides in the conveying direction of the workpiece, the workpiece is moved in the direction of the upstream or downstream side in the conveying direction of the workpiece, and the workpiece is adsorbed and held by an adsorption device possessed by a conveying device arranged on the other side, and the shape of the surface end portion of the workpiece pressed by the punch is measured.

[0118] According to the above configuration, defects in the forming of the workpiece can be detected.

[0119] In the above disclosure, a receiving table arranged downstream in the conveying direction, and a receiving table arranged upstream in the conveying direction and supporting the workpiece from below so as to conform to the shape of the workpiece after it has been pressed by the punch, may be moved in a direction toward the workpiece or a direction away from the workpiece depending on the shape of the workpiece.

[0120] According to the above-described configuration, it is possible to support the workpiece in accordance with various shapes of the workpiece.

[0121] In the above disclosure, one of the upstream receiving table and the downstream receiving table may be moved to release the support of the workpiece by that receiving table, and the shape of the portion of the workpiece supported by the moved receiving table that is pressed by the punch may be measured.

[0122] According to the above configuration, it is possible to prevent a moment from being applied to the part of the workpiece to be measured by the support, thereby preventing the workpiece from being bent by the support, and therefore allowing accurate values ​​relating to the shape of the workpiece to be measured.

[0123] In the above disclosure, the downstream receiving table may be moved to a position where it supports the workpiece, and the upstream receiving table may be moved to a position where it does not support the workpiece, and the workpiece may be transported.

[0124] According to the above configuration, by retracting the upstream receiving table, it is possible to prevent the upstream receiving table from interfering with the flat portion (the portion that has not yet been pressed by the punch) upstream in the transport direction of the workpiece.

[0125] In the above disclosure, a roller guide that is positioned downstream of the press brake in the conveying direction and supports the workpiece from below while moving in a vertical direction, rotating around an axis parallel to the extension direction of the die, or moving in the conveying direction and the opposite direction to the conveying direction may be moved or rotated to press the workpiece from below with the roller guide, bring an end of the workpiece into contact with the upstream conveying device, and convey the workpiece.

[0126] According to the above configuration, after the upstream-side conveying device and the downstream-side conveying device start conveying the workpiece, the downstream-side roller guide can be moved to press the workpiece from below until the workpiece is supported by the downstream-side receiving table. This not only prevents the workpiece from contacting the die during conveying, but also presses the workpiece against the upstream-side conveying device, preventing the workpiece from coming off the pressure applied by the upstream-side conveying device.

[0127] In the above disclosure, each of the roller guides which are arranged upstream and downstream of the conveying direction relative to the press brake, support the work from below and move in the vertical direction, rotate around an axis parallel to the extension direction of the die, or move in the conveying direction and the opposite direction to the conveying direction, may be moved or rotated to position one end of each roller guide on the press brake side higher than the other end, and convey the work.

[0128] According to the above configuration, after the workpiece is supported by the downstream support, each of the upstream and downstream roller guides is rotated so that one end of each of the roller guides on the press brake side is positioned higher than the other end, thereby preventing the workpiece from contacting the die during transportation.

[0129] In the above disclosure, the work transporting device may further include a memory unit that stores a target position to which the upstream transporting device is moved, and the control device may acquire the target position of the upstream transporting device from the memory unit and cause the transport drive device to move the upstream transporting device based on the target position of the upstream transporting device.

[0130] In the above disclosure, the work transporting device may further include a distance sensor that detects information regarding the distance between the upstream transporting device and the end of the work, and the control device may change the operation of the press brake and the operation of the upstream transporting device in accordance with the information regarding the distance detected by the distance sensor.

[0131] In the above disclosure, the work transporting device may further include a downstream transporting device arranged downstream of the press brake in the transport direction of the work, and each of the upstream transporting device and the downstream transporting device may include a contact portion that contacts an end face of the work, a deformation portion that deforms when the contact portion receives pressure greater than a specified value or pressure from a direction other than the transport direction of the work, thereby allowing displacement of the contact portion, and a connection portion that is connected to the transport drive device while holding the deformation portion.

