公开(公告)号：WO1996014949A2

公开(公告)日：1996-05-23

申请号：PCT/JP1995002289

申请日：1995-11-09

Applicant: AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD.

Inventor： AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD. ,  MOORE, Richard, M., Jr. ,  BOURNE, David, Alan ,  ELKINS, Kerry, L. ,  MURRAY, Anne, Marie ,  STURGES, Robert, H., Jr. ,  HAZAMA, Kensuke

IPC: B21D05/00

CPC classification number: 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

Abstract: Several methods and subsystems are disclosed for aligning a workpiece (16) as it is being loaded into a die space of a bending apparatus (29), 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 (100, 102) having force sensors (104) for sensing forces in directions perpendicular to and parallel to a die (19). In addition, a robot gripper sensor (128) is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper (14). 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（16）被装载到弯曲装置（29）的模具空间中时对准工件（16），并且用于在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 在弯曲装置环境中。 背部移动机构设置有具有力传感器（104）的手指测量机构（100,102），用于感测与模具（19）垂直并平行的方向的力。 另外，机器人夹持器传感器（128）被设置用于感测由夹持器（14）保持的工件的移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：WO1996014968A1

公开(公告)日：1996-05-23

申请号：PCT/JP1995002288

申请日：1995-11-09

Applicant: AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD.

Inventor： AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD. ,  MURRAY, Anne, Marie ,  MOORE, Richard, M., Jr. ,  BOURNE, David, Alan ,  SIEGEL, Melvin, W.

IPC: B25J13/08

CPC classification number: B21D5/002 ,  B21D5/004 ,  B21D5/04 ,  G01L1/24 ,  G01L5/166 ,  G01L5/226

Abstract: 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.

Abstract translation: 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：WO1996014967A1

公开(公告)日：1996-05-23

申请号：PCT/JP1995002290

申请日：1995-11-09

Applicant: AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD.

Inventor： AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD. ,  BOURNE, David, Alan ,  KRISHNAN, Sivaraj, Sivarama

IPC: B25J09/16

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

Abstract: 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 an 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.

Abstract translation: 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自由空间内的运动。 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，并且对机器人的至少一部分和限制自由空间的障碍物进行建模。 确定关于每个所提出的运动的机器人和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不会导致运动的建议运动来生成包括运动序列的计划 碰撞，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 （m -1）运动到第m次运动。 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：WO1996015481A2

公开(公告)日：1996-05-23

申请号：PCT/JP1995002291

申请日：1995-11-09

Applicant: AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD.

Inventor： AMADA COMPANY, LIMITED ,  U.S. AMADA, LTD. ,  BOURNE, David, Alan ,  WILLIAMS, Duane, Thomas ,  KIM, Kyoung, Hung ,  KRISHNAN, Sivaraj, Sivarama ,  HAZAMA, Kensuke

IPC: G05B19/4099

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 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。 规划系统可以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：WO1998015371A1

公开(公告)日：1998-04-16

申请号：PCT/JP1997003610

申请日：1997-10-08

Applicant: AMADA COMPANY, LIMITED

Inventor： AMADA COMPANY, LIMITED ,  NAKAMURA, Kaoru

IPC: B21D37/04

CPC classification number: G05B19/4187 ,  B21D28/12 ,  B23Q3/15573 ,  B23Q3/16 ,  Y02P90/04 ,  Y02P90/205 ,  Y10T483/132 ,  Y10T483/134

Abstract: A machining schedule (hi), a machining program (mi) and a metallic die information (Fi) representative of features of a metallic die are transferred together to a controller (32), which controls a CNC device (34) and a turret punch press side, the controller (32) forwards the metallic die information (Fi) of the machining program to the CNC device (34) over a dedicated line (38) separate from a line for the machining program, and the CNC device (34) retrieves a metallic die corresponding to the metallic die information (Fi) from a metallic die positioning information (Qi) in a tool storage in the turret punch press to mount the metallic die on a turret (13) on the turret punch press.

Abstract translation: 将代表金属模具的加工程序（hi），加工程序（mi）和金属模具信息（Fi）一起转移到控制器（32），控制器（32），其控制CNC装置（34）和转塔冲头 控制器（32）通过与用于加工程序的线分开的专用线（38）将加工程序的金属模具信息（Fi）转发到CNC装置（34），并且CNC装置（34） 从转塔冲压机中的工具存储器中的金属模具定位信息（Qi）中取出与金属模具信息（Fi）对应的金属模具，以将金属模具安装在转塔冲压机上的转台上。

公开(公告)号：WO1996001706A1

公开(公告)日：1996-01-25

申请号：PCT/JP1995001358

申请日：1995-07-07

Applicant: AMADA COMPANY, LIMITED ,  KOYAMA, Junichi

Inventor： AMADA COMPANY, LIMITED

IPC: B21D05/02

CPC classification number: B21D5/02 ,  B21D5/004 ,  G05B19/404 ,  G05B2219/37205 ,  G05B2219/37357 ,  G05B2219/37403 ,  G05B2219/45143 ,  G05B2219/50063

