Control device, bending system, control program creation method and control program creation program

Abstract

To provide a control device which can reduce burden of a user, a bending system, a control program creation method and a control program creation program.SOLUTION: A control device can create a provisional program that controls a bending machine, and a work-piece feeding robot which feeds a work-piece to the bending machine. The provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the work-piece feeding robot, and the plurality of jobs include a fixed job and a selection job. The fixed job is set in common to the plurality of provisional programs, and the selection job is automatically selected for each provisional program from a selection job group including the plurality of selection jobs as candidates on the basis of at least one of user's response to a question and shape data indicating a shape of a product produced by processing the work-piece.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a bending system, a control program creation method, and a control program creation program. [Background technology]

[0002] In recent years, with the advent of general-purpose industrial robots (general-purpose robots), it has become possible to switch between manual bending by an operator and automatic bending by a general-purpose robot on a single bending machine.However, because the manual operation bending program (general-purpose bending program) does not include the robot program for the general-purpose robot, the user must either create an automatic bending program for automatic operation from scratch or teach the general-purpose robot from scratch, both of which are extremely time-consuming and reduce work efficiency.

[0003] Therefore, for example, the program creation device described in Patent Document 1 is equipped with a shape input means for inputting the product shape by assigning registered processing edge shapes to each side of the workpiece, and a condition input means for inputting the processing conditions of the bending machine for processing each side of the workpiece, the processing process for each side of the workpiece and handling data before and after the process, and product dimension data, and discloses a configuration for creating an operation program for the robot and bending machine from the input data from the shape input means and condition input means and the operating characteristic data of the robot and bending machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-187515 Summary of the Invention [Problem to be solved by the invention]

[0005] However, as described above, conventional program creation devices require users to input various information such as product shapes and processing conditions to create operation programs for the robots and bending machines, which makes the input process complicated and time-consuming and labor-intensive to create operation programs.Furthermore, inputting various pieces of information requires the user's knowledge and experience, which makes the input process difficult for inexperienced users.

[0006] One aspect of the present invention is a control device, a bending system, a control program creation method, and a control program creation program that can reduce the burden on a user. [Means for solving the problem]

[0007] A control device according to one aspect of the present invention is configured to be able to create a provisional program for controlling a bending machine and a work supply robot that supplies work to the bending machine, wherein the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the work supply robot, the plurality of jobs including fixed jobs and selected jobs, the fixed jobs being set in common to a plurality of the provisional programs, and the selected jobs being automatically selected for each of the provisional programs from a group of selected jobs including a plurality of candidate selected jobs based on at least one of a user's response to a question and shape data indicating the shape of a product to be manufactured by processing the work.

[0008] A bending system according to one aspect of the present invention comprises a bending machine, a work supply robot that supplies workpieces to the bending machine, and a control device that controls the bending machine and the work supply robot, wherein the control device is configured to be able to create a provisional program that controls the bending machine and the work supply robot, wherein the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the work supply robot, the plurality of jobs including fixed jobs and selected jobs, the fixed jobs being set in common to a plurality of the provisional programs, and the selected jobs being automatically selected for each of the provisional programs from a group of selected jobs including a plurality of candidate selected jobs based on at least one of a user's response to a question and shape data indicating the shape of a product to be manufactured by processing the workpiece.

[0009] A control program creation method according to one embodiment of the present invention includes a provisional program creation process for creating a provisional program that controls a bending machine and a work supply robot that supplies work to the bending machine, wherein the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the work supply robot, the plurality of jobs including fixed jobs and selected jobs, the fixed jobs being set in common to a plurality of the provisional programs, and the selected jobs being automatically selected for each of the provisional programs from a selected job group including a plurality of candidate selected jobs based on at least one of a user's response to a question and shape data indicating the shape of a product to be manufactured by processing the work.

[0010] A control program creation program according to one aspect of the present invention is configured to cause a control device to execute a provisional program creation process that creates a provisional program for controlling a bending machine and a work supply robot that supplies work to the bending machine, wherein the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the work supply robot, the plurality of jobs including fixed jobs and selected jobs, the fixed jobs being set in common to a plurality of the provisional programs, and the selected jobs being automatically selected for each of the provisional programs from a group of selected jobs including a plurality of candidate selected jobs based on at least one of a user's response to a question and shape data indicating the shape of a product to be manufactured by processing the work. [Effects of the Invention]

[0011] According to one aspect of the control device, bending processing system, control program creation method, and control program creation program of the present invention, a selected job is selected based on at least one of the answers to questions and shape data, and a provisional program is created, thereby reducing the burden on the user. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing a bending system according to a first embodiment of the present invention. [Figure 2A] FIG. 2A is a schematic diagram showing a 45-degree posture of the robot hand of the workpiece supply robot according to the first embodiment. [Figure 2B] FIG. 2B is a schematic diagram showing a 90-degree posture of the robot hand of the workpiece supply robot according to the first embodiment. [Figure 3] FIG. 3 is a schematic view showing the front direction of the adsorption surface of the first embodiment. [Figure 4A] FIG. 4A is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line of the first embodiment is in the same direction as the reference direction of the workpiece. [Figure 4B]FIG. 4B is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line of the first embodiment is in the opposite direction to the reference direction of the workpiece. [Figure 4C] FIG. 4C is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line in the first embodiment is to the left of the reference direction of the workpiece. [Figure 4D] FIG. 4D is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line in the first embodiment is to the right of the reference direction of the workpiece. [Figure 5] FIG. 5 is a schematic view showing the first approach posture of the workpiece supply robot of the first embodiment. [Figure 6] FIG. 6 is a schematic view showing the second approach posture of the workpiece supply robot of the first embodiment. [Figure 7] FIG. 7 is a functional block diagram showing the control device of the first embodiment. [Figure 8] FIG. 8 is a flowchart showing a series of processes executed by the control device of the first embodiment. [Figure 9] FIG. 9 is a flowchart showing an example of a question process and an answer reception process executed by the provisional program creation unit of the first embodiment. [Figure 10] FIG. 10 is a schematic diagram showing how the workpiece is held during mountain folding in the first embodiment. [Figure 11] FIG. 11 is a schematic diagram showing the approach posture when making a mountain fold in the first embodiment. [Figure 12] FIG. 12 is a schematic diagram showing how the workpiece is held during the valley fold in the first embodiment. [Figure 13] FIG. 13 is a schematic diagram showing the approach posture when making a valley fold in the first embodiment. [Figure 14] FIG. 14 is a schematic diagram showing the workpiece holding direction when the number of bending times is two in the first embodiment. [Figure 15A] FIG. 15A is a schematic diagram showing the first approach posture when two mountain folds are repeated in the first embodiment. [Figure 15B]FIG. 15B is a schematic diagram showing the first workpiece recovery posture when two mountain folds are repeated in the first embodiment. [Figure 16A] FIG. 16A is a schematic diagram showing the second approach posture when two mountain folds are repeated in the first embodiment. [Figure 16B] FIG. 16B is a schematic diagram showing the second workpiece collection posture when two mountain folds are repeated in the first embodiment. [Figure 17A] FIG. 17A is a schematic diagram showing the first approach posture when two valley folds are repeated in the first embodiment. [Figure 17B] FIG. 17B is a schematic diagram showing the first workpiece recovery posture when two valley folds are repeated in the first embodiment. [Figure 18A] FIG. 18A is a schematic diagram showing the second approach posture when repeating two valley folds in the first embodiment. [Figure 18B] FIG. 18B is a schematic diagram showing the second workpiece collection posture when two valley folds are repeated in the first embodiment. [Figure 19A] FIG. 19A is a schematic diagram showing the second approach posture when mountain folds and valley folds are repeated in the first embodiment. [Figure 19B] FIG. 19B is a schematic diagram showing the second workpiece collection posture when mountain folds and valley folds are repeated in the first embodiment. [Figure 20A] FIG. 20A is a schematic diagram showing the third approach posture when mountain folds and valley folds are repeated in the first embodiment. [Figure 20B] FIG. 20B is a schematic diagram showing the workpiece collection posture for the third time when mountain folds and valley folds are repeated in the first embodiment. [Figure 21] FIG. 21 is a diagram showing the first selected job group in the first embodiment. [Figure 22] FIG. 22 is a diagram showing the second selected job group in the first embodiment. [Figure 23] FIG. 23 is a diagram showing a provisional program according to the first embodiment. [Figure 24]FIG. 24 is a diagram showing a provisional program in the first embodiment when the number of bending times is two. [Figure 25] FIG. 25 is a flowchart showing a series of processes executed by the control device of the first embodiment. [Figure 26] FIG. 26 is a flowchart showing a series of processes executed by a control device according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0013] The best mode 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.

