An article transport system includes: a processing machine; a pallet on which an article processed by the processing machine is placed; a transport robot configured to transport the pallet; a transport request unit configured to make a transport request to the transport robot for transporting the pallet to the processing machine; and an intermediate buffer including a pallet accommodation section which accommodates the pallet, in which the pallet is inserted and from which the pallet is retrieved, and configured to determine whether the article is placed on the pallet, and to transmit a determination result to the transport request unit. The transport request unit is configured to designate the pallet, which is to be transported by the transport robot in the transport request, as an empty pallet determined to have no article placed thereon, among the pallet accommodated in the intermediate buffer.
G05B 19/418 - Commande totale d'usine, c.-à-d. commande centralisée de plusieurs machines, p. ex. commande numérique directe ou distribuée [DNC], systèmes d'ateliers flexibles [FMS], systèmes de fabrication intégrés [IMS], productique [CIM]
B23Q 7/14 - Agencements pour la manipulation des pièces, spécialement combinés aux machines-outils ou disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines, p. ex. pour le transport, le chargement, le positionnement, le déchargement, le triage coordonnés pour permettre un travail en chaîne
A welding system includes a welding device including a welding head, and configured to move the welding head to a welding position and perform a welding process on a workpiece using the welding head based on an operation program, a control unit configured to execute the operation program to control the welding device, an imaging device configured to image an image of the welding position and its surroundings to output the welding position image, an image processing unit configured to input the welding position image and a reference image at a reference welding position to which the welding head is to be moved according to the operation program, calculate a correction amount between the welding position shown in the welding position image and the reference welding position, and a confidence level of the welding position, and output an image for confirming the welding position, a display unit configured to display the output image, and a program correction unit configured to correct the operation program based on the output correction amount and confidence level.
An alignment structure includes an alignment protruded portion protruded from an end face of a first workpiece, and an alignment depressed portion formed on a surface of a second workpiece such that the alignment protruded portion is entered thereinto and engaged therewith. The alignment protruded portion has a bottom face and an inclined face. A pair of depressed-portion inclined faces whose cross-sectional faces are inclined with respect to a thickness direction, and a protrusion that has a vertical face are formed on the alignment depressed portion that is formed by using a tool and a method for forming the alignment depressed portion by using the tool. The alignment depressed portion is aligned due to an engagement with the alignment protruded portion, in which the inclined face contacts with one of the pair of depressed-portion inclined faces, and thus the first workpiece is aligned with respect to the second workpiece.
B21D 22/02 - Estampage utilisant des dispositifs ou outils rigides
B23K 26/02 - Mise en place ou surveillance de la pièce à travailler, p. ex. par rapport au point d'impactAlignement, pointage ou focalisation du faisceau laser
4.
ALIGNMENT STRUCTURE, METHOD FOR MANUFACTURING WORKPIECE, AND WELDING METHOD
An alignment structure, which can be used in a welding method for joining a first workpiece and a second workpiece, includes an alignment protruded portion formed to be protruded from an end face of the first workpiece that is a metal plate, and an alignment depressed portion formed on a surface of the second workpiece such that that the alignment protruded portion is entered thereinto and engaged therewith, and the first workpiece is aligned in an orthogonal manner with respect to the second workpiece due to an engagement of the alignment protruded portion with the alignment depressed portion in which the end face contacts with the surface of the second workpiece.
A laser beam irradiation unit irradiates a first flange on the front side of a workpiece and a second flange on the rear side of the workpiece with a linear laser beam. A camera (35) captures reflected light produced by reflection of the laser light with which the first and second flanges are irradiated. An exposure time adjustment unit (321) adjusts the exposure time of the camera (35) so that the brightness distribution of the reflected light in individual lines is within a reference range. An image angle calculation unit (33) extracts pixels within a line image in a state in which the exposure time has been adjusted so that the brightness distribution of the reflected light is within a reference range. The image angle calculation unit (33) calculates the image angle of a straight line obtained by linearly approximating the extracted pixels of a plurality of lines. A bending angle conversion unit converts the image angle to the bending angle of the workpiece.
A monitoring device (55) monitors detection light, which is at least one of reflected light of a laser beam (LB), emitted visible light, and emitted near-infrared light, when the laser beam (LB) is emitted onto tip end surfaces of pairs of flat wires (71L and 7lR) among a plurality of pairs of flat wires (71L and 71R) to weld each pair of flat wires (71L and 7lR). A region including a group of pairs of flat wires (71L and 71R) is defined as an emission region in which a displacement mechanism displaces the laser beam (LB) to emit the laser beam (LB) onto each pair of flat wires (71L and 71R). On the basis of the detection light monitored by the monitoring device (55), a control device executes control related to the welding of each pair of flat wires (71L and 71R) under conditions corresponding to the position of each pair of flat wires (71L and 71R) in the emission region.
The present invention is configured to be capable of performing: a first-processing rotation information specification process for specifying a rotation direction and rotation angle from the origin rotation angle of a table at the start of processing on the basis of arrangement information of a plurality of metal pins that are arranged along the circumferential direction of the table, which can rotate in the circumferential direction, and that move in the circumferential direction according to the rotation of the table and a clockwise and counterclockwise rotatable range with reference to the origin rotation angle of the table; and a program creation process for creating a welding program that causes a welding device to perform a process to rotate the table in the specified rotation direction at the specified rotation angle.
A sensing device senses each pair of flat wires (71L and 71R) in order to acquire a gap amount or a positional deviation amount between the pair of flat wires (71L and 71R). In accordance with the gap amount or the positional deviation amount, a control device selects one irradiation condition from among a plurality of irradiation conditions for irradiating the tip surfaces of each pair of flat wires (71L and 71R) with a laser beam. The control device creates a machining program for welding the plurality of pairs of flat wires (71L and 71R) under irradiation conditions selected for the respective pairs of flat wires (71L and 71R). The control device controls a laser oscillator and a displacement mechanism so as to weld the respective pairs of flat wires (71L and 71R) in accordance with the created machining program.
This press brake (1) comprises: a press brake body (10) that bends a workpiece along a bending line extending in the left-right direction; a back gauge (30) that is disposed behind the press brake body (10) and comprises abutments (42a, 42b) that an end of the workpiece butts against to position the workpiece; and a guard (50) that is provided to surround a rear region of the press brake body (10) including the back gauge (30) and restricts entry into the rear region. This butting adjustment method includes: a first This abutment adjustment method includes: a first step for moving abutments (42a, 42b) rearward by operating a Y-axis actuator (34); and a second step for adjusting the positions of the abutments (42a, 42b) in the left-right direction by manually moving the abutments (42a, 42b) in the left-right direction from an access region in which the restriction of a guard has been released.
B30B 15/00 - Parties constitutives des presses ou accessoires de pressesMesures auxiliaires prises en rapport avec le pressage
F16P 3/08 - Dispositifs de sécurité agissant en conjonction avec la commande ou le fonctionnement d'une machineCommandes exigeant l'emploi simultané de plusieurs parties du corps humain conjugués avec le verrouillage de portes, couvercles, garde-fous ou autres dispositifs semblables donnant accès aux parties mobiles de la machine
A safety device (50) is provided with: a light projector (60) that emits a light beam (LB) at predetermined time intervals; a light receiver (70) that outputs a determination signal (Sd2) indicating whether or not a light receiving element (80) is detecting light; and a control unit (102). The control unit (102): determines whether or not the light receiving element (80) is detecting light on the basis of the determination signal (Sd2) output from the light receiver (70), for each periodically occurring period during which the light beam (LB) is not being emitted from the light projector (60); stops the operation of a processing machine (1) and stops the emission of the light beam (LB) from the light projector (60) when it is determined that the light receiving element (80) is detecting light; and then resumes the emission of the light beam (LB) from the light projector (60) and restores the processing machine (1) to an operable state when it is determined that the light receiving element (80) is not detecting light.
B21D 5/02 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières sans fixation de la pièce
B23Q 11/00 - Accessoires montés sur les machines-outils pour maintenir les outils ou les organes de la machine dans de bonnes conditions de travail ou pour refroidir les pièces travailléesDispositifs de sécurité spécialement combinés aux machines-outils, disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines
B30B 15/00 - Parties constitutives des presses ou accessoires de pressesMesures auxiliaires prises en rapport avec le pressage
F16P 3/14 - Dispositifs de sécurité agissant en conjonction avec la commande ou le fonctionnement d'une machineCommandes exigeant l'emploi simultané de plusieurs parties du corps humain avec dispositifs, p. ex. des éléments sensibles, qui agissent sur la commande ou le fonctionnement de la machine lorsqu'une partie du corps humain se trouve dans ou près de la zone de danger les dispositifs étant des cellules photo-électriques ou d'autres dispositifs sensibles sans contact mécanique
A laser processing machine (1) comprises: a processing head (3) that radiates a laser beam onto a workpiece (W); a temperature sensor (5) that detects the temperature of a nozzle (15) provided at the tip of the processing head (3); and a control unit (17) that adjusts the focal position of the laser beam on the basis of the temperature of the nozzle (15) detected by the temperature sensor (5). If the temperature of the nozzle (15) is outside the range of a predetermined temperature region, the control unit (17) adjusts the focal position of the laser beam such that the temperature of the nozzle (15) is within the range of the temperature region.
