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

Abstract

Control device, bending processing system, control program creation method, and control program creation program capable of reducing user burden. 【Solution means】A provisional program is configured to be creatable for controlling a bending machine and a work supply robot that supplies a work to the bending machine. The provisional program includes a plurality of jobs corresponding to the respective operations of the bending machine and the work supply robot. The plurality of jobs include a fixed job and a selection job. The fixed job is set in common for a plurality of the provisional programs. The selection job is automatically selected for each of the provisional programs 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 processing the work from a selection job group including a plurality of candidate selection jobs.

Description

Technical Field

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

Background Art

[0002] In recent bending processing, with the appearance of general-purpose industrial robots (general-purpose robots), an operator can switch between manual bending operation by a single bending machine and automatic bending operation by a general-purpose robot. However, since the manual bending program (general-purpose bending program) does not include the robot program of the general-purpose robot, the user needs to create an automatic bending program for automatic operation from scratch or teach the general-purpose robot from scratch. Both methods are very time-consuming and reduce work efficiency.

[0003] Therefore, for example, in the program creation device described in Patent Document 1, there are provided a shape input means for assigning the registered processed side shape to each side of the work and inputting the product shape, and a condition input means for inputting the processing conditions of the bending machine for processing each side of the work, the processing process of each side of the work, the handling data before and after the process, and the product dimension data. A configuration for creating the operation programs of the robot and the bending machine from the input data from the shape input means and the condition input means and the operation characteristic data of the robot and the bending machine is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional program creation device, as described above, in order to create the operation programs for the robot and the bending machine, the user needs to input various information such as the product shape and processing conditions. Since the input work is complicated, there is a problem that it takes time and effort to create the operation program. Also, in order to input various information, the user's knowledge and experience are required, so there is a problem that it is difficult for inexperienced users to perform the input work.

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

Means for Solving the Problems

[0007] The 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 a work to the bending machine. The provisional program includes a plurality of jobs corresponding to the respective operations of the bending machine and the work supply robot. The plurality of jobs include a fixed job and a selection job. The fixed job is set in common to a plurality of the provisional programs. The selection job is automatically selected for each provisional program based on at least one of the user's answer to a question and shape data indicating the shape of a product to be manufactured by processing the work from a selection job group including a plurality of candidate selection jobs.

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

[0009] A control program creation method according to an aspect of the present invention includes a provisional program creation step of creating a provisional program for controlling a bending machine and a work supply robot that supplies a work to the bending machine. The provisional program includes a plurality of jobs corresponding to respective operations of the bending machine and the work supply robot. The plurality of jobs include a fixed job and a selection job. The fixed job is set in common for a plurality of the provisional programs. The selection job is automatically selected for each of the provisional programs based on at least one of a user's answer to a question and shape data indicating the shape of a product manufactured by processing the work from a selection job group including a plurality of candidate selection jobs.

[0010] A control program creation program according to an aspect of the present invention is configured to cause a control device to execute a tentative program creation process for creating a tentative program that controls a bending machine and a work supply robot that supplies a work to the bending machine. The tentative program includes a plurality of jobs corresponding to the operations of the bending machine and the work supply robot. The plurality of jobs include a fixed job and a selection job. The fixed job is set in common among a plurality of the tentative programs. The selection job is automatically selected for each of the tentative programs 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 processing the work from a group of selection jobs including a plurality of candidate selection jobs.

Effects of the Invention

[0011] According to a control device, a bending processing system, a control program creation method, and a control program creation program according to an aspect of the present invention, since a selection job is selected based on at least one of an answer to a question and shape data to create a tentative program, the burden on the user can be reduced.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15A

Figure 15B

Figure 16A

Figure 16B

Figure 17A

Figure 17B

Figure 18A

Figure 18B

Figure 19A

Figure 19B

Figure 20A

Figure 20B

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

Best Mode for Carrying Out the Invention

[0013] Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings. Note that the following embodiments do not limit the invention according to each claim, and not all combinations of the features described in the embodiments are essential for the solution means of the invention.

[0014] [Overall Configuration of Bending Processing System According to First Embodiment] FIG. 1 is a schematic diagram showing a bending processing system according to an embodiment of the present invention. First, with reference to FIG. 1, the bending processing system 1 according to the embodiment of the present invention will be outlined. The bending processing system 1 according to the first embodiment generally includes, as shown in FIG. 1, a press brake 10 that functions as a bending machine, a work supply robot 100 that supplies a work W to the press brake 10, and a control device 200 that controls the press brake 10 and the work supply robot 100.

[0015] Further, the bending processing system 1 may include a loading cart 400 for loading a workpiece W to be processed, and an unloading box (not shown) for putting the workpiece W that has been bent by the press brake 10. Note that the bending processing system 1 may 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-sheet detection function and a double-sheet prevention device such as a magnetic floater or an air separator. Further, the bending processing system 1 may include a pallet (loading and unloading platform), a belt conveyor, an AGV (Automatic Guided Vehicle), an AMR (Autonomous Mobile Robot), etc. instead of the unloading box, and the workpiece W that has been bent may be placed on the pallet or the like.

[0016] Furthermore, the bending processing system 1 may include a double-sheet prevention device (not shown) such as a magnetic floater or an air separator, and a suction device (not shown) capable of gripping the workpiece W again. Further, the bending processing system 1 may include a hand storage unit capable of storing and replacing a robot hand 120 for replacement, which will be described later, and a die storage unit capable of storing the die used in the press brake 10.

[0017] As shown in FIG. 1, the press brake 10 includes an upper table 11 and a lower table 12 that are arranged in alignment in the height direction at the center of the front surface, with one surface in the depth direction, for example, the outer plate surface facing the front surface. The press brake 10 also includes support portions (not shown) that support the upper table 11 and the lower table 12 and are arranged on the left and right sides respectively.

