PURPOSE: To make the readjusting work unnecessary in the case of executing a trial bending or developing of the variation and to improve the workability and the productivity by detecting the actual dislocation of the shifting direction between a work and a hand during following and controlling the movement of a robot.
CONSTITUTION: In the condition of fixing the tip part of a plate material W to a press brake PB by positioning at a back gage, a sensor fitted to the fixed member detects by making the intermediate position of a float member as the reference value. The output value of the sensor at this time is read into a control device as the reference value having no dislocation to the relative distance between the plate material W and the hand H at the time of starting the following movement. When the descent by press-bending starts and the jump-up of the plate material W develops, as the float member approaches the fixed member, the detected value of the sensor is made to be smaller than the reference value, and it is detected that the distance between both members is shortened. At this time, the difference between the calculated detection value and the reference value and the ratio of the variation with time of this calculated value are made as accelerating/decelerating value and the shifting speed of the robot R is decided and started, and the difference between the detected value and the reference value is made to be zero.
TSUSHI KEIJI
KONDO KAZUO
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