Patent Description:
There is known a bending machine in which an approximation expression of a bending load is obtained based on an initial bending load and a relative moving position of a punch with respect to a die when a workpiece is bent by the bending machine (see Patent Literature <NUM>). In this bending machine, a change in a bending angle due to displacement of a frame associated with a secular change of the bending machine is corrected by obtaining the approximate expression every time the bending is performed, for every predetermined number of times of the bending, for every arbitrary number of times of the bending, or the like.

<CIT> discloses a bending method and a bending system comprising acquiring the punch position both before and after the bending operation with a calculation of the secular change amount.

However, in the bending machine disclosed in Patent Literature <NUM> described above, even when a plurality of different types of processed parts are continuously bent by a long-time operation, for example, it is necessary for an operator to periodically confirm an accuracy of the bending after the processed part is changed or the like, in addition to stopping the machine operation every time the correction is to be made. Therefore, there is a limit to stabilizing quality of the processed part while reducing a burden of the accuracy confirmation work.

One aspect of the present invention is a bending method and a bending system capable of stabilizing quality of a processed part while reducing a burden of an accuracy confirmation work performed by an operator. Solution to Problem.

A bending method according to claim <NUM> includes acquiring a reference value of an original position of a punch with respect to a die for each processed part before an operation of bending of a workpiece by a bending machine including the punch and the die is started, storing each of the acquired reference values in association with each of the processed parts, reading the reference value associated with the processed part to which the bending is to be executed, acquiring a measurement value of the original position after the operation of the bending of the workpiece is started, calculating, based on the acquired measurement value, a secular change amount from the reference value or a previous measurement value as a secular change correction value for a pushing amount of the punch with respect to the die or the original position of the punch, and resetting, for each predetermined trigger condition, the pushing amount or the original position by using the secular change correction value during an automatic operation of the bending of the workpiece.

Another embodiment of the invention is a bending system acccording to claim <NUM>.

According to the bending method related to the one aspect of the present invention, the reference value of the original position of the punch with respect to the die for each processed part is acquired before the operation of the bending of the workpiece by the bending machine is started, and each of these reference values is stored in association with each of the processed parts. Then, the reference value associated with the processed part to which the bending is to be executed is read. After the operation of the bending is started, the measurement value of the original position is acquired so as calculate the secular change amount from the reference value or the previous measurement value based on the measurement value as the secular change correction value for the pushing amount of the punch with respect to the die or the original position of the punch. By using this secular change correction value, the pushing amount or the original position is reset for each predetermined trigger condition during the automatic operation of the bending. Therefore, quality of the processed part is stabilized while the burden of the accuracy confirmation work performed by the operator is reduced.

According to one aspect of the present invention, it is possible to stabilize quality of a processed part while reducing a burden of an accuracy confirmation work performed by an operator.

Hereinafter, a bending method and a bending system according to the embodiments of the present invention will be described in detail with reference to the attached drawings. Further, in the following embodiments, the scale and dimensions of each component may be exaggerated, and some components may be omitted.

<FIG> is an explanatory diagram showing a basic configuration of a bending system that executes a bending method according to a first embodiment of the present invention. <FIG> is an explanatory diagram showing a schematic entire configuration of the bending system. <FIG> is an explanatory diagram showing an outline of a typical tool used for a bending machine of the bending system. <FIG> is a block diagram showing a schematic internal configuration of a control device of the bending system.

As shown in <FIG>, a bending system <NUM> according to the first embodiment includes a bending machine <NUM> including a punch P and a die D, and a control device <NUM> configured to control the bending machine <NUM> to perform bending. The control device <NUM> includes an acquisition unit <NUM> configured to acquire a reference value of an original position of the punch P with respect to the die D for each processed part before an operation of the bending of a workpiece by the bending machine <NUM> is started, a storage unit <NUM> configured to store each of the acquired reference values in association with each of the processed parts, a read unit <NUM> configured to read the reference value associated with the processed part to which the bending is to be executed, a measurement unit <NUM> configured to acquire a measurement value of the original position after the operation of the bending of the workpiece is started, a calculation unit <NUM> configured to calculate, based on the acquired measurement value, a secular change amount from the reference value or a previous measurement value as a secular change correction value for a pushing amount of the punch P with respect to the die D or as of the original position of the punch P, and a reset unit <NUM> configured to reset, for each predetermined trigger condition, the pushing amount or the original position by using the secular change correction value during an automatic operation of the bending of the workpiece. It should be noted that, in the first embodiment, the control device <NUM> includes an ON/OFF set unit <NUM> configured to set ON/OFF of an execution of resetting in the reset unit <NUM>, for example. It should be noted that the reference value is acquired for each processed part obtained by bending the workpiece, and is obtained when the punch P and the die D are brought into engagement with each other such that a pressure reaches a predetermined pressure.

More specifically, as shown in <FIG>, the bending system <NUM> includes an automatic robot <NUM> that is a manipulator configured to position the workpiece with respect the tools, which are the punch P and the die D, of the bending machine <NUM> such as a press brake, but the bending system <NUM> is not limited to this. In a configuration including the automatic robot <NUM>, the control device <NUM> controls the bending machine <NUM> and the automatic robot <NUM> to execute the bending of the workpiece.

It should be noted that the control device <NUM> is composed of a general-purpose NC (numerical control) device, a work station, a personal computer, or the like, and is configured to be capable of communicating data to the bending machine <NUM> that actually bends the workpiece. Since the basic structures of the bending machine <NUM> and the automatic robot <NUM> are known, only the outlines thereof will be described here. Further, in the following descriptions, the "X-axis direction" means the left-right direction when the front of the bending machine <NUM> is faced, the "Y-axis direction" means the depth direction in that case, and the "Z-axis direction" means the vertical direction in that case.

First, the bending machine <NUM> of the bending system <NUM> will be described. As shown in <FIG>, the bending machine <NUM> includes an upper table <NUM> and a lower table <NUM> in the center of the front surface. The upper table <NUM> and the lower table <NUM> are arranged in line vertically (in the Z-axis direction) such that each of surfaces on one side in the depth direction (in the Y-axis direction), for example, each of plate surfaces on the outside faces the front surface. Further, the bending machine <NUM> includes support units <NUM> that support the upper table <NUM> and the lower table <NUM> and are arranged on the left and right, respectively.

Furthermore, the bending machine <NUM> includes a drive mechanism <NUM>. The drive mechanism <NUM> is configured to, for example, reciprocate the upper table <NUM> vertically with respect to the lower table <NUM>. Additionally, the bending machine <NUM> includes a position detection sensor <NUM> (see <FIG>) configured to detect a moving position when the upper table <NUM> is moved by the drive mechanism <NUM>.

Here, the upper table <NUM> and the lower table <NUM> are made of a plate-shaped member such as a metal, for example. The upper table <NUM> includes a plurality of upper tool holders <NUM> each holding an upper tool such as the punch P at the lower portion thereof. The lower table <NUM> includes lower tool holders <NUM> each holding a lower tool such as the die D at the upper portion thereof. In the present embodiment, each support units <NUM> is composed of a plate-shaped side frame formed in a substantially channel shape in a lateral view, for example, but the support unit <NUM> is not limited to this. Each support unit <NUM> may be composed of, for example, a rod-shaped tie bar or the like.