[0132] In the above disclosure, the contact portion of the upstream conveying device may be provided with a positioning portion having a shape corresponding to a positioned portion provided at an upstream end of the workpiece in the conveying direction.

[0133] According to the above configuration, by engaging the positioning portion with the positioned portion, the workpiece can be positioned with high accuracy in the intersecting direction intersecting the conveying direction.

[0134] In the above disclosure, the work transporting device may further include a downstream transporting device arranged downstream of the press brake in the transporting direction of the work, and an suction device provided on the upstream transporting device or the downstream transporting device for suctioning and holding the work.

[0135] In the above disclosure, the work transportation device may further include an arc-shaped receiving platform that is arranged upstream and downstream in the transport direction with respect to the press brake and supports the work from below.

[0136] In the above disclosure, the receiving table may have a plurality of rollers that can move toward and away from the workpiece, and the workpiece transport device may further include a roller drive device provided corresponding to each of the plurality of rollers and configured to move the rollers.

[0137] In the above disclosure, the workpiece transport device may further include a table drive device that rotates the table about a predetermined rotation axis.

[0138] In the above disclosure, the workpiece transport device may further include a cross-direction support drive device that moves the support in the transport direction or in a cross direction that crosses the transport direction.

[0139] In the above disclosure, the work transport device may further include roller guides that are arranged upstream and downstream of the transport direction with respect to the press brake, support the work, and rotate about a predetermined rotation axis, move in the intersecting direction, or move in the transport direction. [Explanation of symbols]

[0140] 1. Press brake 2 Die 3 Punch 4a Upstream contact area 4b Downstream contact area 4h Deformation section 4i Positioning part 5 Holding part 6. Cradle 6r Lola 7 Roller guide 10 Distance Sensor 11 Shape sensor 12 Adsorption device 15a Upstream conveying device 15b Downstream conveying device 21 Control device 22 ROM 23 RAM 24 HDD 26 Transport drive device 35 Roller drive unit 36 Cradle drive unit 100 Work transport device D1 Transport direction D2 First orthogonal direction D3 Second orthogonal direction Double work Wh Positioned part Wk Downstream end of the work Ws Surface edge of workpiece Wz Upstream end of work

Claims

1. A workpiece conveying method for conveying a workpiece during bending processing of the workpiece by a press brake including a die supporting the workpiece and a punch disposed above the die and pressing the workpiece supported by the die, comprising: An upstream-side conveying device arranged on the upstream side of the press brake in the conveying direction of the work is moved in the conveying direction while pressing the upstream side of the work in the conveying direction, Alternatively, a downstream conveying device arranged downstream of the press brake in the conveying direction of the work is moved in a direction opposite to the conveying direction while pressing the downstream side of the work in the conveying direction of the work, pressing a surface end portion of the workpiece on one of the upstream side and downstream side in the conveying direction with the punch, and then moving the workpiece in the one of the upstream side and downstream side in the conveying direction of the workpiece, and measuring a shape of the surface end portion of the workpiece pressed by the punch. Workpiece transport method.

2. moving the downstream conveying device in the conveying direction; The upstream conveying device is moved in the conveying direction while pressing the upstream side of the workpiece in the conveying direction by the upstream conveying device; The downstream-side conveying device is moved to bring a downstream side of the workpiece in the conveying direction into contact with the downstream-side conveying device, thereby conveying the workpiece in the conveying direction. Alternatively, the upstream transport device is moved in a direction opposite to the transport direction, While pressing the downstream side of the workpiece in the transport direction by the downstream transport device, the downstream transport device is moved in a direction opposite to the transport direction; The upstream-side conveying device is moved to bring the upstream side of the workpiece in the conveying direction into contact with the upstream-side conveying device, thereby conveying the workpiece in a direction opposite to the conveying direction. The workpiece transport method according to claim 1 .