[0018] Also, as shown in FIG. 1, the press brake 10 includes, for example, a drive mechanism (not shown) configured to reciprocate the upper table 11 along the height direction with respect to the lower table 12, and a position detection sensor (not shown) for detecting the moving position of the upper table 11 when it moves by the drive mechanism. The press brake 10 in the first embodiment is configured to be capable of corresponding to manual bending operation by the user and automatic bending operation by the workpiece supply robot 100.

[0019] The upper table 11 is made of a plate-like member such as metal, etc., and has a plurality of upper die holders (punch holders) 14 that hold the upper die U such as a punch at its lower part. The lower table 12 is made of a plate-like member such as metal similar to the upper table 11, and has a lower die holder (die holder) 15 that holds the lower die L such as a die at its upper part. In addition, when the upper die U is a die and the lower die L is a punch, the upper die holder 14 becomes a die holder, and the lower die holder 15 becomes a punch holder.

[0020] Furthermore, the press brake 10 may include a back gauge (not shown) that positions the work W in the depth direction inserted between the upper die U and the lower die L, and an angle detection sensor (not shown) that can detect the bending angle of the work W when bending the work W.

[0021] Note that since the press brake 10 can adopt various known configurations, a detailed description thereof is omitted.

[0022] The work supply robot 100 is a general-purpose industrial robot (collaborative robot), and as a work holding means, it is configured to supply the work W between the upper die U and the lower die L of the press brake 10. The work supply robot 100 is configured to hold, for example, the uppermost work W among a plurality of works W loaded on a loading trolley 400, etc., and supply (insert) the work W to the press brake 10. Also, the work supply robot 100 is configured to convey (unload) the work 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 capable of holding a work W as a work holding unit, and an arm unit 140 that moves the robotic hand 120 closer to or away from the work W. Further, as shown in FIG. 1, the work supply robot 100 may be placed on the robot carrier 300, or may include a moving mechanism (not shown) having a rail portion laid on the floor surface.

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

[0025] FIG. 2B is a schematic view showing a 90-degree posture of the robotic hand of the work supply robot according to the first embodiment. The suction portion 130 can take a posture in which the suction surface is inclined 45 degrees with respect to the hand body as shown in FIG. 2A (45-degree posture in the first embodiment), and a posture in which it is in a straight line with respect to the hand body as shown in FIG. 2B (90-degree posture in the first embodiment).

[0026] Further, the robotic hand 120 is rotatable with respect to the arm unit 140 as will be described later. When the work supply robot 100 grips the work W, the robotic hand 120 can be rotated so that the bending line (BL) of the work W is orthogonal to the front direction of the robotic hand 120. In other words, the work supply robot 100 can hold the work W so that the insertion direction of the work W coincides with the front direction of the robotic hand 120.

[0027] In the first embodiment, the bending line BL means the portion (straight line) to be bent during the bending process of the work W.

[0028] FIG. 3 is a schematic view showing the front direction of the adsorption surface of the first embodiment. FIG. 4A is a schematic view showing the work 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 work. FIG. 4B is a schematic view showing the work 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 work. The figure with an isosceles triangle drawn within the quadrilaterals of FIGS. 3, 4A, and 4B is a simplified view of the robot hand 120, and the direction of the apex of the isosceles triangle indicates the front direction of the robot hand 120. Similarly, for the reference direction RD in FIG. 4, the apex of the isosceles triangle indicates the reference direction RD. When a predetermined direction of the work W is taken as the reference direction RD, as shown in FIGS. 3 and 4A, when the bending line BL of the work W is in the same direction as the reference direction RD, the robot hand 120 holds the work W such that the front direction of the robot hand 120 faces the reference direction RD. Also, as shown in FIG. 4B, when the bending line BL of the work W is in the opposite direction to the reference direction RD, the robot hand 120 holds the work W such that the front direction of the robot hand 120 faces the opposite direction of the reference direction RD.

[0029] FIG. 4C is a schematic view showing the work holding direction of the robot hand when the bending line of the first embodiment is to the left of the reference direction of the work. FIG. 4D is a schematic view showing the work holding direction of the robot hand when the bending line of the first embodiment is to the right of the reference direction of the work. Similarly, as shown in FIG. 4C, when the bending line BL of the work W is to the left of the reference direction RD, the robot hand 120 holds the work W such that the front direction of the robot hand 120 faces the left direction of the reference direction RD. Also, as shown in FIG. 4D, when the bending line BL of the work W is to the right of the reference direction RD, the robot hand 120 holds the work W such that the front direction of the robot hand 120 faces the right direction of the reference direction RD.

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

[0031] The arm portion 140 has one end connected to the upper part of the robot carrier 300 and the other end connected to the robot hand 120. Based on a control signal from a control unit 230 (to be described later) of the control device 200, it is configured to move the robot hand 120 closer to or away from the workpiece W. Further, the connection portion (not shown) of the arm portion 140 with the robot hand 120 is configured to be rotatable. In the first embodiment, the arm portion 140 is a multi-joint arm having six control axes, and is configured to be capable of not only transporting the workpiece W from the loading cart 400, but also supplying (inserting) the workpiece W to the press brake 10, assisting in the processing (bending) of the workpiece W, and transporting (unloading) the product (bent product) from the press brake 10, etc.

[0032] Note that since the arm portion 140 can adopt various known configurations, a detailed description thereof is omitted. Further, the arm portion 140 is not limited to the configuration of the multi-joint arm having the six control axes described above, and various known configurations can be arbitrarily adopted.

[0033] FIG. 5 is a schematic diagram showing the first approach posture of the workpiece supply robot according to the first embodiment. FIG. 6 is a schematic diagram showing the second approach posture of the workpiece supply robot according to the first embodiment. As shown in FIGS. 5 and 6, the workpiece supply robot 100 having the above configuration can take two types of approach postures: a first approach posture in which the adsorption surface of the adsorption portion 130 approaches the press brake 10 with the adsorption surface facing upward, and a second approach posture in which the adsorption surface of the adsorption portion 130 approaches the press brake 10 with the adsorption surface facing downward.

