JPH06155343A - Bending robot control method - Google Patents

Abstract

PURPOSE:To facilitate floppy disk management and increase work efficiency by enabling the operation control of different models of multiple bending robots by single floppy disk. CONSTITUTION:According to the bent form of a sheet material to be bent, a user bending robot mechanical file in which a mechanical file to record the mechanical elements of multiple different models of bending robots 1 on a floppy disk 7, etc., and an operation setting file to set the operating conditions of the bending robots 1 are included is prepared. Also a bending basic pattern software 5 in which initial conditions of the sheet material to be worked and an operation module file made by selecting a file necessary for the operation of the bending robots 1 from among basic operation robot files in which the operations common to different models of bending robots are recorded are included is prepared. Then a bending robot 1 to be used is selected from the software 5, and the bending conditions of the sheet material are input to prepare an operation program and operate the bending robot 1 controllably.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending robot control method, and more particularly to a control method for controlling the operation of bending robots of different models using one recording medium.

[0002]

2. Description of the Related Art A conventional bending robot is designed on the condition that the weight and size of a plate material to be bent are conditions. Therefore, it is necessary to change the number of axes and the method of the bending robot depending on the condition of the plate material to be handled.

Therefore, in order to perform plate material bending work of a constant shape by using a plurality of different bending robots, the flange of the plate material to be bent by the user is added to the pattern software created corresponding to each robot. Is directly input to correct the pattern software, and the bending robot is operated based on the pattern software.

[0004]

However, the pattern software does not depend on the shape of the plate material to be bent, but on the bending robot body. That is,
Bending robots have different axis configurations and machine parameters, so it is easy for users who use bending robots.
When performing bending pattern processing, that is, so-called bento box processing, for example, in order to operate the bending robots A, B, and C of different models, each bending robot A, B, and C must have a pattern software medium. Moreover, as the number of workpiece shapes and types of machines to be processed increases, the number of media that accommodates the pattern software increases, and the management of the pattern software becomes complicated.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a bending robot control method capable of controlling a plurality of different types of bending robots with one medium in order to solve the above problems. And

[0006]

In order to achieve this object, the present invention provides a bending robot control method for controlling the operation of a bending robot based on a recording medium in which the operation contents of the bending robot are recorded. A machine file for recording the mechanical elements of a plurality of different bending robots on one recording medium according to the bent shape of the plate to be formed,
Create a user bending robot machine file that contains an operation setting file that sets the operation state of each bending robot,
The initial state of the plate material to be processed into the user bending robot machine file and the operation module file in which the files necessary for each bending robot operation are selected from the basic operation robot file in which the operations common to bending robots of different models are recorded. Create a bending basic pattern software that includes the bending basic pattern software, select the bending basic pattern software that corresponds to the bending robot used by the user from this bending basic pattern software, enter the bending conditions for the plate material, and create the bending robot operation program. The operation of the bending robot is controlled according to the operation program.

[0007]

According to the above construction, according to the bending shape of the plate material to be bent, a machine file for recording each mechanical element of a plurality of different bending robots on one recording medium, and a bending robot of each bending robot. A user bending robot machine file including an operation setting file for setting the operation state is created, and an initial state of the plate material to be processed in the user bending robot machine file and the operation common to bending robots of different models are recorded. Create a bending basic pattern software that includes a motion module file that selects the files required for each robot motion from the motion robot file, select the bending robot to be used by the user from this bending basic pattern software, and bend the plate material Create a motion program for the bending robot by inputting It controls the operation of the lower robot.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments according to the present invention will be described below with reference to FIGS.
It will be explained based on.

FIG. 1 is an explanatory view showing an embodiment of the present invention. The operation of the bending robot 1 that is a bending robot that supplies and moves the plate material to the press brake that performs the bending process of the plate material is controlled according to the bending basic pattern software 5 created by the host computer 3 that is the program support device. The bending basic pattern software 5 is recorded on a floppy disk 7 or the like which is a recording medium and loaded into a robot controller 9 which is a control device of the bending robot 1. It is also possible to send the bending basic pattern software 5 to the robot controller 9 by a communication means.