The drive mechanism <NUM> is, for example, a hydraulic cylinder that serves as a drive source for the upper table <NUM>. The drive mechanism <NUM> is attached to the upper part of each of the support units <NUM>. Each of the drive mechanisms <NUM> is configured to relatively reciprocate (move up and down) the upper table <NUM> vertically with respect to the lower table <NUM>. It should be noted that each of the drive mechanisms <NUM> can use another drive means such as a servo motor, in place of the hydraulic cylinder.

As shown in <FIG>, the position detection sensor <NUM> detects a relative moving position of the punch P with respect to the die D when the upper table <NUM> is moved by the drive mechanism <NUM>. Since the position detection sensor <NUM> is composed of, for example, an encoder, a linear scale, or the like, and thus is publicly known, detailed description thereof will be omitted here.

The position detection sensor <NUM> can detect a pushing amount (a moving stroke amount) (mm) that represents an inter-blade distance on a D-axis of the tools by the punch P and the die D. The inter-blade distance means, for example, a distance between the distal end (the lower end) of the punch P and the upper surface (the opening side end) of the die D, or a distance between the distal end of the punch P and the bottom end of the die D, and the like, and may be defined as a D value.

In the present embodiment, the pushing amount is defined as follows. That is, as shown in <FIG>, the position at which the punch P and the die D are engaged with each other without the workpiece is defined as a tool reference position (<NUM>), for example. Then, the position of the distal end (the lower end) of the punch P at a predetermined position in the direction in which the punch P is separated from the reference position is defined as a Stroke Start (SS) position. The pushing amount represents a distance from the reference position to the SS position (so-called the inter-blade distance) in this case. It should be noted that the tool used has a total length of, for example, <NUM> or more in the left-right direction. This is because if the total length is less than <NUM>, the tool may not be able to withstand a predetermined load that will be described later when the predetermined load is applied.

It should be noted that although the details thereof will be described later, in the first embodiment, the reference value and the measurement value are acquired based on the D-axis position when the predetermined load is applied to the punch P and the die D. That is, the value of the D-axis when a predetermined load F (for example, <NUM> kN ≅ <NUM> kgf) is applied at this reference position by the control device <NUM> is read as a reference value (UT0) of the original position of the punch P or a measurement value (UT1 to UTn).

Then, based on these values that are read, the secular change amount of an entire mechanical system including the tool, the drive mechanism <NUM>, and the like is calculated as a secular change correction value (ΔUT). The secular change correction value (ΔUT) calculated in this manner is used as the correction value for the pushing amount of the punch P. For example, the pushing amount is corrected by adding this correction value to the pushing amount. It should be noted that as will be described later, the reference value (UT0) includes reference values (UTa, UTb, and the like) associated with the tools to be used for the bending of the processed parts.

The bending machine <NUM> further includes a bending load detection sensor <NUM> (see <FIG>) for detecting a bending load applied to the punch P when the upper table <NUM> is moved by the drive mechanism <NUM> so that the punch P and the die D are engaged with each other to bend the workpiece. The bending load detection sensor <NUM> can be configured to detect a fluid pressure when the drive mechanism <NUM> is composed of, for example, the hydraulic cylinder as described above.

Furthermore, the bending load detection sensor <NUM> can be configured to detect a torque and a load current when the drive mechanism <NUM> is composed of a motor. In addition, as the bending load detection sensor <NUM>, various configurations can be adopted such as a piezoelectric element arranged on a mounting portion of the punch P with respect to the upper table <NUM> (or a mounting portion of the die D with respect to the lower table <NUM>).

Next, the automatic robot <NUM> of the bending system <NUM> will be described.

The automatic robot <NUM> includes, for example, a slider <NUM> that can move in the left-right direction along a guide rail <NUM> extending in the left-right direction (the X-axis direction). The automatic robot <NUM> includes a base frame <NUM> placed on the slider <NUM>.

Further, the automatic robot <NUM> includes a rotating base <NUM> that is arranged on the base frame <NUM> and can turn in the horizontal direction. The rotation base <NUM> is provided with a first arm <NUM>, which can swing (rotate) up and down, around a horizontally extending rotation shaft. Further, a second arm <NUM> rotatably arranged around a horizontally extending rotation shaft is provided on the distal-end side of the first arm <NUM>.

Further, a robot hand <NUM>, which is rotatable around a horizontally extending rotating shaft and rotatable around a rotating shaft in the direction orthogonal to the longitudinal direction of the second arm <NUM>, is provided on the distal-end side of the second arm <NUM>. The automatic robot <NUM> carries in and supplies the workpiece for the bending machine <NUM> between the punch P and the die D (that is, between the tools) during the automatic operation of the bending of the workpiece. Along with this, the automatic robot <NUM> discharges and carries out the bent workpiece (the processed part) from the bending machine <NUM>.

In the bending system <NUM> of the present embodiment, by causing the bending machine <NUM> and the automatic robot <NUM> to cooperate with each other under the control of the control device <NUM>, for example, bending of different types of products (processed parts) can be performed by the automatic operation (relay operation). It should be noted that here, the relay operation refers to an operation in which different processed parts are continuously bent in the automatic operation of a series of the bending processes.

Next, the control device <NUM> of the bending system <NUM> will be described.

As shown in <FIG>, the control device <NUM> includes, for example, an arithmetic unit <NUM>, a storage unit <NUM>, an operation driver <NUM>, an input interface (I/F) <NUM>, a communication interface (I/F) <NUM>, and a display unit <NUM>. The arithmetic unit <NUM> includes, for example, a CPU (central processing unit), and together with the input I/F <NUM> and the communication I/F <NUM> described above, achieves functions of the acquisition unit <NUM>, the read unit <NUM>, the measurement unit <NUM>, the calculation unit <NUM>, the reset unit <NUM>, and the ON/OFF set unit <NUM>.

The storage unit <NUM> includes storage media such as a RAM (random access memory), a ROM (read only memory), an HDD (hard disk drive), and an SSD (solid state drive) so as to stores various pieces of data in a readable and writable manner. The operation driver <NUM> causes the drive mechanism <NUM> to operate in accordance with an operation command from the arithmetic unit <NUM>. The input I/F <NUM> is connected to an input unit <NUM> composed of input devices such as a keyboard, a mouse, and a touch panel so as to input, to the arithmetic unit <NUM>, input information from the input unit <NUM>.

A room temperature sensor <NUM>, which is composed of a thermocouple and the like, for measuring a room temperature in an environment in which the bending machine <NUM> is installed is electrically connected to the communication I/F <NUM>, together with the position detection sensor <NUM> and the bending load detection sensor <NUM> described above. The display unit <NUM> may be configured by a display, a monitor, a touch panel having a function of the input unit <NUM>, and the like.

For example, a UI screen (not shown) for controlling the bending machine <NUM> is displayed on a display screen of the display unit <NUM>. On this UI screen, for example, various types of information such as processing conditions, information indicating the secular change correction value (ΔUT) used for the bending, and the like are displayed in such a manner that allows for visual recognition and setting operation. Since the configurations of the respective units of the control device <NUM> are publicly known, detailed descriptions thereof will be omitted here.

