Press brake system

Abstract

This press brake system provides a simpler way to achieve automated bending without the need for teaching. [Solution] A press brake system S according to one aspect of the present invention is a press brake system comprising a press brake device 1, a hand robot device 2 for installing a workpiece W on the press brake device, and an information processing device 3 connected to the press brake device, wherein the information processing device includes a recording medium on which a trajectory calculation program is recorded that causes a computer to perform the steps of reading workpiece bending sequence data including a plurality of press process data, a hand installation step for determining hand installation position data for each of the press process data, and recording hand trajectory data connecting the hand installation position data in each of the press process data.

Description

Technical Field

[0001] The present invention relates to a press brake system.

Background Art

[0002] Generally, a press brake device includes an upper die (punch die) and a lower die (die) that receives it. A workpiece to be bent is placed between them, and the punch die and the die sandwich it with a strong force to perform bending on the workpiece.

[0003] By the way, with the recent increase in user needs and the high functionality of products, the diversification of this bending process has become remarkable, and it has become necessary to prepare a plurality of types of punch dies and dies used for this.

[0004] On the other hand, as described above, inserting the workpiece between the upper die and the lower die is often done by hand, but in recent years, the workpiece may be inserted using a machine, for example, a hand robot device. Using a hand robot device has the advantage of significantly reducing the risk of procedural errors and accidents in the above complex processes.

[0005] As a technique for performing bending on a workpiece using a hand robot device, for example, it is described in Patent Document 1 below.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, when attempting to perform bending using a hand robot, a process known as "teaching" is required. Teaching involves recording all the coordinates of the hand robot at each moment. This process is not only very time-consuming but also requires skilled techniques, which ultimately impacts manufacturing costs.

[0008] Therefore, in view of the above problems, the present invention aims to provide a press brake system that can achieve automatic bending more easily without the need for teaching. [Means for solving the problem]

[0009] A press brake system according to one aspect of the present invention that solves the above problems comprises a press brake device, a hand robot device for installing a workpiece on the press brake device, and an information processing device connected to the press brake device, wherein the information processing device includes a recording medium on which a trajectory calculation program is recorded that causes a computer to perform the steps of: reading workpiece bending sequence data including a plurality of press process data; a hand installation step for determining hand installation position data for each of the press process data; and recording hand trajectory data connecting the hand installation position data for each of the press process data.

[0010] Furthermore, from this perspective, although not limited thereto, the step of recording hand trajectory data that connects the hand placement position data in each of the press process data, which is performed by a trajectory calculation program recorded on the recording medium of the information processing device and equipped with a workpiece changing device, preferably records workpiece changing operation data when the hand placement position data in the preceding press process data and the hand placement position data in the following press process data cannot be changed as they are.

[0011] Furthermore, although not limited to this viewpoint, it is preferable that the recording medium of the information processing device also records a bending sequence calculation program that causes the computer to perform the following steps: recording multiple upper die data; recording multiple lower die data; recording initial workpiece shape data; recording final workpiece shape data; and recording workpiece bending sequence data including multiple press process data based on the upper die data, lower die data, initial workpiece shape data, and final workpiece shape data.

[0012] Furthermore, although not limited to this perspective, it is preferable that the trajectory calculation program also performs a step of recording robot hand specification data.

[0013] Furthermore, although not limited to this viewpoint, it is preferable that the recording medium of the information processing device contains a control program for controlling the drive unit of the press brake. [Effects of the Invention]

[0014] In summary, the present invention provides a press brake system that enables automatic bending more easily without the need for teaching. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows a schematic overview of the press brake system according to the embodiment. [Figure 2] This diagram shows a schematic view of the press brake device according to the embodiment, as seen from a diagonal front angle. [Figure 3] This diagram shows a schematic view of the press brake device according to the embodiment, as seen from a diagonal rearward angle. [Figure 4] This figure shows a schematic cross-section of a press brake device according to an embodiment. [Figure 5] This figure shows a schematic diagram of the specific structure of the rack in the press brake device according to the embodiment. [Figure 6]It is a diagram showing the schematic of the arrangement relationship of the rack in the press brake device according to the embodiment. [Figure 7] It is a diagram showing the schematic of the operation of mounting / dismounting the rack in the press brake device according to the embodiment. [Figure 8] It is a diagram showing the relationship between the rack and the upper die gripping mechanism of the transfer unit in the press brake device according to the embodiment. [Figure 9] It is a diagram showing a specific example of the upper die in the press brake device according to the embodiment. [Figure 10] It is a diagram showing the schematic of the specific process of bending the workpiece by the upper die and the lower die in the press brake device according to the embodiment. [Figure 11] It is a diagram showing an example of the gripping protrusion of the upper die in the press brake device according to the embodiment. [Figure 12] It is a diagram showing the schematic of the ram drive unit in the press brake device according to the embodiment. [Figure 13] It is a diagram showing the schematic of the upper die fixing mechanism for the ram in the press brake device according to the embodiment. [Figure 14] It is a diagram showing the schematic of the transfer unit in the press brake device according to the embodiment. [Figure 15] It is a diagram showing the schematic of the upper die gripping mechanism for the transfer unit in the press brake device according to the embodiment. [Figure 16] It is a diagram showing the schematic of the operation of the transfer unit in the press brake device according to the embodiment. [Figure 17] It is a diagram showing the schematic of the back gauge in the press brake device according to the embodiment. [Figure 18] It is a diagram showing the schematic of the back gauge moving unit in the press brake device according to the embodiment. [Figure 19] It is a diagram showing a specific example of the lower die in the press brake device according to the embodiment. [Figure 20]This figure shows a specific example of the lower mold according to the embodiment. [Figure 21] This figure shows a schematic of the lower mold gripping mechanism according to the embodiment. [Figure 22] This figure shows a schematic of one step of the bending method according to the embodiment. [Figure 23] This figure shows a schematic of one step of the bending method according to the embodiment. [Figure 24] This figure shows a schematic representation of the hand robot device according to the embodiment. [Figure 25] This figure shows an example of a holding part in a hand according to the embodiment. [Figure 26] This figure shows a schematic of a workpiece changing device according to an embodiment of this invention. [Figure 27] This figure shows a schematic diagram of a workpiece supply device according to an embodiment. [Figure 28] This is an illustrative diagram of the final workpiece shape in the pressing process according to the embodiment. [Figure 29] This is an illustrative diagram showing the change in the shape of the workpiece during the pressing process according to the embodiment. [Figure 30] This is an illustrative diagram showing the change in the hand placement position during the pressing process according to the embodiment. [Figure 31] This is an illustrative diagram of the hand trajectory data recorded by the pressing process according to the embodiment. [Figure 32] This is an illustrative diagram of a press process in which it is necessary to change the workpiece according to the embodiment. [Figure 33] This is an illustrative diagram showing how a workpiece is changed using the workpiece changing device according to the embodiment. [Modes for carrying out the invention]

