公开(公告)号：US5148693A

公开(公告)日：1992-09-22

申请号：US783918

申请日：1991-10-29

Applicant: Franco Sartorio ,  Bruno Nicoletta

Inventor： Franco Sartorio ,  Bruno Nicoletta

IPC: B21D5/02

CPC classification number: B21D5/0209 ,  B21D5/006 ,  G01B13/18 ,  Y10S72/702

Abstract: A method for indirect detecting of folding angles (.beta.) of a metal sheet (4) during the folding by a folding machine (1) which has a punch (2), and a die (3) provided with a depressed seat (5) is disclosed. The folding angle (.beta.) is obtained by algebraic summing of an angle (.alpha.) formed by adjacent two walls (10, 10, 13, 13, 13a, 13b) of the punch (2) or the seat (5) and each angle (.alpha.1, .alpha.2) between a portion (7, 8, 8a) of the metal sheet (4) and the said wall. The angles (.alpha.1, .alpha.2) formed between the said portion (7, 8, 8a) and each wall (10, 13, 13a, 13b) are calculated by using the measurements of the distances (D1, D2, D3, D4) from the wall to the portion measured at desired two points on the wall. The distances are detected by a device such as differential transformers (18, 19, 20) and pneumatic gauges (50, 51, 52, 53, 54, 55) incorporated in the punch (2) or the die (3). The angle (.beta., .beta.1, .beta.2) once achieved is calculated during the folding operation after elastic restoring of the metal sheet has been caused. If the angle calculated is less than the desired, a supplementary folding is carried out to achieve a precise folding angle. The whole folding is carried out by a single folding operation without requiring a second positioning of the metal sheet.

Abstract translation: 一种在具有冲头（2）的折叠机（1）和设置有凹陷座（5）的模具（3）折叠期间间接检测金属片（4）的折角（β）的方法， 被披露。 折叠角（β）通过由冲头（2）或座（5）的相邻两个壁（10,10,13,13,13a，13b）形成的角度（α）的代数求和获得，并且每个角度 （4）的部分（7,8,8a）和所述壁之间的角（α1，α2）。 通过使用距离（D1，D2，D3，D4）的测量来计算在所述部分（7,8,8a）和每个壁（10,13,13a，13b）之间形成的角度（α1，α2） ）从墙壁到在墙壁上所需的两点测量的部分。 距离由诸如差分变压器（18,19,20）和并入冲头（2）或模具（3）中的气动计（50,51,52,53,54,55）之类的装置检测。 在金属板的弹性复原之后，在折叠操作期间计算一次实现的角度（β，β1，β2）。 如果计算出的角度小于期望值，则执行补充折叠以实现精确的折叠角度。 整个折叠通过单个折叠操作进行，而不需要金属片的第二定位。

公开(公告)号：US5099666A

公开(公告)日：1992-03-31

申请号：US612574

申请日：1990-11-14

Applicant: Franco Sartorio ,  Bruno Nicoletta

Inventor： Franco Sartorio ,  Bruno Nicoletta

IPC: B21D5/02

CPC classification number: B21D5/0209 ,  Y10S72/702

Abstract: A method and a device for indirect detecting of folding angles (.beta.) of a metal sheet (4) during the folding by a folding machine (1) which has a punch (2), and a die (3) provided with a depressed seat (5) is disclosed. The folding angle (.beta.) is obtained by alebraic summing of an angle (.alpha.) formed by adjacent two walls (10, 10, 13, 13, 13a, 13b) of the punch (2) or the seat (5) and each angle (.alpha.1, .alpha.2) between a portion (7, 8, 8a) of the metal sheet (4) and the said wall. The angles (.alpha.1, .alpha.2) formed between the said portion (7, 8, 8a) and each wall (10, 13, 13a, 13b) are calculated by using the measurements of the distances (D1, D2, D3, D4) from the wall to the portion measured at desired two points on the wall. The distances are detected by a device such as differential transformers (18, 19, 20) and pneumatic gauges (50, 51, 52, 53, 54, 55) incorporated in the punch (2) or the die (3). The angle (.beta., .beta.1, .beta.2) once achieve is calculated during the folding operation after elastic restoring of the metal sheet has been caused. If the angle calculated is less than the desired, a supplementary folding is carried out to achieve a precise folding angle. The whole folding is carried out by a single folding operation without requiring a second positioning of the metal sheet.