[0034] Note that in the first embodiment, the upward state is not limited to the state of facing directly upward. Similarly, in the first embodiment, the downward state is not limited to the state of facing directly downward.

[0035] FIG. 7 is a functional block diagram showing the control device according to the first embodiment. As shown in FIG. 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, an electronic computer such as a desktop personal computer, a laptop computer, or a tablet terminal.

[0036] The input unit 210 is constituted by, for example, input devices such as a keyboard, a mouse, a touchpad, and a joystick. By operating the input unit 210, in addition to the information input function usually required in the control device 200, operations such as inputting answers to questions described later and inputting teaching information described later can be performed.

[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 usually required in the control device 200, the display unit 220 displays a question screen (not shown) and the like.

[0038] Further, the display unit 220 can be constituted by a touch screen having the function of the input unit 210. When the display unit 220 is constituted by a touch screen, the user can perform various operations such as inputting an answer to a question to the control device 200 by operating the display unit 220, for example.

[0039] Note that the configurations of the input unit 210 and the display unit 220 are not limited to the above-described configurations, and instead of these input unit 210 and display unit 220, any configuration having an equivalent function (for example, display means and input means that can be used remotely) is not limited thereto.

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

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

[0042] In the first embodiment, the provisional program creation unit 232 is configured to ask the user a question by displaying the question on the question screen of 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 to the question screen.

[0043] FIG. 9 is a flowchart showing an example of the question process and the answer reception process executed by the provisional program creation unit according to the first embodiment. The questions include, as shown in FIG. 9, a question regarding the number of bends of the work W and a question regarding the bending direction for bending the work W. In the question process, the provisional program creation unit 232 asks a question regarding the bending direction according to the answer to the question regarding the number of bends. Specifically, the provisional program creation unit 232 asks how many times to bend the work W as the question regarding the number of bends.

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

[0045] Note that, as a question regarding the bending direction, instead of the above-described question, the provisional program creation unit 232 may ask the user whether to insert the work W into the press brake 10 with the front side facing up (the direction in which the surface on which the work W was placed is on the upper die U side) (valley fold) or to insert the work W with the back side facing up (the direction in which the surface on which the work W was placed is on the lower die L side) (mountain fold).

[0046] For example, when the answer to the question of how many times to bend the work W is two, the provisional program creation unit 232 asks the above-described question regarding the bending direction twice.

[0047] Also, the question includes a question regarding the insertion direction of inserting the work W into the press brake 10. In the question processing, the provisional program creation unit 232 asks a question regarding the insertion direction according to the answer to the question regarding the number of bends. Specifically, the provisional program creation unit 232 asks, as a question regarding the insertion direction, in which direction to insert the work W.

[0048] Note that, as a question regarding the insertion direction, instead of the above-described question, the provisional program creation unit 232 may ask which side of the work W to bend.

[0049] For example, when the answer to the question of how many times to bend the work W is two, the provisional program creation unit 232 asks the above-described question regarding the insertion direction twice.

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

[0051] For example, when the answer to the question of how many times to bend the workpiece W is two, the provisional program creation unit 232 first asks a question about the bending direction of the first bend, and then asks a question about the insertion direction of the first bend. Then, the provisional program creation unit 232 asks a question about the bending direction of the second bend, and then asks a question about the insertion direction of the second bend.

[0052] Note that the order of questions 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 questions about the bending directions of the first and second bends and then ask questions about the insertion directions of the first and second bends. Also, the provisional program creation unit 232 may ask questions about the bending directions of the first and second bends and questions about the insertion directions of the first and second bends at once. That is, at least one of the four questions, the corresponding answer options, and the answer fields may be displayed on the question screen of the display unit 220 at once. Further, the provisional program creation unit 232 may ask a question about the bending direction after asking a question about the insertion direction.

[0053] Furthermore, when the workpiece W is loaded on the workpiece mounting table, the question may include a question about the use of a double-sheet detection function or a double-sheet prevention device. The workpiece mounting table may have a double-sheet detection function and a double-sheet prevention device such as a magnetic floater or an air separator.

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

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

[0056] FIG. 22 is a diagram showing the second selection job group of the first embodiment. In addition, the provisional program creation unit 232 selects the work recovery selection job 246b shown in FIG. 23 from the second selection job group 242. As shown in FIG. 22, the second selection job group 242 includes a job B1 that recovers the work W in the first work holding posture that holds the work W so that the front direction of the robot hand 120 faces the reference direction RD, and a job B2 that recovers the work W in the second work holding posture that holds the work W so that the front direction of the robot hand 120 faces the opposite direction of the reference direction RD.

[0057] In addition, the second selection job group 242 includes a job B3 that recovers the work W in the third work holding posture that holds the work W so that the front direction of the robot hand 120 faces the left direction of the reference direction RD, and a job B4 that recovers the work W in the fourth work holding posture that holds the work W so that the front direction of the robot hand 120 faces the right direction of the reference direction RD.

[0058] FIG. 10 is a schematic diagram showing the holding of the work during mountain folding in the first embodiment. FIG. 11 is a schematic diagram showing the approach posture during mountain folding in the first embodiment. The provisional program creation unit 232 having the above configuration, when bending the bending line BL in the reference direction RD of the work W with a bending number of 1 time and performing mountain folding, as shown in FIG. 10, causes the work supply robot 100 to hold the work W so that the front direction of the robot hand 120 faces the direction of the reference direction RD. Further, as shown in FIG. 11, the provisional program creation unit 232 selects the job A1 in the first approach posture that approaches with the surface of the work W (the surface held by the robot hand 120) facing the lower die L side of the press brake 10 as the approach selection job 246a from the first selection job group 241.