[0016] Embodiments of the present invention will be described in detail below with reference to the drawings. However, the present invention can be implemented in many different forms and is not limited to the specific midnight times described in the embodiments below.

[0017] Figure 1 is a schematic diagram of the press brake system according to this embodiment (hereinafter referred to as "this system"). As shown in this figure, this system S comprises a press brake device 1, a hand robot device 2 for installing a workpiece W on the press brake device 1, and an information processing device 3 connected to the press brake device 1 and the hand robot device 2. In this system, by connecting the press brake device 1 and the hand robot device 2 to the information processing device 3, it is possible to control both and achieve the objectives of the present invention described above. Further details will be revealed in the following description.

[0018] Furthermore, although not always used, it is preferable to include a workpiece changing device 4 in this system S. The effects of this will be described in more detail later, but depending on the shape of the workpiece bent by the upper and lower molds (hereinafter collectively referred to as "molds"), there may be cases where the hand robot device 2 cannot insert the workpiece into the space between the molds. In such cases, by including a workpiece changing device 4, it becomes possible to change the workpiece and make it insertable.

[0019] Furthermore, it is preferable that this system S also includes a work supply device 5 for supplying workpieces W. By providing the work supply device 5, the initial installation position for supplying workpieces W to the hand robot device 2 can be reliably determined.

[0020] First, the press brake device 1 in this system S (hereinafter referred to as "this press brake device") is a device for bending the workpiece W. Figure 2 is a schematic diagram showing this press brake device 1 when viewed from the front at an angle, Figure 3 is a schematic diagram showing this press brake device 1 when viewed from the rear at an angle, and Figure 4 is a schematic cross-sectional diagram for explaining the inside of this press brake device 1.

[0021] As shown in these figures, the press brake device 1 comprises a pair of side frames 12, a plurality of racks 13 fixed to the side frames 12 on which the upper die PD can be placed, a ram 14 that has an upper die fixing mechanism 141 for the ram to fix the upper die PD and is movable up and down, a transport unit 15 that has an upper die gripping mechanism 151 for the transport unit to grip the upper die PD and transports the upper die gripping mechanism 151 for the transport unit between the racks 13 and the ram 14, a back gauge 16 for positioning the workpiece W, and a back gauge moving unit 17 that moves the back gauge 16 independently of the plurality of racks 13.

[0022] This press brake device 1 can provide a press brake device and bending method that can shorten the time required for die changes and contribute to improved productivity. The operation of this press brake device 1 and its effects will be clear from the following description. This press brake device 1 can use the area between the side frames 12 as the processing area; that is, by increasing the distance between the side frames 12, a larger workpiece W can be processed. Here, "up and down" means the direction perpendicular to the installation surface G on which this press brake device 1 is installed, specifically the direction along the vertical direction, with "up" meaning the direction away from the installation surface G and "down" meaning the direction towards the installation surface.

[0023] First, as described above, the press brake device 1 has a pair of side frames 12. The side frames 12 are the skeletal members of the press brake device 1 and, literally, function as support members for the various components described below, acting as the side frame members of the press brake device 1.

[0024] Furthermore, it is preferable that the press brake device 1 includes not only a pair of side frames 12, but also connecting members 121 for connecting these side frames 12. This makes it possible to reliably maintain the distance between the side frames 12. In addition to the side frames 12, the press brake device 1 may also be configured to include cover members 122 that cover at least a portion of the top, bottom, front, and back surfaces. This separates the space that houses each component of the press brake device 1, ensuring safety and protecting each component.

[0025] Furthermore, as described above, the press brake device 1 has a rack 13. The rack 13 is fixed to the side frame 12 and is capable of supporting the upper die PD. Figure 5 shows an example of the specific structure of the rack 3. The racks 3 are positioned opposite each other at the same height from the mounting surfaces G of the side frames 2. This is because the upper die PD has a horizontally elongated shape that extends to the left and right, and therefore needs to be supported at both ends.

[0026] The structure of the rack 13 is not limited as long as it can support the upper fitting PD as described above and can remove the upper fitting PD as needed, but it is preferable to have a support part 131 for supporting the upper mold PD.

[0027] The support portion 131 in the rack 13 is not limited as long as it can support the upper mold PD as described above, but it is preferable that it has a roughly L-shaped structure with a lower support portion 1311 and a side support portion 1312. The roughly L-shaped structure allows the lower surface and sides of the upper mold PD to be supported, while the upper mold PD can be easily removed without unnecessarily lifting it up by sliding it laterally from the lower support portion 1311. However, it is preferable that the lower support portion 1311 is provided with a tip protrusion 313 that does not easily fall off.