Abstract translation: 一种在具有冲头（2）的折叠机（1）折叠期间间接地检测金属片（4）的折叠角（β）的装置，以及设置有凹座的模具（3） （5）。 折叠角（β）通过由冲头（2）或座（5）的相邻的两个壁（10,10,13,13,13a，13b）形成的角度（α）和每个角度 （4）的部分（7,8,8a）和所述壁之间的角（α1，α2）。 通过使用距离（D1，D2，D3，D4）的测量来计算在所述部分（7,8,8a）和每个壁（10,13,13a，13b）之间形成的角度（α1，α2） ）从墙壁到在墙壁上所需的两点测量的部分。 距离由诸如差分变压器（18,19,20）和并入冲头（2）或模具（3）中的气动计（50,51,52,53,54,55）之类的装置检测。 在金属板的弹性复原后的折叠操作期间，计算一次实现的角度（β，β1，β2）。 如果计算出的角度小于期望值，则执行补充折叠以实现精确的折叠角度。 整个折叠通过单个折叠操作进行，而不需要金属片的第二定位。

公开(公告)号：US07886629B2

公开(公告)日：2011-02-15

申请号：US10332262

申请日：2001-06-23

Applicant: Franco Sartorio

Inventor： Franco Sartorio

IPC: G05G11/00 ,  B23Q1/62

CPC classification number: B23Q1/012 ,  B23Q1/445 ,  B25J9/1615 ,  G05B19/39 ,  G05B2219/40289 ,  G05B2219/40293 ,  G05B2219/41457 ,  G05B2219/42225 ,  G05B2219/49284 ,  Y10T74/20354

Abstract: A machine tool comprises a first travelling assembly (10) which carries in its turn a second travelling assembly (22). The first assembly (10) is adapted to position the second assembly (22) in a relatively wide space (S1) and with movements at relatively low speeds and accelerations. The second assembly (22) carries in its turn a tool which is provided with actuators for positioning the tool in a relatively narrow space (S2) and with movements at relatively high speeds and accelerations. The machine includes means for controlling the movements of the two assemblies (10, 22) which are so arranged to obtain s global movement of the tool without solutions of continuity in all the space of movement (S1) of the first assembly (10). The invention also relates to a manipulator device which can be used independently or be installed as a second assembly (22) on a travelling structure of a machine tool.

Abstract translation: 一种机床包括第一行进组件（10），该第一行进组件依次承载第二行进组件（22）。 第一组件（10）适于将第二组件（22）定位在相对宽的空间（S1）中并且以相对较低的速度和加速度的运动。 第二组件（22）又带有一个工具，该工具设置有用于将工具定位在相对狭窄的空间（S2）中并具有相对较高速度和加速度的运动的致动器。 机器包括用于控制两个组件（10,22）的运动的装置，其被布置成获得工具的全局运动，而没有在第一组件（10）的所有运动空间（S1）中具有连续性的解决方案。 本发明还涉及一种可以独立使用或作为第二组件（22）安装在机床的行进结构上的机械手装置。

公开(公告)号：US5328222A

公开(公告)日：1994-07-12

申请号：US743300

申请日：1991-08-14

Applicant: Franco Sartorio ,  Bruno Ballesio ,  Stefano Vergano

Inventor： Franco Sartorio ,  Bruno Ballesio ,  Stefano Vergano

IPC: B25J17/00 ,  B25J15/00 ,  B25J15/04 ,  B25J17/02

CPC classification number: B25J15/04 ,  B25J15/0004 ,  B25J17/0208 ,  Y10S294/902

