JP5856860B2 - Plate workpiece processing apparatus and workpiece positioning support method - Google Patents

Description

  The present invention relates to a plate workpiece processing apparatus and a workpiece positioning support method, and in particular, a plate workpiece processing apparatus and a workpiece positioning that can be favorably performed by an operator when processing a workpiece made of a plate material. It relates to support methods.

For example, in bending or shearing a plate-shaped workpiece using a press brake or shearing machine, the operator can grip the back end of the workpiece and place the front end against the back gauge but can be positioned in the front-rear direction. Done.
In order to determine the position in the left-right direction in this positioning operation with high accuracy, the camera is equipped with a display device, and the camera is used to image the contact state between the workpiece and the abutting portion, and the captured image is close to the operator. 2. Description of the Related Art A plate-like workpiece processing apparatus that is displayed on an arranged display device and that allows an operator to position a workpiece while visually confirming an image displayed on the display device is known, and an example is described in Patent Document 1 Yes.

JP 2001-25823 A

In the plate-like workpiece processing apparatus described in Patent Document 1, an operator needs to gaze at the display device during positioning, and thus works in a posture in which the neck is directed in a direction different from the actual abutting position. As a result, the burden on the body was large and there was room for improvement.
In addition, although the contact state between the workpiece and the abutting part can be grasped from the display image, there is a limit in judging whether the work is abutting on the abutting part at the correct position, and high accuracy. Improvements for positioning were expected.

  Therefore, the problem to be solved by the present invention is to provide a plate work processing apparatus and a work positioning support method capable of positioning a plate work with high accuracy in an easy working posture.

In order to solve the above problems, the present invention has the following configuration and procedure.
1) The abutting part (5) against which the plate-shaped workpiece (W) is abutted for positioning;
A processing unit (KK) that performs processing based on processing information (JH) for the positioned workpiece (W),
In a state where the workpiece (W) is abutted against the abutting portion (5), an imaging device (8a) for imaging a predetermined region including the abutting portion and visible light (LT) near the abutting portion. A light irradiation device (8b) for irradiating;
Based on the image (GZ1) of the predetermined area imaged by the imaging device (8a) and the processing information (JH), a normal abutting range (TB) in the workpiece (W) is obtained, and the normal abutting range A control unit (SG) for irradiating and displaying the mark (M1) with the visible light (LT) by the light irradiation device (8b) at a site corresponding to (TB),
Is a plate-like workpiece processing apparatus (51).
2) The control unit (SG) obtains a deviation amount (ΔX) between a position of the workpiece (W) butted against the butting portion (5) and a position of the normal butting range (TB), The plate-like workpiece processing apparatus (51) according to 1), wherein an attribute of the visible light (LT) to be irradiated is changed according to the deviation amount (ΔX).
3) The plate work processing apparatus (51) according to 2), wherein the attribute includes any one of a color of the visible light, a shape of the mark (M1), and an irradiation intensity. .
4) A workpiece positioning support method for supporting a positioning operation of the workpiece (W) performed by the processing to the plate-like workpiece (W) performed by the processing device (51) based on the processing information (JH),
A workpiece abutting step in which the worker (S) abuts the workpiece (W) against the abutting portion (5);
An image acquisition step of obtaining an image (GZ1) by imaging the vicinity of the abutting part of the abutted workpiece (W) with an imaging device (8a),
A normal abutting range acquisition step for obtaining a normal abutting range (TB) in the workpiece (W) based on the obtained image (GZ1) and the processing information (JH),
A mark display step of irradiating and displaying a mark (M1) with visible light (LT) on a site corresponding to the normal abutting range (TB);
Is a method for assisting positioning of a workpiece.
5) A displacement amount calculating step for obtaining a displacement amount (ΔX) between the position of the workpiece (W) butted against the butting portion (5) and the position of the normal butting range (TB);
An attribute setting step for setting an attribute of the visible light (LT) to be irradiated according to the shift amount (ΔX);
4) The workpiece positioning support method according to 4), including:
6) The work positioning support method according to 5), wherein the attribute includes one of a color of the visible light (LT), a shape of the mark (M1), and an irradiation intensity. .

  According to the present invention, it is possible to obtain an effect that a plate-like workpiece can be positioned with high accuracy in an easy working posture.