[0028] In this press brake device 1, it is preferable that there be multiple racks 13, specifically the number of racks fixed to one side frame 12 (which is also the number of rack sets provided on a pair of side frames 12). While it is not impossible to have only one rack 13, this press brake device 1 is based on the premise of changing multiple upper dies PD, so providing multiple racks allows for the storage of upper dies PD that are not in use. Specifically, it is preferable to have two or more, preferably three or more, and even more preferably four or more racks, and this can be appropriately adjusted depending on the size of this press brake device 1 and the type of workpiece W to be processed.

[0029] Here, as is clear from the above description, workpiece W is the object to be bent by this press brake device 1, and is not limited to any object that can be bent, but is typically preferably a metal sheet. In this press brake device 1, the initially flat workpiece W is sandwiched between the upper die PD and the lower die DD and pressed to perform the desired bending process and achieve the desired shape. It is possible to create more complex shapes by performing this bending process multiple times, and in particular, even more complex shapes can be achieved by changing the combination of the upper die PD and the lower die DD.

[0030] Furthermore, in this press brake device 1, it is preferable that the multiple racks 13 are fixed to the side frame such that their installation positions become lower along the direction away from the ram 14. Figure 6 shows an example where four racks 13 are arranged. By arranging the multiple racks 13 with gaps between them, and by positioning them so that their positions become lower along the direction away from the ram 14, the placement and removal of the upper die PD becomes easier. More specifically, as the setting position gradually becomes lower and steps are created, the side of the upper die PD on the later stage (further from the ram) has a portion that does not overlap horizontally with the rack 13 on the earlier stage (closer to the ram), making it easier to grip the upper die PD within this non-overlapping portion. A schematic of the operation in this case is shown in Figure 7. The height of this non-overlapping portion is not particularly limited, but it is preferable that it be higher than the height of the upper mold gripping mechanism 151 for the transport unit 15, which will be described in detail later, or more specifically, the distance from the upper end 1511 of the upper mold holding mechanism 151 for the transport unit to the lower end 15121 of the upper mold insertion portion 1512. By doing so, the transport unit 15, specifically the upper mold gripping mechanism for the transport unit, does not interfere with the adjacent rack 3. An image of this case is shown in Figure 8.

[0031] Furthermore, in this press brake device 1, the upper die PD is used in combination with the lower die DD and is an essential component for driving this press brake device 1. However, it is a component that can be appropriately replaced depending on the type of bending process, and it may be preferable to remove it when the press brake device 1 is not being driven, for example, during maintenance or transport.

[0032] The upper die PD is used in combination with the lower die DD as described above, and it is preferable that the upper die PD has a convex portion PDB and a holder portion PDH. The convex portion PDB of the upper die PD engages with the concave portion DDD of the lower die DD, and by sandwiching the workpiece to be bent between them, it becomes possible to bend it into the desired shape. The holder portion PDH is a part that holds the convex portion PDB and facilitates transport, and is a common part in multiple die PDs. That is, in multiple upper die PDs, the convex portion PDB has a different shape for each die, while the holder portion PDH is a common part. Figure 9 shows a specific example of the upper die PD, and Figure 10 shows an outline of the specific process of bending a workpiece using the upper die PD and lower die DD. Note that the above figures show a specific example of the upper die PD, but as described above, it can be adjusted as appropriate depending on the type of bending process, so it is not limited to these examples.

[0033] As described above, the number of upper molds PD can be adjusted as appropriate depending on the type and number of bending processes desired, and can be adjusted in accordance with the number of racks 3. Specifically, there may be one, but it is preferable to have two or more, more preferably three or more, and even more preferably four or more, but is not limited to these.

[0034] Furthermore, in this press brake device 1, although not limited thereto, it is preferable that a gripping projection PDN is formed on the holder portion PDH of the upper die PD. The reason for this will be explained in detail later, but by forming this gripping projection PDN, the upper die PD can be stably attached to the upper die gripping mechanism 151 for the transport unit. An outline of this case is shown in Figure 11, for example. In addition, as shown in this figure, it is preferable that a hole PDNB is formed on the gripping projection PDN. By forming this hole PDNB, it becomes possible to securely hold the upper die PD while positioning it in the upper die holding mechanism 151 for the transport unit and the upper die fixing mechanism 141 for the ram, which will be described later. This part will also be explained in detail later.

[0035] Furthermore, as described above, the press brake device 1 has a ram 14. The ram 14 has an upper die fixing mechanism 141 for mounting the upper die PD and is movable up and down, and is located on the upper front of the press brake device 1. When the upper die PD is mounted on the ram 4 and moves up and down, as described above, the distance between the upper die PD and the lower die DD can be adjusted, and bending of the workpiece can be achieved by engaging the upper die PD and the lower die DD. It is preferable that the upper die fixing mechanism 141 for fixing the upper die PD to the ram 14 is formed near the lower end of the ram 14. In this way, the convex portion PDB of the die PD can protrude below the lower end of the ram 14 and engage with the lower die DD.

[0036] Furthermore, the press brake device 1 is equipped with a ram drive unit 19 for making the ram 14 movable up and down. The ram drive unit 19 is not limited as long as it can control the up and down movement of the ram 4, but it is preferable that it is configured to include, for example as shown in Figure 12, a power mechanism 191, a shaft member 192 that reciprocates by the power mechanism 191, a connecting member 193 that connects the shaft member 192 and the ram 14, and a pivot member 194 that serves as the pivot point of the connecting member 193. With such a configuration, the shaft member 192 moves up and down by the power mechanism 191, and this up and down movement is transmitted to the ram 4 through the pivot member 194, making it possible to move the ram 14 up and down.

[0037] Figure 13 shows a specific example of the upper mold fixing mechanism 141 for the ram. The upper mold fixing mechanism 141 for the ram preferably has an upper mold insertion section 1411 and a pressing member 1412 that presses the upper mold PD inserted into the upper mold insertion section 1411. This makes it possible to insert the gripping projection PDN of the upper mold PD into the upper mold PD and hold it stably. As shown in this figure, the pressing member 1412 is not limited to being able to press the gripping projection PDN of the upper mold PD inserted into the upper mold insertion section 1411 and fix it to the ram 14, but it is preferable for stable fixing to have multiple pressing members distributed along the left-right direction of the ram 14.

