Interference confirmation system, interference confirmation method and bending machine

Abstract

To provide: an interference confirmation system that can easily perform confirmation on interference between a work-piece and a lower die; an interference confirmation system; and a bending device.SOLUTION: An interference confirmation system comprises: a bending machine comprising an upper die, a lower die, a back gage which is provided movably behind the lower die, and an imaging unit which is attached to the back gage; a work-piece holding robot which can transport a work-piece between the upper die and the lower die; a control unit which controls the bending machine and the work-piece holding robot; and a display unit which displays a picked-up image imaged by the imaging unit. The control unit has a back gage control unit which controls movement of the back gage. The back gage control unit moves the back gage so that the imaging unit is positioned to be able to horizontally image an upper end of the lower die before loading or unloading the work-piece between the upper die and lower die.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an interference checking system, an interference checking method, and a bending machine. [Background technology]

[0002] Conventionally, there has been known a bending apparatus that includes upper and lower dies that bend a plate-shaped workpiece, and a backgauge that is provided behind the upper and lower dies and that positions the workpiece to be bent (for example, Patent Document 1, etc.). In the bending apparatus of Patent Document 1, a robot controlled by a robot control means carries the workpiece to be bent between the upper and lower dies of the bending apparatus, thereby carrying out the bending, and after the bending is completed, the robot pulls out the bent workpiece from between the upper and lower dies and carries it out to a predetermined position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-237317 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in conventional bending apparatuses in which an automatically operable robot is used to load and unload a workpiece to be bent, including the bending apparatus described in Patent Document 1, the robot's motion path is set in advance so that the workpiece is loaded and unloaded from the bending apparatus. However, if the workpiece to be transported by the robot bends downward due to its own weight, there is a risk that interference will occur between the workpiece and the lower die when the workpiece is loaded between the upper and lower dies of the bending apparatus and when the bent workpiece is unloaded from between the upper and lower dies using the set motion path.

[0005] One possible measure to prevent this interference is to tentatively determine the robot's motion path when instructing the robot's control unit about it, and if there is a risk of interference between the workpiece and the lower die after starting the operation to check the motion path, have the worker stop the robot's automatic operation, enter the bending work area, visually confirm a position where the workpiece and the lower die will not interfere, and then instruct the robot's control unit about an appropriate motion path.

[0006] However, in the method in which an operator enters the bending work area and directly checks for possible interference, the automatic operation of the robot must be stopped both when loading the workpiece into the dies and when unloading the workpiece from the dies, and after entering the bending work area, the operator must check for interference and then instruct the robot's control unit on the movement path, which requires a series of tasks that may increase the operator's workload.

[0007] One aspect of the present invention relates to an interference checking system, an interference checking method, and a bending apparatus that can easily check for interference between a workpiece and a lower die. [Means for solving the problem]

[0008] An interference confirmation system according to one aspect of the present invention comprises a bending machine having an upper die, a lower die, a backgage movably arranged behind the lower die, and an imaging unit attached to the backgage; a workpiece holding robot configured to transport a workpiece between the upper die and the lower die; a control unit that controls the bending machine and the workpiece holding robot; and a display unit that displays an image captured by the imaging unit, wherein the control unit has a backgage control unit that controls the movement of the backgage, and the backgage control unit is configured to move the backgage to a position where the imaging unit can horizontally image the upper end of the lower die before the workpiece is loaded or unloaded between the upper die and the lower die.

[0009] In addition, an interference confirmation method according to one embodiment of the present invention includes a moving step of moving the backgauge of the bending machine before loading or unloading a workpiece between the upper and lower dies of the bending machine so that the imaging unit provided on the backgauge is in a position where it can horizontally image the upper end of the lower die, an imaging step of using the imaging unit to image a working area where there is a risk of interference between the workpiece and the lower die after the moving step, and a display step of displaying the image captured by the imaging step on a display unit.

[0010] Furthermore, a bending machine according to one aspect of the present invention comprises an upper die and a lower die, a backgage movably arranged behind the lower die, an imaging unit attached to the backgage, and a control unit that controls the movement of the backgage, wherein the control unit is configured to move the backgage so that the imaging unit can horizontally image the upper end of the lower die before a workpiece is loaded or unloaded between the upper die and the lower die, and the imaging unit is configured to output the captured image to a display unit. [Effects of the Invention]

[0011] According to an interference checking system, an interference checking method, and a bending machine according to one aspect of the present invention, it is possible to easily check for interference between a workpiece and a lower die. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing the overall configuration of an interference checking system according to this embodiment. [Figure 2] FIG. 2 is a schematic overall plan view of the interference checking system according to this embodiment. [Figure 3] FIG. 3 is a block diagram schematically showing a control unit according to this embodiment. [Figure 4] FIG. 4 is a diagram showing a series of processes performed on an image captured by the imaging unit. [Figure 5] FIG. 5 is a schematic diagram showing the overall configuration of the display unit according to this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of an image displayed on the display screen. [Figure 7] FIG. 7(a) is a diagram showing the action of the worker selecting the upper end of the die in the captured image, and FIG. 7(b) is a diagram showing the state in which the backgauge has moved as a result of the worker's selection. [Figure 8] FIG. 8(a) is a diagram showing the action of the worker selecting the side of the punch in the captured image, and FIG. 8(b) is a diagram showing the state in which the backgauge has moved as a result of the worker's selection. [Figure 9] FIG. 9 is a flowchart showing the method for checking interference before carrying in a workpiece according to this embodiment. [Figure 10] FIG. 10 is a flowchart showing the method for checking interference before carrying out the workpiece according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] Preferred embodiments for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments do not limit the inventions according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention. Furthermore, in the present embodiments, the scale and dimensions of each component may be exaggerated, and some components may be omitted.

[0014] [Overall configuration of the interference detection system] FIG. 1 is a schematic diagram showing the overall configuration of an interference checking system according to this embodiment. 1, the interference checking system 1 according to this embodiment includes a bending machine 10 including an upper die (punch P), a lower die (die D), a back gauge 13 movably provided behind the lower die (die D), and an imaging unit 15 attached to the back gauge 13, a workpiece holding robot R configured to be able to transport a workpiece W between the upper die (punch P) and the lower die (die D), a control unit 20 that controls the bending machine 10 and the workpiece holding robot R, and a display unit 30 that displays an image ID captured by the imaging unit 15. The interference checking system 1 according to this embodiment also includes an image processing unit 40 that performs predetermined processing on the image ID captured by the imaging unit 15.

[0015] The interference confirmation system 1 in this embodiment is a system for checking the working area where the workpiece W may interfere with the upper die (punch P) or the lower die (die D), and for preventing interference of the workpiece W with the upper die (punch P) or the lower die (die D) in advance.

