JP6725344B2 - Press brake and angle detector - Google Patents

Description

The present invention relates to a press brake and an angle detection device.

A press brake for bending a work, which is a metal plate, includes an upper table on which a punch die is mounted and a lower table on which a die die is mounted. The press brake lowers the upper table to the lower table, sandwiches the work placed on the die die with the punch die and the die die, and bends the work.

The press brake is provided with an angle detection device including an angle sensor for detecting whether the work is bent at a target angle. For example, a laser type angle sensor is used as the angle sensor (see Patent Document 1). The laser type angle sensor has a laser light emitting unit that emits a linear laser beam and an image capturing unit that captures an image of a workpiece irradiated with the laser beam.

JP, 2014-12285, A JP 2000-18931 A

There are various types of die dies having different sizes (specifically, heights). A thin die die (small die die) has a small and shallow recess having a V-shaped cross section for bending a work, and a thick die die (large die die) has a large and deep recess. The size of the die used depends on the bending method applied to the work.Therefore, when the work is bent using a small die, the position of the field of view where the imaging unit should image the work and the large die This is different from the position of the field of view in which the imaging unit should image the work when bending the work using the mold.

The field of view must be wide in order to make the field of view taken by the imaging unit common regardless of the size of the die. However, when the field of view is widened, there arises a problem that the angle cannot be detected when the work is bent using a small die die, or the angle cannot be detected with high accuracy.

Therefore, in order to detect the angle of the work regardless of the size of the die without widening the field of view, the laser angle sensor may be configured to move in two axes in the front-rear direction and the vertical direction. is there. The movement in the front-back direction is to move the laser type angle sensor in the horizontal direction or in the front direction with respect to the press brake in the horizontal plane. The movement in the vertical direction is to move the laser type angle sensor upward or downward in a vertical plane in the vertical direction orthogonal to the front-back direction.

Since the moving mechanism is complicated in the configuration in which the laser type angle sensor is moved along two axes, the angle detecting device becomes large. It is not preferable that the angle detection device becomes large. There is a demand for an angle detection device that can be downsized with a simple configuration and that can detect the angle of a workpiece in correspondence with die dies of various sizes.

In order to meet such a demand, the present invention can downsize the angle detecting device with a simple structure and can detect the angle of the work corresponding to the die dies of various sizes. It is also an object of the present invention to provide an angle detection device that can be downsized with a simple configuration and that can detect the angle of a work corresponding to die dies of various sizes.

The present invention is attached to an upper table for holding a punch die, a lower table for holding a die die, and the lower table, and sandwiches between the punch die and the die die. a Ru and a laser type angle sensor for detecting the angle of bend is a work press brake, the laser type angle sensor, movably configured in the X-axis direction is a lateral direction of the press brake, the press The laser-type angle sensor is configured so as not to move in two axial directions, that is, a Y-axis direction that is the front-rear direction of the brake and a Z-axis direction that is the vertical direction of the press brake that is orthogonal to the Y-axis direction. Is a laser emission unit that emits a linear laser beam, an image capturing unit that captures an image of the workpiece onto which the linear laser beam emitted from the laser emission unit is projected, and the laser emission centered around a rotation axis. A rotation mechanism that integrally rotates the image pickup unit and the image pickup unit, changes the elevation angle that determines the direction in which the laser emission unit emits laser light, and the position of the field of view when the image pickup unit picks up the work. While maintaining the elevation angles of the laser emission unit and the imaging unit set by the rotation mechanism, the imaging unit is moved in the direction of the elevation angle toward or away from the work, and the lens mirror included in the imaging unit. Provided is a press brake having a moving mechanism that varies a work distance from the tip of a cylinder to the work.

In the above press brake, further comprising a movement mechanism control unit that controls the movement mechanism to move the imaging unit in correspondence with the elevation angles of the laser emitting unit and the imaging unit so that the work distance is constant. Is preferred.

In the above press brake, the laser emitting unit emits the linear laser light so that the linear laser light is projected across the die die and the work, and the imaging unit, The angle of the line image by the linear laser light projected on the die mold, which is included in the image captured by the imaging unit, by imaging the die mold and the work onto which the linear laser light is projected. Based on the angle of the die mold and the optical axis of the imaging unit, based on the angle of the line image by the linear laser light projected on the work, included in the captured image. It is preferable to further include a work angle detection unit that detects an angle formed by the optical axis and the flange of the work to detect a bending angle of the work.