3. In measuring the shape of the surface end portion of the workpiece pressed by the punch, 3. A workpiece transport method as described in claim 1 or 2, further comprising the steps of: moving the workpiece in one of the upstream and downstream directions of the transport direction of the workpiece by a transport device arranged on one or both of the upstream and downstream sides of the transport direction of the workpiece; and measuring the shape of the surface end of the workpiece pressed by the punch.

4. In measuring the shape of the surface end portion of the workpiece pressed by the punch, The work is sucked by a suction device of a conveying device arranged on the other of the upstream side and the downstream side in the conveying direction of the work, and the work is moved in the one of the upstream side and the downstream side in the conveying direction of the work, The workpiece transport method according to claim 1 or 2, further comprising the steps of: sucking and holding the workpiece using an adsorption device provided on the other transport device; and measuring the shape of the surface end of the workpiece pressed by the punch.

5. storing a target position to which the upstream transport device or the downstream transport device is moved in a storage unit; acquiring a target position of the upstream conveying device or the downstream conveying device from the storage unit; A work transport method according to any one of claims 1 to 4, further comprising moving the upstream conveying device or the downstream conveying device based on a target position of the upstream conveying device or the downstream conveying device, and transporting the work in the conveying direction or in a direction opposite to the conveying direction.

6. Detecting information regarding a distance between the upstream conveying device or the downstream conveying device and the workpiece; The workpiece transport method according to claim 1 , further comprising changing an operation of the press brake, or an operation of the upstream transport device or the downstream transport device in response to the information relating to the distance.

7. The workpiece is adsorbed and held by an adsorption device of one of the upstream conveying device and the downstream conveying device; 7. A work transport method according to claim 4, further comprising the step of moving the other of the upstream transport device and the downstream transport device in a direction away from the press brake to release the pressure on the work.

8. The upstream conveying device or the downstream conveying device includes a contact portion that contacts the end surface of the workpiece, and a deformation portion that allows displacement of the contact portion by deforming when the contact portion receives a pressure equal to or greater than a specified pressure or a pressure from a direction other than the conveying direction of the workpiece, Before the surface end portion of the workpiece on the upstream side or the downstream side in the conveying direction is pressed by the punch, The contact portion of one of the upstream conveying device and the downstream conveying device is moved in a direction approaching the press brake while positioning a lower surface of the contact portion below an upper surface of the die, thereby conveying the workpiece; When the contact portion comes into contact with the die, the deformation portion is deformed to displace the contact portion and cause it to ride up onto the die; The workpiece transport method according to any one of claims 1 to 7, further comprising retracting the one of the transport devices in a direction away from the press brake.

9. A work transport method according to any one of claims 1 to 8, further comprising moving a receiving table arranged downstream in the transport direction or a receiving table arranged upstream in the transport direction in a direction approaching the work or a direction away from the work depending on the shape of the work.

10. Moving one of the upstream and downstream cradles to release the support of the workpiece by the cradle; 10. The workpiece transport method according to claim 9, further comprising measuring a shape of a portion of the workpiece supported by the one of the receiving tables and pressed by the punch.

11. The downstream receiving platform is moved to a position where the workpiece is supported, and the upstream receiving platform is moved to a position where the workpiece is not supported, Alternatively, the upstream receiving platform is moved to a position where the workpiece is supported, and the downstream receiving platform is moved to a position where the workpiece is not supported, The workpiece transport method according to claim 9 or 10, further comprising transporting the workpiece.

12. 12. The work transport method according to claim 9, further comprising the steps of: moving or rotating a roller guide that is arranged upstream or downstream of the transport direction relative to the press brake and supports the work from below, pressing the work from below with the roller guide; and bringing the work into contact with the upstream transport device or the downstream transport device, thereby transporting the work.

13. 13. A work transport method according to claim 9, further comprising moving or rotating a roller guide that is arranged upstream or downstream of the press brake in the transport direction and supports the work from below, to position one end of each of the roller guides on the press brake side higher than the other end, thereby transporting the work.