A pressing die (1) of a panel bender (91) comprises a support post portion (11) that extends downward when attached to an upper frame (912) of the panel bender (91), and a pressing portion (12) that is provided at a lower end portion (11a) of the support post portion (11), wherein: the pressing portion (12) comprises an expanded leg portion (122) that, in a top view, projects out from the support post portion (11) with a first orientation in a first direction and a first orientation in a second direction orthogonal to the first direction; and the expanded leg portion (122) includes, as a part of the outer shape thereof, a linear first edge portion (122c) extending in the first direction, and comprises a bending stiffness reducing portion (M) that reduces the bending stiffness of a second corner portion (P2), which is a corner portion of the first edge portion (122c) on the opposite side to the first orientation in the first direction.
B21D 5/04 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières avec fixation d'un côté de la pièce
B21D 5/02 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières sans fixation de la pièce
A control device controls a table lifting mechanism such that a sheet metal is bent to have a temporary bending angle that is wider than a target bending angle and calculates a first bending angle of the sheet metal bent to have the temporary bending angle. The control device removes a load applied to the sheet metal, calculates a second bending angle of the sheet metal, and calculates a spring back amount. The control device calculates a lowering amount for bending the sheet metal in consideration of the spring back amount and controls the table lifting mechanism to lower an upper table. The control device, after the sheet metal is bent to have the target bending angle, removes the load applied to the sheet metal, and calculates a final bending angle of the sheet metal.
(1) Metalworking machines and tools; spring machines; degreasing and washing machine for metal parts; dust collectors for metalworking machines; fume extractors for metalworking machines; metal chip compactor; printed circuit board processing machines; semiconductor making machines; laser machines for manufacturing semiconductor integrated circuits and parts therefor; drilling machines for printed circuit boards; laser drilling machines for printed circuit boards; exposure machines for printed circuits boards and parts therefor; exposure machines for semiconductor integrated circuits and parts therefor; parts and fittings for all the aforesaid goods;
15.
CONTROL DEVICE, CONTROL SYSTEM, CONTROL METHOD, AND CONTROL PROGRAM
The purpose of the first invention is to make it possible to secure safety by simple area switching. This control device for controlling an articulated collaborative robot that conveys a workpiece to a conveyance object is configured to be capable of setting a detection area including at least one of a deceleration area and a stop area, and is caused to execute area switching control for switching at least a part of one of the deceleration area and the stop area to the other in accordance with the operation range of the articulated collaborative robot. The purpose of the second invention is to save space while securing safety of a user. The present invention controls an articulated collaborative robot that conveys a workpiece to a conveyance object, and causes the control device, which is configured to be capable of setting a detection area for detecting an object around the articulated collaborative robot and a height-direction detection area that extends in a direction intersecting the detection area and is for detecting entry of an object into the detection area, to control the operation of the articulated collaborative robot in accordance with the detection results of the detection area and the height-direction detection area.
A control device performs control to bend a first sheet metal and a second sheet metal. The control device determines whether a difference between, a fourth bending angle obtained by temporarily bending the second sheet metal, and a first bending angle obtained by temporarily bending the first sheet metal, is within a predetermined angle. If the difference between the fourth bending angle and the first bending angle is within the predetermined angle, the control device does not calculate a spring back amount of the second sheet metal, but lowers an upper table by a second depth value at the time of a driving operation of the first sheet metal or by a corrected depth value obtained by correcting the second depth value according to the difference between the fourth bending angle and the first bending angle.
In the present invention, in a first step, by radiating a first laser beam (LB) onto the center of a first tip surface of a first rectangular wire (71L), a tip section of the first rectangular wire (71L) is melted, forming a first melted section (72L) of the first rectangular wire (71L). In a second step, by radiating a second laser beam (LB) onto the center of a second tip surface of a second rectangular wire (71R), a tip section of the second rectangular wire (71R) is melted, forming a second melted section (72R) of the second rectangular wire (71R). A position on a surface of the second melted section (72R) that corresponds to a position offset outward from the center of the second tip surface serves as an irradiation start position for a third laser beam (LB). In a third step, the third laser beam (LB) is made to move from the irradiation start position toward the first melted section (72L).
B23K 26/064 - Mise en forme du faisceau laser, p. ex. à l’aide de masques ou de foyers multiples au moyen d'éléments optiques, p. ex. lentilles, miroirs ou prismes
B23K 26/082 - Systèmes de balayage, c.-à-d. des dispositifs comportant un mouvement relatif entre le faisceau laser et la tête du laser
B23K 26/28 - Soudage de joints continus curvilignes
18.
LASER BEAM MACHINE AND METHOD FOR CONTROLLING LASER BEAM MACHINE
On the basis of a main movement command signal (MCSx), a control device accelerates a machining head, subsequently moves the machining head at a constant speed, and then decelerates and stops the machining head. In such instances, the control device positions a laser beam on the rear side in the movement direction of the machining head with respect to the center of the opening of a nozzle so as to indicate a beam displacement amount (BDx (fig. 12D)) on the basis of a sub-movement command signal during a period in which the machining head is moved at a constant speed, and moves the laser beam to the front side in the movement direction of the machining head with respect to the center of the opening after moving the laser beam to the center of the opening after deceleration of the machining head is started.
An inner nozzle tip portion includes an inner nozzle opening configured to emit a laser beam and eject a first assist gas. An outer nozzle includes a stepped part provided at an outer nozzle tip portion and recessed inward from the outer nozzle tip portion, and an outer nozzle opening open to the stepped part to be a concentric circle with an inner nozzle opening, the outer nozzle opening being configured to eject a second assist gas. The stepped part includes a flat portion extending from a peripheral edge of the outer nozzle opening in a direction orthogonal to a direction of an axis, and the inner nozzle tip portion is located between the outer nozzle opening and the outer nozzle tip portion in the direction of the axis.
B23K 26/14 - Travail par rayon laser, p. ex. soudage, découpage ou perçage en utilisant un écoulement de fluide, p. ex. un jet de gaz, associé au faisceau laserBuses à cet effet
B23K 26/382 - Enlèvement de matière par perçage ou découpage par perçage
20.
LASER CUTTING MACHINE AND METHOD FOR CONTROLLING LASER CUTTING MACHINE
When the oxygen concentration of an assist gas is equal to or less than the oxygen concentration in air, the plate thickness is 2.3 mm or greater, the angle (θ) of a corner (Cn) is 150 degrees or less, and the shape of the corner (Cn) is angular or has a radius of curvature of 2 mm or less, a control device (60) performs the following control. Specifically, when a laser beam is accelerated to a standard speed after passing through the corner part (Cn), the control device (60) performs second output control such that the laser peak output is constant at a laser average output equal to or lower than a standard average output and at a pulse duty higher than the pulse duty during deceleration. Alternatively, when the laser beam is accelerated to the standard speed after passing through the corner part (Cn), the control device (60) performs second output control so as to increase the laser peak output as the cutting speed increases while setting a pulse duty higher than the pulse duty during deceleration within a range of laser average output lower than the standard average output.
B23K 26/00 - Travail par rayon laser, p. ex. soudage, découpage ou perçage
B23K 26/08 - Dispositifs comportant un mouvement relatif entre le faisceau laser et la pièce
B23K 26/38 - Enlèvement de matière par perçage ou découpage
B23K 26/142 - Travail par rayon laser, p. ex. soudage, découpage ou perçage en utilisant un écoulement de fluide, p. ex. un jet de gaz, associé au faisceau laserBuses à cet effet pour l'enlèvement de résidus
B23K 26/0622 - Mise en forme du faisceau laser, p. ex. à l’aide de masques ou de foyers multiples par commande directe du faisceau laser par impulsions de mise en forme
21.
LASER BEAM MACHINE AND METHOD FOR CONTROLLING LASER BEAM MACHINE
A low-pass filter (522) filters a movement command signal (CS) to generate a main movement command signal (MCS) for moving a machining head by means of a movement mechanism. A delay device (523) delays the movement command signal (CS) to generate a delayed movement command signal (DCS). A subtractor (524) subtracts the main movement command signal (MCS) from the delayed movement command signal (DCS) to generate a sub-movement command signal (SCS) for displacing a laser beam by means of a beam displacement mechanism. By setting an order for the low-pass filter (522) and a delay time to be caused by the delay device (523), a cut-off frequency for the low-pass filter (522) is set which achieves such an amount of displacement of the laser beam that the laser beam displaced by the beam displacement mechanism is positioned in an opening in a nozzle.
This assist gas rectification structure (SK) has n (n is an integer of 2 or more) cylindrical bodies (6, 7) inserted in n layers, and has a through hole (6b) that communicates the inside and outside of the outer cylindrical body (6) and a space (Vc) inside a groove (74) formed in an outer peripheral surface (71d) of the inner cylindrical body (7), the through hole (6b) and the space (Vc) communicating with each other. The assist gas rectification structure (SK) has a first flow path (RT1) that guides an assist gas (G2) flowing in from the outside through the through hole (6b) to an end face of the inner cylindrical body (7) through the space (Vc), or a second flow path (RT2) that causes the assist gas (G2) to flow through the space (Vc) in an inner through hole (7Dh) that penetrates the groove (74) and the inner peripheral surface (71a) of the inner cylindrical body (7) and guides the assist gas (G2) to an inner peripheral surface (71a) of the inner cylindrical body (7).