[0059] FIG. 12 is a schematic diagram showing the holding of the work during valley folding in the first embodiment. FIG. 13 is a schematic diagram showing the approach posture during valley folding in the first embodiment. Furthermore, when the bending number is 1 time and the bending line BL in the reference direction RD of the work W is valley-folded, the provisional program creation unit 232, as shown in FIG. 12, causes the work supply robot 100 to hold the work W so that the front direction of the robot hand 120 faces the direction of the reference direction RD. Further, as shown in FIG. 13, the provisional program creation unit 232 selects the job A2 in the second approach posture that approaches with the surface of the work W (the surface held by the robot hand 120) facing the upper die U of the press brake 10 as the approach selection job 246a from the first selection job group 241.

[0060] FIG. 14 is a schematic diagram showing the work holding direction when the bending number is 2 times in the first embodiment. Furthermore, when the bending number is 2 or more (for example, 2), as shown in FIG. 14, the provisional program creation unit 232 selects the first work recovery selection job 246b according to the position of the bending line BL bent in the first bending process of the work W and the position of the bending line BL bent in the second bending process, that is, the first and second insertion directions. Specifically, the provisional program creation unit 232 is configured to select the work recovery selection job 246b in which the position (insertion direction) of the bending line BL bent in the second bending process coincides with the front direction of the robot hand 120 as the first work recovery selection job 246b.

[0061] When the positions of the bending lines BL to be bent in the first bending process of the workpiece W and the positions of the bending lines BL to be bent in the second bending process are both in the same direction as the reference direction RD, the job B1 that holds the workpiece W so that the front direction of the robot hand 120 faces the reference direction RD is selected from the second selection job group 242 as the first workpiece recovery selection job 246b.

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

[0063] Also, when the position of the bending line BL to be bent in the first bending process of the workpiece W is in the same direction as the reference direction RD and the position of the bending line BL to be bent in the second bending process is in the opposite direction to the reference direction RD, the job B2 that holds the workpiece W so that the front direction of the robot hand 120 faces the opposite direction to the reference direction RD is selected from the second selection job group 242 as the first workpiece recovery selection job 246b.

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

[0065] Furthermore, when the position of the bending line BL to be bent in the first bending process of the workpiece W is in the same direction as the reference direction RD and the position of the bending line BL to be bent in the second bending process is to the left of the reference direction RD, the job B3 that holds the workpiece W so that the front direction of the robot hand 120 faces the left direction with respect to the reference direction RD is selected from the second selection job group 242 as the first workpiece recovery selection job 246b.

[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 die U and the lower die L of the press brake 10.

[0067] Furthermore, when 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 for holding the workpiece W so that the front direction of the robot hand 120 faces to the right of the reference direction RD as the first workpiece recovery selection job 246b from the second selection job group 242.

[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 die U and the lower die L of the press brake 10.

[0069] As described above, the provisional program creation unit 232 selects the workpiece retrieval selection job 246b in which the position of the bending line BL to be bent in the second bending process coincides with the front direction of the robot hand 120 as the first workpiece retrieval 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 process and the second bending process.

[0070] Fig. 15A is a schematic diagram showing a first approach posture when repeating two mountain folds in the first embodiment. Fig. 15B is a schematic diagram showing a first work collection posture when repeating two mountain folds in the first embodiment. In addition, 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 double mountain folds are repeated, first, similar to the case of performing a single mountain fold, as shown in FIG. 15A, the provisional program creation unit 232 selects job A1 as the first approach selection job 246a. Also, as shown in FIG. 15B, in the first workpiece recovery selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface similar to the first approach posture facing upward.

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

[0072] FIG. 17A is a schematic diagram showing the first approach posture when double valley folds are repeated in the first embodiment. FIG. 17B is a schematic diagram showing the first workpiece recovery posture when double valley folds are repeated in the first embodiment. Similarly, when double valley folds are repeated, first, similar to the case of performing a single valley fold, as shown in FIG. 17A, the provisional program creation unit 232 selects job A2 as the first approach selection job 246a. Also, as shown in FIG. 17B, in the first workpiece recovery selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface similar to the first approach posture facing upward.

[0073] FIG. 18A is a schematic view showing a second approach posture when the double valley fold of the first embodiment is repeated. FIG. 18B is a schematic view showing a second workpiece recovery posture when the double valley fold of the first embodiment is repeated. On the other hand, as shown in FIG. 18A, the provisional program creation unit 232 selects job A1 in the second approach selection job 246a. Further, as shown in FIG. 18B, the provisional program creation unit 232 causes the robot hand 120 to hold the workpiece W with the suction surface similar to the first approach posture facing upward in the second workpiece recovery selection job 246b.

[0074] That is, when the number of bending operations is two or more and mountain folds are continuous or valley folds are continuous, the provisional program creation unit 232 is configured to select job A1 that approaches in the first approach posture in the approach selection job 246a at the time of the second and subsequent continuous mountain folds or valley folds. By having such a configuration, there is an advantage that the workpiece supply robot 100 can approach in a stable posture.

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

[0076] FIG. 19A is a schematic view showing a second approach posture when mountain folds and valley folds are repeated in the first embodiment. FIG. 19B is a schematic view showing a second workpiece recovery posture when mountain folds and valley folds are repeated in the first embodiment. Next, as shown in FIG. 19A, the provisional program creation unit 232 selects Job A2 as the second approach selection job 246a. Also, as shown in FIG. 19B, in the second work recovery selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the work W with the suction surface facing upward in the same state as the first approach posture.