[0038] Furthermore, it is preferable that the ram 14 is also provided with a ram upper die straightening mechanism 142 in addition to the ram upper die fixing mechanism 141 described above. As described above, the upper die PD has a long shape from left to right, so deflection (a gap between the ram 14 and the upper die PD) may occur in the middle portion. Therefore, it is preferable to provide a ram upper die straightening mechanism 142 that presses the upper die PD against the ram 14 in order to prevent this deflection.

[0039] Furthermore, as described above, the press brake device 1 has a transport unit 15. The transport unit 15 has an upper die gripping mechanism 151 for the transport unit to mount the upper die PD, and transports the upper die gripping mechanism 151 for the transport unit between the rack 13 and the ram 14. With the transport unit 15 in the press brake device 1, the upper die PD held on the rack 13 can be removed and mounted on the ram 14, and the upper die PD mounted on the ram 4 can be removed and held on the rack 3. In other words, the upper die PD can be replaced.

[0040] Figure 14 shows a schematic diagram of the transport unit 15 in this press brake device 1. As described above, the transport unit 15 is not limited insofar as it can replace the upper die PD, but it is equipped with a shaft member 152, a rotation mechanism 153 for rotating the shaft member 152, a movement mechanism 154 for moving the shaft member 152 up, down, forward, and backward, and a power mechanism 155 for driving the rotation mechanism 154 and the movement mechanism. This allows the rotation shaft 152 to be freely rotated and moved up, down, forward, and backward, enabling easy transport, mounting, and removal of the upper die PD between the rack 13 and the ram 14. Here, "forward and backward" refers to the horizontal direction, and as is clear from the description above, the direction away from the ram is defined as backward, and the direction towards the ram is defined as forward. "Left and right" refers to the horizontal direction and the direction perpendicular to the front and back direction, and is defined as right when viewing this press brake device 1 from the front, and left when viewing it from the front.

[0041] Figure 15 shows a schematic of the upper die gripping mechanism 151 for the transport unit in the press brake device 1. The upper die gripping mechanism 151 for the transport unit has an upper die insertion section 1512 into which the upper die PD, specifically the retaining projection PDN of the upper die PD, is inserted. By literally inserting the retaining projection PDN of the upper die into this section and pressing it, the upper die PD can be securely held and removed by releasing it. Furthermore, it is preferable that the upper die gripping mechanism 151 for the transport unit is equipped with a pressing member 1513 for pressing the upper die PD. By using the pressing member 1513, the upper die PD can be pressed and fixed inside the upper die insertion section 1512, making it possible to securely grasp the retaining projection PDN of the upper die PD. Also, as described above, if a hole PDNB is formed in the retaining projection PDN of the upper die PD, it is preferable that the tip of the pressing member 1513 has a protrusion 15131 that is inserted into this hole PDNB. By forming the protrusion 15131 in this way, when the protrusion 15131 is inserted into the position of the hole PDNB, the positions of the upper mold PD and the mold gripping mechanism 151 for the transport unit can be reliably determined, which is an advantage. Furthermore, in this case, it is preferable that the hole PDNB has a stepped shape, and the protrusion 15131 also has a stepped shape to match. This prevents misalignment and ensures reliable positioning. The height of the upper mold gripping mechanism 151 for the transport unit in the transport unit is adjusted, and since the rack 13 is fixed to the side frame 12 with a gap and further steps, it is preferable that when attempting to grip the upper mold installed on the rack 13, it does not come into contact with the lower end of the front section of the rack 13.

[0042] Furthermore, it is preferable that multiple upper mold gripping mechanisms 151 for the transport unit are arranged along the circumferential direction of the shaft member 152. Here, "circumferential direction" means the direction along the trajectory that moves along the rotation of the shaft member 152 when it is rotated. In this embodiment, by arranging multiple upper mold gripping mechanisms 151 for the transport unit, there is an advantage that multiple upper molds can be held, transported, and attached / detached at once by rotating the shaft member 152. A schematic of the operation in this case is shown in Figure 16. In this case, it is preferable that the multiple upper mold gripping mechanisms 151 for the transport unit are arranged in the same direction along the circumferential direction. This is because when the shaft member 152 is rotated, the molds can always be oriented in the same direction. The number of upper mold gripping mechanisms 151 is not limited as long as the molds can be held without contact; it could be 4 or 3, but 2 is preferable. With 2, one can be used to hold the molds for installation on the ram 14, and the other can be used to hold the molds for removal from the ram 14 and return to the rack 13.

[0043] As is clear from the above diagram, in this press brake device 1, although not limited thereto, the multiple racks 13 described above are all fixed to the side frame at a position above the mounting position of the upper die PD on the ram 14, and preferably the lower end of the ram 14 (or the lower end of the lowest rack 13 if multiple racks exist) is above the upper end of the upper die fixing mechanism 141 for the ram on the ram 14. With this arrangement, when the upper die PD is removed from the ram 14, it is possible to place the upper die PD on the rack 14 without lowering the position of the shaft member 152 of the transport unit 5 any further. As a result, not only is the transport route of the upper die shortened, but the movement of the back gauge moving unit 17, which will be described later, is not obstructed. In addition, because the multiple racks 13 are positioned above, it is possible to secure the operating space of the transport unit 15, specifically the rotation space of the rotating shaft 152, in this area, which is useful.

[0044] Furthermore, as described above, this press brake device 1 has a back gauge 16. The back gauge 16 is used to position the workpiece. Figure 17 shows a schematic of the back gauge 6. By providing the back gauge 16, the insertion position of the workpiece W into this press brake device 1 can be defined, which has the advantage of enabling the desired bending process.