In the above press brake, the optical axis of the imaging unit and the flange of the workpiece are included in the image captured by the imaging unit, based on the angle of the line image by the linear laser beam projected on the workpiece. The method further includes a work angle detection unit that detects an angle formed, and detects the bending angle of the work based on the detected angle and the elevation angle of the laser emitting unit and the imaging unit set by the rotation mechanism. preferable.

Further, the present invention is an angle detection device that includes a laser type angle sensor and a work angle detection section, and detects a bending angle of a work bent by a press brake, wherein the laser type angle sensor is a press brake of the press brake. It is configured to be movable in the X-axis direction, which is the left-right direction, and has two axis directions: a Y-axis direction that is the front-back direction of the press brake and a Z-axis direction that is the vertical direction of the press brake that is orthogonal to the Y-axis direction. The laser type angle sensor is configured so as not to move, and the laser type angle sensor includes a laser emitting section that emits a linear laser beam and a die on which the linear laser beam emitted from the laser emitting section is projected. A die and an imaging unit that projects the linear laser light and images a work that is bent by being sandwiched between a punch die and the die die, and the laser emission unit and the imaging unit centering on a rotation axis. By rotating integrally, a rotation mechanism for varying the elevation angle that determines the position of the field of view when the laser emitting unit emits laser light and the image capturing unit captures the die die and the work, While maintaining the elevation angle of the laser emission unit and the imaging unit set by the rotating mechanism, the imaging unit is moved in the direction of the elevation angle approaching or separating from the die die and the work, and the imaging is performed. A first work distance from the tip of the lens barrel to the die die, and a moving mechanism that varies a second work distance from the tip of the lens barrel to the work , The work angle detection unit is based on a first angle formed by the die die and the optical axis of the imaging unit or an elevation angle of the imaging unit and a second angle formed by the optical axis and the flange of the work. Te, provides an angular factor detector that detect the bending angle of the workpiece.

In the above angle detection device, the moving mechanism is controlled so as to move the imaging unit in correspondence with the elevation angles of the laser emitting unit and the imaging unit so that the first and second work distances are constant. It is preferable to further include a moving mechanism controller.

According to the press brake of the present invention, the angle detecting device can be downsized with a simple structure, and the angle of the work can be detected in correspondence with die dies of various sizes. According to the angle detection device of the present invention, it is possible to reduce the size with a simple configuration, and it is possible to detect the angle of the work corresponding to die dies of various sizes.

It is a perspective view showing the schematic whole composition of the press brake of one embodiment. It is a block diagram showing a schematic example of composition of a laser type angle sensor with which an angle detecting device of one embodiment is provided. It is a perspective view showing a laser type angle sensor covered with an upper cover and a side cover. It is a perspective view showing a laser type angle sensor in a state where an upper cover and a side cover are removed. It is a side view which shows the attachment structure of the laser type angle sensor with respect to a lower table. It is a side view which shows the elevation angle of a laser type angle sensor at the time of bending a workpiece|work using a small die metal mold. It is a side view which shows the elevation angle of a laser type angle sensor at the time of bending a workpiece|work using a large die metal mold. FIG. 8 is a side view showing a state in which the work distance in FIG. 7 is adjusted to match the work distance in FIG. 6. It is a figure for demonstrating how the elevation angle of a laser type angle sensor is detected in an elevation angle detection mode. It is a figure for demonstrating how a work angle is detected in work angle detection mode. It is a figure which shows how a line image changes in a picked-up image with the change of a work distance. It is a flow chart which shows the processing procedure of the work by the press brake of one embodiment.

Hereinafter, a press brake and an angle detection device of one embodiment are explained with reference to an accompanying drawing. First, a schematic configuration of a press brake according to an embodiment will be described with reference to FIG.

As shown in FIG. 1, the press brake includes an upper table 10 and a lower table 20. The upper table 10 is configured to move up and down by hydraulic cylinders 11L and 11R provided on the left and right. An upper die holder 12 is attached to the upper table 10, and a lower die holder 22 is attached to the lower table 20. A punch die Tp is attached to the upper die holder 12, and a die die Td is attached to the lower die holder 22.

