| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for surely supplying a bending machine with workpieces without needing to align the workpieces. <P>SOLUTION: A bending system includes: a robot 7; a loading device 5 having an attitude measuring means 36 and a plate thickness measuring means; and a regrasping device 29. In the bending system, (1) an expression of a straight line indicating a Y-axis reference side of an uppermost workpiece in the loading device, and an expression of a straight line indicating an X-axis reference side, are obtained by the stacked attitude measuring means to obtain an inclination α of the Y-axis reference side with respect to an X-axis, and a new origin O' ; (2) the grip attitude of a robot hand is corrected based on the inclination α and the origin O', and a suction means of the robot hand is vertically moved to drop the second workpiece onward; (3) plate thickness is measured by the plate thickness measuring means; (4) when a plurality of workpieces are held, the workpieces are once held by the regrasping device and then return-loaded onto the loading device 5 one by one from the uppermost layer; (5) strokes 1 to 3 are carried out to the returned workpieces; and (6) if a plurality of workpieces are not held in the stroke 3, the workpiece is supplied to a bending machine. <P>COPYRIGHT: (C)2013,JPO&INPIT |