[0014] [Overall configuration of bending system according to the first embodiment] FIG. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention. First, a bending system 1 according to an embodiment of the present invention will be outlined with reference to Fig. 1. As shown in Fig. 1, the bending system 1 according to the first embodiment generally includes a press brake 10 that functions as a bending machine, a workpiece supply robot 100 that supplies a workpiece W to the press brake 10, and a control device 200 that controls the press brake 10 and the workpiece supply robot 100.

[0015] The bending system 1 may also include a loading cart 400 for loading the workpiece W to be processed, and an unloading box (not shown) for placing the workpiece W after bending by the press brake 10. The bending system 1 may also load the workpiece W on a workpiece placement table (not shown) instead of the loading cart 400. The workpiece placement table may have a double-pickup detection function and a double-pickup prevention device such as a magnetic floater or air separator. The bending system 1 may also include a pallet (handling platform), a belt conveyor, an AGV (Automatic Guided Vehicle), an AMR (Autonomous Mobile Robot), or the like instead of the unloading box, and the workpiece W after bending may be placed on the pallet, etc.

[0016] Furthermore, the bending system 1 may be equipped with a double-picking prevention device (not shown) such as a magnet floater or an air separator, or an adsorption device (not shown) that can change the grip of the workpiece W. The bending system 1 may also be equipped with a hand storage unit that can store and replace a replacement robot hand 120 (described later), or a die storage unit that can store dies to be used in the press brake 10.

[0017] As shown in Figure 1, the press brake 10 is equipped with an upper table 11 and a lower table 12 arranged in the center of the front and aligned in the height direction so that one of the depth directions, for example, the outer plate surface, faces the front, and support parts (not shown) arranged on the left and right sides to support the upper table 11 and the lower table 12.

[0018] 1, the press brake 10 includes, for example, a drive mechanism (not shown) configured to reciprocate the upper table 11 in the height direction relative to the lower table 12, and a position detection sensor (not shown) that detects the movement position of the upper table 11 when moved by the drive mechanism. The press brake 10 in the first embodiment is configured to be capable of handling manual bending operations by a user and automatic bending operations by a work supply robot 100.

[0019] The upper table 11 is made of a plate-like member such as metal, and has a plurality of upper die holders (punch holders) 14 at its lower part that hold upper dies U such as punches. The lower table 12 is made of a plate-like member such as metal like the upper table 11, and has a lower die holder (die holder) 15 at its upper part that holds lower dies L such as dies. When the upper die U is a die and the lower die L is a punch, the upper die holder 14 serves as a die holder and the lower die holder 15 serves as a punch holder.

[0020] Furthermore, the press brake 10 may be equipped with a back gauge (not shown) that positions the workpiece W in the depth direction when it is inserted between the upper mold U and the lower mold L, and an angle detection sensor (not shown) that can detect the bending angle of the workpiece W when the workpiece W is being bent.

[0021] The press brake 10 can employ various known configurations, and therefore detailed description thereof will be omitted.

[0022] The workpiece supply robot 100 is a general-purpose industrial robot (collaborative robot) and is configured to supply a workpiece W between the upper die U and the lower die L of the press brake 10 as a workpiece holding means. The workpiece supply robot 100 is configured to hold the uppermost workpiece W among a plurality of workpieces W loaded on a loading cart 400 or the like, and to supply (insert) the workpiece W to the press brake 10. The workpiece supply robot 100 is also configured to transport (carry out) the workpiece W after bending to a predetermined location (for example, an unloading box).

[0023] Specifically, as shown in Fig. 1, the work supply robot 100 includes a robotic hand 120 that can hold a work W as a work holder, and an arm unit 140 that moves the robotic hand 120 toward or away from the work W. Furthermore, as shown in Fig. 1, the work supply robot 100 may be placed on a robot transport body 300, or may include a moving mechanism (not shown) having a rail unit laid on the floor surface.

[0024] FIG. 2A is a schematic diagram showing a 45-degree posture of the robot hand of the workpiece supply robot according to the first embodiment. The robot hand 120 is detachably attached to the tip of the arm unit 140. The robot hand 120 may have a hand main body that grips the workpiece W, or as shown in Fig. 2A, may have a hand main body that is detachably attached to the tip of the arm unit 140 and a plurality of suction units 130 that are attached to the hand main body and configured to be able to hold the workpiece W.

[0025] FIG. 2B is a schematic diagram showing a 90-degree posture of the robot hand of the workpiece supply robot according to the first embodiment. The suction unit 130 can take a posture in which the suction surface is tilted 45 degrees relative to the hand body as shown in FIG. 2A (45 degree posture in the first embodiment), and a posture in which the suction surface is in line with the hand body as shown in FIG. 2B (90 degree posture in the first embodiment).

[0026] Furthermore, the robot hand 120 is rotatable relative to the arm unit 140, as will be described later. When gripping the workpiece W, the workpiece supply robot 100 can rotate the robot hand 120 so that a bending line BL of the workpiece W is perpendicular to the front direction of the robot hand 120. In other words, the workpiece supply robot 100 can hold the workpiece W so that the insertion direction of the workpiece W and the front direction of the robot hand 120 are aligned.

[0027] In the first embodiment, the bending line BL means a portion (straight line) of the workpiece W that is bent when the workpiece W is bent.

[0028] Fig. 3 is a schematic diagram showing the front direction of the suction surface of the first embodiment. Fig. 4A is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line of the first embodiment is in the same direction as the reference direction of the workpiece. Fig. 4B is a schematic diagram showing the workpiece holding direction of the robot hand when the bending line of the first embodiment is in the opposite direction to the reference direction of the workpiece. The diagrams in which an isosceles triangle is drawn within a square in FIGS. 3, 4A, and 4B are simplified diagrams of the robot hand 120, with the direction of the apex of the isosceles triangle indicating the front direction of the robot hand 120. Similarly, the reference direction RD in FIG. 4 also indicates the apex of the isosceles triangle. When a predetermined direction of the workpiece W is defined as the reference direction RD, the robot hand 120 holds the workpiece W so that the front direction of the robot hand 120 faces the reference direction RD when the bend line BL of the workpiece W is in the same direction as the reference direction RD, as shown in FIGS. 3 and 4A. Furthermore, when the bend line BL of the workpiece W is in the opposite direction to the reference direction RD, as shown in FIG. 4B, the robot hand 120 holds the workpiece W so that the front direction of the robot hand 120 faces the opposite direction to the reference direction RD.

[0029] 4C and 4D are schematic diagrams showing the workpiece holding direction of the robot hand when the bending line of the first embodiment is to the left of the reference direction of the workpiece, and the workpiece holding direction of the robot hand when the bending line of the first embodiment is to the right of the reference direction of the workpiece. Similarly, as shown in Fig. 4C, when the bend line BL of the workpiece W is to the left of the reference direction RD, the robot hand 120 holds the workpiece W so that the front direction of the robot hand 120 faces the left of the reference direction RD. Also, as shown in Fig. 4D, when the bend line BL of the workpiece W is to the right of the reference direction RD, the robot hand 120 holds the workpiece W so that the front direction of the robot hand 120 faces the right of the reference direction RD.