[0045] Furthermore, as described above, the press brake device 1 has a back gauge moving unit 17. The back gauge moving unit 17 moves the back gauge independently of the multiple racks. By providing the back gauge moving unit 17, the insertion position of the workpiece W can be defined, and the desired bending process can be achieved.

[0046] Furthermore, while the structure of the back gauge moving unit 17 of this press brake device 1 is not limited, it is preferable that it be configured to have, for example, a forward / backward movement mechanism 171 for moving the back gauge forward and backward, a left / right movement mechanism 172 for moving it left and right, and a power source 173 for moving these, as shown in Figure 18. This makes it possible to set the back gauge in a desired position. In particular, with this press brake device 1, since it is provided as a separate component from the rack 13 and the transport unit 15, it can move independently without being linked to their movements, thus shortening the time required for mold changes and contributing to improved productivity.

[0047] Furthermore, although not limited thereto, it is preferable that the press brake device 1 includes a lower die gripping mechanism 181 that holds a lower die DD corresponding to the upper die PD mounted on the ram 14, and a bed 8 that holds the lower die gripping mechanism 181. A specific example of the lower die DD is shown in Figure 19, and a schematic of the lower die gripping mechanism 181 is shown in Figure 20. The bed 18 is also a member that covers the lower front of a pair of side frames. As is already clear from the above description, the lower die DD is a die corresponding to the upper die PD, and a recessed portion DDD corresponding to the convex portion PDB of the upper die PD is formed therein. The lower die gripping mechanism is mounted on the bed 18, and this structure can generally adopt the same configuration as the upper die fixing mechanism 141 for the ram shown above.

[0048] Furthermore, it is preferable that the press brake device 1 includes a lower die slide unit 110 that slides the lower die gripping mechanism 181. In this embodiment, multiple upper dies PD are provided, and the types of processing performed by the upper dies PD can be increased by appropriately swapping them, while the lower die DD also needs to have recesses that match the upper dies PD. However, the lower die DD is provided with multiple recesses that match the convex portions of multiple upper dies in advance, so it is possible to accommodate this by slightly shifting the position of the lower die DD without having to change the lower die DD. Therefore, by providing the lower die slide unit 110, it is possible to obtain the same effect as die replacement. A schematic of the sheet metal die slide unit 10 is shown in Figure 21.

[0049] The structure of the lower die slide unit 110 in this press brake device 1 is not particularly limited, but it is preferable that it has, for example, a power mechanism 1101 and a moving member 1102 connected to the power mechanism 1101 that moves back and forth to move the lower die gripping mechanism 181. This allows the lower die to be moved in the back and forth direction.

[0050] Furthermore, as is evident from the configuration of the press brake device 1 described above, by using the press brake device 1, it is possible to shorten the time required for die changes in the bending process of a workpiece and realize a bending method that contributes to improved productivity. In other words, the workpiece bending method according to this embodiment (hereinafter referred to as "this method") is a bending method that bends a workpiece using a bending device having a pair of side frames, a plurality of racks fixed to the side frames and capable of mounting an upper die, a ram having an upper die fixing mechanism for the ram for mounting the upper die and being movable up and down, a transport unit having an upper die gripping mechanism for the transport unit for mounting the upper die and transporting the upper die gripping mechanism for the transport unit between the rack and the ram, a back gauge for positioning the workpiece, and a back gauge moving unit for moving the back gauge independently of the plurality of racks, the method comprising a press step in which a first upper die is mounted on the upper die fixing mechanism for the ram of the ram, the workpiece is positioned using the back gauge, and the ram is driven to press the workpiece in combination with the lower die, and during this press step, there is a transport unit upper die preparation and mounting step in which a second upper die mounted on the plurality of racks is removed from the rack and mounted on the upper die gripping mechanism for the transport unit of the transport unit. A schematic of the operation in this case is shown in Figure 22.

[0051] More specifically, this method includes a press step in which the workpiece is pressed using the press brake device 1, while during this step, the upper die PD, which was held by the rack 3, can be attached to the upper die gripping mechanism for the transport unit. As a result, the upper die PD can be attached to the upper die gripping mechanism for the transport unit without interrupting the press step, preparing it for the next die change, enabling multiple processes to be performed in parallel and shortening the process time. Here, the terms "first die" and "second die" are used, but "first" and "second" are merely ordinal numbers used to distinguish between multiple dies and do not have a technical meaning. The first die is the upper die used for pressing in the press step, and the second die is the upper die prepared for use in the next press step.

[0052] This method includes a pressing step (S1) in which a first upper die is attached to the upper die fixing mechanism for the ram, the workpiece is positioned using a back gauge, and the ram is driven to press the workpiece in combination with the lower die. This makes it possible to bend the workpiece W into a desired shape.

[0053] Furthermore, in this method, during the above pressing step, (S2) a transport unit upper die preparation and mounting step is included, in which the second upper die mounted on multiple racks is removed from the rack 3 and mounted on the transport unit's upper die gripping mechanism 51. In other words, in this method, while the pressing step is being performed, the transport unit can carry the upper die required for the next pressing step and prepare it for mounting on the rack 3. This means that the process can be significantly shortened.

[0054] Furthermore, although not limited to this method, it is preferable to have a rack-mounted die return step (S3) in which the third upper die mounted on the transport unit is removed from the transport unit and mounted on the rack 3 during the press step. A schematic of the operation in this case is shown in Figure 23.

[0055] More specifically, this method includes a press step in which the workpiece is pressed using the device 1, while during this step, the upper die PD, which was being held by the transport unit, can be returned to the rack 3. As a result, the upper die PD can be returned to the rack 3 without interrupting the press step, and the next operation can be performed, allowing multiple processes to be carried out in parallel. Here, the term "third die" is used, but "third" is merely an ordinal number used to distinguish multiple dies, similar to "first" and "second" above, and does not have any technical meaning. However, the third die is the upper die that has been used in the press step and is returned to the rack and held until the next use.