B23K 26/14 - Travail par rayon laser, p. ex. soudage, découpage ou perçage en utilisant un écoulement de fluide, p. ex. un jet de gaz, associé au faisceau laserBuses à cet effet
B23K 26/142 - Travail par rayon laser, p. ex. soudage, découpage ou perçage en utilisant un écoulement de fluide, p. ex. un jet de gaz, associé au faisceau laserBuses à cet effet pour l'enlèvement de résidus
23.
BENDING ANGLE MEASURING DEVICE AND BENDING ANGLE MEASURING METHOD
A laser diode (34) emits linear laser light onto a first flange and a second flange of a workpiece bent to a target bending angle, the first flange and the second flange being on the front side and the rear side of the workpiece, respectively, with respect to a punch and a die. A camera (35) captures an image of reflected light due to reflection of the laser light emitted onto the first and second flanges. An image angle calculation unit (33) extracts, as a straight line part, a range of high-luminance points obtained by excluding high-luminance points due to the emission of light onto a region in which the first or second flange is a curved surface from a plurality of high-luminance points obtained by sampling a line image formed from the reflected light included in the image captured by the camera (35), and calculates an image angle of a straight line obtained by linearly approximating at least the sampled high-luminance points included in the straight line part. A bending angle conversion unit (22) converts the image angle into the bending angle of the workpiece.
G01B 11/26 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour tester l'alignement des axes
B21D 5/02 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières sans fixation de la pièce
G01B 11/25 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes en projetant un motif, p. ex. des franges de moiré, sur l'objet
24.
PRESS SYSTEM, PRESS DEVICE, PRESS CONTROL METHOD, AND PRESS CONTROL PROGRAM
The present invention comprises: a press device including a crankshaft and a slide that moves up and down in accordance with the rotation of the crankshaft, wherein the press device performs press processing on a workpiece by using a mold attached to the slide; a control unit that controls the press device; and a storage unit that stores reference data including information relating to the correspondence relationship between the position of the slide during the press processing on the workpiece and the load applied to the slide, wherein the control unit is configured to calculate a predicted peak load on the basis of the actual load applied to the slide and the reference data during the press processing, and execute an emergency stop of the press device when the predicted peak load exceeds an upper limit load.
An abutment mechanism operation control method includes determining, when, from among at least three abutment mechanisms each including a base part and an abutment part, each configured to be movable along each of a first operation axis in a first direction and a second operation axis in a second direction, and each arranged in parallel in the second direction, first and second abutment mechanisms positioned at both sides and with the abutment part offset with respect to a reference axis of the base part along the first direction, and a third abutment mechanism positioned between the first and second abutment mechanisms, are operated, whether an operation of at least one of the first and second abutment mechanisms and an operation of the third abutment mechanism interfere with each other, and causing at least one of the first, second, and third abutment mechanisms to perform an operation to prevent the interference based on a determination result.
A tool storage device includes: a first stocker on which a plurality of tools used for bending processing are mountable in a first direction; and at least one second stocker on which the plurality of tools are mountable in the first direction, the at least one second stocker being arranged side by side with the first stocker in a second direction orthogonal to the first direction, in which the second stocker is configured to be movable in a third direction orthogonal to each of the first direction and the second direction. The tool reversing device includes a tool mounting part on which a tool used for bending processing is mountable; a rotating mechanism configured to rotate the tool mounting part in a direction perpendicular to a mounting direction of the tool, in which the tool mounting part includes a mounting part body formed into a U-shaped cross section so as to constitute a pair of wall parts and a bottom part, the mounting part body being configured to allow insertion of a shank part of the tool, an locking groove provided on at least one inner wall surface of the pair of wall parts so as to be engageable with a protrusion extending in the perpendicular direction and protruding from a surface of the shank part, and a plurality of locking strips provided at prescribed positions in the locking groove and configured to engage with the protrusion from the perpendicular direction.
A lay-out data creation device includes a laying-out unit configured to lay out, based on product data including a shape of a product, a cutting path through which a processing machine for laser cutting cuts the product from a material. The laying-out unit: in a case where a notch is included in an outline of the product, sets a joint to the product or an offcut the joint being for connecting a hole area including the notch in an outline of the hole area; and lays out the cutting path to the outline of the hole area and the outline of the product excluding the notch so that a part of the outline of the hole area is left uncut depending on the joint.
This profile grinding machine includes: a workpiece support mechanism that supports a workpiece; a grinding wheel support mechanism that supports a grinding wheel for grinding the workpiece; and a projector that includes a light source for irradiating the workpiece with light and a projection screen on which shadows of the grinding wheel and the workpiece are projected, the grinding wheel support mechanism including a turning shaft part configured to be turnable about a direction along the projection direction of the light source and a grinding wheel support part that supports the grinding wheel such that the grinding wheel is positioned below the turning shaft part in the vertical direction, the grinding wheel support mechanism being configured to support the grinding wheel such that the turning center of the grinding wheel and the workpiece-side distal end part of the grinding wheel are positioned within a projection range on the projection screen.
B24B 17/04 - Adaptations particulières des machines ou des dispositifs de meulage commandés par des gabarits, des dessins, des bandes magnétiques ou similairesAccessoires à cet effet faisant intervenir des moyens optiques auxiliaires, p. ex. machines à meuler avec projection optique de la forme
B24B 5/04 - Machines ou dispositifs pour meuler des surfaces de révolution des pièces, y compris ceux qui meulent également des surfaces planes adjacentesAccessoires à cet effet possédant des pointes ou des mandrins pour maintenir la pièce pour meuler extérieurement des surfaces cylindriques
B24B 47/22 - Équipement permettant le positionnement exact de l'outil de meulage ou de la pièce au début de l'opération de meulage
B24B 49/12 - Appareillage de mesure ou de calibrage pour la commande du mouvement d'avance de l'outil de meulage ou de la pièce à meulerAgencements de l'appareillage d'indication ou de mesure, p. ex. pour indiquer le début de l'opération de meulage impliquant des dispositifs optiques
29.
METHOD FOR DISPLAYING HANDLING ASSISTANCE IMAGE AND DEVICE FOR CONTROLLING PRESS BRAKE
Upon detecting that bend-machining of a workpiece (W) in a press brake (10) has started, an NC device (10) displays, on a display device (30), a handling image that indicates the manner in which the workpiece (W) is to be held by an operator of the press brake (100). Upon detecting that the workpiece (W) has been inserted into the press brake (100), the NC device (10) displays, on the display device (30), a workpiece image that indicates the workpiece (W) pressed against an abutment (42), the workpiece image being displayed so as to be superimposed on a captured image obtained by imaging the abutment (42) and the workpiece (W). Upon detecting that the workpiece (W) has been removed from the press brake (100), the NC device (10) displays, on the display device (30), a change assistance image that indicates a procedure for changing from the manner in which the workpiece (W) is held in the current step to the manner in which the workpiece (W) is to be held in the next step.
This band sawing machine (1) comprises: a saw head (20) which cuts a workpiece W by means of a band saw blade (100) while moving in a cutting direction (F2); and a vibration mechanism which vibrates the band saw blade (100) in the cutting direction (F2). The band saw blade (100) has a plurality of teeth (121) with the same function arranged at a prescribed functional pitch, and is attached to the saw head (20) so as to be able to run freely. A vibration period of the band saw blade (100) caused by the vibration mechanism satisfies the relationship T=k×(P/V). Here, T is the vibration period, P is the functional pitch, V is a running speed at which the band saw blade (100) runs, and k is a coefficient composed of a number including a decimal other than 1/c (c is a natural number).
B23D 55/08 - Machines à scier ou dispositifs de sciage à lames de scie à ruban, caractérisés uniquement par la structure d'organes particuliers des dispositifs de guidage ou d'avance des lames de scie à ruban
B23D 36/00 - Agencements de commande spécialement adaptés aux machines de cisaillage ou machines de coupe analogues, ou aux machines à scier, pour produits bruts se déplaçant autrement que dans la direction de la coupe
A one-side elongation value in V-bending of two flanges formed when a workpiece (1) is V-bent at a first bending line (BL) by a press brake and a one-side elongation value in L-bending of two flanges formed when the workpiece (1) is L-bent at the first bending line (BL) by a panel bender are obtained in advance. A computer sets, as a second bending line (BL'), a position obtained by offsetting, by a distance based on the difference between the one-side elongation value in the V-bending and the one-side elongation value in the L-bending, the position of the first bending line (BL) in a first flat pattern for use in bending the workpiece (1) at the first bending line (BL) by the press brake. The computer replaces the first bending line (BL) in the first flat pattern with the second bending line (BL'), thereby correcting the first flat pattern into a second flat pattern for use in bending at the second bending line (BL') by the panel vendor.
A ring beam shaping element (31s) comprises a first surface that is one of an incidence surface and an emission surface of a laser beam and is a flat surface, and a second surface that is the other of the incidence surface and the emission surface. On the second surface, an uneven pattern is formed, including a plurality of radial protrusions (311) and recesses (312) formed at a plurality of regular angular positions in the circumferential direction, the protrusions (311) and recesses (312) extending radially outward from the center (310) of the second surface. The distance between the first surface and the surface of the protrusions (311) formed on the second surface is 2 mm or less. The protrusions (311) have a uniform height from the center (310) to the outermost position in the radial direction, and the recesses (312) have a uniform depth from the center (310) to the outermost position in the radial direction. The number of the protrusions (311) or the recesses (312) is 6-31 inclusive.
