公开(公告)号：US20060106757A1

公开(公告)日：2006-05-18

申请号：US10987220

申请日：2004-11-15

Applicant: Satoshi Sakai ,  Kensuke Hazama ,  Yoshie Hazama ,  Yeam-Tzuo Hwang

Inventor： Satoshi Sakai ,  Kensuke Hazama ,  Yoshie Hazama ,  Yeam-Tzuo Hwang

IPC: G06F17/30

CPC classification number: G05B19/4097 ,  G05B19/4181 ,  G06K9/469 ,  G06K2209/19 ,  G06Q10/00 ,  G06Q10/06 ,  G06T7/41 ,  G06T19/20 ,  G06T2200/24 ,  G06T2207/30136 ,  G06T2219/2021 ,  Y02P90/06 ,  Y02P90/10 ,  Y02P90/20 ,  Y02P90/265 ,  Y10S707/99944

Abstract: An apparatus and method is provided for managing and distributing design and manufacturing information throughout a factory in order to facilitate the production of components, such as bent sheet metal components. In accordance with an aspect of the present invention, the management and distribution of critical design and manufacturing information is achieved by storing and distributing the design and manufacturing information associated with each job. By replacing the traditional paper job set-up or work sheet with, for example, an electronically stored job sheet that can be accessed instantaneously from any location in the factory, the present invention improves the overall efficiency of the factory. In addition, through the various aspects and features of the invention, the organization and accessibility of part information and stored expert knowledge is improved.

Abstract translation: 提供了一种用于在整个工厂中管理和分配设计和制造信息的装置和方法，以便于生产诸如弯曲的金属板零件的部件。 根据本发明的一个方面，通过存储和分发与每个作业相关联的设计和制造信息来实现关键设计和制造信息的管理和分配。 通过用例如工厂中的任何位置即时访问的电子存储工作表来代替传统的纸张作业设置或工作表，本发明提高了工厂的整体效率。 另外，通过本发明的各个方面和特征，改进了部件信息的组织和可访问性以及存储的专家知识。

公开(公告)号：US06904393B2

公开(公告)日：2005-06-07

申请号：US09816395

申请日：2001-03-26

Applicant: Edward Schwalb ,  Elena Pashenkova ,  Dmitry Leshchiner ,  Kensuke Hazama

Inventor： Edward Schwalb ,  Elena Pashenkova ,  Dmitry Leshchiner ,  Kensuke Hazama

IPC: G06F17/50 ,  G06T19/00

CPC classification number: G06T19/00 ,  G06T2219/012 ,  Y10S715/964

Abstract: A dimensioning system is provided for a computer generated model of a sheet metal part including a plurality of entities. The dimensioning system comprises a model display, an indicator, a selector, a dimension defining system, and a dimension display. The model display displays a representation of the model on a display screen. The indicator indicates to a user candidate entities of the model, in response to user events, that may be selected. The selector selects two entities of the model, based on an indicated candidate entity. The dimension defining system defines each dimension associated with the selected entities of the model. The dimension display displays dimension information on the display screen based on the defined dimension. A repositioning system is also provided for a computer generated model of a sheet metal part represented on a display screen. The sheet metal part has associated dimensions displayed along with the sheet metal part on the display screen. The repositioning system comprises a repositioner and a repositioned dimension display. The repositioner repositions the dimension to a desired position relative to the model. The repositioned dimension display displays the dimension at the desired position relative to the model.

Abstract translation: 为包括多个实体的钣金零件的计算机生成模型提供了尺寸标注系统。 尺寸标注系统包括模型显示，指示器，选择器，尺寸定义系统和尺寸显示。 模型显示在显示屏幕上显示模型的表示。 该指示符向用户指示可以选择的响应于用户事件的模型的候选实体。 选择器根据指定的候选实体选择模型的两个实体。 维度定义系统定义与模型的所选实体相关联的每个维度。 维度显示基于定义的维度在显示屏幕上显示维度信息。 还提供了用于在显示屏上表示的钣金零件的计算机生成模型的重新定位系统。 钣金零件具有与显示屏上的钣金零件一起显示的相关尺寸。 重新定位系统包括重新定位器和重新定位的维度显示。 重新定位器将尺寸重新定位到相对于模型的期望位置。 重新定位的尺寸显示在相对于模型的期望位置显示尺寸。