It is a schematic side view for demonstrating the Example of the plate-shaped workpiece processing apparatus of this invention. It is a rear view for demonstrating the Example of the plate-shaped workpiece processing apparatus of this invention. It is a top view for demonstrating the Example of the plate-shaped workpiece processing apparatus of this invention. It is a front view for demonstrating the support apparatus in the Example of the plate-shaped workpiece processing apparatus of this invention. It is a flowchart for demonstrating the Example of the positioning assistance method of the workpiece | work of this invention. It is a figure for demonstrating the image imaged with the imaging device in the Example of the plate-shaped workpiece processing apparatus of this invention. It is a figure for demonstrating the regular butting range of the workpiece | work in the Example of the plate-shaped workpiece processing apparatus of this invention. It is a figure for demonstrating the acquisition method of the normal butting range in the Example of the plate-shaped workpiece processing apparatus of this invention. It is a figure for demonstrating the example of the aspect of the workpiece | work in the Example of the plate-shaped workpiece processing apparatus of this invention. It is a figure for demonstrating the modification in the Example of the positioning assistance method of the workpiece | work of this invention. It is a flowchart for demonstrating the modification in the Example of the positioning assistance method of the workpiece | work of this invention.

The preferred embodiments of the present invention will be described with reference to FIGS.
In each figure, the vertical direction (Z-axis direction), the horizontal direction (X-axis direction), and the front-back direction (Y-axis direction) are basically defined by the directions shown in FIGS.

<Example>
First, with reference to FIGS. 1-11, the structure of the descent | fall type press brake 51 which is an Example of the plate-shaped workpiece processing apparatus of this invention is demonstrated. FIG. 1 is a side view in which a main part is extracted and partially cut to explain a state immediately before the workpiece W is processed by the press brake 51, FIG. 2 is a schematic rear view of the press brake 51, and FIG. 2 is a schematic top view of the press brake 51. FIG. 1 and 3 also show the workpiece W.

  The press brake 51 is provided above the lower table 1, the side plates 2A and 2B connected to the lower table 1, and the side plates 2A and 2B, and is driven by a drive unit (not shown) using hydraulic pressure as a drive source. 1 is provided with an upper table 3 that moves up and down so as to be separated from and connected to 1, and a back gauge BG that is disposed on the rear side of the upper table 3 and has a beam 4 and a pair of butting portions 5 and 6.

The operation of the press brake 51 is controlled by an NC device 7 having a control unit SG, a storage unit MR, and the like. The control unit SG includes an image analysis unit GK that analyzes an image.
Specifically, since the machining information JH including the machining program PG is supplied to the NC device 7 from the outside, the supplied machining information JH is temporarily stored in the storage unit MR and based on the machining information JH. The control unit SG controls the processing operation of the press brake 51 and the operation related to the processing.
The operation of the press brake 51 can be performed by the operator S via the operation panel SB. The operation panel SB includes a display unit HJ for displaying an image and an input unit NR for inputting operation instructions, setting conditions, and the like.

The lower table 1 and the upper table 3 constitute a processing part KB.
The lower table 1 has a die holder 1a, and a die D as a mold is detachably attached to the die holder 1a.
The upper table 3 has a punch holder 3a, and a punch P, which is a mold, is detachably attached to the punch holder 3a.
The die holder 1a is divided into a plurality of stations in the left-right direction so that a plurality of types of dies (die D) can be attached. Specifically, as shown in FIG. 2, die holders 1a1 to 1a3 are provided as first to third stations from the right to the left, respectively.
Similarly, the punch holder 3a is also provided by being divided into a plurality of stations in the left-right direction so that a plurality of types of molds (punch P) can be attached. Specifically, as shown in FIG. 2, punch holders 3a1 to 3a3 are provided as first to third stations, respectively, at positions corresponding to the die holders 1a1 to 1a3 from right to left.

As shown in FIG. 3, in the back gauge BG, the butting portions 5 and 6 are movable in the left-right direction on the beam 4 arranged in the left-right direction. The movable range is a range corresponding to each station, specifically, from the left end of the leftmost station to the right end of the rightmost station. Moreover, it can be moved within a predetermined range in the front-rear direction. Furthermore, rotation (swinging) is also possible within a predetermined range.
During the pressing process, the abutting parts 5 and 6 are moved to a position corresponding to the station where the processing is performed by the operation of a driving unit (not shown), and the front end part of the workpiece inserted by the operator is moved. Wait to be hit. The movement of the butting portions 5 and 6 on the beam 4 is controlled by the control unit SG.