[0016] In addition, the control unit 20 is configured to be able to send and receive information to and from a control unit (not shown) provided in the bending machine 10 and a control unit (not shown) provided in the workpiece holding robot R, and performs a series of operations associated with bending the workpiece W by outputting control signals to the control unit of the bending machine 10 and the control unit of the workpiece holding robot R.

[0017] [Configuration of bending machine] The bending machine 10 is, for example, a press brake that bends a workpiece W and has an upper table 11 and a lower table 12. The upper table 11 is equipped with a punch P as an upper die, and the lower table 12 is equipped with a die D as a lower die. The upper table 11 is configured to be able to move toward and away from the lower table 12 by a drive mechanism (not shown) provided in the bending machine 10. The upper table 11 is configured to bend the workpiece W at a bending position (bending line F) by moving the upper table 11 toward the lower table 12 while the workpiece W to be bent is inserted between the punch P and the die D. Note that the configuration is not limited to one in which the upper table 11 is able to move toward and away from the lower table 12; the lower table 12 may also be configured to be able to move toward and away from the upper table 11. In other words, it is sufficient that the upper table 11 is configured to be able to move toward and away from the lower table 12 relatively.

[0018] In this specification, the "up-down direction" refers to the vertical direction (Z direction in FIG. 1) when the bending machine 10 is installed, the "left-right direction" refers to the extension direction of the upper table 11 and the lower table 12 when the bending machine 10 is installed (X direction in FIG. 2), and the "front-rear direction" refers to the direction perpendicular to both the up-down direction and the left-right direction (Y direction in FIG. 1). However, the up-down direction, left-right direction, and front-rear direction in this specification are merely formal directions defined for the convenience of explanation, and are not necessarily the up-down direction, etc. in actual usage conditions.

[0019] FIG. 2 is a schematic overall plan view of the interference checking system according to this embodiment. The bending machine 10 includes a backgauge 13 that is movably provided behind a die D provided on the lower table 12. Specifically, as shown in Fig. 2, the backgauge 13 includes a first abutting portion 14A and a second abutting portion 14B that are each configured to be movable, and is configured so that the first abutting portion 14A and the second abutting portion 14B can be abutted against the front surface of a workpiece W that is to be bent.

[0020] The backgauge 13 is configured so that a control unit (not shown) included in the bending machine 10 receives control signals output from a backgauge control unit 23 of the control unit 20, which will be described later, to move the first abutment portion 14A and the second abutment portion 14B in the up-down direction (Z direction), left-right direction (X direction), and front-rear direction (Y direction), respectively. Note that, since known configurations and structures can be adopted for the basic configurations and structures of the backgauge 13 and each abutment portion 14, a description of the specific configurations and structures will be omitted in this specification.

[0021] In this specification, the "front side" and "side side" of the workpiece W are not limited to the front and side edges of the workpiece W, but also include the inner edges of the workpiece W formed by notches or holes formed in the workpiece W and the intersection between the front and side edges of the workpiece W.

[0022] The bending machine 10 includes an imaging unit 15 attached to the backgage 13 and capable of capturing images of a work area where the workpiece W is transported by the workpiece holding robot R during confirmation of the operation path of the workpiece holding robot R, which will be described later. Specifically, the imaging unit 15 includes a first imaging unit 15A attached to the first abutting portion 14A of the backgage 13 and a second imaging unit 15B attached to the second abutting portion 14B, and each imaging unit 15 is configured to capture images of a work area where interference between the workpiece W and the punch P or the die D may occur before the workpiece W is carried in or out of between the die D and the punch P. In this way, by attaching the imaging unit 15 to the backgage 13, the imaging unit 15 can be moved in the up-down direction (Z direction), left-right direction (X direction), and front-back direction (Y direction) in cooperation with the backgage 13. This eliminates the need for a separate drive mechanism or the like for operating the imaging unit 15, thereby reducing the cost of manufacturing the bending machine 10. Furthermore, by attaching the imaging unit 15 to the abutment portion 14, the possibility of the abutment portion 14 entering the imaging range of the imaging unit 15 is reduced, and it is possible for an operator or other worker (hereinafter referred to as "worker") to more reliably check for interference through the captured image ID.

[0023] In this embodiment, the first imaging unit 15A and the second imaging unit 15B are attached to the upper surface of the first abutting portion 14A and the upper surface of the second abutting portion 14B of the backgage 13, respectively. However, the attachment position of the imaging unit 15 is not limited thereto, and the imaging unit 15 may be attached to the lower surface of the abutting portion 14, or the imaging unit 15 may be attached to the side surface of the abutting portion 14. Alternatively, the first imaging unit 15A may be attached to the upper surface of the first abutting portion 14A, and the second imaging unit 15B may be attached to the lower surface of the second abutting portion 14B.

[0024] 2, the angle θ formed by the central axis CA of the imaging unit 15 and the bending position (bending line F) is preferably within a range of angles (90°±angle of view×½) obtained by adding or subtracting half the value of the horizontal angle of view of the imaging unit 15 with 90° as the center, from the viewpoint of reliably including the front surface of the workpiece W and the upper end of the die D in the captured image ID captured by the imaging unit 15 and from the viewpoint of enabling the operator to more accurately check for interference using the captured image ID. Specifically, for example, when the horizontal angle of view of the imaging unit 15 is 60°, the angle θ formed by the central axis CA of the imaging unit 15 and the bending position (bending line F) is preferably between 60° and 120°. Furthermore, from the viewpoint of more reliably including the front surface of the workpiece W and the upper end of the die D in the captured image ID captured by the imaging unit 15, when the horizontal angle of view of the imaging unit 15 is 60°, the angle θ formed between the central axis CA of the imaging unit 15 and the bending position (bending line F) is more preferably 75° or more and 105° or less, and even more preferably 85° or more and 95° or less. Regardless of the value of the horizontal angle of view of the imaging unit 15, it is most preferable that the angle θ formed between the central axis CA of the imaging unit 15 and the bending position (bending line F) is 90°.

[0025] The imaging unit 15 is a camera equipped with an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor), and is configured to capture an image of a working area where interference between the workpiece W and the punch P or the die D may occur before the workpiece W is carried in or out between the die D and the punch P, acquire a captured image ID, and output the captured image ID to the display unit 30. Note that in this embodiment, the imaging unit 15 is not configured to directly output the captured image ID to the display unit 30, but is configured to output the captured image ID to an image processing unit 40, which will be described later.

[0026] 1 and 2, the imaging unit 15 is configured to be able to capture images of the ranges in the up-down direction (Z direction), left-right direction (X direction), and front-rear direction (Y direction) of the work area where the work of transporting the workpiece W between the punch P and the die D is performed. Note that, although the imaging range corresponding to the angle of view of the imaging unit 15 is schematically shown in FIGS. 1 and 2, the imaging range of the imaging unit 15 is not limited to the example shown in the figures, and the imaging unit 15 may be able to capture an image of a range wider than the range shown in FIGS. 1 and 2, or may be configured to capture an image of a range narrower than the range shown in FIGS.