In the control device <NUM>, a bending program stored in the storage unit <NUM> is called and executed by the arithmetic unit <NUM>. The arithmetic unit <NUM> controls an operation of the drive mechanism <NUM> of the bending machine <NUM> and an operation of the automatic robot <NUM> via the operation driver <NUM> under the control of this program.

It should be noted that the arithmetic unit <NUM> executes various types of arithmetic processing relating to the bending based on the processing conditions such as a thickness, a material, a bending angle, and tool conditions of the workpiece that are input via the input unit <NUM> and the input I/F <NUM>, and based on detected information from the respective sensors <NUM>, <NUM>, <NUM> that is obtained through the communication I/F <NUM>. In the arithmetic processing, the arithmetic unit <NUM> also performs arithmetic calculations of the pushing amount of the punch P from the SS position to the reference position with respect to the die D, a contact position at which the punch P is brought into contact with the workpiece, a relative pushing amount from the contact position for bending the workpiece to a desired bending angle, and the like.

The control device <NUM> of the bending system <NUM> of the present embodiment can execute resetting of resetting the pushing amount described above for each predetermined trigger condition during the automatic operation of the bending of the workpiece by the bending machine <NUM>. More specifically, before the operation of the bending is started, a check operation including trial processing and precision imparting of the mechanical system is performed for each product (processed part), and the reference value of the original position described above is acquired by the acquisition unit <NUM>. Then, the storage unit <NUM> associates each of the acquired reference values with each of the processed parts, and creates an association table <NUM> (see <FIG>) in a database (DB) in the storage unit <NUM>, for example, for storage.

Here, the association table <NUM> will be explained.

<FIG> is a diagram for explaining the association table of the processed parts and the reference values, which is stored in the storage unit of the control device.

As shown in <FIG>, the association table <NUM> includes a product column 8a, a used tool column 8b, an original position reference value column 8c, a measurement value column 8d, and a correction value column 8e.

Information on the processed part, which is obtained by bending the workpiece, such as "a processed part A, a processed part B, or the like" is stored in the product column 8a. Information on the tools used for the bending of each of the processed parts in the product column 8a is stored in the used tool column 8b in association with each of the processed parts. Therefore, for example, tools (used tools) used for "the processed part A" are associated with "a tool a, a tool b, a tool c", and used tools for "the processed part B" are associated with "the tool b, a tool d, and a tool e".

Information on the reference value for each of the processed parts, which is acquired by the acquisition unit <NUM>, is stored in the original position reference value column 8c in association with each of the processed parts. For example, the reference value "UTA (UTa, UTb, UTc)" is associated to "the processed part A", and the reference value "UTB (UTb, UTd, UTe) is associated to "the processed part B".

It should be noted that "(UTa, UTb, UTc)" in the reference value "UTA" and "(UTb, UTd, UTe)" in the reference value "UTB" represent the reference values that are specific to the tools associated with the used tools, respectively. The reference value stored in the original position reference value column 8c can be reset, for example, by an operation input or the like of an operator. When the reference value is reset, the reference value can be acquired and stored again by the control device <NUM> before an operation of the next bending is started.

The measurement value acquired by the measurement unit <NUM> is stored in the measurement value column 8d in association with each of the processed parts. For example, the measurement value of "the processed part A" is associated with "UTA'", and the measurement value of "the processed part B" is associated with "UTB'". These measurement values stored in the measurement value column 8d may be stored, for example, such that a previous measurement value and a current measurement value coexist. Alternatively, the measurement values may be stored such that the previous measurement value is overwritten by the current measurement value.

In the correction value column 8e, the correction value for the secular change amount (the secular change correction value), which is calculated by the calculation unit <NUM> based on the reference value of the reference value column 8c read by the read unit <NUM> and based on the measurement value of the measurement value column 8d acquired by the measurement unit <NUM> (or the previous measurement value stored in advance in the measurement value column 8d), is stored for each of the processed parts. Specifically, a correction value for "the processed part A" is stored as "ΔUTA", and a correction value for "the processed part B" is stored as "ΔUTB".

Since the reference value (and the measurement value and the correction value) are associated for each of the processed parts by the association table <NUM> configured in this manner and stored in the storage unit <NUM>, an operation in which the correction value is reflected is possible even from the first bending. In addition, the operation can be performed without the operator having to perform an accuracy confirmation work even when the processed part is changed or the tool is changed.

Further, since the reference value for each of the processed parts (and for each of the tools) is stored in the association table <NUM> and stored in the storage unit <NUM>, it is possible to calculate the correction value and set the tool conditions based on the measurement value by using the reference value stored in the storage unit <NUM> without acquiring the reference value again, when the same processed part is processed at intervals (processing of a repeat product), when the same tool is used for the processing across days, and the like.

In other words, in the bending, the control device <NUM> causes the read unit <NUM> to read the reference value associated with the processed part, to which the bending is to be executed, from the association table <NUM>. Then, after the operation of the bending is started, the control device <NUM> obtains the measurement value of the original position described above, which is acquired by the measurement unit <NUM>, so that the calculation unit <NUM> calculates the secular change correction value for the pushing amount based on the measurement value and the reference value, so as to set the pushing amount to which the correction value is reflected. Thereafter, the control device <NUM> calculates the secular change amount for each predetermined trigger condition to correct the pushing amount.

Further, the control device <NUM> can determine an ON/OFF state of a reset function for the pushing amount of the punch P with respect to the die D, which is set in the ON/OFF set unit <NUM>, for example, based on the input information input via the input unit <NUM>. Since the ON/OFF of the reset function can be set in the control unit <NUM> by the ON/OFF set unit <NUM> in this manner, the operator can arbitrarily enable (ON) or disable (OFF) the reset function for the pushing amount regardless of a type of the processed part of the bending or the number of lots, for example.

For example, when the reset function is enabled (ON), a change in the bending angle due to secular change can be automatically corrected (automatic correction). When the reset function is disabled (OFF), the automatic or manual operation of the bending can be performed without setting the trigger condition or the like. When the reset function is ON, the automatic correction can be performed in accordance with various types of bending, such as a bending when the number of lots for the bending is large, a bending when a plurality of processed parts are bent with a small number of lots, a bending when the processed part is bent in a state in which the secular change correction is manually made to the processed part.

It should be noted that when the execution of the resetting in the reset unit <NUM> is set to OFF during the automatic operation by the ON/OFF set unit <NUM>, the control device <NUM> may use the secular change correction value calculated most recently to correct the pushing amount or the original position so as to bend the workpiece. By doing so, it is possible to reduce a load of calculation processing of the secular change correction value by the calculation unit <NUM>.

In addition, the control device <NUM> can determine whether or not a resetting condition for resetting the pushing amount is satisfied. In other words, in the control device <NUM> of the bending system <NUM>, the pushing amount or the original position is reset by the reset unit <NUM> when the resetting condition is satisfied after the trigger condition is satisfied, the resetting condition being that the workpiece is being loaded to or unloaded from the bending machine <NUM> for each of the processed parts.

