| 摘要 |
PROBLEM TO BE SOLVED: To provide a bending device provided with a robot which performs work handling actions without interference with the main body of the device and with a die. SOLUTION: The bending device has a work adsorbing member K, which is clamped with a gripper 14 of the robot 13 and adsorbs a work W to perform handling actions of the work W. The bending device includes the following means: an information calculating means 10C, which calculates and decides the information required for the bending, such as bending sequence, based on the information of a product; a permission judging means 10D for using a work adsorbing member K, which, based on the calculated result from the information calculating means 10C, judges whether or not the work handling action can be performed only with the gripper 14 of the robot 13 and judges whether or not the permission to use the work adsorbing member K for the robot 13 exists; and a robot controlling means 10E, which, when the use of the work adsorbing member K is permitted by the permission judging means 10D for using a work adsorbing member K, controls the robot 13 so that the gripper 14 of the robot 13 clamps the work adsorbing member K and the robot 13 performs predetermined work handling actions. COPYRIGHT: (C)2004,JPO
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