Abstract: A transmission coupling for manipulator head includes a support body (50) connected to the manipulator head (4), an intermediate transmission member (76) slidable on the support body (50) along a first line (C), and an attachment member (28) slidable on the intermediate member (76) along a second line (B) perpendicular to the first line. The attachment member can pivot relative to the support body (50) about at least two mutually-perpendicular axes substantially parallel to the plane defined by the first and second lines. The present invention also relates to a rapid attachment device for an interchangeable tool for a manipulator head (104) include a base body (106) connected to the manipulator head and a generating device for providing a force for retaining the tool (102). The base body and the tool have respective cooperating abutment surfaces which are kept in contact as a result of the force exerted by the generating device and are adapted to establish the position of the tool relative to the head along a first line of constraint. Constraining members (118, 120) are provided for constraining the two degrees of freedom of the tool in a plane substantially perpendicular to the first line of constraint.

Abstract translation: PCT No.PCT / JP90 / 01656 Sec。 371日期1991年8月14日 102（e）日期1991年8月14日PCT 1990年12月19日PCT PCT。 公开号WO91 / 08871 日期：1991年6月27日。一种用于操纵器头部的传动联轴器包括连接到操纵器头部的支撑体（50），可沿着第一线（C）在支撑体（50）上滑动的中间传动部件 ）和沿着垂直于第一线的第二线（B）在中间构件（76）上可滑动的附接构件（28）。 附接构件可以围绕基本上平行于由第一和第二线限定的平面的至少两个相互垂直的轴线相对于支撑体（50）枢转。 本发明还涉及一种用于机械手头（104）的可互换工具的快速附接装置，包括连接到操纵器头部的基体（106）和用于提供用于保持工具（102）的力的发生装置。 基体和工具具有相应的配合的邻接表面，其由于由发生装置施加的力而保持接触，并且适于沿着第一限制线确定工具相对于头部的位置。 提供约束构件（118,120）用于在基本上垂直于第一约束线的平面中约束工具的两个自由度。

公开(公告)号：US5192260A

公开(公告)日：1993-03-09

申请号：US612576

申请日：1990-11-14

Applicant: Franco Sartorio ,  Mario Scavino ,  Stefano Vergano

Inventor： Franco Sartorio ,  Mario Scavino ,  Stefano Vergano

IPC: B21D43/10 ,  B21D5/02 ,  B23Q3/155

CPC classification number: B23Q3/15533 ,  Y10T483/1809

Abstract: An apparatus for transferring a machine part, with a frame body, a pair of machine part gripper members each supported on the frame body for sliding in predetermined direction, a resilient member for energizing the pair of machine part gripper members to move toward each other. Also disclosed is a gripper member movement mechanism for disengaging the pair of gripper members against the resilient force of the resilient members and a gripper member lock mechanism for locking the movement of the gripper members when the gripper members are at a predetermined distance from each other.

Abstract translation: 一种机架部件的转送装置，具有框架体，一对机器部件夹持部件，每个机架部件夹持部件均支撑在框架体上，用于沿预定方向滑动;弹性部件，用于使一对机器部件夹持部件相对于彼此移动。 还公开了一种用于克服弹性构件的弹力而使一对夹持构件脱开的夹持构件移动机构，以及夹持构件锁定机构，用于当夹持构件彼此处于预定距离时锁定夹持构件的运动。

公开(公告)号：US5005394A

公开(公告)日：1991-04-09

申请号：US284440

申请日：1988-12-14

Applicant: Franco Sartorio ,  Fabrizio Grassi ,  Gianpaolo Prunotto ,  Francesco Sgandurra

Inventor： Franco Sartorio ,  Fabrizio Grassi ,  Gianpaolo Prunotto ,  Francesco Sgandurra