[0056] In summary, this press brake device 1 provides a press brake device and bending method that can further reduce the time required for die changes and contribute to improved productivity. Specifically, this press brake device 1 and the bending method using it allow for the preparation of the upper die to be used in the next press process to be carried out in parallel during one press process, and also allow the upper die used in the previous press process to be returned to the rack. This makes it possible to significantly reduce working time.

[0057] As described above, this system S includes a hand robot device (hereinafter referred to as "this hand robot device") 2 for placing the workpiece W on the press brake device 1. By using the hand robot device 2, it is possible to bend the workpiece W safely and quickly, even in complex processes.

[0058] The hand robot device 2 specifically comprises a hand unit 21 and a drive unit 22. The hand unit 21 includes a hand 211 with a holding part 2111 at its tip, an axis 212 and an arm 213 that allow the hand 211 to move and rotate in the forward, backward, up, down, left, and right (XYZ axes), and can stably hold at least a portion of the workpiece W. A schematic diagram of the hand robot device 2 is shown in Figure 24.

[0059] Furthermore, the holding portion 2111 in this hand robot device 2 is capable of holding a workpiece W, and is not limited to this, but may be a plate-shaped member 21112 with a plurality of holes 21111 formed on its surface and an air adsorption mechanism that attracts the workpiece W by sucking air through these holes; or, if the workpiece W is a magnetic material, it may be a magnetic adsorption mechanism that controls the attraction by controlling the generation and release of magnetic force using an electromagnet; or it may be a gripping mechanism equipped with a plurality of finger members that grasps the workpiece W by adjusting the distance between these finger members. Figure 25 shows an example of the holding portion 2111 in the hand 211. This figure is an example of an air adsorption mechanism.

[0060] Furthermore, the drive unit 22 of this hand robot device 2 is equipped with a rail 221 and a moving mechanism 222, and the hand robot device 2 can be moved along the rail 221 by the power of the moving mechanism 222. By moving, the tip, or holding part 2111, can be brought closer not only to the press brake device 2 but also to the workpiece W, workpiece supply device 5, and workpiece changing device 4. The operation of the hand 21 of this hand robot device 2 will be described in detail later.

[0061] Furthermore, this system S is equipped with a workpiece changing device 4 (hereinafter referred to as "this workpiece changing device"). An outline of this workpiece changing device 4 is shown in Figure 26. The workpiece changing device is a device for changing the workpiece W. Specifically, the hand robot device 2 holds the workpiece W that has been bent by the upper and lower dies, rotates and moves it, and inserts it again between the upper and lower dies in the next pressing process. However, depending on the shape of the workpiece W and the orientation of the workpiece W to be inserted in the next pressing process, there may be cases where this hand robot device 2 is unable to insert and place the workpiece W in the space between the dies. In such cases, by providing the workpiece changing device 4, it is possible to change the workpiece and make it ready for insertion.

[0062] Specifically, it is preferable that the workpiece changing device 4 has a holding part 41 and a support part 42 that supports the holding part 41. The holding part 41 in the workpiece changing device 4 can have the same configuration as the holding part 2111 of the hand robot device 2. For example, by providing a holding part as shown in Figure 25, the workpiece W can be moved to the holding part 41 of the workpiece changing device 4 by the holding part 2111 of the hand robot device 2, the workpiece W can be released from the holding part 2111 of the hand robot device 2 and held by the holding part 41 of the workpiece changing device 4, and then the holding part 2111 of the hand robot device 2 can be moved to hold the workpiece W from a different position, thereby enabling the workpiece to be changed.

[0063] Furthermore, it is preferable that the holding section 41 in this workpiece changing device 4 be provided in multiple stages. Providing multiple stages has the advantage of enabling various ways of changing the workpiece W to suit its shape.

[0064] Furthermore, the support portion 42 of the workpiece changing device 4 is a member for supporting the holding portion 41, and is composed of a plurality of frame members 421. The plurality of frame members 421 are not limited, but are preferably made of metal.

[0065] Furthermore, this system S is equipped with a work supply device 5 (hereinafter referred to as "this work supply device") which has a work supply table 51 for supplying workpieces W. A schematic diagram of the work supply table 51 of this work supply device 5 is shown in Figure 27. The work supply table 51 is literally a table on which the workpieces W are placed, and it is the initial position where this hand robot device 2 holds the workpieces W, and it is the starting point of the operation.

[0066] The work supply table 51 is specifically composed of a work supply surface 511 and a support portion 512 that supports the work supply surface 511. The robot hand device 2 takes out workpieces W one by one from the work storage section 52 in the work storage section 5 of the work supply device 5 and places them on the work supply table 51. It is preferable that the work supply surface 511 or the support portion 512 of the work supply table 51 is equipped with power and capable of changing from a horizontal state to an inclined state. By setting it to a horizontal state, it is easier to supply workpieces W from the work storage section 52 to the work supply surface 511, and by setting it to an inclined state, it is easier for the hand robot device 2 to hold the workpieces W.

[0067] As described above, the workpiece storage unit 52 stores multiple workpieces W and places each workpiece W onto the workpiece supply table 51 one by one. Since this structure itself can be based on a known design, its explanation will be omitted.

[0068] Furthermore, this system S includes an information processing device (hereinafter referred to as "this information processing device") 3 connected to the press brake device 1 and the hand robot device 2. By connecting the press brake device 1 and the hand robot device 2 to the information processing device 3, this system S can control both of them and achieve the objectives of this system S described above.

[0069] The information processing device 3 of this system S may be provided independently of the press brake device 1, hand robot device 2, workpiece changing device 4, and workpiece supply device 5, but it may also be provided integrated with at least one of the above. In the example shown in this figure, for example, it is shown as being housed on the side of the press brake device 1, but it is not limited to this.

