| 摘要 |
PROBLEM TO BE SOLVED: To eliminate the position correction of a robot to the attaching position of a die layout and to accurately position a work to a die with the robot. SOLUTION: In the controller of a press brake, after deciding the die to be used for bending work and the order of bending based on bending information, the die layout is decided. Based on these die layout information, robot gripper information and gripper reference-surface information, the robot gripper 21 for gripping the work in the robot 19 is positioned/controlled in the prescribed die attaching position of the press brake. Operators execute positioning by abutting the die D of the die on either reference surfaces at the right and left ends of the positioned robot gripper 21. Since the die layout is executed by the instruction from the robot 19, deviation of the die attaching position is eliminated, the position correction of the robot 19 to the die position is excluded and setup time at the time of operating the robot is shortened.
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