| 摘要 |
PURPOSE:To operate bending work with a plate-shaped body gripped by a gripper by arranging the gripper at the front of a bending machine and controlling the position of the gripper by making it follow the jump of the body caused by the bending work. CONSTITUTION:A robot sliding bed 11 is engaged with the bed 5 of a bending machine 1, and a conveyor 55 on which a plate-shaped body 100 is positioned is raised to the position of an alternately long and two short dashes line, then a robot arm 23 is turned to said position to grip the prescribed position of the body 100 by a gripper 27. Further, the body 100 is positioned with respect to a lower die 7a and an upper die 7b by moving a holder 17 and turning the arm 23 to the horizontal position. Next, the body 100 is bent to jump up in the 75 direction by lowering a ram 9, and the position of the gripper 27 is controlled successively basing on the informations of the descending position of the die 7b to make it follow the displacement of the body 100. Thus the bending work is continued with the body 100 gripped at its fixed position by the gripper 27. |