[0027] In this embodiment, the imaging unit 15 is covered with a rigid camera cover (not shown) from the viewpoint of preventing damage to the imaging unit 15 due to contact between the imaging unit 15 and the workpiece W when the workpiece W is carried in and out by the workpiece holding robot R, and from the viewpoint of preventing adhesion of dust, dirt, etc. Note that the imaging unit 15 may be equipped with a wide-angle lens, a fisheye lens, etc. so as to be able to capture an image of a wider range.

[0028] [Workpiece holding robot configuration] The workpiece holding robot R is arranged between a loading area (not shown) where multiple workpieces W can be placed and the bending machine 10, and is configured to hold the workpiece W to be bent among the multiple workpieces W loaded in the loading area and transport the workpiece W between the punch P and die D of the bending machine 10.

[0029] In the interference confirmation system 1 according to this embodiment, the workpiece holding robot R is equipped with a control unit (not shown), and is configured to cooperate with the bending machine 10 by receiving control signals from the control unit 20, thereby automatically executing a series of operations related to the bending work. The workpiece holding robot R according to this embodiment is also configured to receive a movement path set by an operator by receiving control signals output from an input unit 32 provided in a display unit 30 (described later) via a robot control unit 24 of the control unit 20. Note that a known configuration can be adopted for the configuration of such a workpiece holding robot R, and therefore a detailed description thereof will be omitted.

[0030] [Controller configuration] FIG. 3 is a block diagram schematically showing the control unit according to this embodiment. The control unit 20 is configured with a general-purpose NC (Numerical Control) device or a personal computer, and is configured to be able to communicate data with the bending machine 10 and the workpiece holding robot R. As shown in Fig. 3, the control unit 20 includes a backgage position determination unit 21, a robot position determination unit 22, a backgage control unit 23, and a robot control unit 24. Note that a known configuration can be adopted for the basic configuration of the control unit 20, and therefore detailed description thereof will be omitted.

[0031] The backgauge position determination unit 21 determines and stores the operating position of the backgauge 13 when checking for interference before the workpiece W is carried in between the punch P and the die D and before it is carried out, based on information about the dimensions of the punch P and the die D, information about the placement positions, etc. Furthermore, after the workpiece W is carried in between the punch P and the die D, the backgauge position determination unit 21 determines and stores the operating position of the backgauge 13 so that the abutment portions 14 of the backgauge 13 abut against the front surface of the workpiece W to be bent when bending the workpiece W. Note that a known configuration can be used for the method of determining the operating position of the backgauge 13 when bending the workpiece W, and therefore detailed explanations thereof will be omitted.

[0032] The robot position determination unit 22 stores a movement path of the workpiece holding robot R that is provisionally determined before confirmation of the movement path of the workpiece holding robot R for bending work, which will be described later. Furthermore, when checking for interference before carrying in and before carrying out the workpiece W between the punch P and the die D, which will be described later, the robot position determination unit 22 receives a control signal output from the display unit 30 to correct the movement path of the workpiece holding robot R, and stores the corrected movement path.

[0033] The backgauge control unit 23 reads the operating position of the backgauge 13 determined and notified by the backgauge position determination unit 21, and transmits the operating position to the control unit of the bending machine 10, thereby performing operation control of the backgauge 13.

[0034] 1 and 2, before the workpiece W is carried into or removed from between the upper die (punch P) and the lower die (die D), the backgage control unit 23 is configured to move the backgage 13 so that the imaging unit 15 can horizontally image the upper end of the lower die (die D). Specifically, before the workpiece W is carried into or removed from between the punch P and the die D, the backgage control unit 23 moves the first abutting unit 14A of the backgage 13 in the up-down direction (Z direction) and the left-right direction (X direction) so that the first imaging unit 15A attached to the first abutting unit 14A is positioned so that the upper end of the die D can be horizontally imaged, and moves the second abutting unit 14B of the backgage 13 in the up-down direction (Z direction) and the left-right direction (X direction) so that the second imaging unit 15B attached to the second abutting unit 14B is positioned so that the upper end of the die D can be horizontally imaged. In addition, in this embodiment, the backgauge control unit 23 is configured to move the first imaging unit 15A attached to the first abutment portion 14A of the backgauge 13 in the front-to-back direction (Y direction) and to move the second imaging unit 15B attached to the second abutment portion 14B of the backgauge 13 in the front-to-back direction (Y direction) before the work W is loaded between the punch P and the die D and before it is unloaded, in order to more clearly image the die D and work W displayed in the captured image ID and improve the accuracy of interference confirmation during the interference confirmation work described below.

[0035] In this specification, the term "position where the imaging unit 15 can horizontally capture an image of the upper end of the lower die (die D)" refers to a positional relationship where, assuming that a light ray passing horizontally through the upper end of the lower die (die D) is irradiated toward the imaging unit 15, the light ray reaches the imaging element of the imaging unit 15 directly or indirectly. Here, the position where the light ray passing horizontally through the upper end of the lower die (die D) "directly" reaches the imaging element of the imaging unit 15 specifically refers to a position where the light ray passing horizontally through the upper end of the die (die D) reaches the imaging element of the imaging unit 15 without passing through a reflecting material such as a mirror. Furthermore, the position where the light ray passing horizontally through the upper end of the lower die (die D) "indirectly" reaches the imaging element of the imaging unit 15 refers to a position where the light ray passing horizontally through the upper end of the lower die (die D) reaches the imaging element of the imaging unit 15 after being reflected by a mirror or the like.

[0036] Furthermore, the backgage control unit 23 is configured to move the backgage 13 so that the lower end of the upper die (punch P) is included in the imaging range of the imaging unit 15 before the workpiece W is carried into or out of the space between the upper die (punch P) and the lower die (die D). Specifically, before the workpiece W is carried into or out of the space between the punch P and the die D, the backgage control unit 23 is configured to move the first abutting unit 14A in the up-down direction (Z direction), the front-back direction (Y direction), and the left-right direction (X direction) to a position where the lower end of the punch P is included in the imaging range of the first imaging unit 15A attached to the first abutting unit 14A of the backgage 13, and to move the second abutting unit 14B in the up-down direction (Z direction), the front-back direction (Y direction), and the left-right direction (X direction) to a position where the lower end of the punch P is included in the imaging range of the second imaging unit 15B attached to the second abutting unit 14B of the backgage 13.