IPC: B21D5/02 ,  B21D43/10 ,  G05B19/4097

CPC classification number: B21D5/0281 ,  B21D43/105 ,  B21D5/004 ,  G05B19/4097 ,  G05B2219/35012 ,  G05B2219/36112 ,  G05B2219/45143 ,  Y02P90/265

Abstract: A device for controlling a manipulator for handling a workpiece processed by a press brake. The press brake is equipped with a side sensor for detecting the horizontal X-axis direction positions parallel to the longitudinal direction of the upper and lower dies of the press brake. The manipulator is arranged to be movable in the X-axis direction and the head of the manipulator is arranged to be rotatable about first and second shafts of the manipulator. The device includes apparatus for inputting a position of the workpiece for an initial bending stage and apparatus for inputting an angle of rotation of the workpiece about the first and/or second shafts of the manipulator for each of a plurality of bending stages. Apparatus for sequentially calculating a position of the workpiece for the second and subsequent bending stages, based on the initial input of the workpiece which is input from the workpiece initial position input means, and the angle of rotation of the workpiece about the first and/or second shafts at each of the bending stages which is input from the workpiece rotation angle input means is inputted from the workpiece rotation angle input means is inputted is included in the device.

Abstract translation: 一种用于控制用于处理由压制机加工的工件的机械手的装置。 压力制动器配备有用于检测平行于压制机的上下模具的纵向的水平X轴方向位置的侧传感器。 所述机械手设置成能够在X轴方向上移动，并且所述操纵器的头部布置成能够围绕所述操纵器的第一和第二轴旋转。 该装置包括用于输入用于初始弯曲台的工件的位置的装置和用于为多个弯曲台中的每一个输入工件围绕机械手的第一和/或第二轴的旋转角度的装置。 基于从工件初始位置输入装置输入的工件的初始输入和第一和/或第二弯曲工件的工件的旋转角度，顺次计算第二和后续弯曲台的工件的位置的装置， 包括在装置中的是从工件旋转角度输入装置输入的每个弯曲台的第二轴从输入的工件旋转角输入装置输入。

公开(公告)号：US4735079A

公开(公告)日：1988-04-05

申请号：US880735

申请日：1986-07-01

Applicant: Franco Sartorio

Inventor： Franco Sartorio

IPC: B21D5/02 ,  B21D43/10 ,  B21D43/14 ,  B21D43/00

CPC classification number: B21D5/0281 ,  B21D43/105 ,  B21D43/14

Abstract: A process is described which allows metal sheets of different dimensions to be manipulated in a automatic manner by means of a numerically controlled robot provided with a pair of mechanical pincers; it consists in positioning the metal sheet onto a support table carried by a rotatable base to effect rotation thereof parallel to its own plane having previously released the metal sheet by the pincers, and, for metal sheets of large dimensions, displacing, with the pincers, both the metal sheets and the table on which it is lying simultaneously, which table is removable from the said base.

Abstract translation: 描述了允许通过具有一对机械钳子的数控机器人以自动方式操作不同尺寸的金属片的方法; 它包括将金属片定位在由可旋转基座承载的支撑台上，以平行于其自己的平面进行旋转，该平面预先通过钳子释放金属片，并且对于大尺寸的金属片，用钳子移位， 金属片和它同时躺在的桌子上，该桌子可从所述基座上移除。

公开(公告)号：US5584199A

公开(公告)日：1996-12-17

申请号：US325330

申请日：1994-12-13

Applicant: Franco Sartorio

Inventor： Franco Sartorio

IPC: G01B21/22 ,  B21D5/02 ,  G01B5/24 ,  G01B7/00 ,  G01B7/30

CPC classification number: B21D5/0209 ,  G01B5/24 ,  G01B7/30 ,  Y10S72/702

Abstract: A device for measuring an angle in a workpiece piece which includes a base; a pair of feelers which are movable relative to the base and each of which has an active surface for contacting a respective portion of the workpiece piece during the measurement; a thrust mechanism for bringing the active surfaces of said feelers into contact with the respective portions of the workpiece piece being measured; and a sensor mechanism for detecting the positions of the feelers relative to the base.