[0070] The information processing device used in this system S is generally also called a computer, and is not limited insofar as it can perform the functions of this system S. However, it is preferable, but not limited, to include, for example, a central processing unit (CPU), non-volatile recording media such as hard disks and flash memory, volatile recording media such as memory, a bus connecting these, input devices such as keyboards and mice, and display devices such as monitors, which are components of a typical computer.

[0071] The computer described above is not limited insofar as it possesses the above-mentioned components and is capable of performing the desired operation of the system S. It may be a so-called notebook computer or a desktop computer, or it may be integrated into the press brake device 1 or the hand robot device 2. Furthermore, as long as it is feasible and can meet the performance requirements, it may be a portable information terminal, specifically a smartphone or tablet, which have become increasingly popular in recent years. A typical portable information terminal integrates components such as the CPU and display device into a single cover, and by placing a sensor on the display device to create a so-called touch panel, it can also function as an input device, making it very easy to use. In the case of a portable information terminal, the program that executes this method can be recorded and displayed as an application on the portable information terminal, and the program can be executed by launching this application.

[0072] In this system S, the connection between the press brake device 1 and the hand robot device 2 may be made by directly connecting them with a cable to exchange the necessary data, or it may be achieved via telecommunications such as the Internet. Alternatively, multiple information processing devices 3 may be provided, each recording the data and programs necessary for this system S, and sending them to other information processing devices 3 as needed.

[0073] Furthermore, the recording medium of the information processing device 3 of this system S stores a bending sequence calculation program, a trajectory calculation program, and a control program. According to this system S, first, the bending sequence calculation program calculates the sequence for bending a plate-shaped workpiece W into a desired shape and records the workpiece bending sequence data. Then, the trajectory calculation program calculates the trajectory of the hand at the tip of the hand robot device based on the workpiece bending sequence data and records the hand trajectory data. Finally, the control program makes it possible to control the press brake device 1 and the hand robot device 2.

[0074] Furthermore, as described above, each of the above programs is recorded on a non-volatile recording medium such as a hard disk, and when these programs are loaded onto a volatile recording medium such as memory and executed, the following steps can be performed.

[0075] First, in this system S, a bending sequence calculation program is recorded on the recording medium of the information processing device 3. By executing the bending sequence calculation program, the sequence for bending a plate-shaped workpiece W into a desired shape can be calculated and the workpiece bending sequence data can be recorded.

[0076] Specifically, when this bending sequence calculation program is executed, it can perform the following steps: (S1-1) recording multiple upper die data, (S1-2) recording multiple lower die data, (S1-3) recording initial workpiece shape data, (S1-4) recording final workpiece shape data, and (S1-5) recording workpiece bending sequence data including multiple press process data based on the upper die data, lower die data, initial workpiece shape data, and final workpiece shape data.

[0077] The step of recording multiple upper die data (S1-1), which is achieved by executing the bending sequence calculation program, literally records multiple upper die data. Here, upper die data refers to data that includes information about the shape and dimensions of the upper die. By having multiple upper die data, it becomes possible to prepare options for bending the workpiece W into various shapes by combining them with lower die data.

[0078] Next, as described above, the bending sequence calculation program implements the step (S1-2) of recording multiple lower die data. Here, lower die data refers to data containing information about the shape and dimensions of the lower die. By having multiple lower die data, it becomes possible to prepare options for bending the workpiece W into various shapes by combining them with the lower die data.

[0079] Furthermore, this bending sequence calculation program also implements the step of recording initial workpiece shape data (S1-3) as described above. Initial workpiece shape data is data that includes information such as the initial workpiece shape and dimensions. Generally, the initial shape of the workpiece W (initial workpiece shape) is often flat, and it is preferable, but not limited to, information such as the length, width, thickness, and material.

[0080] Furthermore, as described above, this bending sequence calculation program includes a step (S1-4) to record the final workpiece shape data. The final workpiece shape data is data that includes information about the final desired shape (final workpiece shape) and dimensions of the workpiece W. For example, Figure 28 shows an image of the final shape of the workpiece W.

[0081] Furthermore, in this bending sequence calculation program, as described above (S1-5), a step is implemented to record work bending sequence data, which includes multiple press process data, based on the upper die data, lower die data, initial work shape data, and final work shape data. In other words, in this step, multiple processes from the initial work shape to the final work shape are calculated and used as press process data. In this bending sequence calculation program, "press process data" refers to data containing information about one process performed by pressing with one upper die and one lower die. Multiple such processes are provided, meaning that multiple processes are combined in sequence to form one work bending sequence. The data containing information about the work bending sequence, which is a combination of these multiple press process data, is called "work bending sequence data." In addition, each press process data is combined with the upper die data and lower die data used in that press process. This clarifies which die is being used and makes it possible to change the die using the control program described later. Figure 29 shows an image of the change in work shape before and after a single press process. In the diagram, (A) shows the shape of the workpiece before pressing, and (B) shows the shape of the workpiece after pressing.

[0082] As described above, this bending sequence calculation program clarifies the pressing process from the initial workpiece shape to the final workpiece shape. The output of this program is the workpiece bending sequence data. This workpiece bending sequence data is further refined by the following trajectory calculation program.

[0083] Next, the trajectory calculation program of this system S is executed to perform the following steps: (S2-1) reading work bending sequence data including multiple press process data; (S2-2) hand placement step determining hand placement position data for each of the press process data; and (S2-3) recording hand trajectory data connecting the hand placement position data for each of the press process data.

[0084] First, the execution of this trajectory calculation program realizes the step of (S2-1) reading workpiece bending sequence data, which includes data from multiple pressing processes. Specifically, this step reads the workpiece bending sequence data described above and records it on a recording medium as needed.