As shown in FIGS. 1 to 3, the upper table 3 is provided with a support device 8 that supports the abutting work that can be moved in the left-right direction by the drive mechanism KD8.
The support device 8 moves to a position corresponding to the station where the machining will be performed and the abutting portions 5 and 6 that have moved to the station by the operation of the drive mechanism KD8 and stands by. The operation of the drive mechanism KD8 is controlled by the control unit SG. FIG. 2 shows a state where the support device 8 has moved to a position substantially corresponding to the die holder 1a2 and the punch holder 3a2 which are the second stations.

As shown in FIG. 4, the support device 8 includes a housing 8k, an imaging device 8a housed in the housing 8k, and a light irradiation device 8b.
The housing 8k is connected and supported to the drive mechanism KD8 by an arm 8c.
The imaging device 8a images the predetermined area AR below and sends the captured image (including moving images) to the control unit SG.
The light irradiation device 8b emits light LT in the visible region downward.
This light LT is, for example, LED light or laser light. It is preferable that light of any color can be emitted using a color LED.
Further, the light irradiation device 8b can irradiate and display a mark M1 (described later) on an object (work W) with a predetermined shape and timing by scanning or an optical system. That is, the light LT is emitted in a specific shape or a predetermined pattern.
Therefore, the mark M1 based on the predetermined shape or the predetermined pattern is visually recognized on the irradiation object (work W) irradiated with the light LT.
In the light irradiation device 8b, the irradiation direction can be moved in the front-rear and left-right directions so that light that can be visually recognized in a desired shape is irradiated in a desired direction. Moreover, rotation (swinging) is also possible.

Next, a work positioning procedure when the work W is bent by the plate work processing device 51 will be described in detail.
Here, the position where the workpiece W should be in the machining, specifically, the position in the front-rear direction and the position in the left-right direction at the normal abutting position are defined in the machining program PG. First, preparation operations 1 and 2 are performed.

<Preparation 1> The worker S selects and sets a machining program PG for the next machining using the operation panel SB. With this setting, machining information JH including the selected machining program PG and various information related thereto is supplied from the outside to the NC device 7 and stored in the storage unit MR.
<Preparation 2> The worker S confirms the die layout in the selected machining program PG, and attaches the die D and the punch P to the die holder 1a and the punch holder 3a, respectively.
Here, processing is performed at the second station, and the die holder 1a2 and the punch holder 3a2 are used. Information on the station to be used is included in the processing information JH.
After the preparatory work, the abutting work is executed according to the following procedure (see the flowchart of FIG. 5 and FIGS. 6 to 9).

<1> (Step 1)
The worker S presses the start button of the input unit NR of the operation panel SB. In response to this operation, the control unit SG starts the operation of the plate workpiece processing apparatus 51.

<2> (Step 2)
The control unit SG acquires station information to be processed with reference to the processing program PG stored in the storage unit MR, and protrudes 5 and 6 at positions corresponding to the processing stations specified by the acquired station information. In addition, the drive system KD (including the drive unit KD8) is controlled so that the support device 8 is positioned.

<3> (Step 3)
The rear end of the workpiece W to be processed by the worker S is abutted against the abutting portions 5 and 6.

<4> (Step 4)
Abutting sensors 5s and 6s (for example, pressure sensors) for detecting that the workpiece W has been abutted are incorporated in the tip (front end) portions of the abutting portions 5 and 6, and the workpiece W is abutted. Then, the abutting signals SN5 and SN6 are sent to the control unit SG.
When the control unit SG receives both the abutting signals SN5 and SN6, the imaging unit 8a of the support device 8 obtains an image including, for example, an image including the abutting unit 5 on the left side and the vicinity thereof. The image GZ1 (see FIG. 6) is stored in the storage unit MR.
Information about which image of the plurality of abutting portions 5 and 6 is to be captured is included in the processing information JH and designated.
Here, the support device 8 is such that the horizontal position of the optical axis CL8a of the imaging device 8a is on the center line CL5 of the abutting portion 5, and the center CTR1 of the obtained image GZ1 is in the image GZ1. It has been adjusted in advance with high accuracy so as to be on the center line CL5 of the butting portion 5.

