公开(公告)号：US09547300B2

公开(公告)日：2017-01-17

申请号：US13994267

申请日：2011-12-19

申请人： Gerhard Angerer ,  Matthias Hoerl ,  Hagen Strasser ,  Helmut Theis ,  Thomas Weiss ,  Klemens Freudenthaler ,  Josef Gaggl

发明人： Gerhard Angerer ,  Matthias Hoerl ,  Hagen Strasser ,  Helmut Theis ,  Thomas Weiss ,  Klemens Freudenthaler ,  Josef Gaggl

IPC分类号： G05B19/18 ,  B21D5/00 ,  B21D55/00 ,  G05B19/19

CPC分类号： G05B19/182 ,  B21D5/00 ,  B21D55/00 ,  B30B15/26 ,  G05B19/19 ,  Y02P90/265

摘要： The invention relates to a machine controller comprising a sensor module (4), an evaluation module (9) and a control module (5), and the sensor module (4) has a convertor which converts a mechanical variable acting on the sensor module (4) into a proportional electric characteristic variable, and the evaluation module (9) is connected via a first signal connection (8) to the sensor module (4) and via a second signal connection (11) to the control module (5). The evaluation module (9) generates a signal profile from the detected electric signal by means of an analysis of potential and/or change, which is compared with at least one reference signal profile stored in a memory means of the evaluation module (9) by means of a comparison module of the evaluation module (9), from which the control signal is generated. Furthermore, at least one of the two signal connections (8, 11) is based on a wireless design.

摘要翻译： 本发明涉及包括传感器模块（4），评估模块（9）和控制模块（5）的机器控制器，并且传感器模块（4）具有转换器，其转换作用在传感器模块上的机械变量 4）成比例电特性变量，并且评估模块（9）经由第一信号连接（8）连接到传感器模块（4），并经由第二信号连接（11）连接到控制模块（5）。 评估模块（9）通过对电位和/或变化的分析从检测到的电信号中产生信号曲线，该分析与存储在评估模块（9）的存储器装置中的至少一个参考信号曲线进行比较，通过 评估模块（9）的比较模块的装置，从其生成控制信号。 此外，两个信号连接（8,11）中的至少一个基于无线设计。

公开(公告)号：US20130289760A1

公开(公告)日：2013-10-31

申请号：US13994267

申请日：2011-12-19

申请人： Gerhard Angerer ,  Matthias Hoerl ,  Hagen Strasser ,  Helmut Theis ,  Thomas Weiss

发明人： Gerhard Angerer ,  Matthias Hoerl ,  Hagen Strasser ,  Helmut Theis ,  Thomas Weiss

IPC分类号： G05B19/18

CPC分类号： G05B19/182 ,  B21D5/00 ,  B21D55/00 ,  B30B15/26 ,  G05B19/19 ,  Y02P90/265

摘要： The invention relates to a machine controller comprising a sensor module (4), an evaluation module (9) and a control module (5), and the sensor module (4) has a convertor which converts a mechanical variable acting on the sensor module (4) into a proportional electric characteristic variable, and the evaluation module (9) is connected via a first signal connection (8) to the sensor module (4) and via a second signal connection (11) to the control module (5). The evaluation module (9) generates a signal profile from the detected electric signal by means of an analysis of potential and/or change, which is compared with at least one reference signal profile stored in a memory means of the evaluation module (9) by means of a comparison module of the evaluation module (9), from which the control signal is generated. Furthermore, at least one of the two signal connections (8, 11) is based on a wireless design.

摘要翻译： 本发明涉及包括传感器模块（4），评估模块（9）和控制模块（5）的机器控制器，并且传感器模块（4）具有转换器，其转换作用在传感器模块上的机械变量 4）成比例电特性变量，并且评估模块（9）经由第一信号连接（8）连接到传感器模块（4），并经由第二信号连接（11）连接到控制模块（5）。 评估模块（9）通过对电位和/或变化的分析从检测到的电信号中产生信号曲线，该分析与存储在评估模块（9）的存储器装置中的至少一个参考信号曲线进行比较，通过 评估模块（9）的比较模块的装置，从其生成控制信号。 此外，两个信号连接（8,11）中的至少一个基于无线设计。