[0037] Furthermore, the backgage control unit 23 is configured to move the backgage 13 so that one side edge of the upper die (punch P) is included in the imaging range of the imaging unit 15 before the workpiece W is carried into or out of the space between the upper die (punch P) and the lower die (die D). Specifically, the backgage control unit 23 is configured to move the first abutting unit 14A of the backgage 13 so that one side edge of the upper die (punch P) is included in the imaging range of the first imaging unit 15A attached to the first abutting unit 14A, and to move the second abutting unit 14B so that the other side edge of the upper die (punch P) is included in the imaging range of the second imaging unit 15B attached to the second abutting unit 14B, before the workpiece W is carried into or out of the space between the upper die (punch P) and the lower die (die D).

[0038] More specifically, before the workpiece W is loaded into or unloaded from between the punch P and the die D, the backgage control unit 23 moves the first abutting unit 14A of the backgage 13 in the up-down direction (Z direction), the front-back direction (Y direction), and the left-right direction (X direction) so that the imaging range of the first imaging unit 15A attached to the first abutting unit 14A includes one side edge of the punch P (e.g., the left side in FIG. 2) and moves the second abutting unit 14B in the up-down direction (Z direction), the front-back direction (Y direction), and the left-right direction (X direction) so that the imaging range of the second imaging unit 15B attached to the second abutting unit 14B of the backgage 13 includes the other side edge of the punch P (e.g., the right side in FIG. 2). Note that the "side edge of the punch P" refers to the edge of the end of the punch P in the left-right direction of the bending machine 10 (X direction in FIG. 2).

[0039] The backgage control unit 23 is also configured to receive a control signal output from the display unit 30 and operate the backgage 13 when the worker selects a predetermined display within a captured image ID displayed on a display screen 31 of the display unit 30, which will be described later. Operational control of the backgage 13 by the backgage control unit 23 receiving the control signal output from the display unit 30 will be described in detail later.

[0040] The robot control unit 24 reads the movement path of the workpiece holding robot R that has been determined or corrected and notified by the robot position determination unit 22, and transmits the movement path to the control unit of the workpiece holding robot R, thereby performing movement control of the workpiece holding robot R.

[0041] [Display configuration] Fig. 5 is a schematic diagram showing the overall configuration of a display unit according to this embodiment, and Fig. 6 is a diagram showing an example of an image displayed on the display screen. The display unit 30 is configured to be able to display the captured image ID captured by the imaging unit 15. Specifically, as shown in FIG. 5, the display unit 30 includes a display screen 31 and an input unit 32, and is configured to display the captured image ID captured by the imaging unit 15 on the display screen 31. In this embodiment, as shown in FIG. 6, the display screen 31 of the display unit 30 is configured to display the captured image ID to which a predetermined display has been added by the image processing unit 40 (described later), rather than displaying the captured image ID captured by the imaging unit 15 as is. However, this is not limited to this. For example, the display screen 31 may be configured to switch between a state in which the captured image ID has not been subjected to predetermined processing by the image processing unit 40 and a state in which the captured image ID has not been subjected to predetermined processing by the image processing unit 40, in response to an operation by an operator.

[0042] 6, the display unit 30 is configured to be able to simultaneously display on the display screen 31 a first captured image ID1 output from the first imaging unit 15A attached to the first abutment portion 14A of the backgage 13 and a second captured image ID2 output from the second imaging unit 15B attached to the second abutment portion 14B of the backgage 13. Specifically, the display unit 30 is configured to display on the left side of the display screen 31 the first captured image ID1 output from the first imaging unit 15A and to display on the right side the second captured image ID2 output from the second imaging unit 15B.

[0043] The input unit 32 is composed of input devices such as a keyboard, touchpad, joystick, etc., and is configured to output control signals to the backgage control unit 23 and robot control unit 24 of the control unit 20 by operating the input unit 32.

[0044] In this embodiment, the display screen 31 of the display unit 30 is configured as a touchpad having the function of the input unit 32, and is configured so that a control signal can be output to the backgage control unit 23 when the worker selects an image displayed on the display screen 31. The configuration in which the worker moves the backgage 13 when the worker selects a captured image ID displayed on the display screen 31 will be described in detail later.

[0045] [Image processing unit configuration] The image processing unit 40 is configured to periodically acquire the captured image ID from the imaging unit 15 by outputting a control signal to the imaging unit 15 at a predetermined cycle, and is configured to output the captured image ID to the display unit 30 with a predetermined display added to the captured image ID.

[0046] Here, the image processing unit 40 is configured to be able to add a display TE indicating the position of the upper end of the lower die (die D) to the captured image ID. The image processing unit 40 is also configured to be able to add a display SE indicating the position of one side edge of the upper die (punch P) to the captured image ID.

[0047] FIG. 4 is a diagram showing a series of processes performed on an image captured by the imaging unit. Specifically, as shown in Figure 4, the image processing unit 40 includes a memory unit 41 that stores models of multiple workpieces W and the arrangement configuration of the punch P and die D, etc.; a measurement unit 42 that measures the dimensions of the workpiece W shown in the captured image ID based on the information in the memory unit 41; a drawing unit 43 that adds a predetermined display to the captured image ID output from the imaging unit 15 based on the stored information in the memory unit 41 and the dimensions of the workpiece W measured by the measurement unit 42, etc.; an editing unit 44 that edits the captured image ID output from the imaging unit 15; and an image output unit 45 that outputs the captured image ID to which the display has been added by the drawing unit 43 and the captured image ID edited by the editing unit 44 to the display unit 30.

[0048] The storage unit 41 is configured to be able to store information such as multiple models of the workpiece W to be bent and the arrangement of the punch P and die D. Note that a method for storing information such as multiple models of the workpiece W and the arrangement of the punch P and die D in the storage unit 41 can be a known method, such as acquiring information such as multiple models of the workpiece W from an information management server (not shown), and therefore detailed explanation will be omitted.

[0049] The measurement unit 42 is configured to measure the dimensions of the workpiece W displayed in the captured image ID output from the imaging unit 15 based on information such as the dimensions of the workpiece W stored in the memory unit 41, and to measure the imaging range of the imaging unit 15 based on the positions of the workpiece W, punch P, and die D displayed in the captured image ID. Specifically, the measurement unit 42 is configured to measure the dimensions of the workpiece W displayed in the captured image ID by performing a matching process between the workpiece W displayed in the captured image ID and a model image of the workpiece W stored in advance in the memory unit 41.

[0050] Here, the measurement unit 42 is configured to perform a matching process with a model image of the workpiece W previously stored in the storage unit 41 for the workpiece W displayed in each of a plurality of captured images IDs capturing the workpiece W transported between the punch P and the die D from various angles. That is, in this embodiment, the measurement unit 42 is configured to perform a matching process multiple times between the workpiece W displayed in the captured image ID and the model image of the workpiece W previously stored in the storage unit 41. This configuration makes it possible to more accurately measure the dimensions of the workpiece W transported between the punch P and the die D. Note that the method for measuring the dimensions of the workpiece W displayed in the captured image ID is not limited to the method described above, and various methods can be adopted.