The bending basic pattern software 5 is software for controlling the operation of a plurality of different bending robots 1 based on the bending shape of the plate material. For example, three bending robots A (1a), B (1b), which are different in type, are used to process bento boxes with four bending patterns.
When C (1c) is used, the bending basic pattern software 5 created by the host computer 3 has at least the bending robots A (1a), B (1b), C (1
Bending basic pattern software A for controlling the movement of c)
(5a), B (5b), C (5c) are included. Therefore, the bending basic pattern software A (5a), B (5) for controlling the operation of each bending robot A (1a), B (1b), C (1c) by one floppy disk 7 is used.
b) and C (5c) are selected, the bending robots A (1a), B (1b) and C are transferred through the robot controllers A (9a), B (9b) and C (9c).
The operation control of (1c) can be performed.

The bending basic pattern software 5 will be described in detail with reference to FIGS.

The bending basic pattern software 5 is a mechanical file 11 that records the mechanical elements of the bending robots 1 of different types, such as the number of axes and the method, and an operation setting file that sets the operating state of each bending robot 1. Parameter default value 13 and override value 1
A user bending robot machine file 17 including The parameter default value 13 is a variable for designating the initial state of the bending robot 1. The override value 15 is a variable that allows the operator to directly change the programmed value.

In the bending basic pattern software 5, the work default value 19 which is initial data such as the material and thickness of the plate material to be processed and the bending robot 1 of different models are common as shown in FIG. It includes an operation module file 23 in which a file necessary for the operation of the bending robot 1 input to the machine file 11 is selected and recorded from the basic operation robot file 21 in which the operation is recorded (standardized).

The basic operation robot file 21 records basic operations performed by the bending robot 1. For example, loading for automatically carrying in a plate material, unloading for automatically carrying out a plate material, bending, gripping, shifting. , Following, etc.

A method for operating the bending robot 1 using the bending basic pattern software 5 as shown in FIG. 4 will be described below with reference to a flowchart.

In step 201, the host computer 3
The bending basic pattern software 5 created in step 3 is loaded on the robot controller 9. In step 203, the NC device, which is the control device of the press brake, transmits to the robot controller 9 the data (NC parameters) necessary for the following operation of the bending robot 1 when the plate material is bent. In step 205, the bending robot 1 used for bending the plate material from the bending basic pattern software 5 loaded in the robot controller 9.
Extract the basic pattern of. In step 207, the unique value of the flange or the like of the plate material to be bent is input and the N
The bending basic pattern software 5 is modified together with the C parameter to create an operation program for operating the bending robot 1, and the operation of the bending robot 1 is started by an operation start signal or a direct operation of an operator.

From the above, even if the bending shape of the plate material to be bent increases or the type of bending robot 1 increases, one floppy disk 7 can control the operation of a plurality of different bending robots 1. Therefore, the floppy disk 7 can be easily managed, and the working efficiency is improved.

The present invention is not limited to the above-described embodiments, but the present invention can be implemented in modes other than the above-mentioned embodiments.

[0019]

As described above, according to the present invention, the bending basic pattern software recorded on one recording medium can control the operation of a plurality of different types of bending robots. It is not necessary to increase the number of recording media even if the bending shape of the plate material increases or the number of bending robot types increases. For this reason,
The management of the recording medium becomes easy and the work efficiency is improved.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram of bending basic pattern software used in FIG.

FIG. 3 is an explanatory diagram of a basic operation robot file.

FIG. 4 is a flowchart showing a method of operating a bending robot.

[Explanation of symbols]

 1 Bending robot (bending robot) 5 Bending basic pattern software 7 Floppy disk (recording medium) 11 Machine file 13 Parameter default value (operation setting file) 15 Override value (operation setting file) 17 User bending robot machine file 19 Operation module file 21 Basic operation Robot file 23 Work default value (initial state)

Claims (1)

[Claims] 1. A bending robot control method for controlling the operation of a bending robot on the basis of a recording medium recording the operation contents of the bending robot, wherein a plurality of recording media are recorded on one recording medium according to the bending shape of a plate material to be bent. Machine files that record the mechanical elements of bending robots of different models,
Create a user bending robot machine file that contains an operation setting file that sets the operation state of each bending robot,
The initial state of the plate material to be processed into the user bending robot machine file and the operation module file in which the files necessary for each bending robot operation are selected from the basic operation robot file that records the operations common to different bending robots Create a bending basic pattern software that includes the bending basic pattern software that corresponds to the bending robot used by the user from this bending basic pattern software, enter the bending conditions for the plate material, and create a bending robot operation program. A method for controlling a bending robot, characterized in that the bending robot is controlled in accordance with an operation program.