公开(公告)号：US08424359B2

公开(公告)日：2013-04-23

申请号：US12161394

申请日：2007-01-04

申请人： Helmut Theis ,  Otto Walter ,  Hagen Strasser

发明人： Helmut Theis ,  Otto Walter ,  Hagen Strasser

IPC分类号： B21J13/00 ,  B21C51/00

CPC分类号： B65H7/12 ,  B21D43/105 ,  B21D43/11 ,  B25J5/02 ,  B25J9/046 ,  B25J13/085 ,  B65H2220/02 ,  B65H2511/20 ,  B65H2511/51 ,  B65H2511/524 ,  B65H2515/10 ,  B65H2551/20 ,  B65H2553/212 ,  B65H2553/26 ,  B65H2701/173 ,  B65H2220/01 ,  B65H2220/03 ,  B65H2220/11

摘要： The invention describes a manufacturing device (1) and a method for bending blanks (4) or workpieces (5), having a bending press (2) and having a manipulator (3), which can be displaced in a raceway parallel to a longitudinal extent of a table and bending beam (10, 14), for workpiece transfer between a feeding or removal apparatus for the blanks (4) or the workpieces (5) and a forming region between bending tools (21). The manipulator (3) has an articulated-arm arrangement (33) having preferably three arms (34, 35, 36) which can be pivoted via pivoting bearing arrangements (37) about pivot axes (39) which are oriented parallel to the raceway, and said manipulator has a rotary unit (41), having a rotational axis (42) which extends perpendicularly with respect to the pivot axes (39), at one distal end of the articulated-arm arrangement (33). At least one detection device (50) which has a communications link to the control and monitoring device (25) is arranged on the articulated-arm arrangement (33), for a physical value which brings about a state change of an arm (34, 35, 36) of the articulated-arm arrangement (33) upon loading.

摘要翻译： 本发明描述了一种制造装置（1）和用于弯曲坯料（4）或工件（5）的方法，所述坯件（4）或工件（5）具有弯曲压力机（2）并具有操纵器（3），所述机械手可平行于纵向 用于坯料（4）或工件（5）的进料或去除装置之间的工件传送的工作台和弯曲梁（10,14）的范围以及弯曲工具（21）之间的成形区域。 操纵器（3）具有铰接臂装置（33），其优选地具有三个臂（34,35,36），所述臂可绕枢转轴线（39）枢转经由枢转轴承装置（37），所述枢转轴线（39）平行于所述滚道， 并且所述操纵器具有旋转单元（41），所述旋转单元具有在铰接臂装置（33）的一个远端处相对于枢转轴线（39）垂直延伸的旋转轴线（42）。 具有到控制和监视装置（25）的通信链路的至少一个检测装置（50）被布置在关节臂装置（33）上，用于实现手臂（34， 所述铰接臂装置（33）在装载时的位置。

公开(公告)号：US20100269555A1

公开(公告)日：2010-10-28

申请号：US12161394

申请日：2007-01-04

申请人： Helmut Theis ,  Otto Walter ,  Hagen Strasser

发明人： Helmut Theis ,  Otto Walter ,  Hagen Strasser

IPC分类号： B21D55/00 ,  B21D43/24

CPC分类号： B65H7/12 ,  B21D43/105 ,  B21D43/11 ,  B25J5/02 ,  B25J9/046 ,  B25J13/085 ,  B65H2220/02 ,  B65H2511/20 ,  B65H2511/51 ,  B65H2511/524 ,  B65H2515/10 ,  B65H2551/20 ,  B65H2553/212 ,  B65H2553/26 ,  B65H2701/173 ,  B65H2220/01 ,  B65H2220/03 ,  B65H2220/11

摘要： The invention describes a manufacturing device (1) and a method for bending blanks (4) or workpieces (5), having a bending press (2) and having a manipulator (3), which can be displaced in a raceway parallel to a longitudinal extent of a table and bending beam (10, 14), for workpiece transfer between a feeding or removal apparatus for the blanks (4) or the workpieces (5) and a forming region between bending tools (21). The manipulator (3) has an articulated-arm arrangement (33) having preferably three arms (34, 35, 36) which can be pivoted via pivoting bearing arrangements (37) about pivot axes (39) which are oriented parallel to the raceway, and said manipulator has a rotary unit (41), having a rotational axis (42) which extends perpendicularly with respect to the pivot axes (39), at one distal end of the articulated-arm arrangement (33). At least one detection device (50) which has a communications link to the control and monitoring device (25) is arranged on the articulated-arm arrangement (33), for a physical value which brings about a state change of an arm (34, 35, 36) of the articulated-arm arrangement (33) upon loading.