The work W, which is a metal plate material, is arranged on the die die Td. When the upper table 10 is lowered, the work W is sandwiched and bent by the punch die Tp and the die die Td. FIG. 1 shows a state in which the bending of the work W is completed and the upper table 10 is lifted.

A laser type angle sensor 30 is attached to the front side of the lower table 20. In FIG. 1, the laser type angle sensor 30 is mounted on the back side of the lower table 20 so as to face the laser type angle sensor 30 on the front side, although the laser type angle sensor 30 is hidden behind the punch die Tp and cannot be seen.

The pair of laser type angle sensors 30 are movable in the X-axis direction along rails 23 provided in the lower table 20 and extending in the X-axis direction. The X-axis direction is the left-right direction of the press brake. The pair of laser type angle sensors 30 are positioned so as to sandwich the die die Td held by the lower die holder 22 from the front-rear direction. The Y-axis direction is the front-back direction of the press brake, and the Z-axis direction is the vertical direction of the press brake.

As shown in FIG. 2, the laser-type angle sensor 30 is roughly irradiated with laser light by a laser emission unit 31 that irradiates the die die Td and the work W with linear laser light (line beam). And a die die Td and an image pickup section 32 for picking up an image of the work W.

The press brake control device 50 controls the entire press brake. The captured image of the work W captured by the image capturing unit 32 is supplied to the press brake control device 50. The press brake control device 50 detects the front and rear bending angles of the work W based on the captured image. The press brake control device 50 is a work angle detection unit that detects the angle of the work W. A display/operation unit 51 is connected to the press brake control device 50. The press brake control device 50 can be configured by an NC device.

A specific configuration of the laser angle sensor 30 will be described with reference to FIGS. 3 and 4. As shown in FIG. 4, a laser emitting section 31 and an imaging section 32 are arranged on the bottom plate 301. The laser emitting section 31 and the imaging section 32 are not fixed to the bottom plate 301. The laser emitting section 31 and the image capturing section 32 are connected to each other, and the laser emitting section 31 and the image capturing section 32 are integrally movable along the moving shaft guide 35.

The bottom plate 301 is connected to the rotary shaft 33 rotated by the rotary shaft motor 34. The rotary shaft motor 34 is composed of a stepping motor. The rotary shaft motor 34 may be composed of a servo motor. FIG. 3 shows a state in which the laser emission unit 31 and the imaging unit 32 are covered with the upper cover 302, and the rotating shaft 33 is covered with the lateral cover 303.

The image pickup unit 32 has a lens barrel 321 including a plurality of lenses inside, and an image pickup substrate 322 for processing a picked-up image. The laser emitting section 31 emits a line beam 310. The laser emitting unit 31 preferably projects the line beam 310 so as to straddle the die die Td and the work W. The image capturing unit 32 captures an image of the die die Td and the work W onto which the line beam 310 is projected in the field of view 320.

As will be described later, the rotary shaft motor 34 is fixed to a member that engages with the rail 23. When the rotating shaft 33 is rotated by the rotating shaft motor 34, the bottom plate 301 rotates within a predetermined angle range. With the rotation of the bottom plate 301, the laser emitting section 31 and the imaging section 32 rotate integrally. Therefore, when the rotation shaft 33 is rotated, the direction in which the laser light emitting unit 31 emits the line beam 310 and the position of the visual field 320 when the imaging unit 32 images the die die Td and the work W are changed.

The rotation shaft 33 and the rotation shaft motor 34 are rotation mechanisms that change the elevation angle of the laser type angle sensor 30 that determines the direction in which the laser light emitting unit 31 emits the line beam 310 and the position of the visual field 320.

When the moving shaft motor 36 shown in FIG. 4 is rotated, the laser emitting unit 31 and the imaging unit 32 move integrally along the moving shaft guide 35. The moving shaft guide 35 is composed of a stepping motor. The moving shaft guide 35 may be composed of a servo motor.

The laser emitting section 31 and the imaging section 32 move in a direction approaching or separating from the die die Td and the work W while maintaining the angle set by the rotating mechanism. When the laser emitting unit 31 and the image capturing unit 32 move, the distances between the laser emitting unit 31 and the image capturing unit 32 and the die die Td and the work W change.