公开(公告)号：US5969973A

公开(公告)日：1999-10-19

申请号：US386369

申请日：1995-02-09

Applicant: David Alan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

Inventor： David Alan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

IPC: B21D5/01 ,  B21D5/02 ,  B25J9/16 ,  G05B19/4069 ,  G05B19/4097 ,  G05B19/418 ,  G06F17/50 ,  G06F19/00

CPC classification number: B21D37/145 ,  B21D5/02 ,  B25J9/1666 ,  G05B19/4069 ,  G05B19/4097 ,  G05B19/41825 ,  G05B2219/31352 ,  G05B2219/33002 ,  G05B2219/35189 ,  G05B2219/35192 ,  G05B2219/36268 ,  G05B2219/36304 ,  G05B2219/39105 ,  G05B2219/40054 ,  G05B2219/40501 ,  G05B2219/45143 ,  G05B2219/49068 ,  Y02P90/087 ,  Y02P90/20 ,  Y02P90/265

Abstract: An intelligent sheet metal bending system is disclosed, having a cooperative generative planning system. A planning module interacts with several expert modules to develop a bending plan. The planning module utilizes a state-space search algorithm. Computerized methods are provided for selecting a robot gripper and a repo gripper, and for determining the optimal placement of such grippers as they are holding a workpiece being formed by the bending apparatus. Computerized methods are provided for selecting tooling to be used by the bending apparatus, and for determining a tooling stage layout. An operations planning method is provided which allows the bending apparatus to be set up concurrently while time-consuming calculations, such as motion planning, are performed. An additional method or system is provided for positioning tooling stages by using a backgage guide member which guides placement of a tooling stage along the die rail of the bending apparatus. A method is provided for learning motion control offset values, and for eliminating the need for superfluous sensor-based control operations once the motion control offset values are known. The planning system may be used for facilitating functions such as design and assembly system, which may perform designing, costing, scheduling and/or manufacture and assembly.

Abstract translation: 公开了一种具有协同生成规划系统的智能钣金弯曲系统。 规划模块与几个专家模块交互制定弯曲计划。 规划模块利用状态空间搜索算法。 提供了用于选择机器人夹持器和回收夹持器的计算机化方法，并且用于确定这些夹持器在保持由弯曲装置形成的工件时的最佳布置。 提供了用于选择要由弯曲装置使用的工具以及用于确定加工台布局的计算机化方法。 提供了一种操作规划方法，其允许同时设置弯曲装置，同时执行诸如运动规划等耗时的计算。 提供了一种额外的方法或系统，用于通过使用引导工具台沿着弯曲设备的模具轨道的放置的引导构件定位工具台。 提供了一种用于学习运动控制偏移值的方法，并且一旦知道运动控制偏移值就不需要多余的基于传感器的控制操作。 规划系统可用于促进诸如设计和组装系统的功能，其可以执行设计，成本核算，调度和/或制造和组装。

公开(公告)号：US5761940A

公开(公告)日：1998-06-09

申请号：US385829

申请日：1995-02-09

Applicant: Richard M. Moore, Jr. ,  David Alan Bourne ,  Anne Marie Murray ,  Robert H. Sturges, Jr. ,  Kensuke Hazama

Inventor： Richard M. Moore, Jr. ,  David Alan Bourne ,  Anne Marie Murray ,  Robert H. Sturges, Jr. ,  Kensuke Hazama

IPC: B21D5/00 ,  B21D5/02 ,  B21D43/00 ,  B23Q3/18 ,  B23Q15/22 ,  B23Q17/22 ,  B25J9/16 ,  B25J19/02 ,  B21D43/11 ,  B21J13/12

CPC classification number: B21D5/002 ,  B21D5/02 ,  B23Q15/22 ,  B23Q15/225 ,  B23Q17/225 ,  B23Q3/186 ,  B25J9/1679 ,  G05B2219/31103 ,  G05B2219/31326 ,  G05B2219/37571 ,  G05B2219/39508 ,  G05B2219/39528 ,  G05B2219/39529 ,  G05B2219/39532 ,  G05B2219/39542 ,  G05B2219/40054 ,  G05B2219/45143 ,  Y02P90/18

Abstract: Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.