14. A workpiece conveying device that conveys a workpiece during bending processing of the workpiece by a press brake including a die supporting the workpiece and a punch disposed above the die and pressing the workpiece, An upstream conveying device arranged upstream of the press brake in the conveying direction of the work; A downstream conveying device arranged downstream of the press brake in the conveying direction of the workpiece; a transport drive device that moves the upstream transport device or the downstream transport device in the transport direction or in a direction opposite to the transport direction; A control device, the control device moves the upstream-side conveying device in the conveying direction while pressing an upstream side of the workpiece in the conveying direction against the upstream-side conveying device; Alternatively, the downstream side of the workpiece in the transport direction is pressed against the downstream transport device, and the downstream transport device is moved in a direction opposite to the transport direction, A workpiece conveying device that controls the conveying drive device to move the workpiece in one of the upstream and downstream directions of the conveying direction of the workpiece after pressing the surface end portion of the workpiece with the punch.

15. A storage unit that stores a target position to which the upstream transport device or the downstream transport device is moved, The work transport device of claim 14, wherein the control device acquires a target position of the upstream conveying device or the downstream conveying device from the memory unit, and causes the conveying drive device to move the upstream conveying device or the downstream conveying device based on the target position of the upstream conveying device or the downstream conveying device.

16. Further comprising a distance sensor for detecting information regarding a distance between the upstream conveying device or the downstream conveying device and the workpiece, The workpiece transportation device according to claim 14 or 15, wherein the control device changes the operation of the press brake or the operation of the upstream transportation device or the downstream transportation device depending on information regarding the distance detected by the distance sensor.

17. The upstream transport device or the downstream transport device is A contact portion that contacts an end surface of the workpiece; a deformation portion that deforms when the contact portion receives a pressure equal to or greater than a specified pressure or a pressure from a direction other than the conveyance direction of the workpiece, thereby allowing the contact portion to be displaced; The workpiece transport device according to claim 14 , further comprising: a connection portion connected to the transport drive device while holding the deformation portion.

18. The contact portion of the upstream conveying device or the downstream conveying device has The workpiece transport device according to claim 17, further comprising a positioning portion having a shape corresponding to a positioned portion provided on the upstream side or downstream side of the transport direction of the workpiece.

19. The workpiece transport device according to claim 14 , further comprising: a suction device provided in the upstream transport device or the downstream transport device, which suctions and holds the workpiece.

20. 20. The workpiece transport device according to claim 14, further comprising a support table arranged on the upstream side or downstream side of the press brake in the transport direction, the support table supporting the workpiece from below.

21. The receiving table has a plurality of rollers that are movable in a direction toward the workpiece or in a direction away from the workpiece, The workpiece transport device according to claim 20 , further comprising a roller driving device provided corresponding to each of the plurality of rollers for moving the rollers.

22. The workpiece transport device according to claim 20 or 21, further comprising a table drive device that rotates the table about a predetermined rotation axis.

23. The workpiece transport device according to claim 20 , further comprising a cross-direction support drive device that moves the support in the transport direction or in a cross direction that crosses the transport direction.

24. 24. The workpiece transport device according to claim 14, further comprising a roller guide arranged on the upstream or downstream side of the press brake in the transport direction, supporting the workpiece and rotating or moving.

25. A workpiece transport program to be executed by a computer in a workpiece transport device that transports a workpiece during bending processing of the workpiece by a press brake including a die that supports the workpiece and a punch that is disposed above the die and presses the workpiece supported by the die, The computer, An upstream-side conveying device arranged on the upstream side of the press brake in the conveying direction of the work is moved in the conveying direction while pressing the upstream side of the work in the conveying direction, Alternatively, a downstream conveying device arranged downstream of the press brake in the conveying direction of the work is moved in a direction opposite to the conveying direction while pressing the downstream side of the work in the conveying direction of the work, A workpiece transport program that functions as a transport control means for moving the workpiece in one of the upstream and downstream directions of the transport direction of the workpiece after pressing the surface end portion of the workpiece with the punch.

Images