[0030] The robot hand 120 is not limited to the above-described configuration, and various other configurations can be adopted.

[0031] The arm unit 140 has one end connected to the upper part of the robot transport body 300 and the other end connected to the robot hand 120, and is configured to move the robot hand 120 toward or away from the workpiece W based on a control signal from a control unit 230 (described later) of the control device 200. The arm unit 140 is also configured so that a connecting portion (not shown) with the robot hand 120 is rotatable. In the first embodiment, the arm unit 140 is a multi-joint arm having six control axes, and is configured to be able to perform not only the transport of the workpiece W from the loading cart 400, but also the supply (insertion) of the workpiece W to the press brake 10, assist in the processing (bending) of the workpiece W, and transport (unload) the product (bent product) from the press brake 10, etc.

[0032] Note that various known configurations can be employed for the arm unit 140, and detailed description thereof will be omitted. Also, the arm unit 140 is not limited to the configuration of an articulated arm having the six control axes described above, and various known configurations can be arbitrarily employed.

[0033] Fig. 5 is a schematic diagram showing a first approach posture of the workpiece supply robot of the first embodiment. Fig. 6 is a schematic diagram showing a second approach posture of the workpiece supply robot of the first embodiment. The work supply robot 100 having the above configuration can take two types of approach postures, as shown in Figures 5 and 6: a first approach posture in which it approaches the press brake 10 with the suction surface of the suction part 130 facing upward, and a second approach posture in which it approaches the press brake 10 with the suction surface of the suction part 130 facing downward.

[0034] In the first embodiment, the upward facing state is not limited to a state facing directly upward, and similarly, in the first embodiment, the downward facing state is not limited to a state facing directly downward.

[0035] FIG. 7 is a functional block diagram showing the control device of the first embodiment. 7, the control device 200 includes an input unit 210, a display unit 220, a control unit 230, and a storage unit 240. The control device 200 according to the first embodiment is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a laptop computer, or a tablet terminal.

[0036] The input unit 210 is composed of input devices such as a keyboard, mouse, touchpad, joystick, etc., and by operating the input unit 210, in addition to the information input function normally required in the control device 200, it is possible to perform operations such as inputting answers to questions described below and inputting teaching information described below.

[0037] The display unit 220 has a display as a display device, and functions as a question unit that presents questions to the user. In addition to the screen display function normally required in the control device 200, the display unit 220 displays a question screen (not shown) and the like.

[0038] Furthermore, the display unit 220 may be configured as a touch panel (touch screen) having the functions of the input unit 210. When the display unit 220 is configured as a touch panel, the user can perform various operations on the control device 200, such as inputting answers to questions, by operating the display unit 220, for example.

[0039] The configurations of the input unit 210 and the display unit 220 are not limited to those described above, and any configuration having equivalent functions (for example, a display means or input means that can be used remotely) can be used in place of the input unit 210 and the display unit 220, and is not limited to this.

[0040] The control unit 230 is configured, for example, by an integrated arithmetic processing device having a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). Also, as shown in FIG. 7, the control unit 230 includes a temporary program creation unit 232 and a teaching reflection unit 234. Furthermore, the control unit 230 is configured to be able to create a temporary program 244 that controls the press brake 10 and the workpiece supply robot 100 that supplies the workpiece W to the press brake 10.

[0041] FIG. 8 is a flowchart showing a series of processes executed by the control device of the first embodiment. Provisional program creation unit 232 is configured to create provisional program 244. Specifically, as shown in Fig. 8, provisional program creation unit 232 is configured to be able to execute a question process (S10 in Fig. 8) for asking a question to a user and an answer reception process (S11 in Fig. 8) for receiving an answer from the user.

[0042] In the first embodiment, the provisional program creation unit 232 is configured to ask a question to the user by displaying the question on a question screen on the display unit 220. The user answers the question by selecting an option displayed on the question screen via the input unit 210 or by inputting an answer on the question screen.

[0043] FIG. 9 is a flowchart showing an example of a question process and an answer reception process executed by the provisional program creation unit of the first embodiment. 9, the questions include a question about the number of bends of the workpiece W and a question about the bending direction of bending the workpiece W. In the question processing, the provisional program creation unit 232 asks a question about the bending direction depending on the answer to the question about the number of bends. Specifically, the provisional program creation unit 232 asks a question about the number of bends, asking how many times the workpiece W will be bent.

[0044] Then, the provisional program creation unit 232 asks the user a question regarding the bending direction, asking whether to bend the workpiece W in a direction where the back surfaces face each other (a mountain fold in the first embodiment) or in a direction where the front surfaces face each other (a valley fold in the first embodiment).

[0045] In addition, instead of the above-mentioned question, the provisional program creation unit 232 may ask the user, as a question regarding the bending direction, whether to insert the workpiece W into the press brake 10 face up (the surface on which the workpiece W was placed faces the upper mold U) (valley fold) or whether to insert the workpiece W face down (the surface on which the workpiece W was placed faces the lower mold L) (mountain fold).

[0046] For example, if the answer to the question about how many times the workpiece W should be bent is "2 times," the provisional program creating unit 232 asks the above-mentioned question about the bending direction twice.

[0047] The questions also include a question about the insertion direction of inserting the workpiece W into the press brake 10. In the question processing, the temporary program creation unit 232 asks a question about the insertion direction in accordance with the answer to the question about the number of bends. Specifically, the temporary program creation unit 232 asks the question about the insertion direction as to the direction in which the workpiece W should be inserted.

[0048] The provisional program creating unit 232 may ask which side of the workpiece W should be bent as a question about the insertion direction, instead of the above-mentioned question.

[0049] For example, if the answer to the question about how many times the workpiece W should be bent is "2 times," the temporary program creating unit 232 asks the question about the insertion direction twice.

[0050] In the first embodiment, as shown in FIG. 9, the provisional program creation unit 232 is configured to ask a question regarding the number of bends, and then alternately ask questions regarding the bending direction and the insertion direction depending on the answer to the question regarding the number of bends.

[0051] For example, if the answer to a question about how many times the workpiece W will be bent is "2 times," the provisional program creation unit 232 first asks a question about the first bending direction, then asks a question about the first insertion direction, then asks a question about the second bending direction, and then asks a question about the second insertion direction.

[0052] The order of questions posed by the provisional program creation unit 232 is not limited to the above-described configuration. For example, the provisional program creation unit 232 may ask a question about the first and second bending directions, and then ask a question about the first and second insertion directions. The provisional program creation unit 232 may also ask a question about the first and second bending directions and a question about the first and second insertion directions at the same time. That is, four questions and at least one of the corresponding answer options and answer fields may be displayed at the same time on the question screen of the display unit 220. The provisional program creation unit 232 may also ask a question about the insertion direction, and then ask a question about the bending direction.

[0053] Furthermore, the questions may include questions regarding the use of a double-picking detection function or a double-picking prevention device when the workpiece W is loaded on the workpiece placement table. The workpiece placement table may have a double-picking detection function and a double-picking prevention device such as a magnet floater or an air separator.

[0054] As shown in FIG. 8, the provisional program creation unit 232 is configured to be able to execute a selection process (S12 in FIG. 8) for selecting a selected job 246 from a group of selected jobs based on the response, and a provisional program creation process (S13 in FIG. 8) for creating a provisional program 244 including a fixed job 245 and the selected selected job 246.

[0055] Fig. 21 is a diagram showing a first selected job group in the first embodiment, and Fig. 23 is a diagram showing a provisional program in the first embodiment. Specifically, the provisional program creation unit 232 selects an approach selection job 246a shown in Fig. 23 from the first selected job group 241. As shown in Fig. 21, the first selected job group 241 includes a job A1 that approaches in a first approach attitude and a job A2 that approaches in a second approach attitude.