摘要翻译： 本发明描述了一种制造装置（1）和用于弯曲坯料（4）或工件（5）的方法，所述坯件（4）或工件（5）具有弯曲压力机（2）并具有操纵器（3），所述机械手可平行于纵向 用于坯料（4）或工件（5）的进料或去除装置之间的工件传送的工作台和弯曲梁（10,14）的范围以及弯曲工具（21）之间的成形区域。 操纵器（3）具有铰接臂装置（33），其优选地具有三个臂（34,35,36），所述臂可绕枢转轴线（39）枢转经由枢转轴承装置（37），所述枢转轴线（39）平行于所述滚道， 并且所述操纵器具有旋转单元（41），所述旋转单元具有在铰接臂装置（33）的一个远端处相对于枢转轴线（39）垂直延伸的旋转轴线（42）。 具有到控制和监视装置（25）的通信链路的至少一个检测装置（50）被布置在关节臂装置（33）上，用于实现手臂（34， 所述铰接臂装置（33）在装载时的位置。

公开(公告)号：US06938454B2

公开(公告)日：2005-09-06

申请号：US10986339

申请日：2004-11-11

申请人： Hagen Strasser ,  Helmut Theis ,  Thomas Bongardt ,  Georg Wünsch

发明人： Hagen Strasser ,  Helmut Theis ,  Thomas Bongardt ,  Georg Wünsch

IPC分类号： B21D5/02 ,  B21J13/10

CPC分类号： B21D5/02

摘要： A manufacturing system for folding sheet bars, particularly sheet metal bars, comprising a folding press with two press beams, which are adjustable in relation to each other and provided with folding dies, whereby the folding press is fed by means of an automated manipulating system. The manipulating system has three hinged arms connected via pivoting devices to form an arrangement of hinged arms. A first hinged arm is swivel-mounted on a swivel axle extending in a swivel device parallel to a guide track of a linearly displaceable chassis. A second and a third swivel axles supporting the hinged arms are arranged extending parallel to the swivel axle of the swivel device. A gripping system and a seizing device for picking up the sheet bars are arranged in another end area of the hinged-arm arrangement. A positioning device assures that the sheet bar is correctly positioned for the folding process.

摘要翻译： 一种用于折叠纸条，特别是金属板的制造系统，包括具有两个压力梁的折叠式压力机，所述压力机可相对于彼此调节并设置有折叠模具，由此折叠式压力机通过自动操纵系统进给。 操纵系统具有通过枢转装置连接的三个铰接臂，以形成铰接臂的布置。 第一铰接臂旋转安装在旋转轴上，该旋转轴在平行于可线性移动的底盘的导轨的旋转装置中延伸。 支撑铰链臂的第二和第三旋转轴布置成平行于旋转装置的旋转轴延伸。 在铰接臂装置的另一个端部区域中布置有夹紧系统和用于拾取薄板坯的抓取装置。 定位装置确保片材棒被正确定位以进行折叠处理。

公开(公告)号：US20050097940A1

公开(公告)日：2005-05-12

申请号：US10986339

申请日：2004-11-11

申请人： Hagen Strasser ,  Helmut Theis ,  Thomas Bongardt ,  Georg Wunsch

发明人： Hagen Strasser ,  Helmut Theis ,  Thomas Bongardt ,  Georg Wunsch

IPC分类号： B21D5/02 ,  B21D11/22

CPC分类号： B21D5/02

摘要： A manufacturing system for folding sheet bars, particularly sheet metal bars, comprising a folding press with two press beams, which are adjustable in relation to each other and provided with folding dies, whereby the folding press is fed by means of an automated manipulating system. The manipulating system has three hinged arms connected via pivoting devices to form an arrangement of hinged arms. A first hinged arm is swivel-mounted on a swivel axle extending in a swivel device parallel to a guide track of a linearly displaceable chassis. A second and a third swivel axles supporting the hinged arms are arranged extending parallel to the swivel axle of the swivel device. A gripping system and a seizing device for picking up the sheet bars are arranged in another end area of the hinged-arm arrangement. A positioning device assures that the sheet bar is correctly positioned for the folding process.