Abstract translation: 公开了几种方法和子系统，用于在工件被装载到弯曲装置的模具空间中时对准工件，并且用于在机器人在弯曲装置环境中将工件从一个位置移动到另一个位置时执行基于传感器的控制。 提供了后退机构，其具有手指测量机构，其具有用于感测与模具垂直并平行的方向的力的力传感器。 此外，提供了一种机器人夹持器传感器，用于感测由夹持器保持的工件的运动产生的剪切力和法向力中的任一者或两者。 公开了几个基于传感器的控制模块，包括弯曲跟随控制模块，速度控制模块，用于主动地阻尼工件中的振动的模块，用于控制工件和障碍物之间的主动顺应/接触的模块，用于 执行有保护的动作以有意地使工件与障碍物接触，以及用于检测工件和障碍物之间的无意冲击的模块。 还公开了若干下垂感测方法和系统，包括使用基于视觉的下垂传感器，复合断路器下垂传感器和单个断路器下垂传感器执行下垂感测和补偿的方法。 此外，公开了一种角度传感器以及利用所公开的角度传感器的回弹控制方法。

公开(公告)号：US06771260B1

公开(公告)日：2004-08-03

申请号：US09459577

申请日：1999-12-13

Applicant: Kensuke Hazama ,  Dmitry Leshchiner ,  Edward Schwalb ,  Vincent Nguyen

Inventor： Kensuke Hazama ,  Dmitry Leshchiner ,  Edward Schwalb ,  Vincent Nguyen

IPC: G06T1700

CPC classification number: G06T19/20 ,  G05B2219/35005 ,  G05B2219/35066 ,  G06T2219/2016 ,  G06T2219/2021

Abstract: A method, a system, and a computer program for graphically editing a computer generated sheet metal part model initially display the sheet metal part model on a computer display screen. The method, system, and computer program then select an entity of the sheet metal part model to edit, and select an editing operation to be performed on the selected entity. The method, system, and computer program also include performing the selected editing operation on the selected entity, and modifying the sheet metal part model in accordance with the performed editing operation. Finally, the method, system, and computer program display the modified sheet metal part model on the computer display screen so that a user views modifications of the sheet metal part model in real time.

Abstract translation: 用于图形编辑计算机生成的钣金零件模型的方法，系统和计算机程序最初在计算机显示屏幕上显示钣金零件模型。 然后，方法，系统和计算机程序选择钣金零件模型的实体进行编辑，并选择要对所选实体执行的编辑操作。 方法，系统和计算机程序还包括对所选择的实体执行所选择的编辑操作，以及根据所执行的编辑操作修改钣金零件模型。 最后，方法，系统和计算机程序在计算机显示屏幕上显示修改的钣金零件模型，以便用户实时查看钣金零件模型的修改。

公开(公告)号：US06539399B1

公开(公告)日：2003-03-25

申请号：US09301547

申请日：1999-04-29

Applicant: Kensuke Hazama ,  Nishio Hisashi ,  Li-Teh Chiu ,  James Jin ,  Marrisa Pang

Inventor： Kensuke Hazama ,  Nishio Hisashi ,  Li-Teh Chiu ,  James Jin ,  Marrisa Pang

IPC: G06F1730

CPC classification number: G05B19/4097 ,  G05B2219/35005 ,  G05B2219/35051 ,  G05B2219/35216 ,  Y10S707/99933 ,  Y10S707/99945 ,  Y10S707/99948 ,  Y10S707/99953

Abstract: A method is provided for managing data files, which reside on a computer network, relating to sheet metal part production. The method includes the steps of creating an identifier for a sheet metal part, linking the identifier with all the data files relating to the production of the sheet metal part, and selecting multiple linked data files in accordance with predetermined criteria. Consequently, when the identifier is operated on, the selected linked data files are substantially simultaneously subject to the same operation. The creating may include obtaining a sheet metal part name, determining a virtual folder hierarchy, and concatenating the virtual folder hierarchy and the sheet metal part name. All identifiers are stored in a single directory. The method may also include storing an index that includes a virtual folder hierarchy, and updating the index after every successful operation. The method may also include connecting to a server that is storing the data files.