Only the image pickup unit 32 may be configured to move along the movement axis guide 35 so that only the distances between the image pickup unit 32 and the die die Td and the work W are changed.

The moving shaft guide 35 and the moving shaft motor 36 are a moving mechanism that changes the distance (work distance described later) between the imaging unit 32 (and the laser emitting unit 31) and the die die Td and the work W.

As shown in FIG. 5, a rail 23 extending in the X-axis direction is mounted near the upper end of the lower table 20. An engaging member 304 having a recess that engages with the rail 23 is engaged with the rail 23, and base plates 305 and 306 are fixed to the engaging member 304. The rotary shaft motor 34 is fixed to the base plate 306.

The laser angle sensor 30 is configured to move along the rail 23 by, for example, a motor. Therefore, the laser angle sensor 30 can be moved according to the mounting position of the die mold Td on the lower mold holder 22. Although only the front side of the lower table 20 is shown in FIG. 5, the back side is also similarly configured. Similarly, the laser-type angle sensor 30 on the back side is also movable in the X-axis direction.

The front and rear laser angle sensors 30 (laser emission unit 31 and imaging unit 32) are rotatable about a rotation shaft 33 and movable in a direction approaching or separating from the die die Td and the work W. Has become.

FIG. 6 shows a state where the work W is bent using the small die die Td, and FIG. 7 shows a state where the work W is bent using the large die die Td. 6 and 7, it can be seen that the position of the field of view 320 at which the imaging unit 32 should image the work W is different.

If the elevation angle of the laser type angle sensor 30 in FIG. 6 is φ1 and the elevation angle of the laser type angle sensor 30 in FIG. 7 is φ2, then φ1>φ2. In the present embodiment, since the laser type angle sensor 30 is rotated about the rotation shaft 33 by the rotation shaft motor 34, the position of the visual field 320 of the imaging unit 32 is adjusted according to the size of the die die Td. can do.

As can be seen from FIGS. 6 and 7, the visual field 320 does not have to be common regardless of the size of the die die Td, and therefore the visual field 320 does not need to be wide. In the present embodiment, since it is not necessary to move the laser angle sensor 30 in two axes of the front-back direction (Y-axis direction) and the vertical direction (Z-axis direction), the angle detection device can be configured simply. The angle detection device can be downsized.

The press brake control device 50 adjusts the elevation angle φ of the laser angle sensor 30 as follows. The processing program for bending the work W includes information on the punch die Tp and die die Td to be used. When the processing program is input to the press brake control device 50, information on the punch die Tp and the die die Td to be used is set in the press brake control device 50.

Therefore, the press brake control device 50 drives the rotary shaft motor 34 so that the laser angle sensor 30 has an appropriate elevation angle φ in accordance with the mounted die metal mold Td. The press brake control device 50 includes a rotation mechanism control unit that controls the rotation mechanism.

The laser angle sensor 30 is attached to the lower table 20 at a predetermined elevation angle φ. When the rotary shaft motor 34 is composed of a stepping motor or a servo motor, the rotation angle when one pulse is input to the rotary shaft motor 34 is determined. You can see if it rotates by an angle.

Therefore, the press brake control device 50 adjusts the laser angle sensor 30 to an appropriate elevation angle φ by rotating the rotary shaft motor 34 by an angle corresponding to the required number of pulses in accordance with the mounted die metal mold Td. be able to.

However, since the stepping motor has no rotation detector, an error may occur in the elevation angle φ. Therefore, when the rotary shaft motor 34 is configured by a stepping motor, the press brake control device 50 actually detects the elevation angle φ in an elevation angle detection mode described later, and if there is an error, an appropriate elevation angle φ is detected. It is preferable to finely adjust the elevation angle φ so that it becomes φ. Since the servo motor has a rotation detector, the elevation angle φ is adjusted to an appropriate angle when the rotary shaft motor 34 is composed of a servo motor.

An elevation angle detection mode in which the press brake control device 50 detects the elevation angle φ of the laser angle sensor 30 will be described.

FIG. 9 shows a state in which, in the elevation angle detection mode, the line image 310t is projected on the upper end of the die die Td by the irradiation of the line beam 310, and the imaging unit 32 captures the line image 310t in the visual field 320. ing. In the press brake control device 50, the angle α1 (see FIG. 11) of the line image 310t in the image captured by the image capturing unit 32, the die die Td, and the optical axis of the image capturing unit 32 (lens barrel 321) form. The relationship with the angle θt is preset in the conversion table.