Therefore, the control device <NUM> determines that the workpiece is being loaded or unloaded by the automatic robot <NUM>, which is an example of a case in which the resetting condition is satisfied. When the reset function is enabled and the resetting condition is satisfied, the control device <NUM> acquires a measurement value of the D-axis and calculates the secular change amount from the reference value read based on this (or the previous measurement value) as the correction value. Then, the control device <NUM> resets the pushing amount of the punch P after correcting the pushing amount by, for example, adding the calculated correction value to the pushing amount.

As a result, for example, it is possible to compare the reference value acquired in advance with the acquired measurement value even from the first bending, thereby making it possible to calculate the secular change amount of the entire mechanical system including the tool, the drive mechanism <NUM>, and the like, which is caused by external factors such as the room temperature. Then, the calculated secular change amount can be used as the correction value for the pushing amount of the punch P with respect to the bending angle (that is, the correction value for the processing conditions).

This makes it possible to continue the automatic operation of the bending until the end of the operation without going through the accuracy confirmation work, while making the correction such as adding or reducing the pushing amount by way of this correction value. Therefore, it is possible to prevent deterioration of processing accuracy, which is caused by the change in the bending angle due to the secular change, without going through the accuracy confirmation work performed by the operator. As a result, it is possible to stabilize quality of the processed part.

<FIG> is a flowchart showing an outline of processing procedures of the bending method executed by the bending system. This bending method is executed in the control device <NUM>. Schematically, the bending method according to the present embodiment includes acquiring, by the acquisition unit <NUM>, the reference value (UTA, UTB, or the like) of the original position of the punch P with respect to the die D for each of the processed parts (the product A, the product B, and the like) before the operation of the bending of the workpiece is started by the bending machine <NUM> including the punch P and the die, storing, by the storage unit <NUM>, each of the acquired reference values (UTA and the like) in association with each of the processed parts (the processed part A and the like), reading, by the read unit <NUM>, the reference value (UTA or the like) associated with the processed part (the processed part A or the like) to which the bending is to be executed, acquiring, by the measurement unit <NUM>, the measurement value (UTA', UTB', or the like) of the original position after the operation of the bending of the workpiece is started, calculating, by the calculating unit <NUM>, the secular change amount from the reference value (UTA or the like) or the previous measurement value based on the acquired measurement values (UTA' or the like) as the secular change correction value (ΔUTA, ΔUTB, or the like) of the pushing amount of the punch P with respect to the die D or the original position of the punch P, and resetting, by the reset unit <NUM>, the pushing amount or the original position for each predetermined trigger condition by using the secular change correction value (ΔUTA or the like) during the automatic operation of the bending of the workpiece. It should be noted that the reference value acquired in the acquiring by the acquisition unit <NUM> is acquired for each processed part obtained by bending the workpiece, and is obtained when the punch P and the die D are brought into engagement with each other such that a pressure reaches a predetermined pressure. In addition, the bending method further includes performing ON/OFF setting in which the ON/OFF of the execution of the resetting by the reset unit <NUM> is set by the ON/OFF set unit <NUM>.

Specifically, as shown in <FIG>, the control device <NUM> first determines whether or not the reset function for the pushing amount of the tool is enabled (ON), based on the operation input of the operator via the input unit <NUM> and the input I/F <NUM> or via the touch panel of the display unit <NUM>, or another setting input from an external PC or the like (hereinafter referred to as the "input information") by activating the bending program read from the storage unit <NUM> by the arithmetic unit <NUM>, for example (step S10).

In this step S10, the determination of the ON/OFF of the reset function as described above is made based on the input information. For example, in a case such as when it is desired to arbitrarily perform manual bending after the bending of the automatic operation, the operator can arbitrarily disable (OFF) the reset function for the pushing amount, thereby making it possible to skip setting processing of the trigger condition, which will be described later, so as to perform the manual bending.

In step S10, if it is determined that the reset function for the pushing amount is enabled (ON) (YES in step S10), that is, if the resetting is executed, the trigger condition for resetting the pushing amount (for executing the resetting) based on the secular change amount of the entire mechanical system including the tool and the drive mechanism <NUM> is set based on the input information (step S11).

Here, the trigger condition is, for example, at least one selected from (<NUM>) to (<NUM>) below. That is, the trigger conditions include:.

When the trigger condition to be set in step S11 is the room temperature of (<NUM>) described above, the condition of the room temperature is set, for example, such as a case in which a room temperature at the start of the automatic operation is set as a reference temperature value and a temperature change is incremented/decremented by ±<NUM>% from the reference temperature value, and a case in which setting, as the next reference temperature value, is repeated of a temperature value obtained when a temperature rises or falls from the room temperature set as the reference temperature value in an absolute temperature.

Further, when the trigger condition to be set is the time of (<NUM>) described above, the condition of the time is set, for example, such as every <NUM> minutes, every hour, and every two hours from the start of the automatic operation. Further, when the trigger condition to be set is the number of processes of (<NUM>) described above, the condition is set, for example, such as the number of lots of the process including every <NUM> lots, every <NUM> lots, and the like or the desired number of lots of the process for one processed part from the start of the automatic operation.

Furthermore, when the trigger condition to be set is the first bending after the processed part is changed, which is (<NUM>) described above, for example, the first bending of "the processed part A" described above after the automatic operation is started, and the first bending of "the processed part B" when the bending is changed from the bending of "the processed part A" to the bending of "the processed part B" are applicable. Further, when the trigger condition to be set is the mounting on the tool to the bending machine <NUM>, which is (<NUM>) described above, the time in which the tool is mounted on the bending machine <NUM>, including the time in which the used tool is changed, is applicable.

It should be noted that when a first tool (for example, the "tool a" described above) mounted on the bending machine <NUM> is changed to a second tool (for example, the "tool b" described above), the control device <NUM> determines that the trigger condition of (<NUM>) described above is satisfied, and when the second tool (for example, the "tool b") is changed (restored) to the first tool (for example, the "tool a"), the control device <NUM> does not determine that the trigger condition of (<NUM>) described above is satisfied.

In other words, the trigger conditions of (<NUM>) include, for example, the case in which it is detected that the same tool has been mounted due to the change when it is necessary to change the tools between the bending processes. As a result, it is possible to skip the calculating and the resetting of the correction value based on the measurement value when the tool is restored, and to continue the bending by using resources such as the correction value associated with the used tool before the change. In the following, for example, a case will be described in which one tool is used for one processed part, the time of (<NUM>) is used as the trigger condition to be set, and the pushing amount is reset when <NUM> minutes have passed since the start of the automatic operation as a trigger.

After the trigger condition is set in step S11, the bending machine <NUM> and the automatic robot <NUM> are operated to perform the trial processing of the workpiece for each of the processed parts (in this example, the processed part A and the processed part B). Then, the check operation for the precision imparting is performed (step S12), and a processing state is inspected by measuring the bending angle and various dimensions (step S13). It should be noted that at this time, correction values (processing correction values) relating to the bending angle, the various dimensions, the pushing amount of the punch P, and the like for the preset processing conditions may be calculated and separately stored in the storage unit <NUM>.

Since the processing state is inspected, the reference value of the original position of the punch P with respect to the die D for each of the processed parts (the processed part A and the processed part B in this example) is acquired by the acquisition unit <NUM> before the start of the automatic operation of the bending (step S14), and each of the acquired reference values is stored in each of the original position reference value columns 8c of the association table <NUM> of the storage unit <NUM> (step S15).

