公开(公告)号：US06237380B1

公开(公告)日：2001-05-29

申请号：US09495849

申请日：2000-02-01

申请人： Takuya Kanamori

发明人： Takuya Kanamori

IPC分类号： B21D712

CPC分类号： B21D7/14 ,  B21D7/12

摘要： There is disclosed a bending device, in which working data of feeding pitch between bending points, bending direction angle and bending angel is prepared from design data of a work, and a dividing point is determined to share the bending process by first and second joint type robots at one place of a straight line of the work able to be held by a chuck mechanism. After trial working, the working data is corrected. During the working, the first and second joint type robots having joints rotatable around axes parallel with the axial direction of the work are moved to the bending position. The work is held by a bending die and a clamping die rotatable around the bending die of a bending mechanism attached to the tip end of each joint type robot, and bent/worked by rotating the clamping die. When moving to the next moving position each joint is rotated to change the attitude of the bending mechanism, and the bending mechanism is moved along the work while the work remains between the bending die and the clamping die. After the bending process is completed, the work is held by the beading mechanism of the second joint type robot, moved in accordance with the angle of the bending mechanism of the first joint type robot in a direction in which the bending mechanism of the first joint type robot is not interfered with, and automatically moved to the unloading position.

摘要翻译： 公开了一种弯曲装置，其中从工件的设计数据准备弯曲点之间的进给间距，弯曲方向角度和弯曲角度的工作数据，并且确定分割点以通过第一和第二关节型共享弯曲过程 机器人在一个直线工作的一个地方能够被卡盘机构抓住。 试用后，工作数据更正。 在加工过程中，具有可绕与工件的轴向平行的轴线旋转的关节的第一和第二关节型机器人移动到弯曲位置。 工件由弯曲模具和夹持模具保持，该模具围绕连接到每个关节型机器人的末端的弯曲机构的弯曲模具旋转，并且通过旋转夹紧模具来弯曲/加工。 当移动到下一移动位置时，每个关节旋转以改变弯曲机构的姿态，并且当工件保持在弯曲模具和夹紧模具之间时，弯曲机构沿着工件移动。 在弯曲处理完成之后，通过第二关节型机器人的卷边机构将工件保持在第一关节型机器人的弯曲机构的方向上，该第二关节型机器人的滚珠根据第一关节型机器人的弯曲机构的角度移动 型机器人不受干扰，并自动移动到卸载位置。

公开(公告)号：US06189353B1

公开(公告)日：2001-02-20

申请号：US09495848

申请日：2000-02-01

申请人： Takuya Kanamori

发明人： Takuya Kanamori

IPC分类号： B21D702

CPC分类号： B21D7/14 ,  B21D7/12

摘要： There is disclosed a bending device, in which working data of feeding pitch between bending points, bending direction angle and bending angle is prepared from design data of a work, and a dividing point is determined to share the bending process by first and second joint type robots at one place of a straight line of the work able to be held by a chuck mechanism. After trial working, the working data is corrected. During the working, the first and second joint type robots having joints rotatable around axes parallel with the axial direction of the work are moved to the bending position. The work is held by a bending die and a clamping die rotatable around the bending die of a bending mechanism attached to the tip end of each joint type robot, and bent/worked by rotating the clamping die. When moving to the next moving position, each joint is rotated to change the attitude of the bending mechanism, and the bending mechanism is moved along the work while the work remains between the bending die and the clamping die. After the bending process is completed, the work is held by the bending mechanism of the second joint type robot, moved in accordance with the angle of the bending mechanism of the first joint type robot in a direction in which the bending mechanism of the first joint robot is not interfered with, and automatically moved to the unloading position.

摘要翻译： 公开了一种弯曲装置，其中根据工件的设计数据准备弯曲点之间的进给间距，弯曲方向角度和弯曲角度的工作数据，并且确定分割点以通过第一和第二关节型共享弯曲过程 机器人在一个直线工作的一个地方能够被卡盘机构抓住。 试用后，工作数据更正。 在加工过程中，具有可绕与工件的轴向平行的轴线旋转的关节的第一和第二关节型机器人移动到弯曲位置。 工件由弯曲模具和夹持模具保持，该模具围绕连接到每个关节型机器人的末端的弯曲机构的弯曲模具旋转，并且通过旋转夹紧模具来弯曲/加工。 当移动到下一个移动位置时，每个关节旋转以改变弯曲机构的姿态，并且当工件保持在弯曲模具和夹紧模具之间时，弯曲机构沿着工件移动。 在弯曲处理完成之后，通过第二关节型机器人的弯曲机构保持作业，该第二关节型机器人的弯曲机构根据第一关节型机器人的弯曲机构的角度沿第一关节的弯曲机构的方向 机器人不受干扰，并自动移动到卸载位置。

公开(公告)号：US06185968B1

公开(公告)日：2001-02-13

申请号：US09241711

申请日：1999-02-02

申请人： Takuya Kanamori

发明人： Takuya Kanamori

IPC分类号： B21D712

CPC分类号： B21D7/14 ,  B21D7/12

摘要： There is disclosed a bending device, in which working data of feeding pitch between bending points, bending direction angle and bending angle is prepared from design data of a work, and a dividing point is determined to share the bending process by first and second joint type robots at one place of a straight line of the work able to be held by a chuck mechanism. After trial working, the working data is corrected. During the working, the first and second joint robots having joints rotatable around axes parallel with the axial direction of the work are moved to the bending position The work is held by a bending die and a clamping die rotatable around the bending die of a bending mechanism attached to the tip end of each joint type robot, and bent/worked by rotating the clamping die. When moving to the next moving position, each joint is rotated to change the attitude of the bending mechanism, and the bending mechanism is moved along the work while the work remains between the bending die and the clamping die. After the bending process is completed, the work is held by the bending mechanism of the second joint type robot, moved in accordance with the angle of the bending mechanism of the first joint type robot in a direction in which the bending mehanism of the first joint type robot is not interfered with, and automatically moved to the unloading position.

摘要翻译： 公开了一种弯曲装置，其中根据工件的设计数据准备弯曲点之间的进给间距，弯曲方向角度和弯曲角度的工作数据，并且确定分割点以通过第一和第二关节型共享弯曲过程 机器人在一个直线工作的一个地方能够被卡盘机构抓住。 试用后，工作数据更正。 在加工过程中，具有可绕与工件的轴向平行的轴线旋转的关节的第一和第二关节机器人被移动到弯曲位置。工件由弯曲模具和可绕弯曲机构的弯曲模具旋转的夹紧模具 连接到每个关节型机器人的末端，并通过旋转夹紧模来弯曲/加工。 当移动到下一个移动位置时，每个关节旋转以改变弯曲机构的姿态，并且当工件保持在弯曲模具和夹紧模具之间时，弯曲机构沿着工件移动。 在弯曲处理完成之后，通过第二关节型机器人的弯曲机构保持作业，该第二关节型机器人的弯曲机构根据第一关节型机器人的弯曲机构的角度沿第一关节的弯曲变形 型机器人不受干扰，并自动移动到卸载位置。