The relationship between the angle α1 and the angle θt of the line image 310t is associated by the conversion table, but a conversion formula for converting the angle α1 of the line image 310t into the angle θt may be set. The press brake control device 50 obtains the angle θt using a conversion table or a conversion formula.

As shown in Expression (1), the elevation angle φ can be obtained by subtracting the angle θt from 90 degrees.
φ=90°−θt (1)

FIG. 9 shows a state in which the work W is not arranged on the die die Td. If the line image 310t can be captured with the workpiece W placed on the die die Td, the line image 310t may be captured with the workpiece W placed on the die die Td to obtain the elevation angle φ. ..

A mode in which the press brake control device 50 detects the bending angle of the work W is referred to as a work angle detection mode. The press brake control device 50 detects the angle of the work W as follows.

FIG. 10 illustrates a state in which the line image 310w is projected on the work W by the irradiation of the line beam 310 and the image capturing unit 32 captures the line image 310w in the visual field 320 in the work angle detection mode. Similarly, in the press brake control device 50, the relationship between the angle α2 (see FIG. 11) of the line image 310w in the image captured by the imaging unit 32 and the angle θwa of the work W is preset in the conversion table. .. The angle θwa is an angle formed by the optical axis of the image capturing unit 32 and the outer surface of the flange on the image capturing side of the image capturing unit 32.

Although the relationship between the angle α2 and the angle θwa of the line image 310w is associated by the conversion table, a conversion formula for converting the angle α2 of the line image 310w into the angle θwa may be set. The press brake control device 50 obtains the angle θwa using a conversion table or a conversion formula.

Assuming that the angle of one of the flanges is the work angle θwb, the press brake control device 50 calculates the work angle θwb by the formula (2). The work angle θwb is the bending angle of the work W.
θwb=θwa−θt (2)

The press brake control device 50 may calculate the work angle θwb by the expression (3).
θwb=θwa−(90°−φ) (3) (∵θt=90°−φ)

9 and 10 show the detection of the elevation angle φ and the work angle θwb by the laser type angle sensor 30 on the front side of the lower table 20, the elevation angle φ and the work angle θwb by the laser type angle sensor 30 on the back side are also shown. It is detected similarly.

As can be seen from the equation (3), the work angle θwb can be calculated without using the angle θt. When the elevation angle φ can be set with high accuracy by the control of the rotary shaft motor 34, the angle θt does not have to be obtained. When it is not necessary to obtain the angle θt, the laser emitting unit 31 may project the line beam 310 only on the work W, and the imaging unit 32 may image only the work W on which the line beam 310 is projected in the visual field 320. ..

In FIG. 9, the distance from the tip of the lens barrel 321 to the upper end of the die die Td is the work distance WDt of the die die Td. In FIG. 10, the distance from the tip of the lens barrel 321 to the work W is the work distance WDw of the work W. The work distances WDt and WDw are not constant values but change depending on the size of the die die Td.

In FIG. 6 in which the work W using the small die die Td is bent, the work distance WDt is WDt1 and the work distance WDw is WDw1. In FIG. 7 in which the work W is bent using the large die die Td, the work distance WDt is WDt2 and the work distance WDw is WDw2. If the die dies Td have the same height, the work distances WDt2 and WDw2 are smaller than the work distances WDt1 and WDw1.

FIG. 11 shows how the line images 310t and 310w change in the image picked up by the image pickup unit 32 due to changes in the work distances WDt and WDw. When the positional relationship between the laser emitting unit 31 and the imaging unit 32 on the left and right is the layout shown in FIG. 4, the line images 310t and 310w move to the right in the captured image as the work distances WDt and WDw decrease. As the work distances WDt and WDw increase, the line images 310t and 310w move to the left in the captured image.

The press brake control device 50 moves the imaging unit 32 and the laser emission unit 31 along the movement axis guide 35 so that the work distances WDt and WDw are kept constant even if the elevation angle φ of the laser type angle sensor 30 is changed. To drive the moving shaft motor 36. The press brake control device 50 is a moving mechanism control unit that controls the moving mechanism.