[0077] FIG. 20A is a schematic diagram showing the third approach posture in the case of repeating mountain folds and valley folds of the first embodiment. FIG. 20B is a schematic diagram showing the third work recovery posture in the case of repeating mountain folds and valley folds of the first embodiment. Then, as shown in FIG. 20A, the provisional program creation unit 232 selects Job A2 again as the third work recovery selection job 246b. Also, as shown in FIG. 20B, in the third work recovery selection job 246b, the provisional program creation unit 232 causes the robot hand 120 to hold the work W with the suction surface facing upward in the same state as the first approach posture.

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

[0079] As shown in FIG. 8, the teaching reflection unit 234 is configured to be capable of executing a teaching reception process (S14 in FIG. 8) for receiving teaching (instruction) of an operation by a user and a teaching reflection process (S15 in FIG. 8) for reflecting the information of the received teaching on at least one of the fixed job 245 and the selection job 246.

[0080] The location for reflecting the teaching information of the fixed job 245 and the selection job 246 included in the provisional program 244 may have a predetermined value input in advance or may be blank. When a predetermined value is input in the location for reflecting the teaching information of the fixed job 245 and the selection job 246, the teaching reflection unit 234 overwrites the value, and when it is blank, the teaching reflection unit 234 inputs a new value to reflect the teaching information in the fixed job 245 and the selection job 246.

[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 selection job group 241, a second selection job group 242, a provisional program 244, and a control program creation program 248. Further, the storage unit 240 stores programs necessary for controlling each part of the control device 200.

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

[0083] The plurality of jobs includes a selection job 246 regarding the insertion of the work W into the press brake 10. In the first embodiment, the selection job 246 regarding the insertion of the work W into the press brake 10 is an approach selection job 246a for causing the work supply robot 100 to insert the work W into the press brake 10 in a predetermined approach posture. For each tentative program 244, job A1 or job A2 is selected from the first selection job group 241 in the approach selection job 246a. Further, when the plurality of approach selection jobs 246a are included in the tentative program 244, job A1 or job A2 is selected for each approach selection job 246a.

[0084] The plurality of jobs also includes a selection job 246 regarding the holding of the work W after the bending process by the press brake 10. In the first embodiment, the selection job 246 regarding the holding of the work W after the bending process by the press brake 10 is a work recovery selection job 246b for causing the robot hand 120 to hold the work W in a predetermined orientation after the completion of the bending process. For each tentative program 244, any one of jobs B1 to B4 is selected from the second selection job group 242 in the work recovery selection job 246b. Further, when the plurality of work recovery selection jobs 246b are included in the tentative program 244, any one of jobs B1 to B4 is selected for each work recovery selection job 246b.

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

[0086] FIG. 24 is a diagram showing a tentative program in the case where the number of bending times in the first embodiment is 2. In the first embodiment, as shown in FIG. 23, the provisional program 244 includes a loading job 244a, an approach job 244b, a work recovery job 244c, and an unloading job 244d. Further, when the number of bending times of the work W is two or more, the provisional program 244 includes the approach job 244b and the work recovery job 244c by the number of bending times, and the approach job 244b and the work recovery job 244c are alternately executed. For example, when the number of bending times is two, the provisional program 244 includes two approach jobs 244b and two work recovery jobs 244c, as shown in FIG. 24.

[0087] As shown in FIG. 23, the loading job 244a has a loading fixing job 245a. The loading fixing job 245a is the fixing job 245 of the work supply robot 100. In the loading fixing job 245a, the work supply robot 100 holds (adsorbs) the work W loaded on the loading carriage 400 or the like with the suction part 130 of the robot hand 120 in a 90-degree posture and moves to the approach preparation posture.

[0088] The approach job 244b has an approach fixing job 245b, an approach selection job 246a, a gauging job 245c, and a first press job 245d. The approach fixing job 245b is the fixing job 245 of the work supply robot 100. In the approach fixing job 245b, the work supply robot 100 changes the suction part 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 die U and the lower die 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 height direction.

[0090] The gauging job 245c is a fixed job 245 of 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 the positioning is completed, the press brake 10 lowers the upper table 11 to the position where the work W is sandwiched between the upper die U and the lower die L. Then, the press brake 10 retracts the back gauge, the work supply robot 100 releases the holding (suction) of 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 lowers the upper table 11 to the lower end to perform bending of the work W.

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

[0093] In the work recovery selection job 246b, as described above, the work supply robot 100 holds (suctions) and recovers the work W for which the bending process has been completed in any of the first to fourth work 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 process of the work W.

[0094] When the number of bends of the work W is one, the job B1 is selected as the work recovery selection job 246b, and the work supply robot 100 holds the work W in the first work 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 work supply robot 100. In the unloading fixed job 245g, the work supply robot 100 transports the held work W to a predetermined location such as an unloading box, and then releases the holding (adsorption) of the work 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 FIG. 8) for creating 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 of the control device 200 according to the first embodiment will be described with reference to FIG. 25. The control program creation method of the control device 200 according to the first embodiment generally includes a provisional program creation step of creating 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.

[0099] First, the provisional 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 the user questions (S100 in FIG. 25: question step). The questions asked by the provisional program creation unit 232 include questions regarding the number of bends of the work W, questions regarding the bending direction for bending the work W, and questions regarding the insertion direction for inserting the work W 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 reception step). After that, the provisional program creation unit 232 selects a selection job 246 from a selection job group including a plurality of candidate selection jobs 246 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 regarding the bending direction (S103 in FIG. 25: approach selection job selection step). Also, the provisional program creation unit 232 selects a work recovery selection job 246b from the second selection job group 242 based on the answer to the question regarding the insertion direction (S104 in FIG. 25: work recovery 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 selection 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 conduct a test run of the bending processing system 1 for teaching (S201 in FIG. 25: teaching step), and the control program used for the automatic operation of the bending processing system 1 is completed. The test run may execute a series of processes of the provisional program 244 or may execute each process in order by manual feed.