<5> (Step 5)
The image analysis unit GK analyzes the image GZ1 stored in the storage unit MR.
Specifically, the coordinates (X1, Y1) of the vertex PT1 at the left rear end of the workpiece W when the center CTR1 of the image GZ1 is the origin (0, 0) are obtained. Here, the X axis is the left-right direction axis, and the Y axis corresponds to the front-rear direction axis.
The image analysis unit GK converts (X1), which is the X component of the coordinates of the vertex PT1 in the obtained image GZ1, based on the imaging conditions and the like, and converts the center line CL5 of the butting unit 5 into the X component in the real space. (Xr1), which is the X component at the position of the vertex PT1 when is set to 0 (zero), is obtained.
Further, as shown in FIG. 7, the image analysis unit GK, from the machining program PG, the center position PT2 of the normal abutting range TB that is a part to be abutted against the abutting part 5 in the workpiece W, and the vertex PT1 The distance Xtb in the left-right direction is acquired.
The width Dtb in the X direction of the normal butting range TB is set to be the same as the width D5 (see FIG. 6) of the butting portion 5.

<6> (Step 6)
The image analysis unit GK obtains a difference ΔX that is a deviation amount between the distance Xtb and the X component (Xr1) as Xtb−Xr1, and as shown in FIG. 8, the position in the X-axis direction is the same as the optical axis CL8a. A range of a width Dtb centered on a position PT3 obtained by adding a difference ΔX in the X-axis direction from the central axis CL5 is set as an irradiation range.

<7> (Step 7)
The control unit SG causes the light irradiation device 8b to irradiate light having a predetermined shape or pattern onto a range having a width Dtb with the position PT3 as the center (a portion corresponding to the normal abutting range TB). In FIG. 8, a rectangular mark M1 having a left and right width Dtb and a front and rear width d1 is radiated and displayed.

<8> (Step 8)
The worker S visually determines whether or not the position of the part where the workpiece W is abutted against the abutting part 5 and the part where the mark M1 is irradiated and displayed match.
When they do not match (No), the workpiece W is abutted again after being separated from the abutting portion 5. At the time of the rebutting, the position is adjusted so that the portion where the mark M1 is irradiated and displayed hits the butting portion 5.
When the workpiece W moves away from at least one of the butting part 5 and the butting part 6, the abutting signals SN5 and SN6 from the abutting sensors 5s and 6s change, so that the control unit SG responds to the change by the light irradiation device. The irradiation of the light LT from 8b is stopped.

<9> (Step 9)
If they match (Yes), press the foot pedal (not shown) to perform press working

The work positioning support of the embodiment is executed by the above procedure.
In the abutting operation, if the steps Steps 4 to 6 cannot be executed due to the abutting of the workpiece W on a station different from the station set in the machining program PG, the control unit SG It is determined that the error occurred, and error handling (stopping the operation, sending an error voice, displaying an error screen, etc.) is executed.

FIG. 9 is a diagram for explaining irradiation examples of the mark M1 in various abutting modes.
FIG. 9 illustrates a total of seven modes from (9-1) to (9-6). Each figure shows a state in which the workpiece W is abutted at the normal position.

The aspect example (9-1) is the example described in the above embodiment, and the left end of the normal abutting range coincides with the left end of the workpiece W.
The aspect example (9-2) is an example in which the flange Wf is raised on the workpiece W and the flange Wf is abutted against the workpiece W. The mark M1 is irradiated and displayed including the end face of the flange Wf.
The aspect example (9-3) is a case where the abutting interval is narrow, and the workpiece W is in contact with only a part of the abutting portion 5. In this case, the mark M1 is irradiated and displayed only in the range corresponding to the abutting portion 5.
The aspect example (9-4-1) is a case where the cut-and-raised part Wk1 is formed. In this case, the mark M1 is irradiated and displayed on the frame portion of the hollow portion.
A mode example (9-4-2) is a case where the width of the cut-and-raised part Wk is narrower than the width D5 of the abutting part 5. In this case, the mark M1 is irradiated and displayed over the entire width of the cut and raised portion Wk.
The example (9-5) is a case where the butting portions 5 and 6 are shifted (shifted) in the front-rear direction. In this example, the abutting part 6 is positioned and abutted forward with respect to the abutting part 5, and the mark M <b> 1 corresponds to the abutting part 5 regardless of the movement of the abutting part 6. Irradiation is displayed at the position.
The aspect example (9-6) is an example in which the abutting portion is inclined. In this case, the mark M1 is irradiated and displayed as a mark inclined according to the inclination of the abutting portion 5 (swing by rotation). That is, the light irradiation device 8b is configured to swing at an angle corresponding to the inclination angle of the abutment unit 5 according to an instruction from the control unit SG.