G02B 27/09 - Mise en forme du faisceau, p. ex. changement de la section transversale, non prévue ailleurs
B23K 26/064 - Mise en forme du faisceau laser, p. ex. à l’aide de masques ou de foyers multiples au moyen d'éléments optiques, p. ex. lentilles, miroirs ou prismes
B23K 26/073 - Détermination de la configuration du spot laser
33.
BEAM MODE CHANGING DEVICE AND BEAM MODE CHANGING METHOD
First and second collimating lenses (105, 106) are free to move in directions orthogonal to first and second optical axes, respectively. When the first and second collimating lenses (105, 106) are at reference positions, an optical element (dichroic mirror 111) causes first and second laser beams to enter a converging lens (112) in a state in which the optical axes of the first and second laser beams coincide with each other. The converging lens (112) causes the first and second laser beams to converge and be incident on the center of the core of a process fiber (12). First and second drive units (107, 109) respectively move the first and second collimating lenses (105, 106) independently of each other so as to change the distance from the center of the core to the position at which the converging lens (112) causes the first and second laser beams to converge and be incident on the core.
A product data generation device (1) comprises: an allocation unit (41) that, on a 3D model of a product which is produced by combining a first part and a second part, allocates a processing position at which positioning processing for positioning the second part on the first part is performed; and a product data generation unit (42) that generates, as product data, an unfolded view of the first and second parts in which a mark is added to the processing position allocated by the allocation unit, using the 3D model.
A laser cutting method includes a first step of forming a first slit by cutting a sheet metal from a first point that is apart from an end of a part in an outward direction of the part by a first distance, to a second point that is apart from the end in the outward direction of the part by a second distance and is apart from the first point in a direction along the end by a third distance. The laser cutting method includes a second step of forming a second slit by cutting the sheet metal, to cause the second slit to extend from the second point toward the end and to reach a kerf formation region where a kerf for cutting the outer periphery is formed. The laser cutting method includes a third step of cutting the sheet metal along the end.
This band saw machine (91) is provided with: a workpiece support unit (6) that supports a workpiece (W); a housing (3) having a pair of wheels (31, 32) that causes a band saw blade (5) to travel; and a control device (4) that controls movement of the housing (3). The housing (3) has first and second guide rollers (334, 344) that guide the band saw blade (5), and a first movement unit (331) and a second movement unit (341) that change the orientation of the band saw blade (5) between a first inclined orientation and a second inclined orientation. The control device (4) causes the workpiece (W) to be cut by the band saw blade (5) in the first inclined orientation or the second inclined orientation, and causes the housing (3) to move a position at which the band saw blade (5) is spaced apart from the workpiece (W) to execute the change in orientation of the band saw blade (5).
B23D 55/08 - Machines à scier ou dispositifs de sciage à lames de scie à ruban, caractérisés uniquement par la structure d'organes particuliers des dispositifs de guidage ou d'avance des lames de scie à ruban
38.
OPERATION TEACHING DEVICE AND OPERATION TEACHING SYSTEM
The present invention comprises: a display unit that displays an operation teaching screen for teaching an operation to a welding robot capable of holding a welding torch; and a manipulation unit that receives a user manipulation of the operation teaching screen. The operation teaching screen is configured to be capable of displaying a plurality of posture candidates of the welding robot while welding. The manipulation unit is configured to receive a user operation selecting an arbitrary posture candidate from among the plurality of posture candidates displayed on the operation teaching screen.
B23K 9/127 - Moyens pour suivre des lignes au cours du soudage ou du découpage à l'arc
B23K 9/12 - Alimentation automatique en électrodes ou en pièces ou déplacement automatique des électrodes ou des pièces pour le soudage ou le découpage à l'arc en lignes continues ou par points
According to the present invention, a control unit includes a back gauge control unit that controls the movement of a back gauge, and a robot control unit that controls the movement of a workpiece-holding robot. The back gauge control unit is configured to move the back gauge above or to the front of a lower mold before the workpiece is placed between an upper mold and the lower mold or removed therefrom. The back gauge control unit and the robot control unit operate the back gauge and the workpiece-holding robot to place the workpiece between the upper mold and the lower mold or remove the workpiece therefrom in a state in which a lower end part of the workpiece is supported from below by the back gauge.
A workpiece supply system includes a magnet floater configured to separate an uppermost workpiece from a group of workpieces stacked on a loading area by magnetizing the group of workpieces, and a workpiece supply robot configured to be able to transport the uppermost workpiece from among the group of workpieces, wherein the magnet floater is configured to be able to switch between an on state where a magnetic force is applied to the group of workpieces and an off state where a magnetic force to be applied to the group of workpieces is reduced compared to the magnetic force in the on state, and the workpiece supply robot is configured to contact the uppermost workpiece when the magnet floater is in the off state and to separate the uppermost workpiece from the group of workpieces when the magnet floater is in the on state.
The present invention comprises a control unit that can control an articulated collaborative robot that transports a workpiece to/from a transport target. During at least one of an outbound transport operation that transports the workpiece away from the transport target and an inbound transport operation that transports the workpiece toward the transport target, the control unit makes the articulated collaborative robot operate in advance of the workpiece such that at least a portion of the articulated collaborative robot is positioned ahead in the advancement direction of the workpiece.
The present invention is configured to create provisional programs for controlling a bending machine and a workpiece-supplying robot that supplies a workpiece to the bending machine. The provisional program includes a plurality of jobs that correspond to respective movements of the bending machine and the workpiece-supplying robot. The plurality of jobs include fixed jobs and selective jobs. The fixed jobs are set in common among a plurality of the provisional programs. The selective jobs are selected automatically for each of the provisional programs from among a selective job group including a plurality of the selective jobs as candidates, on the basis of a response by a user to a question and/or shape data indicating the shape of a product to be produced by processing the workpiece.
A bending system equipped with a press brake, a robot carrier on which a workpiece supply robot for supplying a workpiece to the press brake can be placed, and a positioning mechanism for positioning the robot carrier with respect to the press brake, wherein: the positioning mechanism comprises a first positioning member provided to the robot carrier, and a second positioning member provided on the press brake side and capable of engaging the first positioning member; and at least one of the first positioning member and the second positioning member has a long part which projects from one of the press brake and the robot carrier toward the other at the time of positioning.
B21D 5/02 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières sans fixation de la pièce
B21D 43/00 - Dispositifs d'alimentation, de positionnement ou de stockage combinés à des appareils pour travailler ou traiter les tôles, les tubes ou les profilés, disposés dans ces appareils ou spécialement adaptés pour être utilisés en association avec ces appareilsAssociation de dispositifs de coupe avec ces appareils
45.
GRAPHIC DATA CREATION DEVICE, GRAPHIC DATA CREATION METHOD, AND GRAPHIC DATA CREATION PROGRAM
This central processing device (1) extracts horizontal and vertical line segments that constitute the outer shape of an arbitrary object drawn in a read drawing image. The central processing device (1) generates horizontal and vertical guide lines that overlap with the horizontal and vertical line segments. The central processing device (1) extracts, on the basis of intersection points of the horizontal and vertical guide lines, outer shape corner points that indicate positions of outer shape corner parts of the object. The central processing device (1) generates trace lines that connect the extracted outer shape corner points. The central processing device (1) generates, on the basis of the trace lines, graphic data that indicate the object.
A press system and method that can easily avoid collisions and improve productivity regardless of a workpiece conveyance pattern by a workpiece conveyance device. Press devices Pn and Pn+1 each send signals corresponding to an angle of a crankshaft to a line controller, and robots Rm, Rm−1, and Rm+1 each send signals corresponding to a state of conveyance of a workpiece to the line controller. The line controller, based on the signals, determines whether to permit entry to each of the multiple regions C1 to C10. It then sends an entry permission signal for each of the multiple regions C1 to C10 to the robot Rm based on determined results, and the robot Rm performs loading or unloading based on the entry permission signal.
A bending method includes a series of processes of repeating bending of a workpiece by applying pressure to the workpiece with upper and lower tools attached to upper and lower tables of a press brake from a first process to an N-th process while feeding the workpiece at a predetermined pitch. The series of processes includes: measuring a bending angle of the workpiece at completion of an M-th process; and correcting a table output for applying pressure to the workpiece based on a measurement value of the bending angle of the workpiece as measured and a target value of the bending angle of the workpiece at completion of the M-th process. In a case where the table output is corrected, the bending is restarted from a previous process which is the M-th process or a process before the M-th process based on the corrected table output.
The present invention comprises: a bending machine including an upper mold, a lower mold, a back gauge movably provided rearward of the lower mold, and an imaging unit attached to the back gauge; a workpiece holding robot configured to be capable of transporting a workpiece between the upper mold and the lower mold; a control unit that controls the bending machine and the workpiece holding robot; and a display unit that displays a captured image captured by the imaging unit. The control unit includes a back gauge control unit that controls movement of the back gauge. The back gauge control unit is configured to move the back gauge such that the imaging unit is at a position at which the upper end of the lower mold can be horizontally imaged before the workpiece is transported in or transported out of an area between the upper mold and the lower mold.
