公开(公告)号：US5987958A

公开(公告)日：1999-11-23

申请号：US980301

申请日：1997-11-28

申请人： Richard M. Moore, Jr. ,  David Alan Bourne ,  Kerry L. Elkins ,  Anne Marie Murray ,  Robert H. Sturgas, Jr. ,  Kensuke Hazama

发明人： Richard M. Moore, Jr. ,  David Alan Bourne ,  Kerry L. Elkins ,  Anne Marie Murray ,  Robert H. Sturgas, Jr. ,  Kensuke Hazama

IPC分类号： B21D5/00 ,  B21D5/02 ,  B21D43/00 ,  B23Q3/18 ,  B23Q15/22 ,  B23Q17/22 ,  B25J9/16 ,  B25J19/02 ,  B21D43/10

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US06292716B1

公开(公告)日：2001-09-18

申请号：US09394862

申请日：1999-09-13

申请人： Richard M. Moore, Jr. ,  David Alan Bourne ,  Kerry L. Elkins ,  Anne Marie Murray ,  Robert H. Sturges, Jr. ,  Kensuke Hazama

发明人： Richard M. Moore, Jr. ,  David Alan Bourne ,  Kerry L. Elkins ,  Anne Marie Murray ,  Robert H. Sturges, Jr. ,  Kensuke Hazama

IPC分类号： G05B1500

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

摘要： Several methods and subsystems are provided 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 provided, 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 provided, along with a springback control method utilizing the disclosed angle sensor.

摘要翻译： 提供了几种方法和子系统，用于在工件被加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。 还提供了几种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，提供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：US5761940A

公开(公告)日：1998-06-09

申请号：US385829

申请日：1995-02-09

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

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

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

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US5844146A

公开(公告)日：1998-12-01

申请号：US741553

申请日：1996-10-31

申请人： Anne Marie Murray ,  Richard M. Moore, Jr. ,  David Alan Bourne ,  Melvin W. Siegel

发明人： Anne Marie Murray ,  Richard M. Moore, Jr. ,  David Alan Bourne ,  Melvin W. Siegel

IPC分类号： B21D5/02 ,  B25J15/08 ,  B25J19/02 ,  G01F1/74 ,  G01L1/04 ,  G01L1/24 ,  G01L5/00 ,  G01L5/16 ,  G01L5/22

CPC分类号： B21D5/002 ,  B21D5/004 ,  B21D5/04 ,  G01L1/24 ,  G01L5/166 ,  G01L5/226

摘要： A fingerpad force sensor system is disclosed which is useful for detecting process variations during manufacturing processes in which a plurality of force sensors are applied to the gripper of a robot in order to monitor shear forces applied to the workpiece held by the robot during, for example, sheet-metal bending manufacturing processes. Each sensor is encapsulated in rubber pads which are secured to the gripper of the robot such that they monitor the status of the workpiece during all phases of automated bending: material acquisition, material handling, machine loading and unloading.

公开(公告)号：US6067862A

公开(公告)日：2000-05-30

申请号：US190211

申请日：1998-11-13

申请人： Anne Marie Murray ,  Richard M. Moore, Jr. ,  David Alan Bourne ,  Melvin W. Siegel

发明人： Anne Marie Murray ,  Richard M. Moore, Jr. ,  David Alan Bourne ,  Melvin W. Siegel

IPC分类号： B21D5/02 ,  B25J15/08 ,  B25J19/02 ,  G01F1/74 ,  G01L1/04 ,  G01L1/24 ,  G01L5/00 ,  G01L5/16 ,  G01L5/22

CPC分类号： B21D5/002 ,  B21D5/004 ,  B21D5/04 ,  G01L1/24 ,  G01L5/166 ,  G01L5/226

摘要： A fingerpad force sensor system is disclosed which is useful for detecting process variations during manufacturing processes in which a plurality of force sensors are applied to the gripper of a robot in order to monitor shear forces applied to the workpiece held by the robot during, for example, sheet-metal bending manufacturing processes. Each sensor is encapsulated in rubber pads which are secured to the gripper of the robot such that they monitor the status of the workpiece during all phases of automated bending: material acquisition, material handling, machine loading and unloading.

摘要翻译： 公开了一种指垫力传感器系统，其用于在制造过程中检测过程变化，其中多个力传感器被施加到机器人的夹持器，以便例如监视施加到机器人所保持的工件的剪切力，例如 钣金弯曲制造工艺。 每个传感器被封装在固定到机器人的夹持器上的橡胶垫中，使得它们在自动弯曲的所有阶段期间监测工件的状态：材料采集，材料处理，机器装载和卸载。

公开(公告)号：US5969973A

公开(公告)日：1999-10-19

申请号：US386369

申请日：1995-02-09

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

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

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

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US06507767B2

公开(公告)日：2003-01-14

申请号：US09930252

申请日：2001-08-16

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

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

IPC分类号： G06F1900

CPC分类号： 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

摘要： 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：US5889926A

公开(公告)日：1999-03-30

申请号：US898551

申请日：1997-07-22

申请人： David Alan Bourne ,  Sivaraj Sivarama Krishnan

发明人： David Alan Bourne ,  Sivaraj Sivarama Krishnan

IPC分类号： B21D5/01 ,  B25J9/16 ,  B25J9/18 ,  G05B19/4093 ,  G06F15/20

CPC分类号： B25J9/1666 ,  G05B2219/40421 ,  G05B2219/40444 ,  G05B2219/40445 ,  G05B2219/40446 ,  G05B2219/40458 ,  G05B2219/40463 ,  G05B2219/40476 ,  G05B2219/40488 ,  G05B2219/40497 ,  G05B2219/45143

摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m-1)th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

摘要翻译： 提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的空闲空间内的运动。 在执行该方法/系统时，生成一个计划，使得机器人能够通过弯曲装置执行的整个弯曲操作顺序保持和操纵工件。 针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且模拟了限制自由空间的机器人和障碍物的至少一部分。 确定机器人和每个建议的运动的障碍物之间是否发生碰撞，并且通过针对运动序列中的每个运动选择包括运动序列的计划，将不会产生所提出的运动 在碰撞中，这将使机器人更接近目标位置。 在选择拟议的动议时，可以考虑与每个拟议移动相关联的估计费用。 估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或估计成本可以根据机器人行进时间的函数来确定 第（m-1）运动到第m运动。 提供了不同的方法来执行精细运动规划和总体运动规划。

公开(公告)号：US06493607B1

公开(公告)日：2002-12-10

申请号：US09160142

申请日：1998-09-25

申请人： David Alan Bourne ,  Sivaraj Sivarama Krishnan

发明人： David Alan Bourne ,  Sivaraj Sivarama Krishnan

IPC分类号： G05B1904

CPC分类号： B25J9/1666 ,  G05B2219/40421 ,  G05B2219/40444 ,  G05B2219/40445 ,  G05B2219/40446 ,  G05B2219/40458 ,  G05B2219/40463 ,  G05B2219/40476 ,  G05B2219/40488 ,  G05B2219/40497 ,  G05B2219/45143

摘要： A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position. In choosing proposed movements, an estimated cost associated with each proposed movement may be taken into account. The estimated cost may be based upon a euclidian distance to the goal position from the position of the robot after the particular proposed movement is made as the mth movement, and/or the estimated cost may be determined as a function of the robot travel time from an (m−1) th movement to the mth movement. Different methods are provided for performing fine motion planning and gross motion planning.

摘要翻译： 提供了一种计算机化方法/系统，用于规划机器人在由初始位置到目标位置的障碍物限制的空闲空间内的运动。 在执行该方法/系统时，生成一个计划，使得机器人能够通过弯曲装置执行的整个弯曲操作顺序保持和操纵工件。 针对运动序列中的第m次运动提出了由机器人制造的多个提出的运动，并且模拟了限制自由空间的机器人和障碍物的至少一部分。 确定机器人和每个建议的运动的障碍物之间是否发生碰撞，并且通过针对运动序列中的每个运动选择包括运动序列的计划，将不会产生所提出的运动 在碰撞中，这将使机器人更接近目标位置。 在选择拟议的动议时，可以考虑与每个拟议移动相关联的估计费用。 估计成本可以基于在将特定提议的运动作为第m次运动之后从机器人的位置到达目标位置的欧几里德距离，和/或估计成本可以根据机器人行进时间的函数来确定 第（m-1）运动到第m运动。 提供了不同的方法来执行精细运动规划和总体运动规划。

公开(公告)号：US06233538B1

公开(公告)日：2001-05-15

申请号：US08927291

申请日：1997-09-11

申请人： Satyandra Kumar Gupta ,  David Alan Bourne

发明人： Satyandra Kumar Gupta ,  David Alan Bourne

IPC分类号： G06G748

CPC分类号： B25J9/1666 ,  G05B19/4097 ,  G05B2219/40054 ,  G05B2219/40476 ,  G05B2219/40517 ,  G05B2219/40628

摘要： A setup planning technique is provided in which a family of parts to be manufactured is identified, and the setup constraints imposed by the various bending operations in the part family are determined. The setup constraints may define or describe spatial constraints on the sizes and locations of various tooling stages in the setup. After identifying setup constraints, setup plans are generated that satisfy all setup constraints. Any setup plan that satisfies all setup constraints may then be utilized to accommodate every part in the part family. Constraint propagation techniques may be utilized to identify compatible setup constraints and create setup plans. According to the various features and aspects of the invention, dissimilar sheet metal parts can share setups, and the need for extra tooling and fixturing may be minimized. Further, the present invention provides potential savings over state-of-the-art systems, and increases production capability and overall through-put of manufacturing facilities.

摘要翻译： 提供了一种设置规划技术，其中识别要制造的零件系列，并且确定由零件族中的各种弯曲操作施加的设定约束。 设置约束可以定义或描述设置中各种加工阶段的尺寸和位置的空间约束。 在识别设置约束之后，生成满足所有设置约束的安装计划。 然后可以利用满足所有设置约束的任何设置计划来适应部件系列中的每个部件。 约束传播技术可用于识别兼容的设置约束并创建安装计划。 根据本发明的各种特征和方面，不同的钣金零件可以共享装置，并且可以最小化对额外的模具和夹具的需要。 此外，本发明提供了对最先进系统的潜在节约，并且提高了制造设备的生产能力和总体输入。