Next, the arithmetic unit <NUM> calls a product program corresponding to the processed part, to which the bending is to be executed, from the storage unit <NUM> (step S16). In addition, the arithmetic unit <NUM> causes the read unit <NUM> to read the associated reference value that is stored in the association table <NUM> (step S17), activates a timer or the like built in the control device <NUM>, and start an operation of product processing (step S18). For example, when the processed part to which the bending is to be executed is "the processed part A" described above, a product program corresponding to the processed part A is called in step S16, and the reference value "UTA" associated with this is read in step <NUM>.

After the processing operation is started, first, during the initial loading, the measurement value of the original position of the punch P is acquired by the measurement unit <NUM> (step S19), which is stored, if necessary, in the measurement value column 8d of the association table <NUM> of the storage unit <NUM>. Then, the secular change correction value for the secular change amount from the reference value based on the measurement value is calculated by the calculation unit <NUM>. The processing conditions or the tool condition are set by using the calculated secular change correction value, for example, by adding this to an initial pushing amount so as to correct the pushing amount (step S20). It should be noted that the correction of the pushing amount is not limited to the addition of the secular change correction value.

The secular change correction value can be calculated and used for the setting as follows, for example. That is, when the reference value that is read is set to UT0 and the measurement values are set to UT1 to UTn (n is a positive integer), a displacement value ΔUT (a displacement between the measurement value UT1 and the reference value UT0) of the reference position can be calculated as shown in <FIG>, for example, by comparing the measurement value UT1 with the reference value UT0. When the reference position is set to <NUM>, the displacement value ΔUT can be positive in the direction toward the die D and negative in the direction away from the die D when viewed in terms of a movement stroke of the punch P on the D axis, for example. Then, based on this displacement value ΔUT, the secular change amounts (the secular change correction values) ΔUT1 to ΔUTn from the reference position are calculated by the calculation unit <NUM>, and the pushing amount is corrected, for example, by adding these secular change correction values ΔUT1 to ΔUTn to the initial pushing amount so as to set the processing conditions and the tool condition.

It should be noted that an upper limit value (for example, ±<NUM>) may be set in advance to the secular change correction values ΔUT1 to ΔUTn, and the reset unit <NUM> may reset the pushing amount or the original position by using the secular change correction value ΔUTn-<NUM> that is calculated last time or the upper limit value when the secular change correction values ΔUT1 to ΔUTn exceed the upper limit value. As a result, even when a secular change occurs that significantly degrades the processing accuracy of the bending, it is possible to adopt an appropriate correction value and continue the automatic operation.

After the processing conditions or the tool condition is set in this manner, bending processing of the workpiece in accordance with the processed part is executed automatically under the set condition (step S21). During the automatic operation of the bending processing, it is determined whether or not the trigger condition is satisfied (whether or not the trigger condition has been reached) based on the time measured by the timer. In other words, it is determined whether or not <NUM> minutes have passed since the start of the automatic operation (step S22).

If it is determined that <NUM> minutes have passed since the start of the automatic operation and the trigger condition is satisfied (YES in step S22), it is determined whether or not the resetting condition for resetting the next pushing amount is satisfied, that is, whether or not the workpiece is being loaded or unloaded (step S23). If it is determined that <NUM> minutes have not passed since the start of the automatic operation and the trigger condition is not satisfied (NO in step S22), the process proceeds to step S24, which will be described later.

In step S23, if it is determined that the resetting condition is satisfied (YES in step S23), the process proceeds to step S19 described above to acquire the next measurement values (UT2 to UTn) of the original position described above and the subsequent processing is repeated. On the other hand, if it is determined that the resetting condition is not satisfied (NO in step S23) and if it is determined that the trigger condition is not satisfied (NO in step S22), it is determined whether or not the processed part is to be changed, for example (step S24).

Then, if it is determined that the processed part is to be changed, that is, "the processed part A" is to be changed to "the processed part B" described above, for example (YES in step S24), the process proceeds to step S16 described above. Then, a product program corresponding to the processed part B is called, the reference value "UTB" associated with this is read in step S17, and the subsequent processing is repeated. It should be noted that when the processed part is to be changed, for example, steps S17 and S19 described above may be omitted and the secular change correction value (ΔUT) for the processed part before the change may be inherited and used. By doing so, it is possible to eliminate the need for the accuracy confirmation work when the processed part is changed.

On the other hand, if it is determined that the processed part is not to be changed (NO in step S24), it is determined whether or not an end condition for the automatic operation, for example, the preset number of the processing lots of the workpiece (<NUM> lots or the like) or the processing time (<NUM> hours or the like), has been reached (step S25). If it is determined that the end condition has not been reached (NO in step S25), the process proceeds to step S21 described above to continue the automatic operation of the bending processing of the workpiece (step S21). On the other hand, if it is determined that the end condition has been reached (YES in step S21), the automatic operation is ended and the processing of the bending method according to the present flowchart is ended.

If the automatic operation of the bending processing is continued in step S21 described above, it is determined whether or not the trigger condition is satisfied again during the automatic operation, for example, whether or not the predetermined time (<NUM> minutes) has passed since the previous passed time (step S22). Then, if the predetermined time has not passed, it is considered that the trigger condition is not satisfied (NO in step S22), and the process proceeds to step S24. However, if the predetermined time has passed, it is considered that the trigger condition is satisfied (YES in step S22) and it is determined whether or not the resetting condition for the next resetting is satisfied (step S23). Then, if the resetting condition is satisfied (YES in step S23), the process proceeds to step S19 described above and the subsequent processing is repeated.

In this manner, the bending system <NUM> of the first embodiment acquires and stores the reference value of the original position of the punch P in association with each of the processed parts so as to read the reference value associated with the processed part, to which the bending is actually to be executed, before the start of the automatic operation, and acquires the measurement value of the original position after the start of the automatic operation. Then, after calculating the secular change correction value for the secular change amount from the reference value based on the measurement value, the bending system <NUM> can use this value to perform the bending under the processing conditions, which include the pushing amount to which the secular change correction value is reflected, even from the first bending.

Further, it is possible to operate the bending automatically by repeating, for example, a plurality of times (for example, n times) at a stage at which the resetting condition is satisfied every time the trigger condition is satisfied, the resetting of the pushing amount, to which the secular change correction value is reflected, until the end condition for the automatic operation is reached. As a result, it is possible to reduce the burden of the accuracy confirmation work performed by the operator without stopping the automatic operation, and at the same time, it is possible to stabilize quality of the processed part.

It should be noted that if it is determined in step S10 described above that the reset function for the pushing amount is not enabled (ON) (disabled (OFF)) (NO in step S10), for example, the check operation (step S26) by the bending machine <NUM> and the automatic robot <NUM> is performed to inspect the processing state (step S27) without going through the setting (step S11) of the trigger condition described above.

Then, the product program corresponding to the processed part to which the bending is to be executed is called from the storage unit <NUM> (step S28), and the secular change correction value such as the secular change correction value set in advance for the processed part, the secular change correction value that has been used in the previous bending for the processed part and inherited without being cleared, or the like is read from the storage unit <NUM>. By using this secular change correction value, the pushing amount is corrected so as to set the processing conditions or the tool condition (step S29).