[0104] Specifically, the user inputs teaching information such as coordinate data in the fixed job 245 and the selection job 246 of the workpiece supply robot 100 via the input unit 210 of the control device 200 or by using a device different from the control device 200 such as a teaching pendant terminal. Further, the user may manually operate the workpiece supply robot 100 via the control device 200, the teaching pendant terminal, etc. to input teaching information, or may input teaching information by direct teaching in which the arm unit 140 of the workpiece supply robot 100 is directly moved manually to perform teaching.

[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 by the user (S106 in FIG. 25: teaching reception step). Then, the teaching reflection unit 234 reflects the received teaching information on the fixed job 245 and the selection job 246 of the workpiece supply robot 100 that require 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 Processing 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 that controls a bending machine (press brake 10 in the first embodiment) and a workpiece supply robot 100 that supplies a workpiece W to the bending machine (press brake 10). The provisional program 244 includes a plurality of jobs corresponding to the respective operations of the bending machine (press brake 10) and the workpiece supply robot 100. The plurality of jobs include a fixed job 245 and a selection job 246. The fixed job 245 is set in common for a plurality of provisional programs 244, and the selection job 246 is automatically selected for each provisional program 244 based on the user's answer to a question from a group of selection jobs 246 including a plurality of candidate selection jobs 246.

[0107] And, by having such a configuration, the control device 200 according to the first embodiment automatically selects the selection job 246 from the selection job group based on the user's answers to several questions and creates the provisional program 244. Therefore, the user does not need to input various information to create the provisional program 244, and has the advantage of reducing the user's burden.

[0108] In addition, since the provisional program 244 can be created only by answering simple questions, it has the advantage of making the user less skilled. Furthermore, since there is no need to input various information, the provisional program 244 can be created in a short time from the start of the work, and it has the advantage of improving the work efficiency.

[0109] Also, in the control device 200 according to the first embodiment, the plurality of jobs includes the selection job 246 related to the insertion of the work W into the bending machine (press brake 10). By having such a configuration, since the selection job 246 related to the insertion of the work W can be automatically selected based on the answer to the question and the provisional program 244 can be created, there is an advantage of reducing the user's burden.

[0110] Furthermore, in the control device 200 according to the first embodiment, the plurality of jobs includes the selection job 246 related to the holding of the work W after bending by the bending machine (press brake 10). By having such a configuration, since the selection job 246 related to the holding of the work W can be automatically selected based on the answer to the question and the provisional program 244 can be created, it has the advantage of reducing the user's burden.

[0111] Furthermore, the control device 200 according to the first embodiment is configured to be capable of executing a question process for asking a user questions, an answer reception process for receiving the user's answers, a selection process for selecting a selection job 246 from a group of selection jobs based on the answers, and a tentative program creation process for creating a tentative program 244 including a fixed job 245 and the selected selection job 246. By having such a configuration, it has the advantage of being able to reduce the burden on the user.

[0112] Also, in the control device 200 according to the first embodiment, the questions include a question regarding the number of bends of the workpiece W and a question regarding the bending direction for bending the workpiece W, and the question process asks a question regarding the bending direction in response to an answer to the question regarding the number of bends. By having such a configuration, since the tentative program 244 can be created by answering the question regarding the number of bends and the question regarding the bending direction, it has the advantage of being able to reduce the burden on the user.

[0113] Furthermore, in the control device 200 according to the first embodiment, the questions include a question regarding the insertion orientation for inserting the workpiece W into the bending machine (press brake 10), and the question process asks a question regarding the insertion orientation in response to an answer to the question regarding the number of bends. By having such a configuration, since the tentative program 244 can be created by answering the question regarding the insertion orientation, it has the advantage of being able to reduce the burden on the user.

[0114] Furthermore, the control device 200 according to the first embodiment is configured to be capable of executing a teaching reception process for receiving teaching of operations by a user, and a teaching reflection process for reflecting the received teaching information on at least one of a fixed job 245 and a selection job 246. By having such a configuration, the created provisional program 244 can be adjusted by teaching. Therefore, when the automatically created control program is executed as it is for automatic operation, there may be a deviation during bending processing. However, by using the control program created by automatically reflecting the teaching information on the provisional program 244, it is less likely to cause a deviation during the bending process of automatic operation, and it has the advantage of improving the processing accuracy. In addition, by reflecting the teaching information based on the provisional program 244, it has the advantage that the control program can be created in a short time and the automatic operation can be started compared with the so-called full teaching in which the work supply robot 100 is taught from 1.

[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 processing system 1 according to the second embodiment will be described. Note that the description of the configuration overlapping with the first embodiment will be omitted as appropriate. Similar to the control unit 230 of the first embodiment, the control unit 230 of the control device 200 includes a provisional program creation unit 232 and an instruction reflection unit 234 as shown in FIG. 7, and is configured to be able to create a provisional program 244 for controlling the press brake 10 and the work supply robot 100.

[0116] The provisional program 244 includes a plurality of jobs corresponding to the operations of the press brake 10 and the work supply robot 100. The plurality of jobs include a fixed job 245 and a selection job 246. The fixed job 245 is set in common for a plurality of provisional programs 244. The selection job 246 is automatically selected for each provisional program 244 based on the shape data indicating the shape of the product to be manufactured by processing the work W from a selection job group including a plurality of candidate selection jobs 246 by the provisional program creation unit 232.

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

[0118] FIG. 26 is a flowchart showing a series of processes executed by the 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 capable of executing a bending process specifying process (S50 in FIG. 26) for specifying bending information regarding the bending process of the workpiece W from the shape data, a selection process (S51 in FIG. 26) for selecting the selection job 246 from the selection job group based on the specified bending information, and a provisional program creation process (S52 in FIG. 26) for creating a provisional program 244 including the fixed job 245 and the selected selection job 246.