The present invention comprises a control unit that is capable of registering, in a welding processing program, a teaching point for a welding robot that holds a welding torch capable of irradiating a workpiece with laser light. The control unit is configured to be capable of executing: a teaching point candidate reception process for receiving a candidate for the teaching point, the candidate being designated by a user; a plane intersection assessment process for assessing whether the placement surface on which the workpiece is placed and the trajectory of the laser light when the laser light is emitted at the received teaching point candidate intersect; and a teaching point registration process for registering the teaching point candidate in the welding processing program as the teaching point for the welding robot when it is assessed in the plane intersection assessment process that the placement surface and the trajectory intersect.
A bead formation method comprises: a beading step for forming a bead (Wb) on a plate material (W); and a correction step for holding in the thickness direction of the plate material (W) and squeezing a prescribed correction range (K), which extends farther from the bead (Wb) and starts from a correction line (P2a) as the inner end, in the plate material (W) having formed therein the bead (Wb), the correction line being positioned on the bead (Wb) side by a prescribed distance (α) from a connection line (P1a) where the flat part (Wp) and the bead (Wb) are connected.
B21D 1/02 - Redressage, remise en forme ou élimination des distorsions locales des tôles ou d'objets déterminés faits à partir de tôlesÉtirage des feuilles métalliques combiné avec le laminage au moyen de rouleaux matriceurs
B21D 5/08 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple par un procédé d'étirage dans lequel les pièces à travailler sont mises en forme par passage entre des matrices ou des rouleaux, p. ex. fabrication de profilés utilisant des rouleaux de formage
B21D 22/02 - Estampage utilisant des dispositifs ou outils rigides
51.
MACHINING SYSTEM AND MACHINABILITY DETERMINATION SYSTEM
A machining system comprises: a laser machining device capable of executing a machining step of performing machining by irradiating a material to be machined with laser light under a machining irradiation condition, and a machineability determination step of irradiating the material to be machined with laser light under a determination irradiation condition different from the machining irradiation condition; an imaging device capable of imaging the material to be machined; a surface determination device that determines a surface state of the material to be machined on the basis of image information obtained by imaging the material to be machined by the imaging device, and determining an irradiation position of the laser light in the machineability determination step on the basis of a determination result of the surface state of the material to be machined; and a machineability determination device that determines a machineability of the material to be machined on the basis of light generated by the laser machining device irradiating the irradiation position of the material to be machined with the laser light under the determination irradiation condition in the machineability determination step.
The present invention is provided with: a storage unit that stores a product master that includes the stock quantity of a product and a component, and a management article master that registers, as a management article, at least one of the product and the component to be expected to be produced; and a control unit that can set the temporary arrangement number of the management article by referring to at least the product master. The control unit is configured to calculate the predicted stock quantity of the management article in consideration of the temporary arrangement number, and is configured to automatically calculate and display the predicted stock quantity again when the product master has been updated.
An unmanned carrier vehicle (91) comprises: four wheels (2L, 2R, 3L, 3R) that include driving wheels (2L, 2R) and are in contact with a floor (FL); a first arm (61) that couples two wheels (2L, 3L) among the four wheels; a second arm (71) that couples the remaining two wheels (2R, 3R) among the four wheels; and a frame (12) that supports the first arm (61) in a manner incapable of oscillation, and that supports the second arm (71) in a manner capable of oscillation about an oscillation center (CL7) provided in between the remaining two wheels (2R, 3R).
B62B 5/00 - Accessoires ou détails spécialement adaptés aux voitures à bras
B62D 61/10 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec plus de quatre roues
54.
PRODUCTION MANAGEMENT SYSTEM, PRODUCTION SIMULATION DEVICE, PRODUCTION SIMULATION METHOD, AND PRODUCTION SIMULATION PROGRAM
This present invention comprises: a production management unit that manages a master used for production management; and a production simulation unit that acquires master information included in the master from the production management unit and performs production simulation on the basis of the master information. The production simulation unit is configured to be able to execute the production simulation on the basis of reserved master information different from existing master information included in the current master.
A manufacturing apparatus for a hairpin conductor includes: an index table configured to intermittently rotate around a rotation axis; a plurality of grippers attached to the index table at an angle pitch, the grippers each being configured to be capable of gripping a linear cut wire in a radially extending horizontal position; and a plurality of station apparatuses installed around the index table at an angle pitch, the station apparatuses being configured to process the cut wire, gripped by the gripper, in stages to shape the cut wire into a three-dimensional hairpin conductor. The plurality of station apparatuses include bending apparatuses and a pressing apparatus, and has an installation order set along a rotation direction of the index table.
H02K 15/0421 - Procédés ou appareils spécialement adaptés à la fabrication, l'assemblage, l'entretien ou la réparation des machines dynamo-électriques d'enroulements avant leur montage dans les machines les enroulements étant constitués d’éléments séparés, p.ex. barres, segments ou demi-bobines consistant en des conducteurs uniques, p.ex. enroulements en épingle à cheveux
B21F 1/00 - Cintrage des fils métalliques autre que l'enroulementRedressage des fils métalliques
56.
PRESS BRAKE CONTROL DEVICE AND BENDING SPEED CALCULATION METHOD
A press brake control device (1) comprises: a storage unit (3) that stores a processing condition (11) for when a workpiece is bent using a press brake (7); and a control unit (5) that calculates a bending speed for when the workpiece is bent using the press brake (7) on the basis of the processing condition (11). The control unit (5): acquires the thickness of the workpiece from the processing condition (11); within a range of repellency speeds at which a gripping portion for the operator to grip the workpiece repellently moves upward, sets an appropriate value for the repellency speed that allows an operator to comfortably work, on the basis of the thickness of the workpiece; calculates a speed conversion parameter for converting the repellency speed to the bending speed on the basis of the processing condition (11); and calculates the bending speed on the basis of the appropriate value of the repellency speed and the speed conversion parameter.
A bending system includes a tool storage, first and second tool exchange units each having a tool retention member, and a control device. When misalignment of tools held by a tool holder of a press brake occurs or is estimated to occur, the control device is configured to (1) move the first tool exchange unit to one side in a lateral direction to a position corresponding to one end of a regular arrangement position at which the tool retention member of the first tool exchange unit contacts with the tools and (2) move the second tool exchange unit to another side in the lateral direction to a position corresponding to another end of the regular arrangement position at which the tool retention member of the second tool exchange unit contacts with the tools.
A central processing device (1) detects arrows and lines drawn in a drawing image and detects dimension information represented by numbers. The central processing device (1) determines that the drawing image is a non-proportional dimension drawing including a non-proportional dimension location when the dimension line of any location is drawn to a scale different from the dimension lines of a plurality of other locations. The central processing device (1) displays an additional dimension line on the drawing image, determines a difference dimension for enlarging a non-proportional dimension location, and generates a guide line perpendicular to the additional dimension line of each location passing through the tip of the arrow of the additional dimension line of each location. The central processing device (1) selects the guide line to plot the outer shape of an object, and generates drawing data in which the non-proportional dimension location is enlarged by the difference dimension.
G06F 30/12 - CAO géométrique caractérisée par des moyens d’entrée spécialement adaptés à la CAO, p. ex. interfaces utilisateur graphiques [UIG] spécialement adaptées à la CAO
The present invention comprises a display unit capable of displaying a program creation condition setting screen image for setting a program creation condition for a welding machining program that includes operation information pertaining to a welding robot capable of holding a welding torch of a welding machine and welding machining conditions for the welding machine. The program creation condition setting screen image is configured to enable display of the operation information and is configured to enable setting of a welding machining condition. The operation information includes a movement stroke of the welding robot and a welding start position in the movement stroke. The welding start position includes at least a first welding start position and a second welding start position. The program creation condition setting screen image is configured to enable setting of a welding machining condition for each of the first welding start position and the second welding start position.
A tool storage device is provided inside a rack body arranged on a side of a bending machine in a left-right direction, and includes tool holding units for holding long upper tools. The tool holding units include a stocker linearly provided with tool holding grooves for holding the long upper tools, and a stocker moving unit for advancing and retracting the stocker in a front-rear direction, and horizontally rotating the stocker. The stocker has, as states between which switching can be performed, a first state in which the tool holding grooves are stored in the rack body in an orientation in the front-rear direction, and a second state in which the stocker advances to the outside of the rack body and the tool holding grooves are aligned in the left-right direction along a holder groove of the upper tool holder.
In this workpiece joining method: the position (P) of the outline of a first workpiece (W1), which is to be cut out from a plate-shaped material (W), is arranged on a surface of the material (W); cut-off protrusions (S) are formed within the arranged position (P) of the outline of the first workpiece (W1); the first workpiece (W1) is cut out by cutting at the position (P) of the outline of the first workpiece (W1); a surface of a plate-shaped second workpiece (W2) is brought into contact with the cut-off protrusions (S) of the first workpiece (W1) that has been cut out to cause an end surface of the second workpiece (W2) to abut against a surface of the first workpiece (W1) and the portion in which the second workpiece (W2) is butted against the first workpiece (W1) is welded.