After that, the operation of the product processing is started (step S30), and the bending processing of the workpiece (step S31) is executed by the automatic operation or the manual operation. Then, it is determined whether or not the end condition for the operation has been reached (step S32), and if the end condition has been not reached (NO in step S32), the bending processing (step S31) is continued. However, if the end condition has been reached (YES in step S32), the operation of the bending is ended, and the processing of the bending method according to the present flowchart is ended.

It should be noted that in the first embodiment described above, the secular change correction values ΔUT1 to ΔUTn of the pushing amount are calculated after the displacement value ΔUT is calculated by comparing the reference value UT0 with each of the measurement values UT1 to UTn. However, the secular change correction values ΔUT1 to ΔUTn of the pushing amount may be calculated after the displacement value ΔUT is calculated by comparing, for example, the acquired measurement value (UTn) with the measurement value (UTn-<NUM>) that is acquired before last. Even when the pushing amount is corrected by using the secular change correction values ΔUT1 to ΔUTn calculated in this manner, it is possible to perform the automatic operation of the bending as described above.

Further, in the first embodiment described above, the resetting condition is that the workpiece is being loaded by the automatic robot <NUM>, but this condition may also refer to the workpiece being unloaded by the automatic robot <NUM>, or the workpiece being loaded/unloaded manually. In this manner, if the measurement value is acquired to reset the pushing amount while the workpiece is being loaded/unloaded, the automatic operation of the bending will not be affected. Therefore, during the automatic operation, it is possible to perform the correction so as to eliminate the accuracy confirmation work performed by the operator without stopping the automatic operation.

Furthermore, in the first embodiment described above, the pushing amount of the punch P (the tool) with respect to the die D used for the product processing is measured and acquired, but the present invention is not limited to this. A pushing amount of a tool other than the tool actually used (for example, a punch P with respect to a die D respectively mounted to the upper tool holder <NUM> and the lower tool holder <NUM> and not to be used for the bending) may be measured and associated in advance in the storage unit <NUM> for storage. Even in this manner, it is possible to calculate the secular change correction value similar to the one described above. In other words, as long as the reference value UT0 and the measurement value UTn as described above can be acquired from the same tool, the effect of the present embodiment can be exhibited regardless of whether or not the tool is to be used for the bending.

In the bending method of the first embodiment described above, the relay operation has been described as an example, in which the different processed parts are continuously bent mainly in the automatic operation of a series of the bending processes. However, this bending method can also be applied to bending when tool change is required between the bending processes. In other words, although illustration is omitted, in a bending method of a modified example, the reference value for each tool is acquired in the acquiring of step S14 described above, and the reference value is associated with each tool and stored in the storing of step S15.

Then, all the reference values associated with the respective tools that are to be used for the 1st to n-th bending, which are specified in the program called in step S16, are read in the reading of step S17. Then, the measurement value in accordance with the currently used tool is acquired after the start of the processing (step S19), and the bending based on the secular change correction value that is calculated based on the acquired measurement value and the reference value of the used tool is performed (step S21).

During the automatic operation of this bending, it is determined whether or not there is tool mounting (including automatic tool mounting) based on the tool change (including automatic tool change by the automatic robot <NUM>) as the trigger condition (step S22). For example, if there is the automatic tool mounting by the automatic robot <NUM> (YES in step S22) and the resetting condition is satisfied (YES in step S23), the measurement value based on the used tool that is mounted is acquired except when the tool is restored (step S19). The secular change correction value is calculated based on this measurement value and the reference value of the used tool that has been read, and the bending is performed until the processed part is changed or the end condition for the operation is satisfied (step S21).

In this manner, in the bending method of the modified example, even if the bending is performed in such a manner that the used tool is changed in the bending of one processed part, it is possible to stabilize quality of the processed part while reducing the burden of the accuracy confirmation work performed by the operator. It should be noted that the reference value associated with each tool may be stored in association with each tool set when, for example, the tool set consisting of a plurality of tools is changed as a unit of the tool change.

<FIG> is an explanatory diagram showing an outline of a typical tool used for a bending machine of a bending system according to a second embodiment of the present invention. It should be noted that in the following descriptions, the same or corresponding components as those of the first embodiment and its modified example are designated by the same reference signs, and thus duplicated descriptions will be omitted.

A bending method according to the second embodiment is different from the bending method according to the first embodiment in which the pushing amount is reset based on the reference position, in that the original position of the punch P is reset based on the D-axis position when the workpiece is interposed between the punch P and the die D, that is, when the workpiece is interposed between the tools, and thus the pushing amount is not changed.

In other words, the reference value and the measurement value are acquired based on the D-axis position when the workpiece is interposed between the punch P and the die D. In this case, in the second embodiment, as shown in <FIG>, the original position of the punch P is set as a position (a reference position (<NUM>)) when the distal end of the punch P is brought into contact with a surface of the workpiece in a state in which the workpiece having a thickness T is placed on the die D, for example. A pushing amount ST represents a distance from this reference position to a groove bottom portion (a lower end portion) of a V-groove portion of the die D.

Then, in the bending method of the second embodiment, for example, the original position of the punch P is measured to calculate the secular change correction value after the automatic operation of the bending is started, and thereafter, the original position of the punch P is reset by using the secular change correction value for each predetermined trigger condition. In this manner, the automatic operation of the bending is continued until the end of the operation while the original position of the punch P is being reset without changing the pushing amount, for example. In the bending method of the second embodiment, it is also possible to correct the change in the bending angle due to the secular change without stopping the operation, and at the same time, it is possible to stabilize quality of the processed part while reducing the accuracy confirmation work performed by the operator.

<FIG> is a flowchart showing an overview of processing procedures of a bending method according to a third embodiment of the present invention. The third embodiment assumes a case in which the secular change correction value is used when the bending is manually performed. Here, the description will be made assuming that the processing continues from the processing of the bending method according to the flowchart of <FIG>, but the processing is not limited to this.

As shown in <FIG>, after the processing of <FIG> is ended, the arithmetic unit <NUM> of the control device <NUM> determines whether or not the power to the bending machine <NUM> is automatically cut off (step S40). If it is determined that the power is automatically cut off (YES in step S40), the control device <NUM> causes the automatic robot <NUM> to temporarily store the used tool used for the bending in a tool stocker or the like (step S41) so that the power is cut off (OFF) (step S42).

Then, the control device <NUM> waits until the bending system <NUM> is activated by power-on or the like (NO in step S43), and when the bending system <NUM> is activated (YES in step S43), a program corresponding to a processed part, for which the bending is desired by the manual bending, is called by the operation input of the operator via the input unit <NUM> and the input I/F <NUM>, for example (step S44). For example, it is determined whether or not there is the automatic tool mounting to the bending machine <NUM> by the automatic robot <NUM> as, for example, the trigger condition (step S45).

If it is determined that there is the tool mounting and the trigger condition is satisfied (YES in step S45), it is determined whether or not the mounted tool is in an initial state (step S46). If it is determined that the mounted tool is not in the initial state (NO in step S46), the process proceeds to step S52, which will be described later, and the tool is initialized.