Abstract translation: PCT No.PCT / JP94 / 00257 Sec。 371日期1994年12月13日第 102（e）日期1994年12月13日PCT 1994年2月21日提交PCT公布。 公开号WO94 / 19662 1994年9月1日一种用于测量包括基座的工件的角度的装置; 一对可相对于基座移动的触针，每一个在测量期间具有用于接触工件的相应部分的活动表面; 用于使所述触针的活动表面与所测量的工件的相应部分接触的推力机构; 以及用于检测触针相对于基座的位置的传感器机构。

公开(公告)号：US5274213A

公开(公告)日：1993-12-28

申请号：US743298

申请日：1991-08-15

Applicant: Franco Sartorio

Inventor： Franco Sartorio

IPC: B23K9/12 ,  B23K9/28 ,  B25J9/04 ,  B25J9/06

CPC classification number: B23K9/287 ,  B23K9/12 ,  B25J9/042

Abstract: An electric welding robot (1) is disclosed. The robot comprises a projecting arm (9) movable horizontally and vertically (X, Z) and a first and a second rotating arms (19, 22) rotatable about vertical axis (E, F). The arms (9, 19, 22) are articulated with one another, and the second rotating arm (22) carries a welding electrode (29). The movement of the arms (9, 19, 22) are controlled by means (5, 8, 20, 23) to position the electrode (29) at desired positions and in desired directions for carrying out welding easily in any direction. The said means include second means (23) for rotating the second arm (22) forcibly about the axis (F) when necessary and automatically and mechanically clockwise about the axis (F) through an equal angle (.alpha.) when the first arm (19) is rotated forcibly by the first means (20) anti-clockwise about the axis (E) through an angle (.alpha.).

Abstract translation: PCT No.PCT / JP90 / 01655 Sec。 371日期1991年8月15日 102（e）日期1991年8月15日PCT 1990年12月19日PCT PCT。 出版物WO91 / 08856 日期：1991年6月27日。公开了一种电焊机器人（1）。 机器人包括水平和垂直（X，Z）可移动的突出臂（9）和可绕垂直轴线（E，F）旋转的第一和第二旋转臂（19,22）。 臂（9,19,22）彼此铰接，第二旋转臂（22）承载焊接电极（29）。 臂（9,19,22,23）的移动通过装置（5,8,20,23）来控制，以将电极（29）定位在期望的位置和期望的方向上，以便在任何方向上容易地进行焊接。 所述装置包括第二装置（23），当第一臂（19）在第一臂（19）处必要时，第二臂（22）围绕轴线（F）绕轴线（F）旋转第二臂 ）通过第一装置（20）通过角度（α）围绕轴线（E）逆时针旋转。

公开(公告)号：US5193967A

公开(公告)日：1993-03-16

申请号：US721543

申请日：1991-07-24

Applicant: Franco Sartorio

Inventor： Franco Sartorio

IPC: B21D43/02 ,  B21D43/16 ,  B21D43/20 ,  B65H5/10 ,  B65H29/52 ,  B65H39/075

CPC classification number: B65H29/52 ,  B21D43/027 ,  B21D43/16 ,  B21D43/20 ,  B65H39/075 ,  B65H5/10

Abstract: A device for transferring a workpiece to be presented for working includes a carrying member for picking up the workpiece from a withdrawal station. The carrying member includes an chute for receiving and transferring a product to a collecting station upon completion of the working.

Abstract translation: PCT No.PCT / JP90 / 01538 Sec。 371日期1991年4月24日 102（e）日期1991年4月24日PCT提交1990年11月28日PCT公布。 公开号WO91 / 08067 日期：1991年6月13日。一种用于传送待加工的工件的装置，包括用于从取出台拾取工件的承载构件。 承载构件包括用于在完成工作时接收和转移产品到收集站的滑槽。