<Modification>
The plate-like workpiece processing device 51 is modified such that the control unit SG controls the attribute of the mark M1 to be irradiated and displayed by the light irradiation device 8b based on the difference ΔX obtained by the image analysis unit GK in (Step 6). As an example. The attributes are, for example, color, shape, and irradiation intensity, and include their temporal changes.
That is, as the difference ΔX is larger, the abutting position is largely deviated. As the difference ΔX is smaller, the abutting position is slightly deviated. Can be grasped instantly by the person.
Further, even if the difference ΔX becomes a certain value and a deviation actually occurs, an allowable threshold is set as a product specification, and image analysis is performed to determine whether or not the deviation amount indicated by the difference ΔX is equal to or less than the threshold. It is better if the part GK makes the determination and changes the shape and color of the mark M1 according to the determination result.
These will be described with reference to FIG.

FIG. 10A is a diagram illustrating an example in which the difference ΔX is set on the horizontal axis that increases in the right direction, and is classified into four ranges of LV1 to LV4 according to the size.
The range LV1 is a range from 0 (zero: perfect match and no deviation) to an upper limit threshold value KY acceptable as a product.
The range LV2 is a range that exceeds the threshold value KY and is equal to or less than the segment value K1.
The range LV3 is a range that exceeds the segment value K1 and is equal to or less than the segment value K2.
The range LV4 is a range that exceeds the segment value K2.

FIG. 10B is a table for explaining the mode of the mark M1 in each of the ranges LV1 to LV4. In this example, color, shape, and time change are described.
For example, since the color is within the allowable range in the range LV1 and can be pressed, the mark M1 is illuminated and displayed in green.
In a range outside the allowable range exceeding the threshold value KY, irradiation is displayed in different colors depending on the degree, such as blue in the range LV2, yellow in the range LV3, red in the range LV4.
In addition, the shape is a solid rectangle in the range LV1 within the allowable range, a part is missing in the range LV2 outside the allowable range, and the range in which the gap is widened as the range LV3 is changed to the range LV4.
As for the time change, the light is always lit in the range LV1 within the allowable range and flashes outside the allowable range, and the flashing speed (interval) is increased (shortened) as the value of ΔX increases.
Each of these attribute examples may be executed alone, or may be executed by combining arbitrary attributes.

The operation of this modification will be described with reference to the flowchart of FIG.
Since (Step 1) to (Step 6) are the same as the flow chart of FIG. 5, FIG. 11 shows (Step 5) and subsequent steps. Hereinafter, the next procedure of (Step 6) will be described.

<A1> (Step A7)
The ΔX obtained in (Step 6) is compared with the threshold value KY. The threshold value KY is set in advance and is included in the machining information JH.
When ΔX is equal to or less than the threshold value KY (Yes), the control unit SG irradiates the mark M1 with a light having a predetermined shape or pattern with a light irradiation device 8b to a range of the width Dtb around the position PT3 in the form of the range LV1. It is displayed (Step A8).

<A2> (Step A9)
When the mark M1 is in the range LV1 mode, the press work is possible. Therefore, when the operator S confirms that the mark M1 is in the range LV1 mode, the worker S executes the press process by stepping on a foot pedal (not shown).

<A3> (Step A10)
When ΔX exceeds the threshold value KY in (Step A7) (No), the image analysis unit GK sets ΔX to any one of the ranges LV2 to LV4 according to the value.
The control unit SG causes the light irradiation device 8b to irradiate and display the mark M1 with a light having a predetermined shape or pattern in a range of the width Dtb centered on the position PT3 in a set range mode within the ranges LV2 to LV4. .

<A4> (Step A11)
The operator S visually confirms that the position of the part where the work W is abutted against the abutting part 5 and the part where the mark M1 is irradiated and displayed are shifted, and again abuts the work W. Therefore, the process proceeds to (Step 3).
With the above procedure, workpiece positioning support as a modified example is executed.