B23K 37/04 - Dispositifs ou procédés auxiliaires non spécialement adaptés à un procédé couvert par un seul des autres groupes principaux de la présente sous-classe pour maintenir ou mettre en position les pièces
According to the present invention, a control device, during an unloading period for calculating the springback amount of sheet metal (W) that has been bent at a temporary bending angle, controls a table raising/lowering mechanism to raise an upper table in one or more stages, thereby unloading the sheet metal (W). In the most recent stage among the one or more stages and at the time when the sheet metal (W) that has yet to be unloaded is bent at a prescribed angle or in the immediately preceding stage among the one or more stages, the control device determines whether the unloading of the sheet metal (W) has been completed on the basis of the amount of change or the rate of change in the angle of a first flange (Wff) measured by a first angle sensor (21F) or the amount of change or the rate of change in the angle of a second flange (Wrf) measured by a second angle sensor (21R).
A clutch includes: a first clutch tooth that rotates integrally with a first rotation element included in a speed reducer; a second clutch tooth that rotates integrally with a second rotation element included in the speed reducer; and a fixed clutch tooth that moves between the first clutch tooth and the second clutch tooth. The fixed clutch tooth includes: a first mode in which the speed reducer operates at a second reduction ratio by meshing only with the first clutch tooth to fix the first rotation element, a second mode in which the speed reducer operates at a first reduction ratio by meshing only with the second clutch tooth to fix the second rotation element, and a both-engaging mode of meshing with each of the first clutch tooth and the second clutch tooth when changing a mode between the first mode and the second mode.
A welding system according to one aspect includes: a welding device; a welding monitor device configured output monitoring information about welding by the welding device; a learning device configured to accept the input of welding result information associated with welding results obtained after welding and feature information extracted from the monitoring information at the time of welding when the welding results were obtained as teaching data, and create and output a welding result estimation model on the basis of the teaching data; and a welding result determination device configured to extract feature information from monitoring information output at the time of welding for which a welding result is to be determined, input the feature information as data for estimation into the welding result estimation model, and output a quality determination result for the welding, wherein the learning device is configured to detect the values of a preset plurality of feature elements from the monitoring information which includes time series data, calculate the contribution to the welding result, and determine the feature information on the basis of the calculated contribution.
A processing head of a laser processing machine irradiates a workpiece with first and second laser beams radiated from ends of first and second transmission fibers. A beam diameter adjustment mechanism operates an optical system for at least one of the first and second laser beams inside the processing head. A controller controls the beam diameter adjustment mechanism to adjust a ratio between a first beam diameter and a second beam diameter in accordance with at least a material of the workpiece. The first beam diameter is a beam diameter of the first laser beam at a position at which the first laser beam irradiates the workpiece, and the second beam diameter is a beam diameter of the second laser beam at a position at which the second laser beam irradiates the workpiece.
A product carrying-out device for a steel material cutting machine includes a product information acquisition unit, a product laying-stability judgement unit, a storage box information acquisition unit, a carrying-out position determination unit, and a carrying-out control unit. The product information acquisition unit acquires information on a length and a diameter of a product. The product laying-stability judgement unit judges whether or not the product can be laid stably when its cut surface is made perpendicular to a ground. The storage box information acquisition unit acquires information on a shape of a storage box. The carrying-out position determination unit determines a carrying-out position of the product in the storage box based on the acquired information. The carrying-out control unit controls a carrying-out mechanism to carry out the product made by the steel material cutting machine to the carrying-out position determined by the carrying-out position determination unit.
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
A laser processing path laying-out method includes laying out, to a part of a notch of nesting data, as a partial processing path in a notch formation processing path, an open path for cutting to an inner side of a product, excluding a line segment of the part of the notch in an outer peripheral end portion of the product. The laser processing path laying-out method further includes laying out an outer peripheral path obtained by coupling a first outer peripheral processing path for cutting a line segment of the part of the notch in the outer peripheral end portion, which is a remaining partial processing path in the notch formation processing path, and a second outer peripheral processing path for cutting at least a part of a line segment other than the part of the notch in the outer peripheral end portion.
B23K 31/10 - Procédés relevant de la présente sous-classe, spécialement adaptés à des objets ou des buts particuliers, mais non couverts par un seul des groupes principaux relatifs au découpage ou au dépolissage
B23K 26/08 - Dispositifs comportant un mouvement relatif entre le faisceau laser et la pièce
B23K 26/38 - Enlèvement de matière par perçage ou découpage
A cut member processing device includes a marking device configured to put a mark on a cut surface of a cut member cut out from a metal long workpiece by a cutting device; and a product length acquisition unit configured to measure and store a product length of the cut member. The product length acquisition unit is configured to measure the product length under a state where the cut member is located at a position that allows the marking device to put the mark on the cut surface.
B23D 59/00 - Dispositifs annexes spécialement conçus pour les machines à scier ou les dispositifs de sciage
B23D 45/00 - Machines à scier ou dispositifs de sciage à lames circulaires ou à disques à friction
B23D 47/04 - Machines à scier ou dispositifs de sciage travaillant au moyen de lames circulaires, caractérisés uniquement par la structure d'organes particuliers des dispositifs d'alimentation, de mise en place, de serrage ou de rotation de la pièce
A bending machine (1) comprises: a bend beam (30) that bends a workpiece (W) held between a bottom die (15) and a top die (25) along a bending line extending in the left-and-right direction; and a back-and-forth movement mechanism (50) for deforming the bend beam (30) in the back-and-forth direction. The back-and-forth movement mechanism (50) has a middle linear motion part (50M) that moves the bend beam (30) in the back-and-forth direction along a middle drive axis (AM), and a left linear motion part (50L) that moves the bend beam (30) in the back-and-forth direction along a left drive axis (AL) parallel to the middle drive axis (AM). The bend beam (30) comprises cut-out parts (37n) that are formed so as to cut out portions of the bend beam (30) and that are provided between the middle drive axis (AM) and the left drive axis (AL).
B21D 5/04 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières avec fixation d'un côté de la pièce
72.
MACHINING SYSTEM AND MACHINABILITY DETERMINATION SYSTEM
A machining system includes: a machining device configured to machine a workpiece; an acquisition device configured to acquire composition information representing the chemical composition of the material of the workpiece; and a determination device configured to determine the machinability of the workpiece based on a determination model created by inputting the composition information, processing condition information including processing conditions preset according to the material and thickness, and a machining quality evaluation result obtained by actually machining based on the processing conditions, as teaching data and performing machine learning. The determination device is configured to input composition information acquired before the machining of a workpiece to be newly machined and processing condition information including processing conditions set in the machining device according to the material and thickness, as data for estimation, to the determination model, and output a determination result regarding machinability based on the processing conditions of the machining to be performed.
This sheet metal welding method comprises: acquiring a processing program for cutting a sheet metal from a base material and welding the sheet metal, the base material having a plating layer formed thereon; acquiring cutting positions for cutting the sheet metal from the acquired processing program; identifying a welded cutting position which is a cutting position for welding from the acquired cutting positions; setting irradiation regions for irradiation with a laser beam from a laser processing machine (100) on both sides of the identified welded cutting position; irradiating the set irradiation regions with the laser beam to remove the plating layer; irradiating the cutting position with the laser beam to cut out the sheet metal from the base material; and welding the sheet metal that has been cut out.
A laser processing machine (1) comprises: a processing head (20) that irradiates a laser beam; a head movement mechanism (21) that moves the processing head (20) in at least two dimensions; and a head rotation mechanism (22) that rotates the processing head (20) around a V axis (Av) parallel to the optical axis of the laser beam. The region in which the processing head (20) can perform processing includes a flat-plate processing region (Ra) in which flat plates are processed, and a pipe processing region (Rb) in which pipes are processed. The pipe processing region (Rb) is provided at a position adjacent to the flat-plate processing region (Ra), independently of the flat-plate processing region (Ra). The pipe processing region (Rb) is switched from the flat-plate processing region (Ra) by rotating the processing head (20) with the head rotation mechanism (22).
A combined processing machine (91) comprises a hole processing device (1) that is installed on a conveyance line (XL) and performs hole processing on a long workpiece (W), and a cutting device (2) that is installed on the conveyance line (XL) and cuts the workpiece (W). A first maintenance inspection work surface (1F) of the hole processing device (1) and a second maintenance inspection work surface (2F) of the cutting device (2) face each other. A gap (D) in which an operator (Hm) can walk is formed between the first maintenance inspection work surface (1F) and the second maintenance inspection work surface (2F), and the hole processing device (1) and the cutting device (2) are arranged side by side.
B23B 41/00 - Machines ou dispositifs à aléser ou à percer spécialement adaptés à un travail particulierAccessoires spécialement conçus à cet effet
B23D 55/00 - Machines à scier ou dispositifs de sciage à lames de scie à ruban, caractérisés uniquement par la structure d'organes particuliers
B23D 55/04 - Machines à scier ou dispositifs de sciage à lames de scie à ruban, caractérisés uniquement par la structure d'organes particuliers des dispositifs d'avance ou de serrage des pièces
B23Q 11/00 - Accessoires montés sur les machines-outils pour maintenir les outils ou les organes de la machine dans de bonnes conditions de travail ou pour refroidir les pièces travailléesDispositifs de sécurité spécialement combinés aux machines-outils, disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines
78.