[0051] The drawing unit 43 is configured to be able to add a display TE indicating the position of the top end of the die D displayed in the captured image ID acquired from the imaging unit 15, based on information such as the layout of the die D stored in the storage unit 41. The drawing unit 43 is also configured to be able to add a display SE indicating the position of one side of the punch P displayed in the captured image ID, based on information such as the layout of the punch P stored in the storage unit 41.

[0052] Here, "adding a display indicating the position" is not limited to the mode of superimposing a highlight on the top end of the die D or one side edge of the punch P displayed in the captured image ID, as shown in Figure 6, but various modes can be adopted, such as, for example, quantifying information regarding the position of the top end of the die D or one side edge of the punch P in the captured image ID and adding the quantified information to the captured image ID.

[0053] 6, the drawing unit 43 is configured to add a virtual position VW in the case where no bending occurs in the workpiece W to the captured image ID based on information such as multiple models of the workpiece W to be bent and the arrangement of the punch P and die D stored in the memory unit 41, and the dimensions of the workpiece W displayed in the captured image ID measured by the measurement unit 42. With such a configuration, it is possible to improve the work efficiency when the worker teaches the workpiece holding robot R a movement path via the display unit 30.

[0054] Furthermore, as shown in FIG. 6, the drawing unit 43 is configured to add an image IM indicating the positional relationship between the workpiece W, the punch P, and the die D to the captured image ID based on information such as the arrangement of the workpiece W, the punch P, and the die D to be bent, stored in the memory unit 41. The drawing unit 43 is also configured to add the imaging range of the imaging unit 15 (the range surrounded by a dashed line in FIG. 6) to the image IM based on the imaging range of the imaging unit 15 measured by the measurement unit 42. With this configuration, when the worker desires to move the imaging unit 15 to another position, the worker can easily recognize the imaging range of the imaging unit 15 by checking the captured image ID displayed on the display screen 31, which enables the worker to quickly determine the position of the backgage 13.

[0055] In the above description, the drawing unit 43 has been described as being configured to be capable of adding an indication TE indicating the position of the top end of the die D displayed in the captured image ID, but this is not limiting, and for example, if the bottom end of the punch P is displayed in the captured image ID, the drawing unit 43 may be configured to be capable of adding an indication indicating the position of the bottom end of the punch P. Also, while the drawing unit 43 has been described as being configured to be capable of adding an indication SE indicating the position of one side edge of the punch P displayed in the captured image ID, this is not limiting, and for example, the drawing unit 43 may be configured to be capable of adding an indication indicating one side edge of the die D displayed in the captured image ID.

[0056] The editing unit 44 edits the first captured image ID1 to which a display has been added by the drawing unit 43 and the second captured image ID2 to which a display has been added by the drawing unit 43 so that they fit within one screen. However, without being limited to this, the editing unit 44 may also edit the first captured image ID1 to which a display has not been added by the drawing unit 43 and the second captured image ID2 so that they fit within one screen.

[0057] The image output section 45 is configured to periodically output to the display section 30 the captured image ID that has been edited by the editing section 44 so that the first captured image ID1 and the second captured image ID2 fit within one screen.

[0058] [Backgauge operation control by display unit] In this embodiment, the backgage control unit 23 is configured to allow the worker to move the backgage 13 by selecting a predetermined position of the captured image ID displayed on the display screen 31. Here, when an indication TE indicating the position of the upper end of the lower mold (die D) is selected in the captured image ID displayed on the display unit 30, the backgage control unit 23 is configured to move the backgage 13 to a position where the imaging unit 15 can horizontally capture an image of the upper end of the lower mold (die D). For convenience, in the following description, it is assumed that the captured image ID displayed on the display screen 31 of the display unit 30 has not been edited by the above-mentioned editing unit 44 so that the first captured image ID1 and the second captured image ID2 fit within one screen.

[0059] FIG. 7(a) is a diagram showing the action of the worker selecting the upper end of the die in the captured image, and FIG. 7(b) is a diagram showing the state in which the backgauge has moved as a result of the worker's selection. Specifically, as shown in Figure 7(a), when a display TE indicating the position of the upper end of the die D is added by the image processing unit 40 to the captured image ID displayed on the display screen 31 of the display unit 30, when the worker selects the display TE indicating the position of the upper end of the die D, a control signal is output from the display unit 30 to the backgauge control unit 23 of the control unit 20 to operate the abutment portion 14 of the backgauge 13.

[0060] Then, as shown in Figure 7(b), the backgauge control unit 23 receives a control signal output from the display unit 30 and moves the abutment portion 14 of the backgauge 13 in the vertical direction (downward in Figure 7(b)) to a position where the imaging unit 15 attached to the abutment portion 14 can horizontally image the upper end of the die D.

[0061] Here, "selection" by the worker includes not only a configuration in which the worker touches the display within the captured image ID displayed on the display screen 31 with a finger or the like, as shown in Figures 7(a) and 8(a), but also a case in which the worker selects the display within the captured image ID using an input medium such as a mouse.

[0062] Furthermore, when a display SE indicating the position of one side edge of the upper die (punch P) is selected in the captured image ID displayed on the display unit 30, the backgage control unit 23 is configured to move the backgage 13 to a position where the imaging unit 15 can capture an image of one side edge of the upper die (punch P) from the front. Specifically, when the backgage control unit 23 detects that the display SE has been selected by the worker, it is configured to move the backgage 13 so that the position of the imaging element of the imaging unit 15 in the left-right direction is the same as the position of one side edge of the upper die (punch P).

[0063] FIG. 8(a) is a diagram showing the action of the worker selecting the side of the punch in the captured image, and FIG. 8(b) is a diagram showing the state in which the backgauge has moved as a result of the worker's selection. Specifically, as shown in Figure 8(a), when a display SE indicating the position of the right side edge of the punch P is added by the image processing unit 40 to the captured image ID displayed on the display screen 31 of the display unit 30, when the worker selects the display SE indicating the position of the right side edge of the punch P displayed in the captured image ID, a control signal is output from the display unit 30 to the backgauge control unit 23 of the control unit 20 to operate the abutment unit 14 of the backgauge 13.

[0064] 8(b), the backgage control unit 23 receives a control signal output from the display unit 30 and moves the abutting unit 14 of the backgage 13 in the left-right direction (to the right in FIG. 8(b)) so that the left-right position of the imaging unit 15 attached to the abutting unit 14 becomes the same as the position of the right side of the punch P. Note that in FIG. 8, an indication SE indicating the position of the right side of the punch P is provided, but this is not limited thereto, and an indication indicating the position of the right side of the die D may be provided in the captured image ID, or an indication indicating the positions of the right sides of both the punch P and the die D displayed in the captured image ID may be provided.