[0056] FIG. 22 is a diagram showing the second selected job group in the first embodiment. 23 from the second selected job group 242. As shown in Fig. 22, the second selected job group 242 includes a job B1 for retrieving the workpiece W in a first workpiece holding posture in which the workpiece W is held so that the front direction of the robot hand 120 faces the reference direction RD, and a job B2 for retrieving the workpiece W in a second workpiece holding posture in which the workpiece W is held so that the front direction of the robot hand 120 faces the opposite direction to the reference direction RD.

[0057] In addition, the second selected job group 242 includes job B3, which retrieves the workpiece W in a third workpiece holding posture in which the workpiece W is held so that the front direction of the robot hand 120 faces to the left of the reference direction RD, and job B4, which retrieves the workpiece W in a fourth workpiece holding posture in which the front direction of the robot hand 120 faces to the right of the reference direction RD.

[0058] Fig. 10 is a schematic diagram showing how a workpiece is held when a mountain fold is made in the first embodiment. Fig. 11 is a schematic diagram showing the approach posture when a mountain fold is made in the first embodiment. When bending the workpiece W once and making a mountain fold along a bend line BL in the reference direction RD, the provisional program creation unit 232 having the above configuration causes the workpiece supply robot 100 to hold the workpiece W so that the front direction of the robot hand 120 faces the reference direction RD, as shown in Fig. 10. In addition, the provisional program creation unit 232 selects, as the approach selection job 246a from the first selected job group 241, job A1 having a first approach posture in which the workpiece W approaches with its front surface (the surface held by the robot hand 120) facing the lower mold L of the press brake 10, as shown in Fig. 11.

[0059] Fig. 12 is a schematic diagram showing how a workpiece is held when a valley fold is made in the first embodiment. Fig. 13 is a schematic diagram showing an approach posture when a valley fold is made in the first embodiment. Furthermore, when the number of bending operations is one and a valley fold is performed on the bend line BL of the workpiece W in the reference direction RD, the temporary program creation unit 232 causes the workpiece supply robot 100 to hold the workpiece W so that the front direction of the robot hand 120 faces the reference direction RD, as shown in Fig. 12. Also, the temporary program creation unit 232 selects, as the approach selection job 246a from the first selected job group 241, job A2 having a second approach posture in which the workpiece W approaches with its surface (the surface held by the robot hand 120) facing the upper mold U of the press brake 10, as shown in Fig. 13.

[0060] FIG. 14 is a schematic diagram showing the workpiece holding direction when the number of bending times is two in the first embodiment. Furthermore, when the number of bending operations is two or more (for example, two), the provisional program creation unit 232 selects the first workpiece retrieval selection job 246b according to the position of the bending line BL along which the workpiece W is bent in the first bending operation and the position of the bending line BL along which the workpiece W is bent in the second bending operation, i.e., the first and second insertion directions, as shown in Fig. 14. Specifically, the provisional program creation unit 232 is configured to select the workpiece retrieval selection job 246b in which the position (insertion direction) of the bending line BL along which the workpiece W is bent in the second bending operation matches the front direction of the robot hand 120 as the first workpiece retrieval selection job 246b.

[0061] If the position of the bending line BL for bending the workpiece W in the first bending process and the position of the bending line BL for bending the workpiece W in the second bending process are both in the same direction as the reference direction RD, the provisional program creation unit 232 selects job B1 from the second selection job group 242 as the first workpiece recovery selection job 246b, which holds the workpiece W so that the front direction of the robot hand 120 faces the reference direction RD.

[0062] When the first workpiece retrieval selection job 246b is job B1, the edge of the workpiece W on the reference direction RD side is inserted between the upper mold U and the lower mold L of the press brake 10 in the second approach selection job 246a.

[0063] In addition, if the position of the bending line BL for bending the workpiece W in the first bending process is in the same direction as the reference direction RD and the position of the bending line BL for bending the workpiece W in the second bending process is in the opposite direction to the reference direction RD, the provisional program creation unit 232 selects job B2 from the second selection job group 242 as the first workpiece recovery selection job 246b, which holds the workpiece W so that the front direction of the robot hand 120 faces in the opposite direction to the reference direction RD.

[0064] When the first workpiece retrieval selection job 246b is job B2, in the second approach selection job 246a, the workpiece W is inserted between the upper mold U and lower mold L of the press brake 10 with the side opposite to the side on the reference direction RD.

[0065] Furthermore, if the position of the bending line BL for bending the workpiece W in the first bending process is in the same direction as the reference direction RD and the position of the bending line BL for bending the workpiece W in the second bending process is to the left of the reference direction RD, the provisional program creation unit 232 selects job B3 from the second selection job group 242 as the first workpiece recovery selection job 246b, which holds the workpiece W so that the front direction of the robot hand 120 faces to the left of the reference direction RD.

[0066] When the first workpiece retrieval selection job 246b is job B3, in the second approach selection job 246a, the left side of the workpiece W relative to the side on the reference direction RD side is inserted between the upper mold U and lower mold L of the press brake 10.

[0067] Furthermore, if the position of the bending line BL for bending the workpiece W in the first bending process is in the same direction as the reference direction RD and the position of the bending line BL for bending the workpiece W in the second bending process is to the right of the reference direction RD, the provisional program creation unit 232 selects job B4 from the second selection job group 242 as the first workpiece recovery selection job 246b, which holds the workpiece W so that the front direction of the robot hand 120 faces to the right of the reference direction RD.

[0068] When the first workpiece retrieval selection job 246b is job B4, in the second approach selection job 246a, the right side of the workpiece W relative to the side on the reference direction RD side is inserted between the upper mold U and lower mold L of the press brake 10.

[0069] As described above, the provisional program creation unit 232 selects the workpiece collection selection job 246b for which the position of the bending line BL for bending in the second bending operation coincides with the front direction of the robot hand 120 as the first workpiece collection selection job 246b, which has the advantage that when creating the provisional program 244, the user does not need to be aware of the movement of the workpiece supply robot 100 between the first bending operation and the second bending operation.

[0070] Fig. 15A is a schematic diagram showing the first approach posture when repeating two mountain folds in the first embodiment. Fig. 15B is a schematic diagram showing the first workpiece collection posture when repeating two mountain folds in the first embodiment. Furthermore, when the number of bending operations is two or more, the provisional program creation unit 232 selects the second and subsequent approach selection jobs 246a according to the bending direction in the second and subsequent bending operations. Specifically, when two mountain folds are to be performed, the provisional program creation unit 232 first selects job A1 as the first approach selection job 246a, as shown in FIG. 15A, in the same way as when only one mountain fold is performed. Furthermore, as shown in FIG. 15B, in the first workpiece collection selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture.

[0071] Fig. 16A is a schematic diagram showing the second approach posture when repeating two mountain folds in the first embodiment. Fig. 16B is a schematic diagram showing the second workpiece collection posture when repeating two mountain folds in the first embodiment. Then, the provisional program creation unit 232 selects job A1 again as the second approach selection job 246a as shown in Fig. 16A. Furthermore, in the second workpiece collection selection job 246b as shown in Fig. 16B, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture.

[0072] Fig. 17A is a schematic diagram showing the approach posture for the first time when two valley folds are repeated in the first embodiment. Fig. 17B is a schematic diagram showing the work collection posture for the first time when two valley folds are repeated in the first embodiment. Similarly, when repeating a valley fold twice, the provisional program creation unit 232 first selects job A2 as the first approach selection job 246a, as shown in Fig. 17A, in the same way as when performing a valley fold only once. Also, as shown in Fig. 17B, in the first workpiece collection selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture.

[0073] Fig. 18A is a schematic diagram showing the second approach posture when repeating two valley folds in the first embodiment. Fig. 18B is a schematic diagram showing the second workpiece collection posture when repeating two valley folds in the first embodiment. On the other hand, the provisional program creation unit 232 selects job A1 in the second approach selection job 246a as shown in Fig. 18A. Also, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture, in the second workpiece retrieval selection job 246b as shown in Fig. 18B.