If it is determined that the tool is in the initial state (YES in step S46), the reference value associated with the processed part that is manually bent or the reference value associated with the mounted tool is read from the association table <NUM> of the storage unit <NUM> (step S47), and the measurement value of the original position described above is acquired (step S48). Then, the secular change correction value based on the measurement value and the reference value is calculated so as to set the processing conditions and the like (step S49), and the bending of the workpiece by the manual bending is performed (step S50).

Finally, it is determined whether or not the end condition for the manual bending has been reached (step S51), and if it is determined that the end condition has not been reached (NO in step S51), the bending processing by the manual bending (step S50) is continued. However, if it is determined that the end condition has been reached (YES in step S51), the operation of the bending by the manual bending is ended, and the processing of the bending method according to the present flowchart is ended.

It should be noted that if it is determined in step S40 described above that the power is not automatically cut off (NO in step S40), the control device <NUM> executes tool initialization processing including the automatic tool change by the automatic robot <NUM> and tool storage by which the used tool is temporarily stored in the tool stocker or the like (step S52). Then, the process proceeds to step S44 described above, and the subsequent processing is repeated.

In this manner, even when the bending by the manual bending is performed, it is possible to perform the bending without requiring the accuracy confirmation work performed by the operator. It is also possible to reduce the burden of the accuracy confirmation work and stabilize quality of the processed part in the same manner as the effects of the first and second embodiments described above. It should be noted that steps S40 to S43, S46, and S52 described above can be skipped, for example, so as to configure the bending method by the manual bending in a simpler manner.

<FIG> is a flowchart showing an overview of processing procedures of a bending method according to a further embodiment of the present invention.

In the bending method according to the further embodiment, it is possible to correct the change in the bending angle due to the secular change of the bending system <NUM> that is automatically operated without stopping the operation. At the same time, it is also possible to improve productivity and quality.

The control device <NUM> of the present embodiment can determine the ON/OFF of the reset function for the pushing amount of the punch P with respect to the die D, for example, based on the input information input via the input unit <NUM>. For example, when the number of lots for the bending is large, the operator can arbitrarily enable (ON) the reset function for the pushing amount so that the change in the bending angle due to the secular change can be automatically corrected. Further, when the number of lots for the bending is small, the operator can arbitrarily disable (OFF) the reset function for the pushing amount so that the automatic operation can be performed without setting the trigger condition and the like.

Further, the control device <NUM> can determine whether or not an acquisition condition for setting an initial reference position and the resetting condition for resetting the pushing amount are satisfied. The control device <NUM> determines that the workpiece is being loaded or unloaded by the automatic robot <NUM>, which is an example of a case in which the acquisition condition and the resetting condition are satisfied. When the reset function is enabled, the control device <NUM> waits until the acquisition condition and the resetting condition are satisfied. When the acquisition condition is satisfied, the control device <NUM> acquires the value of the D-axis as the reference position. When the resetting condition is satisfied, the control device <NUM> calculates the secular change amount as the correction value, and resets the pushing amount of the punch P after correcting the pushing amount by, for example, adding the correction value to the pushing amount.

Further, the control device <NUM> executes the resetting in which the pushing amount described above is reset for each predetermined trigger condition during the automatic operation of the bending of the workpiece by the bending machine <NUM>. More specifically, when the automatic operation of the bending is started, the control device <NUM> acquires the initial reference position to set the pushing amount, and thereafter, calculates the secular change amount of the reference position for each predetermined trigger condition to correct the pushing amount.

As a result, for example, by comparing the reference position acquired later with the reference position initially acquired, it is possible to calculate the secular change amount of the entire mechanical system including the tool, the drive mechanism <NUM>, and the like due to the external factors such as the room temperature is calculated. Then, by using the calculated secular change amount as the correction value for the pushing amount of the punch P related to the bending angle (that is, the correction value for the processing condition), it is possible to make the corrections, such as adding or subtracting the correction value to or from the pushing amount so as to continue the automatic operation of the bending until the end of the operation. Therefore, the change in the bending angle due to the secular change can be corrected without stopping the operation of the bending. As a result, productivity and quality of the bent processed part can be improved.

As shown in <FIG>, the control device <NUM> first determines whether or not the reset function for the pushing amount of the tool is enabled (ON) by the operation input of the operator (user) as described above or the input information such as the setting input as described above by activating the bending program that the arithmetic unit <NUM> has read from the storage unit <NUM> (step S100).

In other words, in this step S100, the ON/OFF of the reset function is determined based on the input information. For example, as described above, in the case such as when the number of lots for the bending is small, the operator can arbitrarily disable the reset function for the pushing amount so that the automatic operation can be performed while skipping setting processing of the trigger condition that will be described later.

In this step S100, if it is determined that the reset function for the pushing amount is enabled (ON) (Yes in step S100), that is, when the resetting is executed, the trigger condition for resetting the pushing amount based on the input information (for executing the resetting) is set (step S101). As the trigger condition, for example, at least one of the time, the room temperature, and the number of processes is set.

Here, when the trigger condition to be set is the time, the condition of the time is set, for example, such as every hour or every two hours from the start of the automatic operation. Further, when the trigger condition to be set is the room temperature, the condition of the room temperature is set, for example, such as the case in which the room temperature at the start of the automatic operation is used as the reference value and the temperature change is incremented/decremented by ±<NUM>% from the reference value, or a case in which the setting, as the next reference value, is repeated of the value obtained when the temperature rises or falls from the room temperature in the absolute temperature. Furthermore, when the trigger condition to be set is the number of processes, the condition of the number of lots of the process is set, for example, such as every <NUM> lots or every <NUM> lots from the start of the automatic operation.

In addition, for example, when it is necessary to change the tools between the processes, the case or the like may be set as the trigger condition in which it is detected that the same tool has been installed due to the change. Hereinafter, it is assumed that the room temperature is used as the trigger condition to be set, and the pushing amount is reset using the case as a trigger in which a predetermined temperature change is incremented/decremented from the room temperature at the start of the automatic operation.

After the trigger condition is set in this manner, the bending machine <NUM> and the automatic robot <NUM> are operated to perform the trial processing (the check operation) of the workpiece (step S102), and the processing state is inspected by measuring the bending angle and various dimensions (Step S103). After that, the correction values (the processing correction values), which are related to the bending angle, the various dimensions, the pushing amount of the punch P, and the like with respect to the processing conditions that have been set, are calculated. Then, the processing correction values are set by being input based on the input information (step S104), and the temperature is measured by the room temperature sensor <NUM> so as to start the operation of the product processing (step S105).

When the processing operation is started, it is first determined whether or not the acquisition condition of the reference value for setting the initial pushing amount is satisfied (step S106). In the present embodiment, this acquisition condition means that the workpiece is being loaded by the automatic robot <NUM>. Therefore, the control device <NUM> waits until the acquisition condition is satisfied (for example, until the workpiece is being loaded for the first time) (No in step S106). When the acquisition condition is satisfied (when the workpiece is being loaded) (Yes in step S106), the control device <NUM> acquires a value of the initial reference position (the reference value UT0) to set the tool condition (step S107).