[0065] With the above configuration, the worker can operate the abutment portion 14 of the backgage 13 via the display screen 31 of the display unit 30. In the above description, the display screen 31 of the display unit 30 displays only the first captured image ID1 output from the first imaging unit 15A, but this is not limited to this. That is, when the first captured image ID1 and the second captured image ID2 are simultaneously displayed on the display screen 31, if the worker selects a predetermined display in the first captured image ID1, the display unit 30 outputs a control signal to the backgage control unit 23 to move the first abutment portion 14A of the backgage 13 up and down or left and right. Furthermore, if the worker selects a predetermined display in the second captured image ID2, the display unit 30 outputs a control signal to the backgage control unit 23 to move the second abutment portion 14B of the backgage 13 up and down or left and right.

[0066] [Interference detection method using the interference detection system] Fig. 9 is a flowchart showing the method for checking interference before carrying in a workpiece according to this embodiment, and Fig. 10 is a flowchart showing the method for checking interference before carrying out a workpiece according to this embodiment. Next, an interference checking method using the interference checking system 1 according to this embodiment will be described with reference to Figures 9 and 10. The interference checking method according to this embodiment includes a moving step of moving the backgauge 13 of the bending machine 10 to a position where the imaging unit 15 provided on the backgauge 13 can horizontally image the upper end of the lower die (die D) before the workpiece W is carried in or out between the upper die (punch P) and the lower die (die D) of the bending machine 10, an imaging step of using the imaging unit 15 after the moving step to image a working area where there is a risk of interference between the workpiece W and the lower die (die D), and a display step of displaying on the display unit 30 the image ID of the image taken in the imaging step.

[0067] FIG. 9 shows the flow of the interference check method when a workpiece W to be bent is carried between the punch P and the die D and bent. FIG. 10 shows the flow of the interference check method when the bent workpiece W is carried out from between the punch P and the die D. In this embodiment, the interference check in FIG. 9 and the interference check in FIG. 10 are performed consecutively. In the following description, the workpiece W carried in by the workpiece holding robot R is described as not having a flange, but this is not limited thereto, and the workpiece W carried in by the workpiece holding robot R may have a flange. In addition, the description will be given assuming that the movement control of the backgage 13 is not performed by selecting a display in the captured image ID displayed on the display screen 31 of the display unit 30 described above.

[0068] As shown in Figure 9, first, when the worker engaged in the work of teaching the movement path of the workpiece holding robot R related to the bending work starts the work of confirming the movement path (S1), the robot control unit 24 of the control unit 20 reads out the movement path of the workpiece holding robot R that has been provisionally determined and stored in the robot position determination unit 22, and starts operating the workpiece holding robot R.

[0069] After the workpiece holding robot R starts operating, the backgage control unit 23 of the control unit 20 reads out the operating position of the backgage 13 determined and stored by the backgage position determination unit 21 during interference check, and moves the backgage 13 (S2). Specifically, the backgage control unit 23 moves each abutment unit 14 so that the first imaging unit 15A attached to the first abutment unit 14A and the second imaging unit 15B attached to the second abutment unit 14B of the backgage 13 are positioned so that they can horizontally capture images of the upper end of the die D. For ease of explanation, the operation (S2) of moving the backgage 13 by the backgage control unit 23 will be described as being performed after the operation of checking the operating path of the workpiece holding robot R starts (S1). However, the backgage 13 may be moved to a predetermined position by the backgage control unit 23 in advance before the operation of the workpiece holding robot R starts.

[0070] After being moved to the above-mentioned position by the backgage control unit 23, the imaging unit 15 images the working area where the workpiece W is carried in between the punch P and the die D (S3). The captured image ID captured by the imaging unit 15 is output to the image processing unit 40 (S4), and the image processing unit 40 performs predetermined image processing on the captured image ID (S5). Note that the manner of display performed on the captured image ID by the image processing unit 40 is as described above, and therefore a detailed description thereof will be omitted.

[0071] Thereafter, the image output unit 45 of the image processing unit 40 outputs the captured image ID with a predetermined indication to the display unit 30, and the captured image ID is displayed on the display screen 31 of the display unit 30 (S6).

[0072] The worker checks the captured image ID displayed on the display screen 31 and determines whether the currently set movement path of the workpiece holding robot R is likely to cause interference between the workpiece W and the punch P or the die D when the workpiece W is carried in between the punch P and the die D (S7). When the worker checks whether there is a risk of interference between the workpiece W and the punch P or the die D (between S6 and S7), he stops the automatic operation of the workpiece holding robot R via the input unit 32 of the display unit 30.

[0073] If the operator determines through confirmation that the currently set motion path will cause interference between the workpiece W and the punch P or die D if the automatic operation of the workpiece holding robot R continues (YES in S7), the operator instructs the robot position determination unit 22 of the control unit 20 via the input unit 32 of the display unit 30 about a motion path that will prevent interference when the workpiece W is transported between the punch P and the die D (S8).

[0074] If the operator determines through confirmation that there is no risk of interference between the workpiece W and the punch P or die D even if the automatic operation of the workpiece holding robot R continues with the currently set motion path (NO in S7), or if the operator instructs the robot position determination unit 22 on a motion path that will not cause interference when the workpiece W is carried in between the punch P and the die D (after S8), the control unit 20 reads out the motion positions of the backgage 13 during the bending operation determined by the backgage position determination unit 21, and causes the backgage control unit 23 to operate each abutment portion 14 of the backgage 13 to the abutment position for the bending operation, thereby performing the bending operation on the workpiece W carried in between the punch P and the die D (S9). At this point, the work of checking for interference between the workpiece W and the punch P or the die D from carrying in the workpiece W to bending operation is completed.

[0075] Thereafter, after the workpiece W transported by the workpiece holding robot R has been subjected to bending, the backgage control unit 23 again reads out the operating position of the backgage 13 at the time of interference check, which was determined by the backgage position determination unit 21, and moves the backgage 13 (S10). Note that the operating position of the backgage 13 at S10 is a position where interference between the workpiece W and the punch P or the die D can be checked, similar to the operating position of the backgage 13 at S2 described above. However, taking into consideration the presence of the workpiece W located between the punch P and the die D, it is preferable that the operating position of the backgage 13 at S10 be on the rear side (to the right side in FIG. 1 ) of the operating position of the backgage 13 at S2 described above.

[0076] After the backgauge 13 has moved to a predetermined position in S10, the imaging unit 15 captures an image of the work area where the bent workpiece W is carried out from between the punch P and the die D (S11). At this time, the captured image ID captured by the imaging unit 15 is output to the image processing unit 40 (S12), and the image processing unit 40 performs image processing on the captured image ID (S13).

[0077] Thereafter, the image output unit 45 of the image processing unit 40 outputs the processed captured image ID to the display unit 30, and the captured image ID is displayed on the display screen 31 of the display unit 30 (S14).