[0074] That is, when there are two or more bending times and consecutive mountain folds or consecutive valley folds, the temporary program creation unit 232 is configured to select job A1, which approaches in the first approach posture, for the approach selection job 246a for the second or subsequent consecutive mountain folds or valley folds. This configuration has the advantage of allowing the workpiece supply robot 100 to approach in a stable posture.

[0075] Next, a case where the number of bending times is two or more and mountain folds and valley folds are alternately repeated will be described. For example, when the number of bending times is three and bending is performed repeatedly in the order of mountain fold, valley fold, and mountain fold, the provisional program creation unit 232 first selects job A1 as the first approach selection job 246a as shown in FIG. 15A, similar to the case where only one mountain fold is performed. Furthermore, as shown in FIG. 15B, in the first workpiece retrieval selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture.

[0076] 19A and 19B are schematic diagrams showing the second approach posture when mountain folds and valley folds are repeated in the first embodiment, and the second workpiece collection posture when mountain folds and valley folds are repeated in the first embodiment. Next, the provisional program creation unit 232 selects job A2 as the second approach selection job 246a, as shown in Fig. 19A. Furthermore, in the second workpiece retrieval selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture, as shown in Fig. 19B.

[0077] Fig. 20A is a schematic diagram showing the third approach posture when mountain folds and valley folds are repeated in the first embodiment. Fig. 20B is a schematic diagram showing the third workpiece collection posture when mountain folds and valley folds are repeated in the first embodiment. Then, the provisional program creation unit 232 selects job A2 again as the third workpiece retrieval selection job 246b, as shown in Fig. 20A. Furthermore, in the third workpiece retrieval selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface facing upward, similar to the first approach posture, as shown in Fig. 20B.

[0078] As described above, in the workpiece recovery selection job 246b, the provisional program creation unit 232 is configured to have the robot hand 120 hold the workpiece W with the suction surface facing upward, similar to the first approach posture, regardless of the direction in which the workpiece W is bent.

[0079] As shown in Figure 8, the teaching reflection unit 234 is configured to be able to execute a teaching reception process (S14 in Figure 8) that receives teaching (instruction) of an action from a user, and a teaching reflection process (S15 in Figure 8) that reflects the received teaching information in at least one of the fixed job 245 and the selected job 246.

[0080] The sections of the provisional program 244 that reflect the teaching information of the fixed job 245 and the selected job 246 may have predetermined values ​​input in advance or may be left blank. If predetermined values ​​have been input in the sections that reflect the teaching information of the fixed job 245 and the selected job 246, the teaching reflection unit 234 overwrites the values, and if the sections are left blank, the teaching reflection unit 234 reflects the teaching information in the fixed job 245 and the selected job 246 by inputting new values.

[0081] The storage unit 240 has a storage medium such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various data in a readable and writable manner. As shown in Fig. 7, the storage unit 240 stores a first selected job group 241, a second selected job group 242, a provisional program 244, and a control program creation program 248. Furthermore, the storage unit 240 stores programs necessary for controlling each part of the control device 200.

[0082] The temporary program 244 includes a plurality of jobs corresponding to each operation of the press brake 10 and the workpiece supply robot 100. The plurality of jobs includes a fixed job 245 and a selected job 246. The fixed job 245 is set in common to the plurality of temporary programs 244. The selected job 246 is automatically selected for each temporary program 244 from a selected job group including a plurality of candidate selected jobs 246 based on the user's answer to a question.

[0083] The multiple jobs include a selection job 246 related to the insertion of the workpiece W into the press brake 10. In the first embodiment, the selection job 246 related to the insertion of the workpiece W into the press brake 10 is an approach selection job 246a that causes the workpiece supply robot 100 to insert the workpiece W into the press brake 10 in a predetermined approach posture. As the approach selection job 246a, job A1 or job A2 is selected from the first selection job group 241 for each provisional program 244. Furthermore, if the provisional program 244 includes multiple approach selection jobs 246a, job A1 or job A2 is selected for each approach selection job 246a.

[0084] The plurality of jobs also includes a selection job 246 related to holding the workpiece W after bending by the press brake 10. In the first embodiment, the selection job 246 related to holding the workpiece W after bending by the press brake 10 is a workpiece collection selection job 246b that causes the robot hand 120 to hold the workpiece W in a predetermined orientation after bending is completed. As the workpiece collection selection job 246b, one of jobs B1 to B4 is selected from the second selection job group 242 for each provisional program 244. Furthermore, if the provisional program 244 includes multiple workpiece collection selection jobs 246b, one of jobs B1 to B4 is selected for each workpiece collection selection job 246b.

[0085] That is, the provisional program 244 in the first embodiment includes at least one approach selection job 246a and one workpiece collection selection job 246b.

[0086] FIG. 24 is a diagram showing a provisional program in the first embodiment when the number of bending times is two. In the first embodiment, the provisional program 244 includes a loading job 244a, an approach job 244b, a workpiece collection job 244c, and an unloading job 244d, as shown in Fig. 23. Furthermore, if the number of bending times of the workpiece W is two or more, the provisional program 244 includes approach jobs 244b and workpiece collection jobs 244c equal to the number of bending times, and the approach jobs 244b and the workpiece collection jobs 244c are executed alternately. For example, if the number of bending times is two, the provisional program 244 includes two approach jobs 244b and two workpiece collection jobs 244c, as shown in Fig. 24.

[0087] 23, the loading job 244a has a loading fixed job 245a. The loading fixed job 245a is a fixed job 245 of the workpiece supply robot 100. In the loading fixed job 245a, the workpiece supply robot 100 holds (picks up) the workpiece W loaded on the loading cart 400 or the like with the suction portion 130 of the robot hand 120 in a 90-degree posture, and moves to an approach preparation posture.

[0088] The approach job 244b includes an approach fixed job 245b, an approach selection job 246a, a gauging job 245c, and a first press job 245d. The approach fixed job 245b is a fixed job 245 for the workpiece supply robot 100. In the approach fixed job 245b, the workpiece supply robot 100 changes the suction portion 130 of the robot hand 120 to a 45-degree posture while remaining in the approach preparation posture.

[0089] In the approach selection job 246a, the work supply robot 100 inserts the work W between the upper mold U and the lower mold L of the press brake 10 in the first approach posture or the second approach posture as described above, and then positions the work W in the vertical direction.

[0090] The gauging job 245c is a fixed job 245 for the press brake 10 and the work supply robot 100. In the gauging job 245c, the work supply robot 100 abuts the work W against the back gauge of the press brake 10 and positions the work W in the depth direction. After positioning is complete, the press brake 10 lowers the upper table 11 to a position where the work W is sandwiched between the upper mold U and the lower mold L. Thereafter, the press brake 10 retracts the back gauge, and the work supply robot 100 releases the hold (suction) on the work W, retracts from the press brake 10, and waits at a predetermined position.

[0091] The first press job 245d is a fixed job 245 of the press brake 10. In the first press job 245d, the press brake 10 bends the workpiece W by lowering the upper table 11 to the lower end.

[0092] The workpiece collection job 244c includes a fixed workpiece collection job 245e, a workpiece collection selection job 246b, and a second press job 245f. The fixed workpiece collection job 245e is a fixed job 245 for the workpiece supply robot 100. In the fixed workpiece collection job 245e, the workpiece supply robot 100 changes the suction portion 130 of the robot hand 120 to a 90-degree posture while waiting at a predetermined position.

[0093] In the workpiece recovery selection job 246b, as described above, the workpiece supply robot 100 holds (sucks) and recovers the workpiece W whose bending has been completed in one of the first to fourth workpiece holding postures so that the front direction of the robot hand 120 coincides with the direction of the bending line BL of the next bending of the workpiece W.

[0094] If the workpiece W is bent once, job B1 is selected as the workpiece collection selection job 246b, and the workpiece supply robot 100 holds the workpiece W in the first workpiece holding posture.