[0119] The bending information includes information regarding the number of bends of the workpiece W and information regarding the bending direction for bending the workpiece W. The information regarding the number of bends of the workpiece W is, for example, the number of corners included in the product, the number of bending lines BL, or the like. The provisional program creation unit 232 specifies, for example, the number of corners of the product, the number of bending lines BL, etc. from the 3D data of the product as information regarding the number of bends, and calculates the number of times the workpiece W is 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, the developed view of the product including the position of the bending line BL, and the order of bending. The provisional program creation unit 232 specifies, for example, the bending direction, the order of bending, etc. of the workpiece W from a combination of the cross-sectional shape of the 3D data of the product, the developed view of the product including the position of the bending line BL, and the order of bending as information regarding the bending direction, and determines whether to bend the workpiece W in a direction in which the back surfaces of the workpiece W face each other (in the second embodiment, mountain fold), or in a direction in which the front surfaces of the workpiece W face each other (in the second embodiment, valley fold).

[0121] Further, the bending information includes information regarding the insertion orientation for inserting the work W into the press brake 10. The information regarding the insertion orientation is, for example, the position of the corners included in the product, the position of the bending line BL of the surface held by the work supply robot 100 of the work W, and the like. The provisional program creation unit 232 identifies, as information regarding the insertion orientation, for example, the position of the corners of the product and the position of the bending line BL of the surface held by the work supply robot 100 of the work W from the 3D data of the product or the developed view of the product, and determines which side of the work W is to be bent.

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

[0123] As shown in FIG. 26, the teaching reflection unit 234 is configured to be capable of executing a teaching reception process (S53 in FIG. 26) for receiving the teaching (instruction) of the operation by the user and a teaching reflection process (S54 in FIG. 26) for reflecting the information of the received teaching to at least one of the fixed job 245 and the selection job 246. In the teaching reception process, the teaching reflection unit 234 performs the same process as the teaching reception process according to the first embodiment (S14 in FIG. 8). Also, in the teaching reflection process, the teaching reflection unit 234 performs the same process as the teaching reflection process according to the first embodiment (S15 in FIG. 8).

[0124] [Advantages of the control device, bending processing 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 that controls a bending machine (press brake 10 in the second embodiment) and a work supply robot 100 that supplies a work W to the bending machine (press brake 10). The provisional program 244 includes a plurality of jobs corresponding to the respective operations of the bending machine (press brake 10) and the work supply robot 100. The plurality of jobs include a fixed job 245 and a selection job 246. The fixed job 245 is set in common for a plurality of provisional programs 244, and the selection job 246 is automatically selected for each provisional program 244 based on shape data indicating the shape of a product to be manufactured by processing the work W from a selection job group including a plurality of candidate selection jobs 246.

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

[0126] Also, like the first embodiment, the control device 200 according to the second embodiment includes a selection job 246 regarding the insertion of the work W into the bending machine (press brake 10) among the plurality of jobs. Therefore, since the selection job 246 regarding the insertion of the work W can be automatically selected based on the shape data to create the provisional program 244, there is an advantage that the burden on the user can be reduced.

[0127] Furthermore, like the first embodiment, the control device 200 according to the second embodiment includes a selection job 246 regarding the holding of the work W after bending by the bending machine (press brake 10) among the plurality of jobs. Therefore, since the selection job 246 regarding the holding of the work W can be automatically selected based on the shape data to create the provisional program 244, it has the advantage of reducing the burden on the user.

[0128] Furthermore, the control device 200 according to the second embodiment is configured to be capable of executing a bending process specifying process for specifying bending information regarding the bending process of the workpiece W from the shape data, a selection process for selecting a selection job 246 from the selection job group based on the specified bending information, a fixed job 245, and a provisional program creation process for creating a provisional program 244 including the selected selection job 246. By having such a configuration, since the control device 200 specifies the bending information from the shape data, selects the selection job 246, and automatically creates the provisional program 244, it has the advantage of being able to reduce the burden on the user.

[0129] Also, 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 in which the workpiece W is bent. By having such a configuration, since the control device 200 can create the provisional program 244 by specifying the information regarding the number of bends and the information regarding the bending direction, it has the advantage of being able to reduce the burden on the user.

[0130] Furthermore, the control device 200 according to the second embodiment is configured to be capable of executing a teaching reception process and a teaching reflection process in the same manner as in the first embodiment. As a result, it has the advantage that misalignment is less likely to occur during the bending process of automatic operation, and the processing accuracy can be improved. Also, by reflecting the teaching information based on the provisional program 244, it has the advantage that the control program can be created and the automatic operation can be started in a shorter time compared to full teaching.

[0131] [Modification Example] As described above, the preferred embodiments of the present invention have been described. However, the technical scope of the present invention is not limited to the scope described in the above embodiments. Various changes or improvements can be made to the above-described embodiments.

[0132] For example, in the above-described first and second embodiments, the plurality of jobs have been described as including the selection job 246 related to the insertion of the work W into the bending machine (press brake 10 in the first and second embodiments), but the present invention is not limited thereto, and the plurality of jobs may not include the selection job 246 related to the insertion of the work W into the bending machine (press brake 10).

[0133] In the above-described first and second embodiments, the plurality of jobs have been described as including the selection job 246 related to the holding of the work W after bending by the bending machine (press brake 10), but the present invention is not limited thereto, and the plurality of jobs may not include the selection job 246 related to the holding of the work W after bending by the bending machine (press brake 10).

[0134] In the above-described first embodiment, the control device 200 has been described as being configured to be capable of executing a question process for asking a user a question, an answer reception process for receiving the user's answer, a selection process for selecting the selection job 246 from a group of selection jobs based on the answer, a fixed job 245, and a tentative program creation process for creating a tentative program 244 including the selected selection job 246, but the present invention is not limited thereto. The control device 200 may not be able to execute the question process and the answer reception process.