Abstract translation: 提供一种用于管理驻留在计算机网络上的涉及钣金零件生产的数据文件的方法。 该方法包括以下步骤：创建用于钣金零件的标识符，将标识符与与钣金零件的生产相关的所有数据文件链接，以及根据预定标准选择多个链接的数据文件。 因此，当操作标识符时，所选择的链接数据文件基本上同时进行相同的操作。 创建可以包括获得钣金零件名称，确定虚拟文件夹层次结构，以及连接虚拟文件夹层次结构和钣金零件名称。 所有标识符都存储在单个目录中。 该方法还可以包括存储包括虚拟文件夹层次结构的索引，以及在每次成功操作之后更新索引。 该方法还可以包括连接到正在存储数据文件的服务器。

公开(公告)号：US06507767B2

公开(公告)日：2003-01-14

申请号：US09930252

申请日：2001-08-16

Applicant: David Alan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

Inventor： David Alan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

IPC: G06F1900

CPC classification number: B21D5/02 ,  G05B19/4069 ,  G05B19/4097 ,  G05B19/41825 ,  G05B2219/31352 ,  G05B2219/35189 ,  G05B2219/39105 ,  G05B2219/39467 ,  G05B2219/45143 ,  Y02P90/087 ,  Y02P90/20 ,  Y02P90/265 ,  Y02P90/86

Abstract: An intelligent sheet metal bending system is disclosed, having a cooperative generative planning system. A planning module interacts with several expert modules to develop a bending plan. The planning module utilizes a state-space search algorithm. Computerized methods are provided for selecting a robot gripper and a repo gripper, and for determining the optimal placement of such grippers as they are holding a workpiece being formed by the bending apparatus. Computerized methods are provided for selecting tooling to be used by the bending apparatus, and for determining a tooling stage layout. An operations planning method is provided which allows the bending apparatus to be set up concurrently while time-consuming calculations, such as motion planning, are performed. An additional method or system is provided for positioning tooling stages by using a backstage guide member which guides placement of a tooling stage along the die rail of the bending apparatus. A method is provided for learning motion control offset values, and for eliminating the need for superfluous sensor-based control operations once the motion control offset values are known. The planning system may be used for facilitating functions such as design and assembly system, which may perform designing, costing, scheduling, and/or manufacture and assembly.

公开(公告)号：US06341243B1

公开(公告)日：2002-01-22

申请号：US09207268

申请日：1998-12-08

Applicant: David Allan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

Inventor： David Allan Bourne ,  Duane Thomas Williams ,  Kyoung Hung Kim ,  Sivaraj Sivarama Krishnan ,  Kensuke Hazama

IPC: G06F1900

CPC classification number: B21D5/02 ,  G05B19/4069 ,  G05B19/4097 ,  G05B19/41825 ,  G05B2219/31352 ,  G05B2219/35189 ,  G05B2219/39105 ,  G05B2219/39467 ,  G05B2219/45143 ,  Y02P90/087 ,  Y02P90/20 ,  Y02P90/265 ,  Y02P90/86

Abstract: An intelligent sheet metal bending system is disclosed, having a cooperative generative planning system. A planning module interacts with several expert modules to develop a bending plan. The planning module utilizes a state-space search algorithm. Computerized methods are provided for selecting a robot gripper and a repo gripper, and for determining the optimal placement of such grippers as they are holding a workpiece being formed by the bending apparatus. Computerized methods are provided for selecting tooling to be used by the bending apparatus, and for determining a tooling stage layout. An operations planning method is provided which allows the bending apparatus to be set up concurrently while time-consuming calculations, such as motion planning, are performed. An additional method or system is provided for positioning tooling stages by using a backgage guide member which guides placement of a tooling stage along the die rail the bending apparatus. A method is provided for learning motion control offset values, and for eliminating the need for superfluous sensor-based control operations once the motion control offset values are known. The planning system may be used for facilitating functions such as design and assembly system, which may perform designing, costing, scheduling and/or manufacture and assembly.

Abstract translation: 公开了一种具有协同生成规划系统的智能钣金弯曲系统。 规划模块与几个专家模块交互制定弯曲计划。 规划模块利用状态空间搜索算法。 提供了用于选择机器人夹持器和回收夹持器的计算机化方法，并且用于确定这些夹持器在保持由弯曲装置形成的工件时的最佳布置。 提供了用于选择要由弯曲装置使用的工具以及用于确定加工台布局的计算机化方法。 提供了一种操作规划方法，其允许同时设置弯曲装置，同时执行诸如运动规划等耗时的计算。 提供了一种额外的方法或系统，用于通过使用引导工具台沿着模具轨道放置弯曲装置的引导构件定位工具台。 提供了一种用于学习运动控制偏移值的方法，并且一旦知道运动控制偏移值就不需要多余的基于传感器的控制操作。 规划系统可用于促进诸如设计和组装系统的功能，其可以执行设计，成本核算，调度和/或制造和组装。