[0085] Next, the trajectory calculation program is executed to realize the hand placement step (S2-2), which determines the hand placement position data for each piece of press process data. The bending sequence calculation program described above includes at least the workpiece shape after pressing, preferably the workpiece shape before pressing, but does not include specific information such as where the hand robot will hold the workpiece. Therefore, this step adds the hand placement position data to the data containing the information on the workpiece shape after pressing included in each piece of press process data, thereby determining where the hand robot will hold the workpiece. This has the advantage of enabling automatic operation by the hand robot. As is clear from the above description, the hand placement position data is data that includes information on where the holding part of the hand robot will be placed to hold the workpiece W. Figure 30 shows an image of the hand placement positions before and after a certain press process. In the figure, (A) is the state before pressing, and (B) is the state after pressing. The state before pressing is used for the operation of inserting the workpiece W between the upper and lower dies, and the state after pressing is used for the operation of removing the workpiece W. In this case, as described above, each press process data becomes data that includes hand placement position data (press process data including hand placement position data) through this step.

[0086] Furthermore, the execution of this trajectory calculation program includes a step of recording hand trajectory data by connecting the hand placement position data for each of the press process data as described above (S1-3). In the hand placement step described above, the hand placement position is determined. Once the hand placement position is determined, the coordinates of the tip of the hand robot, i.e., the workpiece W, are automatically determined. In other words, each of the multiple press process data contains hand placement position data, and the coordinates of each and the tip position of the hand robot can be calculated. By connecting these, the trajectory of the hand robot device and its necessary movements can be calculated. That is, "hand trajectory data" is data that contains information about the trajectory of the hand robot device in the press process. Figure 31 shows an image of the hand trajectory data recorded in this step.

[0087] Furthermore, in this step (S1-3), if the hand placement position data in the preceding press process data and the hand placement position data in the following press process data cannot be used to change the workpiece, it is preferable to record workpiece change operation data. This is because the bending sequence calculation program calculates the press process for the workpiece W based only on feasible bending sequences, and in some cases, the press process cannot be realized without changing the workpiece W once. In such cases, by inputting workpiece change operation data, it becomes possible to realize a continuous press process for almost all workpieces W. Figure 32 shows an image of the press process when a change is necessary, and Figure 33 shows an image of the case when the workpiece is changed using a workpiece change device. In Figure 32, (A) shows the workpiece W after the preceding press process, and (B) shows the state of the workpiece inserted before the subsequent press process.

[0088] Furthermore, it is preferable that this trajectory calculation program also executes the step of (S2-0) recording robot hand specification data. In order to perform smooth trajectory calculations, it is important to record data regarding the specifications of the robot hand in advance. The data regarding the specifications of the robot hand is not limited to this, but it is preferable that it includes data regarding the contact area for holding the workpiece W. This allows calculations such as where to make contact with the holding part of the hand robot device.

[0089] Furthermore, the control program of this system S drives the transport unit 15, the back gauge moving unit 17, the lower die slide unit 110, etc., based on the workpiece bending sequence data, to set the upper die and lower die, and to bend the workpiece W.

[0090] Furthermore, the control program for this system S, like the trajectory calculation program described above, can be loaded into a volatile recording medium such as memory and executed.

[0091] Furthermore, it is preferable that the control program of this system S includes the steps of (S3-1) reading work bending sequence data including multiple press process data, (S3-2) reading upper die data and lower die data included in the press process data and setting the upper die and lower die, (S3-3) controlling the hand robot device based on the multiple press process data to place the workpiece W on the press brake device, and (S3-4) controlling the press brake device based on the multiple press process data. This makes it possible to realize each press process and bend the workpiece to the desired shape. In other words, it is preferable to repeat steps (S3-2) to (S3-4) for each press process. In particular, this system S is equipped with multiple upper and lower dies, and the optimal die is applied to each pressing process. Therefore, by setting the die required for the process to the press brake device 1, bending can be performed as calculated. However, steps (S3-2) to (S3-4) may be performed in any order, as long as it is permitted.

[0092] Furthermore, it is preferable that step (S3-4) includes step (S3-4-1), which involves lowering the ram in the press brake device to bend the workpiece W. By moving the ram up and down, the upper die and the lower die are engaged, and the workpiece W is inserted between them, allowing it to be bent into the desired shape.

[0093] In summary, this system S provides a press brake system that enables automated bending more easily without the need for teaching. In particular, this system allows for control including the exchange of multiple dies, even when multiple dies are used, making it a very simple system. [Industrial applicability]

[0094] This invention has industrial potential as a press brake system. [Explanation of Symbols]

[0095] 1…Press brake device 2…Hand robot device 3…Information Processing Devices 4…Workpiece changer 5…Workpiece feeding device S...Press brake system W...work

Claims

1. Press brake device, A hand robot device for setting a workpiece on the aforementioned press brake device, A press brake system comprising an information processing device connected to the press brake device, The aforementioned information processing device is A press brake system comprising a recording medium on which a trajectory calculation program is recorded, causing the computer to perform the following steps: reading work bending sequence data including multiple press process data; a hand placement step determining hand placement position data for each of the press process data; and recording hand trajectory data connecting the hand placement position data in each of the press process data.

2. Equipped with a workpiece changing device, bending sequence work data, The step of recording hand trajectory data connecting the hand placement position data in each of the press process data, which is performed by the trajectory calculation program recorded on the recording medium of the information processing device, is: The press brake system according to claim 1, wherein if the hand placement position data in the preceding press process data and the hand placement position data in the subsequent press process data cannot be used to change the workpiece, workpiece changing operation data is recorded.

3. The recording medium of the information processing device includes: The press brake system according to claim 1, wherein a bending sequence calculation program is also recorded in the computer, which causes the computer to perform the steps of recording multiple upper die data, recording multiple lower die data, recording initial workpiece shape data, recording final workpiece shape data, and recording workpiece bending sequence data including multiple press process data based on the upper die data, the lower die data, the initial workpiece shape data, and the final workpiece shape data.

4. The press brake system according to claim 1, wherein the trajectory calculation program also performs the step of recording robot hand specification data.

5. The recording medium of the information processing device includes: The press brake system according to claim 1, wherein a control program for controlling the drive unit of the press brake is recorded in a computer.

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