It should be noted that if this reference value UT0 that is acquired is stored, for example, in the storage unit <NUM>, the tool condition can be set by using the reference value UT0 when the same tool is used to perform the product processing across days. As a result, it is not necessary to acquire the reference value UT0 again. Then, the bending processing of the workpiece (step S108) is automatically executed under the processing conditions including the tool condition that has been set.

During the automatic operation of the bending processing, it is determined whether or not the trigger condition is satisfied (the trigger condition has been reached) based on the room temperature measured by the room temperature sensor <NUM>, that is, whether or not the predetermined temperature change has been incremented/decremented from the room temperature at the start of the automatic operation (step S109). If it is determined that the predetermined temperature change has not been incremented/decremented from the room temperature at the start of the automatic operation and thus the trigger condition is not satisfied (No in step S109), the bending processing in step S108 is continued.

On the other hand, if it is determined that the predetermined temperature change has been incremented/decremented from the room temperature at the start of the automatic operation and thus the trigger condition is satisfied (Yes in step S109), it is determined whether or not the resetting condition for resetting the next pushing amount is satisfied (step S110). In other words, as described above, the control device <NUM> waits until the resetting condition is satisfied (No in step S110). When the resetting condition is satisfied (Yes in step S110), the control device <NUM> acquires a value of the next reference position (the measurement value UT1) (step S111).

When the measurement value UT1 acquired in this manner is compared with the reference value UT0 initially acquired, the displacement value ΔUT (the displacement between the measurement value UT1 and the reference value UT0) of the reference position can be calculated as shown in <FIG>. When the reference position is set to <NUM>, the displacement value ΔUT can be positive in the direction toward the die D and negative in the direction away from the die D when viewed in terms of the movement stroke of the punch P on the D-axis, for example. Then, the correction value (the secular change amount) ΔUT1 of the initial secular change from the reference position is calculated based on the displacement value ΔUT, and the pushing amount is corrected, for example, by adding the correction value ΔUT1 to the initial pushing amount to set the tool condition (step S112). It should be noted that the correction of the pushing amount is not limited to the addition of the correction value ΔUT1.

After setting the tool condition, it is determined whether or not the end condition for the automatic operation, for example, a preset number of processing lots of the workpiece (<NUM> lots or the like) has been reached (step S113). If it is determined that the end condition has not been reached (No in step S113), the automatic operation of the bending processing of the workpiece (step S108) is continued based on the processing conditions including the tool condition set in step S112. On the other hand, if it is determined that the end condition has been reached (Yes in step S113), the automatic operation is ended and the processing of the bending method according to the present embodiment is ended.

If the automatic operation of the bending processing is continued in step S108 described above, it is determined whether or not the trigger condition is satisfied during the automatic operation, for example, whether or not the predetermined temperature change has been incremented/decremented from the previously incremented/decremented room temperature (step S109). If the predetermined temperature change has not been incremented/decremented, the bending processing is continued as it is because it is considered that the trigger condition is not satisfied (No in step S109). However, if there is the predetermined temperature change, it is considered that the trigger condition is satisfied (Yes in step S109) and it is determined whether or not the resetting condition for the next resetting is satisfied (step S110).

Also at this point, as described above, the control device <NUM> waits until the resetting condition is satisfied (No in step S110). When the resetting condition is satisfied (Yes in step S110), the control device <NUM> acquires a value of the next reference position (the measurement value UT2) (step S111). Then, the measurement value UT2 is compared with the initial reference value UT0 to calculate a displacement value ΔUT (a displacement between the measurement value UT2 and the reference value UT0) of the reference position, and a correction value (secular change amount) ΔUT2 of a second secular change from the reference position is calculated. The pushing amount is corrected by this correction value ΔUT2, for example, by adding the correction value ΔUT2 to the initial pushing amount as described above to set the tool condition (step S112). Thereafter, the next determination processing (step S113) is executed, and the subsequent processing is repeated.

In this manner, the bending system <NUM> of the further embodiment can repeat the acquisition of the value of the reference position a plurality of times (for example, n times) until the end condition for the automatic operation is reached, for example, at a stage at which the resetting condition is satisfied every time the trigger condition is satisfied. As a result, it is possible to calculate the displacement value ΔUT associated with the secular change of the tool and the mechanical system by respectively comparing the reference value UT0 of the reference position initially acquired with the measurement values UT1 to UTn of the reference position acquired for the first to nth acquisitions, and then to calculate the correction values ΔUT1 to ΔUTn of the first to nth secular changes. Then, after correcting the pushing amount by using the correction values ΔUT1 to ΔUTn, for example, by adding the respective correction values ΔUT1 to ΔUTn to the pushing amount, the automatic operation of the bending can be continued. This makes it possible not only to correct the change in the bending angle due to the secular change without stopping the automatic operation, but also to improve productivity and quality.

It should be noted that in step S100 described above, if it is determined that the reset function for the pushing amount is not enabled (disabled (OFF)) (No in step S100), the trial processing by the bending machine <NUM> and the automatic robot <NUM> is performed (step S114), the processing state is inspected (step S115), and the processing correction value is calculated without going through the setting of the trigger condition (step S101) as described above. Then, the processing correction value is set by being input based on the input information (step S116), the operation of the product processing is started (step S117), and the bending processing of the workpiece (step S118) is executed by the automatic operation or the manual operation.

After that, it is determined whether or not the end condition for the operation has been reached (step S119). If the end condition has not been reached (No in step S119), the bending processing (step S118) is continued. However, if the end condition is reached (Yes in step S119), the operation of the bending is ended and the processing of the bending method according to the present embodiment is ended.

It should be noted that in the further embodiment, the correction values ΔUT1 to ΔUTn of the pushing amount may be calculated after the displacement value ΔUT is calculated by comparing the acquired measurement value with the previously acquired measurement value (or the reference value) every time the value of the reference position is acquired. Even when the pushing amount is corrected by using the correction values ΔUT1 to ΔUTn calculated in this manner, it is possible to continue the automatic operation of the bending as described above.

Further, the acquisition condition or the resetting condition for resetting may be that the workpiece is being loaded by the automatic robot <NUM>. In this manner, if the acquisition of the reference position and the resetting of the pushing amount are performed while the workpiece is being loaded/unloaded, the automatic operation of the bending will not be affected. As a result, the correction can be performed without stopping the automatic operation in a more reliable manner.

Although some embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. The scope of the invention is limited by the appended claims.

Claim 1:
A bending method comprising:
acquiring a reference value of an original position of a punch (P) with respect to a die (D) for each processed part before an operation of bending of a workpiece by a bending machine (<NUM>) including the punch (P) and the die (D) is started;
storing each of the acquired reference values in association with each of the processed parts;
reading the reference value associated with the processed part to which the bending is to be executed;
acquiring a measurement value of the original position after the operation of the bending of the workpiece is started;
calculating, based on the acquired measurement value, a secular change amount from the reference value or a previous measurement value as a secular change correction value for a pushing amount of the punch (P) with respect to the die (D) or the original position of the punch (P); and
resetting, for each predetermined trigger condition, the pushing amount or the original position by using the secular change correction value during an automatic operation of the bending of the workpiece.