| 摘要 |
PROBLEM TO BE SOLVED: To provide a work carrying-away positioning controller, its method and a storage medium by which positioning precision is improved, an accumulating device is stabilized and the increase of the number to be accumulated is realized by enabling positioning, stacking and accumulating at the time of carrying away a work by using a manipulator, in the work carrying-away positioning controller in the case of inversely bending the last side of the work. SOLUTION: In a work carrying-away positioning controller for a work W after being worked by a bending machine BM such as a panel bender having a NC device, the controller is composed of a manipulator Mp, a work carrying- away conveyer Ct and a control system. The work W is held by the manipulator Mp, the bending and folding part only in the inverse direction facing downward of the bending part of the work W is taken off, the work W is freely moved and positioned so as to be stacked up one by one, and the work W is controlled to be accumulated via the work carrying-away conveyer Ct.
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