[0078] The worker checks the captured image ID displayed on the display screen 31 and determines whether the currently set movement path of the workpiece holding robot R is likely to cause interference between the workpiece W and the punch P or the die D when the bent workpiece W is carried out from between the punch P and the die D (S15). When checking whether there is a risk of interference between the workpiece W and the punch P or the die D (between S14 and S15), the worker stops the automatic operation of the workpiece holding robot R via the input unit 32 of the display unit 30.

[0079] If the operator determines through confirmation that continuing automatic operation of the workpiece holding robot R on the currently set operating path will result in interference between the bent workpiece W and the punch P or die D (YES in S15), the operator instructs the robot position determination unit 22 of the control unit 20, via the input unit 32 of the display unit 30, on an operating path that will prevent interference when transporting the bent workpiece W from between the punch P and the die D for the workpiece holding robot R (S16).

[0080] If the operator determines through confirmation that there is no risk of interference between the bent workpiece W and the punch P or the die D even if the automatic operation of the workpiece holding robot R continues on the currently set movement path (YES in S15), or if the operator instructs the robot position determination unit 22 on a movement path that will not cause interference when carrying out the bent workpiece W from between the punch P and the die D (after S16), the workpiece holding robot R pulls out the bent workpiece W from between the punch P and the die D and carries it out (S17). This completes the work of checking for interference between the workpiece W and the punch P or the die D from bending to carrying out the workpiece W. Thereafter, the bending operation of the workpiece W is continuously performed in automatic operation based on the movement path of the workpiece holding robot R that was confirmed or instructed in the interference check.

[0081] [Advantages of the interference checking system, interference checking method, and bending machine according to the present embodiment] As described above, the interference confirmation system 1 of this embodiment comprises a bending machine 10 having an upper die (punch P), a lower die (die D), a backgauge 13 movably arranged behind the lower die (die D), and an imaging unit 15 attached to the backgauge 13, a work holding robot R configured to transport a workpiece W between the upper die (punch P) and the lower die (die D), a control unit 20 that controls the bending machine 10 and the work holding robot R, and a display unit 30 that displays the captured image ID captured by the imaging unit 15.The control unit 20 has a backgauge control unit 23 that controls the movement of the backgauge 13, and the backgauge control unit 23 is configured to move the backgauge 13 to a position where the imaging unit 15 can horizontally capture an image of the upper end of the lower die (die D) before the workpiece W is loaded or unloaded between the upper die (punch P) and the lower die (die D).

[0082] The interference confirmation system 1 according to this embodiment is provided with such a configuration, so that even when the workpiece W being carried in or out between the punch P and the die D is bent downward, the imaging unit 15 can accurately capture an image of the front surface of the workpiece W and the upper end of the die D, making it possible to accurately confirm interference between the workpiece W and the die D. Furthermore, because the worker checks for interference between the workpiece W and the die D through the captured image ID displayed on the display unit 30, the worker can easily and quickly check for interference, which can reduce the workload of the worker when checking for interference.

[0083] Furthermore, in the interference confirmation system 1 according to this embodiment, the backgage control unit 23 is configured to move the backgage 13 so that the lower end of the upper die (punch P) is included in the imaging range of the imaging unit 15 before the workpiece W is carried into or out of the space between the upper die (punch P) and the lower die (die D). With this configuration, when the workpiece W that has been bent in the bending machine 10 is pulled out from between the punch P and the die D, it is also possible to check for interference between the upper end of the bent workpiece W and the lower end of the punch P through the captured image ID, thereby further reducing the workload on the worker when checking for interference.

[0084] Furthermore, the interference confirmation system 1 according to this embodiment further includes an image processing unit 40 that adds a display indicating the position of the upper end of the lower die (die D) to the captured image ID, and the backgage control unit 23 is configured to move the backgage 13 to a position where the imaging unit 15 can horizontally image the upper end of the lower die (die D) when the display unit 30 selects a display indicating the position of the upper end of the lower die (die D) in the captured image ID displayed on the display unit 30. With this configuration, the operator can control the vertical movement of the backgage 13 via the display screen 31 when checking for interference, and can quickly correct the position of the backgage 13 in the vertical direction.

[0085] Furthermore, in the interference confirmation system 1 according to this embodiment, the backgage control unit 23 is configured to move the backgage 13 so that one side edge of the upper die (punch P) is included in the imaging range of the imaging unit 15 before the workpiece W is carried into or out of the space between the upper die (punch P) and the lower die (die D). This configuration allows the worker to check the positional relationship between the left-right position of the workpiece W and the side edge of the punch P through the captured image ID. Therefore, for example, if a flange extending upward is formed on the side edge of the workpiece W being carried into or out of the space between the punch P and the die D, it becomes possible to check whether the flange of the workpiece W is positioned outside the side edge of the punch P.

[0086] Furthermore, the interference confirmation system 1 according to this embodiment further includes an image processing unit 40 that adds a display indicating the position of one side edge of the upper die (punch P) in the width direction to the captured image ID, and the backgage control unit 23 is configured to move the backgage 13 to a position where the imaging unit 15 can image one side edge of the upper die (punch P) from the front when a display indicating the position of one side edge of at least one of the upper die (punch P) and the lower die (die D) is selected within the captured image ID displayed on the display unit 30. With this configuration, when the worker checks the positional relationship between the workpiece W and the side edges of the punch P, the worker can control the movement of the backgage 13 in the left-right direction via the display screen 31, and can quickly correct the position of the backgage 13 in the left-right direction.

[0087] Furthermore, in the interference confirmation system 1 according to this embodiment, the backgage 13 is provided with a first butting portion 14A and a second butting portion 14B which are each configured to be movable, and the imaging portion 15 is attached to the first butting portion 14A and the second butting portion 14B, respectively, and the backgage control portion 23 is configured to move the first butting portion 14A so that the imaging range of the first imaging portion 15A attached to the first butting portion 14A includes one side edge of the upper die (punch P) before the workpiece W is loaded into or unloaded from between the upper die (punch P) and the lower die (die D), and to move the second butting portion 14B so that the imaging range of the second imaging portion 15B attached to the second butting portion 14B includes the other side edge of the upper die (punch P). With this configuration, the worker can check the positional relationship between the workpiece W and the side edges of the punch P on both sides of the punch P. For example, if the workpiece W being loaded or unloaded between the punch P and the die D has flanges extending upward on both sides, it is possible to accurately check whether the flanges of the workpiece W are positioned outside the both sides of the punch P.

[0088] Furthermore, the display unit 30 of the interference confirmation system 1 according to this embodiment is configured to be able to display the first captured image ID1 captured by the first imaging unit 15A and the second captured image ID2 captured by the second imaging unit 15B on a single screen. This configuration allows the worker to quickly check the positional relationship between the workpiece W and both sides of the punch P, thereby significantly reducing the workload on the worker.