BAND SAW MACHINE CHIP DISPOSAL METHOD, AND BAND SAW MACHINE
This band saw machine chip disposal method employs a band saw machine (91) capable of obliquely cutting a workpiece (W) by turning a turning member (T) through a prescribed angle, the turning member (T) including a cutting head (3) that circulates a band saw blade (34), and a conveyor unit (5) that is disposed in a direction perpendicular to the tooth tips of the band saw blade (34) which is facing the workpiece (W), and that operates so as to be capable of storing, accumulating or discharging chips generated during a cutting process, wherein, when the turning member (T) is at a first turning angle, the conveyor unit (5) is operated to discharge the stored and accumulated chips, and when the turning member (T) is at a second turning angle different from the first turning angle, the operation of the conveyor unit (5) is stopped, and chips generated during the cutting process are stored and accumulated.
B23D 55/00 - Machines à scier ou dispositifs de sciage à lames de scie à ruban, caractérisés uniquement par la structure d'organes particuliers
B23D 53/04 - Machines à scier ou dispositifs de sciage à lames de scie à ruban se comportant, pendant l'emploi, comme un ruban sans fin, p. ex. pour découper selon des contours déterminés avec des roues pour supporter le ruban, montées de façon à pouvoir se déplacer ou pivoter, pour d'autres buts que le seul réglage
B23D 53/06 - Machines à scier ou dispositifs de sciage à lames de scie à ruban se comportant, pendant l'emploi, comme un ruban sans fin, p. ex. pour découper selon des contours déterminés comportant une table de travail pouvant se déplacer ou pivoter
B23Q 11/00 - Accessoires montés sur les machines-outils pour maintenir les outils ou les organes de la machine dans de bonnes conditions de travail ou pour refroidir les pièces travailléesDispositifs de sécurité spécialement combinés aux machines-outils, disposés dans ces machines ou spécialement conçus pour être utilisés en relation avec ces machines
A conveyed object station (3) comprises: a placement part (11) supported at a height at which an AMR (5), that has a lifter (7) which moves up and down in the vertical direction and that autonomously travels, can enter below the placement part (11), and on which a conveyed object is placed; and a guide member (13) that defines an entry path (R) on which the AMR (5) enters below the placement part (11). The guide member (13) is disposed at a detection height of an object detection sensor (9) when the AMR (5) enters the entry path (R), and rises to a position higher than the detection height of the object detection sensor (9) when the AMR (5) enters the entry path (R), stops at a predetermined stop position, and raises the lifter (7).
B65G 1/137 - Dispositifs d'emmagasinage mécaniques avec des aménagements ou des moyens de commande automatique pour choisir les objets qui doivent être enlevés
The present invention comprises an imaging unit and a control unit, the imaging unit being configured to be capable of capturing an image of a region including at least a pair of adjacent metal pins, and the control unit being configured to be capable of executing pin position identification processing for identifying the position of each metal pin from image data captured by the imaging unit, and welding position identification processing for identifying the welding position of the pair of metal pins on the basis of the identified position of each metal pin.
B23K 31/00 - Procédés relevant de la présente sous-classe, spécialement adaptés à des objets ou des buts particuliers, mais non couverts par un seul des groupes principaux
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c.-à-d. systèmes dans lesquels le signal vidéo n'est pas diffusé
82.
LASER WELDING MACHINE AND LASER WELDING METHOD FOR RECTANGULAR WIRES
If a gap amount between first and second edges (S1 and S2) of first and second rectangular wires (71 and 72) is 0, this laser welding machine will set a central part of a third edge (S3), which is on the opposite side to the first edge (S1), as an irradiation start position of the laser beam, and irradiate each tip surface of the first and second rectangular wires (71 and 72) over a reference processing distance (L0) at a reference welding speed (V0) with the laser beam to weld the first and second rectangular wires (71 and 72). If the gap amount exceeds 0 and falls within a first range up to the first gap amount, the laser welding machine will set a position, which is offset from the central part of the third edge (S3) to the second rectangular wire (72) side by a distance of 1/2 of the gap amount, as the irradiation start position of the laser beam, and irradiate each tip surface of the first and second rectangular wires (71 and 72) over the reference processing distance (L0) at the reference welding speed (V0) with the laser beam to weld the first and second rectangular wires (71 and 72).
A laser processing machine (1) includes: a camera (5) that captures an image of radiation light emitted from a processing point of sheet metal (W) when the sheet metal (W) is cut by irradiating the sheet metal (W) with a laser beam from a processing head (3); and a control unit (7) that detects soiling of a protective glass (27) provided on the processing head (3) on the basis of the radiation light captured by the camera (5). The control unit (7) determines whether the protective glass (27) is soiled on the basis of a gap between the radiation light and the sheet metal (W) on the captured image.
This workpiece bending angle measuring method comprises: a bending process for bending a workpiece (W) by operating a bend beam (30) to which standard bending molds (40, 41) are attached in a state where the workpiece (W) is fixed to a workpiece reference surface (Pw) by pressing the workpiece (W) with a top die (25) and a bottom die (15); and a measuring process for measuring the bending angle of the workpiece (W). An angle measuring unit (60) that irradiates the workpiece (W) with a laser beam for measuring the bending angle is mounted on the bend beam (30). The measuring process includes a switching step for switching the direction of the laser beam applied to the workpiece W in accordance with the bending direction of the workpiece (W) bent in the bending process.
B21D 5/04 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières avec fixation d'un côté de la pièce
B21C 51/00 - Dispositifs de mesure, de calibrage, d'indication, de comptage ou de marquage, spécialement conçus pour être utilisés dans la production ou la manipulation des matériaux concernés par les sous-classes
G01B 11/26 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des angles ou des cônesDispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour tester l'alignement des axes
85.
LASER PROCESSING MACHINE AND PROCESSING FAILURE DETECTION METHOD
A laser processing machine (1) is provided with: a camera (5) that captures light emitted from a processing point of sheet metal (W) when the sheet metal (W) is irradiated with a laser beam and cut; and a control unit (7) that detects a processing failure of the sheet metal (W) on the basis of the emitted light captured by the camera (5). The control unit (7) measures a degree of spread of the emitted light in a direction perpendicular to the traveling direction of the laser beam, and determines the presence or absence of any processing failure in the sheet metal (W) on the basis of the measured degree of spread of the emitted light.
A laser irradiation apparatus including: a photonic crystal surface emitting laser (PCSEL) element configured to emit a laser beam; a laser head configured to focus the laser beam emitted from the PCSEL element by a focusing lens thereof in an optical transmission path by spatial propagation; and a moving mechanism configured to irradiate the laser beam focused by the focusing lens onto an object to be irradiated with the laser beam at any irradiation position within a Rayleigh length range regardless of a beam waist position of the laser beam in an optical axis direction by a movement of the focusing lens relative to the object to be irradiated along the optical axis direction of the laser beam.
A handy welding torch mounting structure (SK) is provided with: an attachment part (111) which is fixed to an arm (861) of a robot (86); a rectangular base plate (12) which is integrally formed with the attachment part (111) and on which a handy welding torch (7) is placed; a first side plate (13) which is supported on a first edge part (12a) of the base plate (12) so as to be capable of rotating in a direction of opening from a standing posture; and a second side plate (17) which is fixed to a second edge part (12b) facing the first edge part (12a) in the standing posture. The handy welding torch (7) is attached to the arm (861) by being sandwiched and held between the first side plate (13) made to stand in a state of being placed on the base plate (12) and the second side plate (17).
B23K 9/12 - Alimentation automatique en électrodes ou en pièces ou déplacement automatique des électrodes ou des pièces pour le soudage ou le découpage à l'arc en lignes continues ou par points
B23K 37/00 - Dispositifs ou procédés auxiliaires non spécialement adaptés à un procédé couvert par un seul des autres groupes principaux de la présente sous-classe
A first galvanometer mirror (32a) has a reflective coating applied to a first incident plane on which a laser beam is incident, and reflects the laser beam incident on the first incident plane. A second galvanometer mirror (32b) has a reflective coating applied to a second incident plane on which the laser beam is incident, and reflects the laser beam incident on the second incident plane. The first galvanometer mirror (32a) and the second galvanometer mirror (32b) are formed of a glass material that transmits a portion of the laser beam that is incident on the first and second incident planes and is not reflected by the reflective coating but is transmitted through the reflective coating and penetrates into the interior. A first damper (41) and a second damper (42) absorb the laser beam transmitted through the first galvanometer mirror (32a) and the second galvanometer mirror (32b).
B23K 26/082 - Systèmes de balayage, c.-à-d. des dispositifs comportant un mouvement relatif entre le faisceau laser et la tête du laser
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
A control device (100) has, as switchable operation modes, a high-speed mode and a high-torque mode. The high-speed mode moves an upper table (7) by driving, in a state in which the torque of a pressurization motor unit (27) is blocked by a clutch (29), a high-speed motor unit (26) that outputs low torque at high-speed rotation. The high-torque mode moves the upper table (7) by driving, in a state in which the torque of the pressurization motor unit (27) is being transmitted by the clutch (29), the pressurization motor unit (27). When moving the upper table (7) downward in the high torque mode, the control device (100) performs inversion control in which the high-speed motor unit (26) is driven in the opposite direction from the rotation direction when the upper table (7) is moved downward.
