| 摘要 |
PROBLEM TO BE SOLVED: To achieve enhancement of productivity by clamping the position at which the number of time of change of clamping is smallest, in feeding a work by a manipulator. SOLUTION: In a front table 3 provided on the front of a shearing machine 1, the work W is butted against a butting member by an attracting device to be positioned. The manipulator 19 is provided with a main clamp 29 clamping the work W from the top and bottom and moving rotatably in the horizontal face and freely forwarding/retreating, and a subclamp clamping the rear end of the work W and freely forwarding/retreating. In a control device 17, a process simulation in the case where the center of the work W is clamped with the main clamp 29 in deciding the original point of the work W, is made previously to calculate the position of clamp change after the first time in this process simulation. In a actual process, the work is subjected to the modification and correction to the position of the clamp change after the first time calculated by the process simulation and efficiently clamp changed, thereby resulting to reduction in the process time.
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