CN-122029014-A - Robot teaching assistance device and sheet holding position setting method

Abstract

A robot teaching assistance device according to an aspect of the present disclosure is a robot teaching assistance device for teaching an operation of a robot for holding a sheet material by bending by a press working machine, and includes a working information acquisition unit for acquiring shape information for specifying a shape of the sheet material and working information for specifying positions and working orders of a plurality of working lines on the sheet material to be subjected to bending, and a holding area determination unit for determining a holding area in which a holding position for holding the sheet material by the robot is to be set, based on a positional relationship of the plurality of working lines.

Inventors

• KOKUBO KYOUHEI

Assignees

• 发那科株式会社

Dates

Publication Date

20260512

Application Date

20231226

Claims (5)

1. 1. A robot teaching assistance device for assisting teaching of an operation of a robot holding a sheet for bending by a press working machine, the robot teaching assistance device comprising: A processing information acquisition unit for acquiring shape information for determining the shape of the sheet material and processing information for determining the positions and processing sequences of a plurality of processing lines on the sheet material to be subjected to bending processing, and And a holding area determining unit that determines a holding area in which a holding position for holding the plate material by the robot is to be set, based on a positional relationship between the plurality of processing lines.
2. 2. The robot teaching assistance device according to claim 1, wherein, The holding area determination unit performs the following processing: Setting the whole of the plate as an initial area of the holding area; Repeating the processing in the processing order by assuming 2 divided regions obtained by dividing the holding region by 1 processing line, setting the divided region including the processing line to be processed next among the 2 divided regions as a new holding region, and One of the divided regions on both sides of the processing line which is finally folded is set as the final holding region.
3. 3. The robot teaching assistance device according to claim 2, wherein, The holding area determining unit sets, as the holding area, one of the divided areas on both sides of the machining line to be finished, which has a larger area.
4. 4. The robot teaching assistance device according to claim 2 or 3, wherein, When the two divided regions on both sides of the 1 processing line include the processing line to be processed subsequently, the holding region determining unit notifies that the processing order is not appropriate.
5. 5. A method for setting a sheet holding position, which sets a position at which a robot holds a sheet for bending by a press working machine, the method comprising: Determining the shape of the sheet material; setting positions of a plurality of processing lines on the plate to be subjected to bending processing and processing sequences; Determining a holding area in which a holding position for holding the plate by the robot is to be set based on a positional relationship of the plurality of processing lines, and The holding position is set in the holding area.

Description

Robot teaching assistance device and sheet holding position setting method Technical Field The present invention relates to a robot teaching assistance device and a sheet material holding position setting method. Background A machining system has been used in which a robot holds a plate material and a machining portion of the plate material is disposed between a die and a punch of a press machine by the robot. It is also known that a bending operation is simulated in a computer, and it is checked whether or not a plate material, a robot, and a press working machine interfere with each other at the time of the operation (for example, refer to patent document 1). Prior art literature Patent literature Patent document 1 Japanese patent application laid-open No. 2001-515792 Disclosure of Invention Problems to be solved by the invention If the same plate is subjected to bending multiple times, there is a possibility that the robot cannot perform appropriate processing or a processing error becomes extremely large if the robot is not kept at an appropriate position of the plate. In general, the holding position of the sheet material held by the robot is set by an operator in consideration of the shape of the sheet material and the course of bending processing. Patent document 1 discloses that a computer judges interference between a robot and other components, but does not mention an appropriate holding position when bending the same plate material a plurality of times. Accordingly, a technique capable of appropriately setting the holding position of the board held by the robot is desired. Solution for solving the problem A robot teaching assistance device according to an aspect of the present disclosure teaches an operation of a robot for holding a sheet material in order to perform bending by a press working machine, the robot teaching assistance device including a working information acquisition unit for acquiring shape information for specifying a shape of the sheet material and working information for specifying positions and working orders of a plurality of working lines on the sheet material to be subjected to bending, and a holding area determination unit for determining a holding area in which a holding position for holding the sheet material by the robot is to be set, based on a positional relationship of the plurality of working lines. Drawings Fig. 1 is a schematic view showing a configuration of a bending system including a robot teaching assistance device according to embodiment 1 of the present disclosure. Fig. 2 is a schematic diagram illustrating a sheet material processed by the bending system of fig. 1. Fig. 3 is a flowchart showing a procedure of holding position setting of the robot teaching assistance device of fig. 1. Fig. 4 is a schematic view showing a dividing region initially imaginary on the plate material of fig. 2. Fig. 5 is a schematic view showing a virtual dividing region on the plate material of fig. 2 subsequent to fig. 4. Fig. 6 is a schematic view showing a virtual dividing region on the plate material of fig. 2 subsequent to fig. 5. Detailed Description Next, embodiments of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic diagram showing a configuration of a bending system 1 including a robot teaching assistance device 30 according to embodiment 1 of the present disclosure. The bending system 1 includes a press working machine 10, a robot 20, and a robot teaching aid 30. The bending system 1 performs bending processing on the plate W. As the plate W bent by the bending system 1, a metal plate, typically a steel plate, is exemplified. The press working machine 10 has a fixed die 11 and a punch 12 held in a liftable manner. The die 11 has a processing groove formed in a V-shaped cross section on the upper surface and is linear in a plan view. The tip end portion of the punch 12 is inserted into a processing groove, has a mountain-shaped cross section corresponding to an angle at which the plate W is to be bent, and extends parallel to the processing groove. The press working machine 10 performs bending processing for bending the plate W so as to conform to the angle of the tip end portion of the punch 12 by sandwiching the plate W between the processing groove of the die 11 and the tip end portion of the punch 12. The robot 20 holds the sheet W and performs the taught operation, thereby disposing a machining line on the die 11, the machining line being a line that is supposed to be formed by bending the sheet W along the line. The robot 20 may be configured to include a robot body 21, a holding head 22 provided at an end of the robot body 21 and configured to hold the sheet W, and a robot controller 23 configured to control the robot body 21 and the holding head 22. The robot body 21 may be a vertical articulated robot as shown in the figure, but is not limited thereto, and may be, for example, an orthogonal coordinate robot, a hori