[0089] [Variations] Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments.

[0090] For example, in the above-described embodiment, the backgage control unit 23 is described as being configured to move the backgage 13 so that the lower end of the punch P is included in the imaging range of the imaging unit 15, but this is not limited to this. For example, the backgage control unit 23 may be configured to presume that the position of the punch P is in the ideal position and move the backgage 13 so that only the upper ends of the workpiece W and the die D are included in the imaging range of the imaging unit 15, or the backgage control unit 23 may be configured to presume that the positions of both the punch P and the die D are in the ideal position and move the backgage 13 so that only the workpiece W is included in the imaging range of the imaging unit 15, or the backgage control unit 23 may be configured not to move the backgage 13 so that the lower end of the punch P is included in the imaging range of the imaging unit 15.

[0091] Furthermore, in the above-described embodiment, the interference confirmation system 1 has been described as further including an image processing unit 40 that performs predetermined processing on the captured image ID, but this is not limited to this, and the system may not include the image processing unit 40.

[0092] Furthermore, in the above-described embodiment, the backgage control unit 23 is described as being configured to move the backgage 13 so that one side edge of the punch P is included in the imaging range of the imaging unit 15, but this is not limited to this, and the backgage control unit 23 does not have to move the backgage 13 so that one side edge of the punch P is included in the imaging range of the imaging unit 15.

[0093] In addition, in the above-described embodiment, the backgauge 13 is described as having two abutment portions 14, but this is not limited to this, and the number of abutment portions 14 provided on the backgauge 13 may be three or more, or the number of abutment portions 14 provided on the backgauge 13 may be one.

[0094] Furthermore, in the above-described embodiment, the imaging unit 15 is attached to each of the first abutment portion 14A and the second abutment portion 14B of the backgage 13, but this is not limited thereto, and the configuration may be such that the imaging unit 15 is attached to one of the first abutment portion 14A and the second abutment portion 14B and the imaging unit 15 is not attached to the other. Furthermore, if the backgage 13 has three or more abutment portions 14, the imaging unit 15 may be attached to each abutment portion 14, or the configuration may be such that the imaging unit 15 is attached to only one of the abutment portions 14.

[0095] Furthermore, in the above-described embodiment, the display unit 30 has been described as being configured to be able to display the first captured image ID1 captured by the first imaging unit 15A and the second captured image ID2 captured by the second imaging unit 15B on one screen, but this is not limited to this. The first captured image ID1 and the second captured image ID2 may not be displayed on one screen, and the worker may select the display screen 31 to switch between displaying the first captured image ID1 and the second captured image ID2.

[0096] Furthermore, in the above-described embodiment, the measurement unit 42 was described as measuring the dimensions of the workpiece W displayed in the captured image ID, but this is not limited to this, and the configuration may also be such that the worker visually compares the workpiece W displayed in the captured image ID with a model image of the workpiece W and measures the dimensions of the workpiece W displayed in the captured image ID. [Explanation of symbols]

[0097] 1: Interference check system 10: Bending machine 11: Upper table 12: Lower table 13: Back gauge 14: Stop part 14A: First abutment part 14B: Second abutment part 15: Imaging unit 15A: First imaging unit 15B: Second imaging unit 20: Control section 21: Backgauge positioning unit 22: Robot positioning unit 23: Backgauge control unit 24: Robot control unit 30:Display section 31:Display screen 32: Input section 40: Image processing section 41: Storage section 42: Measurement section 43: Drawing section 44: Editorial Department 45: Image output unit ID1: First captured image ID2: Second captured image D: Die F: Folding line P: Punch R: Workpiece holding robot W: Work

Claims

1. a bending machine including an upper die, a lower die, a back gauge movably provided behind the lower die, and an imaging unit attached to the back gauge; a workpiece holding robot configured to be able to transport a workpiece between the upper die and the lower die; a control unit that controls the bending machine and the workpiece holding robot; a display unit that displays an image captured by the imaging unit; Equipped with the control unit has a backgage control unit that controls movement of the backgage, The backgage control unit is configured to move the backgage to a position where the imaging unit can horizontally image the upper end of the lower die before the workpiece is carried into or out of the space between the upper die and the lower die. Interference checking system.

2. The backgage control unit is configured to move the backgage so that a lower end of the upper die is included in an imaging range of the imaging unit before the workpiece is carried into or out of the space between the upper die and the lower die. The interference checking system of claim 1 .

3. an image processing unit that adds a display indicating the position of the upper end of the lower mold to the captured image; The backgage control unit is configured to move the backgage to a position where the imaging unit can horizontally image the upper end of the lower mold when an indication indicating the position of the upper end of the lower mold is selected in the captured image displayed on the display unit.

3. The interference checking system according to claim 1 or 2.

4. The backgage control unit is configured to move the backgage so that one side edge of the upper die is included in an imaging range of the imaging unit before the workpiece is carried into or out of the space between the upper die and the lower die.

3. The interference checking system according to claim 1 or 2.

5. an image processing unit that adds a display indicating the position of one side edge of the upper mold to the captured image; The backgage control unit is configured to move the backgage to a position where the imaging unit can image the side edge of one side of the upper mold from the front when an indication indicating the position of the side edge of one side of the upper mold is selected in the captured image displayed on the display unit. The interference checking system according to claim 4 .

6. The backgage includes a first abutment portion and a second abutment portion that are configured to be movable, the imaging units are attached to the first abutment portion and the second abutment portion, The backgage control unit is configured to move the first abutting unit so that one side edge of the upper die is included in an imaging range of a first imaging unit attached to the first abutting unit before the workpiece is carried into or out of the space between the upper die and the lower die, and to move the second abutting unit so that the other side edge of the upper die is included in an imaging range of a second imaging unit attached to the second abutting unit. The interference checking system according to claim 4 .

7. The display unit is configured to be able to display a first captured image captured by the first imaging unit and a second captured image captured by the second imaging unit on one screen. The interference checking system according to claim 6 .

8. a moving step of moving the back gauge of the bending machine so that an imaging unit provided on the back gauge can horizontally image an upper end of the lower die before carrying a workpiece into or out of a space between the upper die and the lower die of the bending machine; an imaging step of imaging a working area where there is a risk of interference between the workpiece and the lower die by the imaging unit after the moving step; a display step of displaying the captured image captured by the imaging step on a display unit; Interference detection methods including:

9. an upper mold and a lower mold; a back gauge movably provided behind the lower die; an imaging unit attached to the back gauge; a control unit for controlling the movement of the backgage; Equipped with the control unit is configured to move the backgage to a position where the imaging unit can horizontally image an upper end of the lower die before carrying a workpiece into or out of a space between the upper die and the lower die, The imaging unit is configured to output the captured image to a display unit. Bending machine.

Images