A rotary motive power unit (25) has a high-speed motor unit (26), a pressure-application motor unit (27), a clutch (29), and a motive power transmission mechanism (35) for transmitting torque of the high-speed motor unit (26) and the pressure-application motor unit (27) to a ball screw mechanism (55). The motive power transmission mechanism (35) includes a second driving pulley (37b) and a second driven pulley (38b) having a diameter larger than that of the second driving pulley (37b). The clutch (29) is disposed coaxially with a second rotation axis (A2) of the pressure-application motor unit (27), and selectively blocks transmission of torque from the pressure-application motor unit (27) to the second driving pulley (37b).
B21D 5/02 - Cintrage des tôles le long de lignes droites, p. ex. pour former un pli simple sur des presses particulières sans fixation de la pièce
B30B 15/20 - Commande des presses actionnées pneumatiquement commandant le mouvement alternatif du pilon commandant la vitesse du pilon, p. ex. vitesse d'approche, de la course de pressage ou de la course de retour
91.
STEP BENDING PROCESSING METHOD AND WARPAGE CORRECTION METHOD IN STEP BENDING PROCESSING
The step bending processing method includes: a step bending processing for forming a step bent portion (Wd) with a step bending roller mold (K) with respect to a flat plate-shaped workpiece (W); and a correction processing for correcting warpage in the step bent portion (Wd) after the step bending processing. A step bent portion (WR3) protruding from a flat plate part (WR1) is formed by the step bending processing. In the correction processing, the step bent portion (Wd) is pressed downward by a roller mold (K34), in a state in which the lower surface of the flat plate part (WR1) is supported, and the lower part of the step bent portion (Wd) forms a space (Va) and is not supported.
A drawing assistance device acquires image data of a design diagram to detect dimensional information drawn on the image data, detects arrows drawn on the image data, detects a line drawn on the image data, combines the arrows and the line based on positions of the arrows and a position of the line to generate a dimension line, detects a dimension value corresponding to a position of the dimension line from the dimensional information so as to assign the detected dimension value to the dimension line, generates guidelines indicating positions of ends of the dimension line, superposes the guidelines on the image data to display the guidelines on an editing screen, and outputs digital data of the design diagram drawn by the operator on the editing screen on which the guidelines are displayed.
G06F 30/12 - CAO géométrique caractérisée par des moyens d’entrée spécialement adaptés à la CAO, p. ex. interfaces utilisateur graphiques [UIG] spécialement adaptées à la CAO
A reflection coating for reflecting a laser beam is applied to an incident plane (S11). A widest part (32WP) is located further toward a second end surface (322) than the center of the length from a first end surface (321) to the second end surface (322). The distance between a first side end surface (323) and a second side end surface (324) in the width direction increases from the first end surface (321) toward the widest part (32WP). The distance between a third side end surface (325) and a fourth side end surface (326) in the width direction increases from the second end surface (322) toward the widest part (32WP). A thickest plate part (327) is located in the central part in the width direction. The plate thicknesses of a first side part (328) and a second side part (329) decreases from the thickest plate part (327) toward both ends in the width direction. A galvanometer mirror (32S) is formed of a glass material that transmits a laser beam having entered therein.
B23K 26/082 - Systèmes de balayage, c.-à-d. des dispositifs comportant un mouvement relatif entre le faisceau laser et la tête du laser
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
94.
PRESS SYSTEM AND METHOD FOR CONTROLLING PRESS SYSTEM
The present invention is configured so as to be capable of executing a press start process for rotating a crank shaft that is stopped at a prescribed start angle and starting a downward movement of a slide, and an interference check process for determining, when the crank shaft reaches a prescribed interference check angle, whether or not the first conveyance device is in a die interference area in which the first conveyance device interferes with a die. The press start process is executed after a prescribed delay time has elapsed after the first conveyance device has loaded a workpiece into a press device. The delay time is set on the basis of a departure time required for the first conveyance device to depart from the die interference area after loading the workpiece, and a check angle movement time taken for the crank shaft to move from the start angle to the interference check angle, and is shorter than at least the departure time.
B21D 43/05 - Avancement du matériau en fonction du mouvement de la matrice ou de l'outil au moyen d'un élément mécanique coopérant avec le matériau spécialement adapté aux presses à étages multiples
B30B 1/06 - Presses, utilisant un élément pilonnant, caractérisées par le mode d'entraînement du pilon, la pression étant transmise au pilon ou à la platine de presse directement ou uniquement par l'intermédiaire d'organes travaillant en simple poussée ou traction par un mécanisme à levier actionné par des cames, des excentriques ou des vilebrequins
B30B 15/28 - Dispositions pour empêcher la déformation ou l'avarie des presses ou des parties de presses
A press brake (1) comprises: an upper table (7) that is disposed so as to face a lower table (5) in the vertical direction; a drive unit (24) that includes a drive shaft (41) to which power from a drive motor (25) is transmitted via a plurality of gear elements; a ball screw mechanism (55) that converts rotational motion of the drive shaft (41) to linear motion along the vertical direction; a brake mechanism (70) that applies force which is resistant to force for moving the upper table (7) downward; and a control device (100) that performs lifting/lowering control of the upper table (7) for bending a workpiece. The control device (100) switches on/off the brake mechanism (70) in accordance with a control process in the lifting/lowering control of the upper table (7).
A load collapse detection device in an automated guided vehicle stores information indicating a load collapse detection range adjacent to the automated guided vehicle and information indicating an obstacle detection range in a periphery of the load collapse detection range. acquires a detection result performed by object detection sensors detecting objects in a periphery of the automated guided vehicle while the automated guided vehicle is travelling, detects objects in the load collapse detection range and objects in the obstacle detection range, and when an object in the load collapse detection range is detected, determines that the object has fallen due to load collapse when the object has not been detected in the obstacle detection range before being detected in the load collapse detection range.
When welding a workpiece (W) that is a welding base material, the energization time and current value of current that flows between a first electrode (41) and a second electrode (42) as well as the temperature limit of the first electrode (41) within the energization time are set as energization conditions. When the workpiece (W) is welded in accordance with a preset first energization condition, a control unit (10) controls a power source unit (20) such that if the temperature of the first electrode (41) as measured by a radiation thermometer (60) within the energization time does not reach the temperature limit, current having the current value set for the energization time flows between the first electrode (41) and the second electrode (42). The control unit (10) controls the power supply unit (20) such that when the temperature of the first electrode (41) reaches the temperature limit: if a second energization condition to follow the first energization condition has been set, the welding transitions to welding corresponding to the second energization condition at the point in time when the temperature limit is reached; and energization is stopped if the second energization condition has not been set.
A first end (31e) of a first to-be-joined material (31) composed of a first metal having a first melting point and a second end (32e) of a second to-be-joined material (32) composed of a second metal having a second melting point lower than the first melting point overlap each other to form an overlapping region (312). A first electrode (41) is formed of a metal having a volume resistivity higher than the volume resistivity of the first metal, and is in contact with the surface of the first end (31e) in the overlapping region (312). A second electrode (42) is formed of a metal having a volume resistivity equal to or lower than the volume resistivity of the first metal, and is in contact with the surface of the first to-be-joined material (31) in a region spaced apart from the overlapping region (312). A pressing device (50) presses the first electrode (41). A power supply unit (20) causes energization to occur between the first electrode (41) and the second electrode (42).
A conveyance system comprises: an autonomous mobile robot (AMR) (2) which autonomously controls travel and conveys a conveyance target object; and a station (1) which includes an entrance/exit port (120) through which the AMR (2) enters and exits. The AMR (2) includes: drive wheels (25a, 25b) which are provided at the center of a vehicle body in the front-rear direction thereof; driven wheels (30a, 30b, 32a, 32b) which are provided forward of the vehicle body and backward thereof; and a bogie mechanism in which the drive wheels (25a, 25b) and the driven wheels (30a, 30b) that are provided forward of the vehicle body are connected by connecting members (34a, 34b) that are rotatably provided on the vehicle body. The AMR (2) enters the entrance/exit port (120) by forward movement when entering the entrance/exit port (120) to convey the conveyance target article into the station (1) and enters the entrance/exit port (120) by backward movement when entering the entrance/exit port (120) to convey the conveyance target object out of the station (1).
B61B 10/04 - Systèmes "couplables à volonté" avec des véhicules roulant sur le sol sans être guidés
B62D 61/10 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec plus de quatre roues
B62D 65/18 - Systèmes de transport, de convoyage ou de traction spécialement adaptés aux lignes d'assemblage des véhicules à moteurs ou des remorques
G05D 1/43 - Commande de la position ou du cap par référence à un système à deux dimensions
This magnetic attraction device (1) comprises: a cylinder tube (7), the bottom surface of which is an attraction surface (3) that attracts a workpiece, and which is provided with a pressure chamber (5) in the interior thereof; a piston (11) that is provided with a permanent magnet (9), the piston (11) moving up and down within the pressure chamber (5); a control unit (13) that, when attracting the workpiece (W), moves the piston (11) to the lower end of the pressure chamber (5) and causes the workpiece (W) to be attracted to the attraction surface (3) by the magnetic force of the permanent magnet (9); and a magnetic sensor (15) that detects the position of the piston (11). The control unit (13) moves the piston (11) upward if the workpiece (W) is not attracted to the attraction surface (3) after the piston (11) is moved to the lower end of the pressure chamber (5), and the control unit (13) determines whether the workpiece (W) is attracted to the attraction surface (3) according to whether the magnetic sensor (15) has detected that the piston (11) has moved upward.