The press brake control device 50 moves the image capturing unit 32 so that the line images 310t and 310w are always located at the center in the left-right direction in the captured image, as shown by the solid lines in the line images 310t and 310w in FIG. Good.

If the work distances WDt and WDw are fixed and the line images 310t and 310w are always positioned at fixed positions, one conversion table or conversion formula for determining the angle θt and one conversion table or conversion formula for determining the angle θwa may be used. .. The angle θt and the angle θwa can be detected with high accuracy by using one conversion table or conversion formula, respectively, and thus the work angle θwb can be detected with high accuracy.

FIG. 8 shows a state in which the image pickup unit 32 and the laser emitting unit 31 are moved along the movement axis guide 35 so that the work distances WDt2 and WDw2 in FIG. 7 match the work distances WDt1 and WDw1 in FIG. .. Since the work distances WDt2 and WDw2 are smaller than the work distances WDt1 and WDw1, as shown in FIG. 8, the press brake control device 50 separates the imaging unit 32 and the laser emitting unit 31 from the die mold Td and the work W. Move to.

Here, the work distances WDt2 and WDw2 in FIG. 7 are made to match the work distances WDt1 and WDw1 in FIG. 6, but the work distances WDt1 and WDw1 in FIG. 6 may be made to match the work distances WDt2 and WDw2 in FIG. ..

The press brake control device 50 may move the image pickup unit 32 and the laser emission unit 31 so as to match the work distances WDt and WDw at any elevation angle φ of the laser type angle sensor 30. It is desirable that the work distances WDt and WDw be completely constant at any elevation angle φ, but a slight error may occur.

The processing procedure of the work W by the press brake of the present embodiment described above will be described with reference to the flowchart shown in FIG. It is assumed that a punch die Tp and a die die Td are preliminarily attached to predetermined positions of the upper die holder 12 and the lower die holder 22, respectively.

In FIG. 12, the press brake control device 50 moves the laser angle sensor 30 in the X-axis direction corresponding to the position of the die die Td in step S1. In step S2, the press brake control device 50 makes the elevation angle φ of the laser type angle sensor 30 and the movement axis guide 35 direction of the laser emitting unit 31 and the imaging unit 32 correspond to the mounted die die Td. Set the position and.

The press brake control device 50 may execute step S1 after step S2, or may execute step S1 and step S2 at the same time.

In step S3, the press brake control device 50 detects the angle θt formed by the die die Td and the optical axis of the imaging unit 32 in the elevation angle detection mode. As described above, if the elevation angle φ calculated based on the equation (1) deviates from the appropriate elevation angle φ, the press brake control device 50 finely adjusts the elevation angle φ. If the elevation angle φ can be adjusted with high accuracy without detecting the angle θt as described above, step S3 can be omitted.

In step S4, the press brake control device 50 determines whether or not a bending process is instructed by pressing a foot switch (not shown), for example. If the bending instruction is not issued (NO), the press brake control device 50 repeats the process of step S4. When the bending process is instructed, the press brake control device 50 shifts the processing to step S5.

The press brake control device 50 lowers the upper table 10 in step S5. The press brake control device 50 detects the work angle θwb in step S6 in the work angle detection mode based on the equation (2) or (3). In step S7, the press brake control device 50 determines whether the work angle θwb has reached the target angle.

If the work angle θwb has not reached the target angle (NO), the press brake control device 50 repeats the processing of steps S5 to S7. If the work angle θwb has reached the target angle (YES), the press brake control device 50 stops the upper table 10 and raises it to the original position in step S8 to process the work W. To finish.

The present invention is not limited to the present embodiment described above, and various modifications can be made without departing from the gist of the present invention. In the present embodiment, the press brake control device 50 functions as a rotation mechanism control unit, a movement mechanism control unit, and a work angle detection unit, but a plurality of rotation mechanism control units, movement mechanism control units, and work angle detection units are provided. The control device (processor or the like) may be used.

