| 摘要 |
PROBLEM TO BE SOLVED: To provide a plate material supply device for a working machine capable of detecting the sagging amount of a workpiece to be carried by a manipulator, with high accuracy.SOLUTION: A camera 17 and an infrared irradiator 18 are provided above a press brake 100. In the state of irradiating the workpiece 13 clamped by a robot hand 15 with infrared rays, the workpiece 13 is photographed. Based on the photographed image, the sagging amount D at the front end of the workpiece 13 is found, and an inclination angle &thetas; at the front end of the workpiece 13 to the horizontal direction is also found. The angle of the manipulator 14 is adjusted to adjust the angle at the front end of the workpiece 13 to be approximately horizontal, and in addition the position of the robot hand 15 is moved up and down to carry the workpiece 13 to a desired working position. With such control, the workpiece 13 can be reliably carried even in the case that the deflection occurs at the front end of the workpiece 13 when clamped by the robot hand 15. |