[0095] The second press job 245f is a fixed job 245 of the press brake 10. In the second press job 245f, the press brake 10 raises the upper table 11 to the upper end.

[0096] The unloading job 244d includes an unloading fixed job 245g. The unloading fixed job 245g is a fixed job 245 of the workpiece supply robot 100. In the unloading fixed job 245g, the workpiece supply robot 100 transports the held workpiece W to a predetermined location such as an unloading box, and then releases the holding (suction) of the workpiece W.

[0097] The control program creation program 248 is configured to cause the control device 200 to execute a provisional program creation process (S13 in Figure 8) that creates a provisional program 244 that controls the press brake 10 and the work supply robot 100 that supplies the work W to the press brake 10.

[0098] [Control program creation method according to the first embodiment] FIG. 25 is a flowchart showing a series of processes executed by the control device of the first embodiment. Next, a control program creation method for the control device 200 according to the first embodiment will be described with reference to Fig. 25. The control program creation method for the control device 200 according to the first embodiment generally includes a temporary program creation step of creating a temporary program 244 that controls the press brake 10 and the workpiece supply robot 100 that supplies the workpiece W to the press brake 10.

[0099] First, the temporary program creation unit 232 of the control unit 230 of the control device 200 displays a question screen on the display unit 220 and asks questions to the user (S100 in FIG. 25: question process). The questions asked by the temporary program creation unit 232 include questions about the number of bends in the workpiece W, questions about the bending direction in which the workpiece W will be bent, and questions about the insertion direction in which the workpiece W will be inserted into the press brake 10. The user answers the questions via the input unit 210 of the control device 200 (S200 in FIG. 25).

[0100] Next, the provisional program creation unit 232 of the control unit 230 of the control device 200 receives the answer input by the user (S101 in FIG. 25: answer receiving step). After that, the provisional program creation unit 232 selects a selected job 246 from a selected job group including multiple selected jobs 246 as candidates based on the received answer (S102 in FIG. 25: selection step).

[0101] Specifically, the provisional program creation unit 232 of the control unit 230 of the control device 200 selects an approach selection job 246a from the first selection job group 241 based on the answer to the question about the bending direction (S103 in FIG. 25: approach selection job selection step). Also, the provisional program creation unit 232 selects a workpiece collection selection job 246b from the second selection job group 242 based on the answer to the question about the insertion orientation (S104 in FIG. 25: workpiece collection selection job selection step).

[0102] Then, the provisional program creation unit 232 of the control unit 230 of the control device 200 creates a provisional program 244 including the fixed job 245 and the selected job 246 selected in the selection step (S105 in FIG. 25: provisional program creation step). Through the above steps, the provisional program 244 according to the first embodiment is created.

[0103] After the creation of the provisional program 244 is completed, the created provisional program 244 is executed to perform a trial run of the bending system 1 and teaching is performed (S201 in FIG. 25: teaching step), thereby completing a control program to be used for automatic operation of the bending system 1. The trial run may be a series of processes of the provisional program 244, or each process may be executed in order by manual feeding.

[0104] Specifically, the user inputs teaching information such as coordinate data for the fixed job 245 and selected job 246 of the workpiece supply robot 100 via the input unit 210 of the control device 200, or by using a device other than the control device 200, such as a teaching pendant terminal. The user may also input teaching information by manually operating the workpiece supply robot 100 via the control device 200 or a teaching pendant terminal, or may input teaching information by direct teaching, in which teaching is performed by manually directly moving the arm unit 140 of the workpiece supply robot 100, etc.

[0105] The teaching reflection unit 234 of the control unit 230 of the control device 200 receives teaching of the operation of the workpiece supply robot 100 from the user (S106 in FIG. 25: teaching reception step). Then, the teaching reflection unit 234 reflects the received teaching information in the fixed job 245 and selected job 246 of the workpiece supply robot 100 that requires teaching (S107 in FIG. 25: teaching reflection step). Through the above steps, a series of control program creation methods by the control device 200 according to the first embodiment are executed.

[0106] [Advantages of the control device, bending system, control program creation method, and control program creation program according to the first embodiment] As described above, the control device 200 according to the first embodiment is configured to be able to create a provisional program 244 for controlling a bending machine (press brake 10 in the first embodiment) and a work supply robot 100 that supplies work W to the bending machine (press brake 10), and the provisional program 244 includes a plurality of jobs corresponding to each operation of the bending machine (press brake 10) and the work supply robot 100, and the plurality of jobs include fixed jobs 245 and selected jobs 246, and the fixed jobs 245 are set in common to the plurality of provisional programs 244, and the selected jobs 246 are automatically selected for each provisional program 244 from a selected job group that includes a plurality of candidate selected jobs 246, based on the user's answers to questions.

[0107] The control device 200 according to the first embodiment has such a configuration, so that the control device 200 automatically selects a selected job 246 from a group of selected jobs based on the user's answers to several questions and creates a provisional program 244. This eliminates the need for the user to input various information to create the provisional program 244, thereby reducing the burden on the user.

[0108] Another advantage is that the user does not need to have any skills because the provisional program 244 can be created simply by answering simple questions. Furthermore, since the time and effort required to input various pieces of information is eliminated, the provisional program 244 can be created in a short time from the start of work, which is advantageous in that work efficiency can be improved.

[0109] Furthermore, in the control device 200 according to the first embodiment, the multiple jobs include a selected job 246 related to the insertion of the workpiece W into the bending machine (press brake 10). By providing such a configuration, the selected job 246 related to the insertion of the workpiece W can be automatically selected based on the answer to the question to create the temporary program 244, which has the advantage of reducing the burden on the user.

[0110] Furthermore, in the control device 200 according to the first embodiment, the multiple jobs include a selected job 246 related to holding the workpiece W after bending by the bending machine (press brake 10). With this configuration, the selected job 246 related to holding the workpiece W can be automatically selected based on the answer to the question to create the temporary program 244, which has the advantage of reducing the burden on the user.

[0111] Furthermore, the control device 200 according to the first embodiment is configured to be able to execute a questioning process for asking a user a question, an answer receiving process for receiving the user's answer, a selection process for selecting a selected job 246 from a selected job group based on the answer, and a provisional program creation process for creating a provisional program 244 including a fixed job 245 and the selected selected job 246. Having such a configuration has the advantage of being able to reduce the burden on the user.

[0112] Furthermore, in the control device 200 according to the first embodiment, the questions include a question about the number of bends in the workpiece W and a question about the bending direction in which the workpiece W will be bent, and the question processing asks a question about the bending direction in response to the answer to the question about the number of bends. This configuration has the advantage of reducing the burden on the user, since the provisional program 244 can be created by answering questions about the number of bends and the bending direction.

[0113] Furthermore, in the control device 200 according to the first embodiment, the questions include a question about the insertion direction for inserting the workpiece W into the bending machine (press brake 10), and the question processing asks a question about the insertion direction in response to the answer to the question about the number of bends. This configuration has the advantage of reducing the burden on the user because the temporary program 244 can be created by answering questions about the insertion direction.

[0114] Furthermore, the control device 200 according to the first embodiment is configured to execute a teaching reception process that receives user-initiated teaching of operations and a teaching reflection process that reflects the received teaching information in at least one of the fixed job 245 and the selected job 246. This configuration allows the created temporary program 244 to be adjusted by teaching. Therefore, if a fully automatically created control program is executed and automatically operated, deviations may occur during bending. However, by using a control program created by automatically reflecting the teaching information in the temporary program 244, deviations are less likely to occur during automatically operated bending, thereby improving processing accuracy. Furthermore, reflecting the teaching information based on the temporary program 244 has the advantage that a control program can be created and automatic operation can be started in a shorter time than with so-called full teaching, which involves teaching the workpiece supply robot 100 from scratch.