According to the above-described embodiment and its modification, the mark M1 is projected (irradiation display) onto the workpiece W brought into contact with the abutting portion 5, and the operator S sees the mark M1, so that the direction of the neck and the body The direction of matches.
Therefore, the work posture is not unreasonable, and the work for positioning the workpiece W can be easily executed.
In addition, since the mark M1 is irradiated and displayed on the normal part on the workpiece W in a range corresponding to the abutting portion 5, whether or not there is a lateral displacement with respect to the abutting portion 5 and the amount thereof are determined by the operator S. Since it is clear at a glance, high-precision positioning can be performed by re-butting work.
In addition, according to the modification, the attribute of the mark M1 that is irradiated and displayed changes according to the amount of deviation in the left-right direction, so that the amount of deviation can be intuitively grasped, and positioning work can be easily performed with high efficiency without stress. Can do.
In addition, even if there is a lateral shift amount in the abutment, it is possible to visually grasp whether or not the shift amount is acceptable as a product, so there is no variation among workers and the product quality is maintained at a high level. Is done.

  The embodiment of the present invention is not limited to the above-described configuration and procedure, and may be another modified example without departing from the gist of the present invention.

The mark M1 is not limited to the one that is irradiated only on the workpiece W. You may irradiate so that a part of the abutting part 5 which abuts the workpiece | work W may be included.
Which of the butting portions 5 and 6 is imaged by the imaging device 8a is not limited. It can be arbitrarily set in advance and included in the machining information JH.
The plate-like workpiece processing apparatus of the present invention is not limited to the press brake described in the embodiment, and includes various processing apparatuses.

DESCRIPTION OF SYMBOLS 1 Lower table, 1a, 1a1 to 1a3 Die holder 2A, 2B Side plate 3 Upper table, 3a, 3a1 to 3a3 Punch holder 4 Beam 5, 6 Abutting part, 5s, 6s Sensor 7 NC device 8 Support device, 8a Imaging device, 8b Light irradiation device 51 Press brake (Plate work processing device)
BG Back gauge CL5 center line, CL8a optical axis, CTR1 center D die Dtb, D5 width GK image analysis unit, GZ1 image HJ display unit JH processing information K1, K2 division value KB processing unit, KD drive system, KD8 drive mechanism KY threshold LV1 to LV4 Range M1 Mark MR Storage part LT Optical NR Input part P Punch PG Machining program PT1 (left rear end) vertex, PT2 center position, PT3 position S worker, SB operation panel SG control part SN5, SN6 butt signal TB Normal abutting range Xtb Distance, Xr1 (coordinate) X component W, Wk1, Wk2 Workpiece

Claims (6)

An abutting part against which a plate-like workpiece is abutted for positioning;
A processing unit that performs processing based on processing information on the positioned workpiece;
In a state where the workpiece is abutted against the abutting portion, an imaging device that images a predetermined area including the abutting portion, and a light irradiation device that irradiates visible light near the abutting portion;
Based on the image of the predetermined area captured by the imaging device and the processing information, a normal abutting range in the workpiece is obtained, and a portion corresponding to the normal abutting range is marked with the visible light by the light irradiation device. A control unit that displays irradiation,
A plate-like workpiece processing apparatus equipped with   The control unit obtains a deviation amount between a position of the workpiece abutted against the abutting part and a position of the normal abutting range, and changes the attribute of the visible light to be irradiated according to the deviation amount. The plate-like workpiece processing apparatus according to claim 1, wherein   The plate work processing apparatus according to claim 2, wherein the attribute includes any one of a color of the visible light, a shape of the mark, and an irradiation intensity. A work positioning support method for supporting the work positioning work performed by processing to a plate-shaped work performed by a processing apparatus based on processing information,
A workpiece abutting step in which an operator abuts the workpiece against the abutting portion;
An image acquisition step of obtaining an image by imaging the vicinity of the abutting part of the abutted workpiece with an imaging device;
A normal abutting range obtaining step for obtaining a normal abutting range in the workpiece based on the obtained image and the processing information;
A mark display step of irradiating and displaying a mark with visible light on a portion corresponding to the normal abutting range;
A positioning support method for a workpiece characterized by comprising: A deviation amount calculating step for obtaining a deviation amount between a position of the workpiece abutted against the abutting portion and a position of the normal abutting range;
An attribute setting step for setting an attribute of the visible light to be irradiated according to the shift amount;
The work positioning support method according to claim 4, further comprising:   6. The work positioning support method according to claim 5, wherein the attribute includes any one of a color of the visible light, a shape of the mark, and an irradiation intensity.

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