公开(公告)号：US06256595B1

公开(公告)日：2001-07-03

申请号：US09034356

申请日：1998-03-04

Applicant: Edward Schwalb ,  Elena Pashenkova ,  Dmitry Leshchiner ,  Kensuke Hazama

Inventor： Edward Schwalb ,  Elena Pashenkova ,  Dmitry Leshchiner ,  Kensuke Hazama

IPC: G06F1750

CPC classification number: G06T19/00 ,  G06T2219/012 ,  Y10S715/964

Abstract: A dimensioning system is provided for a computer generated model of a sheet metal part including a plurality of entities. The dimensioning system comprises a model display, an indicator, a selector, a dimension defining system, and a dimension display. The model display displays a representation of the model on a display screen. The indicator indicates to a user candidate entities of the model, in response to user events, that may be selected. The selector selects two entities of the model, based on an indicated candidate entity. The dimension defining system defines each dimension associated with the selected entities of the model. The dimension display displays dimension information on the display screen based on the defined dimension. A repositioning system is also provided for a computer generated model of a sheet metal part represented on a display screen. The sheet metal part has associated dimensions displayed along with the sheet metal part on the display screen. The repositioning system comprises a repositioner and a repositioned dimension display. The repositioner repositions the dimension to a desired position relative to the model. The repositioned dimension display displays the dimension at the desired position relative to the model.

Abstract translation: 为包括多个实体的钣金零件的计算机生成模型提供了尺寸标注系统。 尺寸标注系统包括模型显示，指示器，选择器，尺寸定义系统和尺寸显示。 模型显示在显示屏幕上显示模型的表示。 该指示符向用户指示可以选择的响应于用户事件的模型的候选实体。 选择器根据指定的候选实体选择模型的两个实体。 维度定义系统定义与模型的所选实体相关联的每个维度。 维度显示基于定义的维度在显示屏幕上显示维度信息。 还提供了用于在显示屏上表示的钣金零件的计算机生成模型的重新定位系统。 钣金零件具有与显示屏上的钣金零件一起显示的相关尺寸。 重新定位系统包括重新定位器和重新定位的维度显示。 重新定位器将尺寸重新定位到相对于模型的期望位置。 重新定位的尺寸显示在相对于模型的期望位置显示尺寸。

公开(公告)号：US06212441B1

公开(公告)日：2001-04-03

申请号：US09007182

申请日：1998-01-14

Applicant: Kensuke Hazama ,  Kalev Kask ,  Satoshi Sakai ,  Anand Heriharan Subbaraman

Inventor： Kensuke Hazama ,  Kalev Kask ,  Satoshi Sakai ,  Anand Heriharan Subbaraman

IPC: G06F1900

CPC classification number: G06T19/00 ,  G05B19/4097 ,  G05B19/4181 ,  G06Q10/06 ,  G06T7/41 ,  G06T2207/30136 ,  Y02P90/06 ,  Y02P90/265 ,  Y10S707/99944 ,  Y10S715/964

Abstract: An apparatus and method is provided for managing and distributing design and manufacturing information throughout a factory in order to facilitate the production of components, such as bent sheet metal components. In accordance with an aspect of the present invention, the management and distribution of critical design and manufacturing information is achieved by storing and distributing the design and manufacturing information associated with each job. By replacing the traditional paper job set-up or work sheet with, an electronically stored job sheet that can be accessed instantaneously from any location in the factory, the present invention improves the overall efficiency of the factory. In addition, through the various aspects and features of the invention, the organization and accessibility of part information and stored expert knowledge is improved.

Abstract translation: 提供了一种用于在整个工厂中管理和分配设计和制造信息的装置和方法，以便于生产诸如弯曲的金属板零件的部件。 根据本发明的一个方面，通过存储和分发与每个作业相关联的设计和制造信息来实现关键设计和制造信息的管理和分配。 通过用工厂中的任何位置即时访问的电子存储工作表来代替传统的纸张作业设置或工作表，本发明提高了工厂的整体效率。 另外，通过本发明的各个方面和特征，改进了部件信息的组织和可访问性以及存储的专家知识。