[0115] [Configuration of the control unit of the control device according to the second embodiment] The configuration of the control unit 230 of the control device 200 of the bending system 1 according to the second embodiment will be described. Note that descriptions of configurations that overlap with those of the first embodiment will be omitted as appropriate. As with the control unit 230 of the first embodiment, the control unit 230 of the control device 200 includes a temporary program creation unit 232 and a teaching reflection unit 234, as shown in FIG. 7, and is configured to be able to create a temporary program 244 that controls the press brake 10 and the workpiece supply robot 100.

[0116] The provisional program 244 includes a plurality of jobs corresponding to each operation of the press brake 10 and the workpiece supply robot 100. The plurality of jobs include fixed jobs 245 and selected jobs 246. The fixed jobs 245 are set in common to the plurality of provisional programs 244. The selected jobs 246 are automatically selected for each provisional program 244 from a selected job group including a plurality of selected jobs 246 that are candidates by the provisional program creation unit 232, based on shape data that indicates the shape of a product to be manufactured by machining the workpiece W.

[0117] In the second embodiment, the shape data is, for example, 3D data of the product, a development view of the product, a six-sided view of the product, or the like.

[0118] FIG. 26 is a flowchart showing a series of processes executed by a control device according to the second embodiment of the present invention. As shown in FIG. 26, the provisional program creation unit 232 is configured to be able to execute a bending process identification process (S50 in FIG. 26) that identifies bending information related to the bending process of the workpiece W from the shape data, a selection process (S51 in FIG. 26) that selects a selected job 246 from a selected job group based on the identified bending information, and a provisional program creation process (S52 in FIG. 26) that creates a provisional program 244 that includes a fixed job 245 and the selected selected job 246.

[0119] The bending information includes information regarding the number of bends of the workpiece W and information regarding the bending direction of bending the workpiece W. The information regarding the number of bends of the workpiece W is, for example, the number of corners and the number of bend lines BL included in the product. The provisional program creation unit 232 identifies, for example, the number of corners and the number of bend lines BL of the product from the 3D data of the product as information regarding the number of bends, and calculates the number of times the workpiece W is to be bent.

[0120] The information regarding the bending direction for bending the workpiece W is, for example, a combination of the cross-sectional shape of the 3D data of the product, a development view of the product including the positions of the bend lines BL, and the bending order. The provisional program creation unit 232 identifies the bending direction and bending order of the workpiece W as information regarding the bending direction from, for example, a combination of the cross-sectional shape of the 3D data of the product, a development view of the product including the positions of the bend lines BL, and the bending order, and determines whether to bend the workpiece W in a direction such that the back surfaces of the workpiece W face each other (a mountain fold in the second embodiment) or whether to bend the workpiece W in a direction such that the front surfaces of the workpiece W face each other (a valley fold in the second embodiment).

[0121] The bending information also includes information about the insertion direction in which the workpiece W is inserted into the press brake 10. The information about the insertion direction is, for example, the positions of corners included in the product and the positions of bend lines BL on the surface of the workpiece W held by the workpiece supply robot 100. The provisional program creation unit 232 identifies, for example, the positions of corners of the product and the positions of bend lines BL on the surface of the workpiece W held by the workpiece supply robot 100 from the 3D data of the product or a development view of the product as information about the insertion direction, and determines which side of the workpiece W to bend.

[0122] In the selection process, the provisional program creation unit 232 performs the same process as the selection process (S12 in FIG. 8) according to the first embodiment. Also, in the provisional program creation process, the provisional program creation unit 232 performs the same process as the selection process (S13 in FIG. 8) according to the first embodiment.

[0123] As shown in Fig. 26, the teaching reflection unit 234 is configured to be able to execute a teaching reception process (S53 in Fig. 26) for receiving teaching (instruction) of an action from a user, and a teaching reflection process (S54 in Fig. 26) for reflecting the received teaching information in at least one of the fixed job 245 and the selected job 246. In the teaching reception process, the teaching reflection unit 234 performs the same process as the teaching reception process (S14 in Fig. 8) according to the first embodiment. In addition, in the teaching reflection process, the teaching reflection unit 234 performs the same process as the teaching reflection process (S15 in Fig. 8) according to the first embodiment.

[0124] [Advantages of the control device, bending system, control program creation method, and control program creation program according to the second embodiment] As described above, the control device 200 according to the second embodiment, like the first embodiment, is configured to be able to create a provisional program 244 for controlling a bending machine (press brake 10 in the second embodiment) and a work supply robot 100 that supplies work W to the bending machine (press brake 10), and the provisional program 244 includes a plurality of jobs corresponding to each operation of the bending machine (press brake 10) and the work supply robot 100, and the plurality of jobs include a fixed job 245 and a selected job 246, and the fixed job 245 is set in common to the plurality of provisional programs 244, and the selected job 246 is automatically selected for each provisional program 244 from a selected job group including a plurality of candidate selected jobs 246 based on shape data indicating the shape of the product to be manufactured by processing the work W.

[0125] Furthermore, by having such a configuration, the control device 200 according to the second embodiment automatically selects a selected job 246 from a group of selected jobs based on shape data to create a provisional program 244, which has the advantage that the user does not need to input various information to create the provisional program 244, thereby reducing the burden on the user.

[0126] Furthermore, as in the first embodiment, the control device 200 of the second embodiment has multiple jobs including a selection job 246 related to the insertion of the workpiece W into the bending machine (press brake 10), and therefore can automatically select the selection job 246 related to the insertion of the workpiece W based on the shape data to create a provisional program 244, thereby having the advantage of reducing the burden on the user.

[0127] Furthermore, as in the first embodiment, the control device 200 of the second embodiment has the advantage of being able to reduce the burden on the user because the multiple jobs include a selection job 246 related to holding the workpiece W after bending by the bending machine (press brake 10), and therefore the selection job 246 related to holding the workpiece W can be automatically selected based on the shape data to create a provisional program 244.

[0128] Furthermore, the control device 200 according to the second embodiment is configured to be able to execute a bending process identification process that identifies bending information related to the bending process of the workpiece W from the shape data, a selection process that selects a selected job 246 from a selected job group based on the identified bending information, and a provisional program creation process that creates a provisional program 244 that includes a fixed job 245 and the selected selected job 246. This configuration has the advantage that the control device 200 identifies bending information from the shape data, selects the selected job 246, and automatically creates the provisional program 244, thereby reducing the burden on the user.

[0129] Furthermore, in the control device 200 according to the second embodiment, the bending information includes information regarding the number of bends of the workpiece W and information regarding the bending direction of bending the workpiece W. With this configuration, the control device 200 can create the provisional program 244 by identifying the information regarding the number of bends and the information regarding the bending direction, which has the advantage of reducing the burden on the user.

[0130] Furthermore, the control device 200 according to the second embodiment, like the first embodiment, is configured to be able to execute teaching reception processing and teaching reflection processing, which has the advantage of reducing deviations during automatic bending and improving processing accuracy. Also, by reflecting teaching information based on the provisional program 244, it has the advantage of being able to create a control program and start automatic operation in a shorter time than with full teaching.

[0131] [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.

[0132] For example, in the first and second embodiments described above, the multiple jobs are described as including a selection job 246 related to inserting the workpiece W into the bending machine (press brake 10 in the first and second embodiments), but this is not limited to this, and the multiple jobs do not have to include a selection job 246 related to inserting the workpiece W into the bending machine (press brake 10).

[0133] In the first and second embodiments described above, the multiple jobs are described as including a selection job 246 related to holding the workpiece W after bending by the bending machine (press brake 10), but this is not limited to this, and the multiple jobs do not have to include a selection job 246 related to holding the workpiece W after bending by the bending machine (press brake 10).

[0134] In the first embodiment described above, the control device 200 has been described as being configured to be able to execute a questioning process for asking a user a question, an answer receiving process for receiving the user's answer, a selection process for selecting a selected job 246 from a selected job group based on the answer, and a provisional program creation process for creating a provisional program 244 including a fixed job 245 and the selected selected job 246. However, the control device 200 is not limited to this. The control device 200 does not necessarily have to be able to execute the questioning process and the answer receiving process.