[0135] In the above-described first embodiment, the questions include a question regarding the number of bends of the work W and a question regarding the bending direction for bending the work W, and the question process has been described as performing a question regarding the bending direction in response to an answer to the question regarding the number of bends, but the present invention is not limited thereto. The questions may not include a question regarding the number of bends of the work W and a question regarding the bending direction for bending the work W. Further, the question process may not perform a question regarding the bending direction in response to an answer to the question regarding the number of bends.

[0136] In the above-described first embodiment, the question includes a question regarding the insertion orientation for inserting the workpiece W into the bending machine (press brake 10), and the question processing has been described as performing a question regarding the insertion orientation according to the answer to the question regarding the number of bends. However, the present invention is not limited to this. The question may not include a question regarding the insertion orientation. Further, the question processing may not perform a question regarding the insertion orientation according to the answer to the question regarding the number of bends.

[0137] In the above-described second embodiment, the control device 200 has been described as being configured to be capable of executing a bending process specifying process for specifying bending information regarding the bending process of the workpiece W from the shape data, a selection process for selecting the selection job 246 from the selection job group based on the specified bending information, and a provisional program creation process for creating a provisional program 244 including the fixed job 245 and the selected selection job 246. However, the present invention is not limited to this. The control device 200 may not be able to execute the bending process specifying process.

[0138] In the above-described second embodiment, the bending information has been described as including information regarding the number of bends of the workpiece W and information regarding the bending direction for bending the workpiece W. However, the present invention is not limited to this. The bending information may not include information regarding the number of bends and information regarding the bending direction.

[0139] In the above-described first and second embodiments, the control device 200 has been described as being configured to be capable of executing a teaching reception process for receiving teaching of operations by the user and a teaching reflection process for reflecting the received teaching information on at least one of the fixed job 245 and the selection job 246. However, the present invention is not limited to this. The control device 200 may not be able to execute the teaching reception process and the teaching reflection process.

[0140] In the above-described first embodiment, the control device 200 has been described as including the display unit 220 that functions as a question unit for presenting questions to the user and the input unit 210 that can answer the questions, but it is not limited thereto. The control device 200 may include an audio output unit that functions as a question unit for presenting questions to the user and an audio input unit that can input an answer to the question by voice without including the input unit 210 and the display unit 220.

[0141] In the above-described first embodiment, the questions have been described on the premise that they are direct questions, but they are not limited thereto, and the questions may be indirect, euphemistic, or abstract questions. Also, the answer to the question may be an instruction (prompt).

[0142] In the above-described first and second embodiments, the temporary program 244 has been described as including the loading job 244a, the approach job 244b, the work recovery job 244c, and the unloading job 244d, but it is not limited thereto, and the temporary program 244 can include various arbitrary jobs.

[0143] In the above-described first and second embodiments, the temporary program 244 has been described as not including the selection job 246 of the bending machine (press brake 10), but it is not limited thereto, and the temporary program 244 may include the selection 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 has been described as not including the selection job 246 of the work supply robot 100. However, the present invention is not limited to this, and the loading job 244a may include the selection job 246 of the work supply robot 100. Similarly, in the above-described first and second embodiments, the unloading job 244d of the provisional program 244 has been described as not including the selection job 246 of the work supply robot 100. However, the present invention is not limited to this, and the unloading job 244d may include the selection job 246 of the work supply robot 100.

Explanation of Signs

[0145] 1 Bending processing 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 Suction part 140 Arm part 200 Control device 210 Input part 220 Display part 230 Control part 232 Provisional program creation part 234 Instruction reflection part 240 Storage part 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 Fixing job 245a Loading fixing job 245b Approach fixing job 245c Gauging Job 245d First Press Job 245e Work Recovery and Fixing Job 245f Second Press Job 245g Unloading and Fixing Job 246 Selection Job 246a Approach Selection Job 246b Work Recovery Selection Job 248 Control Program Creation Program 300 Robot Carrier 400 Loading Trolley BL: Bending Line L: Lower Die RD: Reference Direction U: Upper Die W: Work

Claims

1. A provisional program for controlling a bending machine and a work supply robot for supplying a work to the bending machine is created, A storage unit is provided in which a fixed job and a selected job group including a plurality of selected jobs are stored, the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the workpiece supply robot, the plurality of jobs includes the fixed job and the selected job, the fixed job is a job set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from the selected job group stored in the storage unit based on at least one of a user's answer to a question and shape data indicating a 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 of asking the user the question; an answer acceptance process for accepting the answer of 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 regarding the number of bends of the workpiece and a question regarding a 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 question includes a question regarding an insertion direction of the workpiece in 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 identified 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 reception process for receiving teaching of the motion 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 work supply robot that supplies a work to the bending machine; A control device for controlling the bending machine and the work supply robot; Equipped with the control device includes a storage unit in which a fixed job and a selected job group including a plurality of selected jobs are stored, and is configured to be able to create a provisional program for controlling the bending machine and the workpiece supply robot; the provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the workpiece supply robot, the plurality of jobs includes the fixed job and the selected job, the fixed job is a job set in common to a plurality of the provisional programs, The selected job is automatically selected for each provisional program from the selected job group stored in the storage unit based on at least one of a user's answer to a question and shape data indicating a shape of a product to be manufactured by machining the workpiece. Bending system.

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

12. The bending machine 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 provisional program includes a plurality of jobs corresponding to each operation of the bending machine and the workpiece supply robot, the plurality of jobs includes a fixed job and a selected job, the fixed job is a job set in common to a plurality of the provisional programs, the selected job is automatically selected for each of the provisional programs from a selected job group including a plurality of the selected jobs as candidates, based on at least one of a user's answer to a question and shape data indicating a shape of a product to be manufactured by machining the workpiece; The fixed job and the selected job group are stored in a storage unit of the control device. Control program creation program.

Images