10 Upper Table 20 Lower Table 30 Laser Type Angle Sensor 31 Laser Emitting Section 32 Imaging Section 33 Rotating Axis (Rotating Mechanism)
34 Rotating shaft motor (rotating mechanism)
35 Moving axis guide (moving mechanism)
36 Moving axis motor (moving mechanism)
50 Press brake controller (moving mechanism controller, work angle detector)
Td Die Die Tp Punch Die W Work

Claims (6)

An upper table to hold the punch die,
A lower table to hold the die mold,
A laser-type angle sensor attached to the lower table, for detecting an angle of a work that is bent by being sandwiched between the punch die and the die die,
It is a press brake Ru with a,
The laser type angle sensor,
It is configured to be movable in the X-axis direction which is the left-right direction of the press brake,
It is configured so as not to move in two axial directions, that is, the Y-axis direction that is the front-back direction of the press brake and the Z-axis direction that is the vertical direction of the press brake that is orthogonal to the Y-axis direction.
The laser type angle sensor,
A laser emitting section for emitting a linear laser beam,
An imaging unit that images the work on which the linear laser light emitted from the laser emitting unit is projected,
The laser emitting unit and the image capturing unit are integrally rotated about a rotation axis to determine a direction in which the laser emitting unit emits a laser beam and a position of a visual field when the image capturing unit captures the work. A rotation mechanism that changes the elevation angle,
While maintaining the elevation angles of the laser emission unit and the imaging unit set by the rotation mechanism, the imaging unit is moved in the direction of the elevation angle toward or away from the work, and the lens mirror included in the imaging unit. A moving mechanism that changes the work distance from the tip of the cylinder to the work,
Press brake with. The press according to claim 1, further comprising a movement mechanism control unit that controls the movement mechanism to move the imaging unit in correspondence with the elevation angles of the laser emitting unit and the imaging unit so that the work distance is constant. brake. The laser emission unit emits the linear laser light so that the linear laser light is projected across the die die and the work,
The imaging unit images the die die and the work on which the linear laser light is projected,
The angle formed by the die mold and the optical axis of the imaging unit is detected based on the angle of the line image formed by the linear laser light projected on the die mold, which is included in the image captured by the imaging unit. Then, based on the angle of the line image by the linear laser beam projected on the work, which is included in the captured image, the angle formed by the optical axis and the flange of the work is detected, The press brake according to claim 2, further comprising a work angle detection unit that detects a bending angle. Included in the image captured by the imaging unit, based on the angle of the line image by the linear laser light projected on the work, to detect the angle formed by the optical axis of the imaging unit and the flange of the work, The press brake according to claim 2, further comprising a work angle detection unit that detects a bending angle of the work based on the detected angle and an elevation angle of the laser emitting unit and the imaging unit set by the rotating mechanism. .. A laser-type angle sensor and a work angle detection unit, which is an angle detection device for detecting a bending angle of a work bent by a press brake,
The laser type angle sensor,
It is configured to be movable in the X-axis direction which is the left-right direction of the press brake,
It is configured so as not to move in two axial directions, that is, the Y-axis direction that is the front-back direction of the press brake and the Z-axis direction that is the vertical direction of the press brake that is orthogonal to the Y-axis direction.
The laser type angle sensor,
A laser emitting section for emitting a linear laser beam,
A die die on which the linear laser light emitted from the laser emitting portion is projected, and a work on which the linear laser light is projected and is sandwiched between a punch die and the die die to be bent. An imaging unit for imaging,
When the laser emitting unit and the image capturing unit are integrally rotated about a rotation axis, the laser emitting unit emits a laser beam, and the image capturing unit captures an image of the die die and the work. A rotation mechanism that changes the elevation angle that determines the position of the field of view,
While maintaining the elevation angle of the laser emission unit and the imaging unit set by the rotating mechanism, the imaging unit is moved in the direction of the elevation angle approaching or separating from the die die and the work, and the imaging is performed. A moving mechanism for varying a first work distance from the tip of the lens barrel included in the part to the die die, and a second work distance from the tip of the lens barrel to the work.
Have
The work angle detection unit has a first angle formed by the die die and an optical axis of the imaging unit or an elevation angle of the imaging unit and a second angle formed by the optical axis and a flange of the work. based on, we detect the bending angle of the workpiece
Corner of the detection device. A moving mechanism control unit is further provided for controlling the moving mechanism so as to move the image capturing unit in correspondence with the elevation angles of the laser emitting unit and the image capturing unit so as to keep the first and second work distances constant. The angle detection device according to claim 5.

Images