公开(公告)号：US07792609B2

公开(公告)日：2010-09-07

申请号：US10529262

申请日：2003-09-25

申请人： Hagen Strasser ,  Gerhard Sperrer

发明人： Hagen Strasser ,  Gerhard Sperrer

IPC分类号： G05B15/00

CPC分类号： B65H7/12 ,  B65H2511/30 ,  B65H2513/20 ,  B65H2515/50 ,  B65H2553/26 ,  B65H2557/11 ,  B65H2701/173 ,  B65H2220/03 ,  B65H2220/01

摘要： A gripping device for a manipulation system, particularly a robot, for receiving workpieces and feeding them from a readied stack of the workpieces to a manufacturing plant such as a metal sheet folding machine, punching press, welding plant, etc. The device has a gripper head fitted with gripping means such as suction cups, magnets, tongs, etc., and a detection system for detecting characteristics of the workpiece gripped by the gripping means. A pulse emitter excites vibrations in the workpiece and the vibration spectrum of the workpiece is compared to reference vibration data to determine characteristics of the gripped workpiece, such as whether two or more workpieces are stuck together, or whether the workpiece is the correct workpiece.

摘要翻译： 一种用于操作系统，特别是机器人的夹持装置，用于接收工件并将它们从准备好的工件堆栈馈送到诸如金属折页机，冲压机，焊接设备等的制造工厂。该装置具有夹具 头部装有诸如吸盘，磁铁，钳子等夹持装置，以及用于检测由夹持装置夹持的工件的特性的检测系统。 脉冲发射器激发工件中的振动，并将工件的振动频谱与参考振动数据进行比较，以确定夹持的工件的特性，例如两个或多个工件是否粘在一起，或工件是否是正确的工件。

公开(公告)号：US20060184282A1

公开(公告)日：2006-08-17

申请号：US10529262

申请日：2003-09-25

申请人： Hagen Strasser ,  Gerhard Sperrer

发明人： Hagen Strasser ,  Gerhard Sperrer

IPC分类号： G05B19/07

CPC分类号： B65H7/12 ,  B65H2511/30 ,  B65H2513/20 ,  B65H2515/50 ,  B65H2553/26 ,  B65H2557/11 ,  B65H2701/173 ,  B65H2220/03 ,  B65H2220/01

摘要： The invention relates to as gripping device (1) for a manipulation system (5), particularly for a robot, for receiving parts and feeding manufacturing equipment, for example a metal sheet folding machine, punching press, welding plant etc., with workpieces (2) from a readied stack (3) of workpieces (2), with a gripper head (6) fitted with gripping means (7), e.g. suction cups (9), magnets, tongs, etc., and with a detection system (17) for the workpeice (2) received by the gripping means. The detection system (12) and at least one pulse emitter acting upon the workpiece (2) as a vibration exciter, and at least one vibration sensor (15) are arranged on the gripper head (6). Furthermore, the invention relates to a method for operating such a gripper device (1).

摘要翻译： 本发明涉及用于操作系统（5）的抓握装置（1），特别是用于机器人的抓握装置（1），用于接收零件并将制造设备（例如金属折页机，冲压机，焊接设备等）与工件 2）从准备好的工件（3）的工件（2）上，夹具头（6）装配有夹紧装置（7），例如 吸盘（9），磁铁，钳子等，以及用于由夹持装置接收的用于工件（2）的检测系统（17）。 检测系统（12）和作为振动激励器作用在工件（2）上的至少一个脉冲发射器和至少一个振动传感器（15）布置在夹持器头部（6）上。 此外，本发明涉及一种操作这种夹持装置（1）的方法。