[0135] In the first embodiment described above, the questions include a question regarding the number of bends in the workpiece W and a question regarding the bending direction in which the workpiece W is bent, and the questioning process is described as asking a question regarding the bending direction in response to the answer to the question regarding the number of bends, but this is not limited to this. The questions do not have to include a question regarding the number of bends and a question regarding the bending direction. Furthermore, the questioning process does not have to ask a question regarding the bending direction in response to the answer to the question regarding the number of bends.

[0136] In the first embodiment described above, the questions include a question about the insertion direction for inserting the workpiece W into the bending machine (press brake 10), and the question processing is described as asking a question about the insertion direction depending on the answer to the question about the number of bends, but this is not limited to this. The questions do not have to include a question about the insertion direction. Furthermore, the question processing does not have to ask a question about the insertion direction depending on the answer to the question about the number of bends.

[0137] In the second embodiment described above, the control device 200 has been described as being configured to be able to execute a bending process identification process that identifies bending information related to the bending process of the workpiece W from the shape data, a selection process that selects a selected job 246 from a selected job group based on the identified bending information, and a provisional program creation process that creates a provisional program 244 that includes a fixed job 245 and the selected selected job 246. However, the control device 200 does not have to be able to execute the bending process identification process.

[0138] In the second embodiment described above, the bending information is described as including information regarding the number of bends of the workpiece W and information regarding the bending direction of bending the workpiece W, but is not limited to this. The bending information does not have to include information regarding the number of bends and information regarding the bending direction.

[0139] In the first and second embodiments described above, the control device 200 has been described as being configured to be able to execute a teaching reception process for receiving teaching of an action from a user and a teaching reflection process for reflecting information on the received teaching in at least one of the fixed job 245 and the selected job 246, but is not limited to this. The control device 200 does not necessarily have to be able to execute the teaching reception process and the teaching reflection process.

[0140] In the first embodiment described above, the control device 200 has been described as including the display unit 220 functioning as a question unit that presents questions to the user, and the input unit 210 that can answer the questions, but is not limited to this. The control device 200 may not include the input unit 210 and the display unit 220, but may instead include an audio output unit that functions as a question unit that presents questions to the user, and an audio input unit that can input answers to questions by voice.

[0141] In the first embodiment described above, the question is described as a direct question, but the present invention is not limited to this, and the question may be an indirect question or an abstract question instead of a direct question. Also, the answer to the question may be a prompt.

[0142] In the first and second embodiments described above, the provisional program 244 has been described as including a loading job 244a, an approach job 244b, a work recovery job 244c, and an unloading job 244d, but is not limited to this, and the provisional program 244 can include any of a variety of jobs.

[0143] In the first and second embodiments described above, the provisional program 244 is described as not including the selected job 246 of the bending machine (press brake 10), but this is not limited to this, and the provisional program 244 may include the selected job 246 of the bending machine (press brake 10).

[0144] In the above-described first and second embodiments, the loading job 244a of the provisional program 244 is described as not including the selected job 246 of the workpiece supply robot 100, but this is not limiting, and the loading job 244a may include the selected job 246 of the workpiece supply robot 100. Similarly, in the above-described first and second embodiments, the unloading job 244d of the provisional program 244 is described as not including the selected job 246 of the workpiece supply robot 100, but this is not limiting, and the unloading job 244d may include the selected job 246 of the workpiece supply robot 100. [Explanation of symbols]

[0145] 1 Bending system 10 Press brake 11 Upper table 12 Lower table 14 Upper die holder 15 Lower die holder 100 Work supply robot 120 Robot Hand 130 Adsorption part 140 Arm 200 control device 210 Input section 220 Display section 230 Control Unit 232 Provisional Programming Department 234 Teaching Reflection Section 240 Storage section 241 First Selection Job Group 242 Second Selection Job Group 244 Provisional Program 244a Loading Job 244b Approach Job 244c Work Recovery Job 244d Unloading Job 245 fixed jobs 245a Loading Fixed Job 245b Approach Fixed Job 245c Gauging Job 245d 1st Press Job 245e Work collection fixed job 245f 2nd Press Job 245g Unloading Fixed Job 246 Selected Jobs 246a Approach Selection Job 246b Work collection selection job 248 Control Program Creation Program 300 Robot carrier 400 Loading Cart BL: Bending line L: Lower mold RD: Reference direction U: Upper mold W: Work

Claims

1. The bending machine is configured to be able to create a temporary program for controlling a workpiece supply robot that supplies a workpiece to the bending machine, the temporary program includes a plurality of jobs corresponding to the respective operations of the bending machine and the workpiece supply robot, the plurality of jobs include fixed jobs and selected jobs, the fixed job is set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from a selected job group including a plurality of candidate selected jobs based on at least one of a user's answer to a question and shape data indicating the shape of a product to be manufactured by machining the workpiece. Control device.

2. The plurality of jobs includes the selected job related to inserting the workpiece into the bending machine. The control device according to claim 1 .

3. The plurality of jobs includes the selected job related to holding the workpiece after bending by the bending machine. The control device according to claim 2 .

4. a questioning process for asking the user the question; an answer acceptance process for accepting the answer from the user; a selection process for selecting the selected job from the selected job group based on the response; a provisional program creation process for creating the provisional program including the fixed job and the selected job; is configured to run The control device according to claim 3 .

5. The questions include a question about the number of bends of the workpiece and a question about the bending direction of the workpiece, The questioning process asks a question about the bending direction in response to the answer to the question about the number of bends. The control device according to claim 4.

6. the questions include a question about an insertion direction of the workpiece into the bending machine; The questioning process asks a question about the insertion direction in response to the answer to the question about the number of bends. The control device according to claim 5 .

7. a bending process identification process for identifying bending information related to a bending process of the workpiece from the shape data; a selection process for selecting the selected job from the selected job group based on the specified bending information; a provisional program creation process for creating the provisional program including the fixed job and the selected job; is configured to run The control device according to claim 3 .

8. The bending information includes information regarding the number of bends of the workpiece and information regarding the bending direction of the workpiece. The control device according to claim 7.

9. a teaching acceptance process for accepting teaching of the movement by the user; a teaching reflection process for reflecting the received teaching information in at least one of the fixed job and the selected job; is configured to run The control device according to any one of claims 1 to 8.

10. A bending machine, a workpiece supply robot that supplies a workpiece to the bending machine; a control device that controls the bending machine and the workpiece supply robot; Equipped with the control device is configured to be able to create a temporary program for controlling the bending machine and the workpiece supply robot, the temporary program includes a plurality of jobs corresponding to the respective operations of the bending machine and the workpiece supply robot, the plurality of jobs include fixed jobs and selected jobs, the fixed job is set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from a group of selected jobs including a plurality of candidate selected jobs based on at least one of a user's response to a question and shape data indicating the shape of a product to be manufactured by machining the workpiece. Bending system.

11. a temporary program creating step of creating a temporary program for controlling a bending machine and a work supply robot that supplies a work to the bending machine; the temporary program includes a plurality of jobs corresponding to the respective operations of the bending machine and the workpiece supply robot, the plurality of jobs include fixed jobs and selected jobs, the fixed job is set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from a selected job group including a plurality of candidate selected jobs based on at least one of a user's answer to a question and shape data indicating the shape of a product to be manufactured by machining the workpiece. How to create a control program.

12. The control device is configured to execute a temporary program creation process for creating a temporary program for controlling a bending machine and a work supply robot that supplies a work to the bending machine, the temporary program includes a plurality of jobs corresponding to the respective operations of the bending machine and the workpiece supply robot, the plurality of jobs include fixed jobs and selected jobs, the fixed job is set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from a selected job group including a plurality of candidate selected jobs based on at least one of a user's answer to a question and shape data indicating the shape of a product to be manufactured by machining the workpiece. Control program creation program.

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