Abstract: A press brake is provided for bending a work accurately. An engagement position relationship between upper and lower molds is controlled based on a D value indicating a theoretical engagement position relationship between upper and lower molds which correspond to a target bending angle for actually bending a work, a theoretical machine deflection is calculated based on a theoretical load for performing bending to an average value for bending angles, an actual machine deflection is calculated based on an actual pressure by a hydraulic cylinder and a correction amount of the D value is calculated based on the difference between the theoretical machine deflection and the actual machine deflection. In addition, not only the bending angle accuracy relative to various bending conditions is to be improved but also the number of corrections is to be reduced. A device for calculating a distance D value comprises input means for enabling the input of work material, tensile strength, plate thickness and so forth, work winding judging means, spring back amount calculating means, an air bend, bottoming judging means, work holding angle calculating means, means for calculating a pressuring force when a work is held, and table travelling value calculating means.

Abstract translation: 提供了一种用于弯曲工作的压力制动器。 基于指示与用于实际弯曲工件的目标弯曲角对应的上下模具之间的理论接合位置关系的D值来控制上模和下模之间的接合位置关系，理论机器偏转基于理论上的 基于实际的液压缸的实际压力来计算实际的机器偏差，根据理论机械偏转与实际机器的差异来计算D值的修正量 偏转。 此外，不仅要提高相对于各种弯曲条件的弯曲角度精度，还可以减少校正次数。 用于计算距离D值的装置包括用于使得能够输入工件材料，拉伸强度，板厚等的输入装置，工作绕组判断装置，回弹量计算装置，空气弯曲，底部判定装置，工件保持角度 计算装置，用于计算工件保持时的加压力的装置和工作台行进值计算装置。

公开(公告)号：WO1992019405A1

公开(公告)日：1992-11-12

申请号：PCT/JP1992000518

申请日：1992-04-22

Applicant: AMADA COMPANY, LIMITED ,  KATOH, Fumio ,  CHIKAMOTO, Takeshi

Inventor： AMADA COMPANY, LIMITED

IPC: B23D07/06

CPC classification number: B23Q39/02 ,  B23D7/06 ,  B23Q1/0018 ,  B23Q1/0063 ,  B23Q2039/004 ,  Y10T409/400875 ,  Y10T409/40105 ,  Y10T409/4028 ,  Y10T409/4077 ,  Y10T483/1729 ,  Y10T483/1731

Abstract: An apparatus for cutting grooves, wherein cutting of a plurality of kinds of grooves in the top surface of a plate-shaped work (W) can be performed efficiently and quickly. To achieve the above-described object, in an apparatus for cutting grooves in the top surface of the work (W) fixed to a worktable (11), a Z-axis slider (19) is vertically movably mounted on an X-axis slider (17) laterally movably supported on a frame (7) in a position upwardly of the worktable (11), a plurality of kinds of cutting tools (97A-97C) for cutting grooves in the top surface of the work (W) are mounted on a tool holder base (75) supported by this Z-axis slider (19) and the plurality of kinds of cutting tools (97A-97C) can be indexed against a cutting station on which the work (W) is cut. Furthermore, the tool holder base (75) is provided with a cutting fluid supply section (109) for supplying the cutting fluid to a cutting section of the work (W) and a cutting fluid sucking section (111) for sucking the cutting fluid for removal thereof.

公开(公告)号：WO1990005601A1

公开(公告)日：1990-05-31

申请号：PCT/JP1989001175

申请日：1989-11-17

Applicant: AMADA COMPANY, LIMITED ,  FUJIWARA, Takayuki

Inventor： AMADA COMPANY, LIMITED

IPC: B21D28/12

CPC classification number: B21D28/12 ,  B21D28/246 ,  Y10T83/8732

Abstract: A turret punch press (1) includes an upper and lower turret (15, 17) for respectively supporting a plurality of punches (11) and dies (13); the punches (11) are arranged two-dimensionally in a punch mounting region on the upper turret (15) and the dies (13) are arranged two-dimensionally in a die mounting region on the lower turret (17). The turret punch press further includes a ram (21) and a striker (19) for striking the punches. The striker (19) is provide on a bottom of the ram (21) so as to be movable in two horizontal directions (X, Y) above the punches indexed in a processing region. In the turret punch press, when the turret is indexed in the processing region, many punches and dies are sinultaneously indexed in the processing region. Thus, by moving the striker in two horizontal directions above the punches indexed in the processingregion, many successive punch operations can be quickly performed without intermediate rotation of the turrets.

Abstract translation: 转台冲床（1）包括用于分别支撑多个冲头（11）和模具（13）的上下转台（15,17）。 冲头（11）在上转塔（15）上的冲头安装区域中二维地布置，并且模具（13）被二维布置在下转台（17）上的模具安装区域中。 塔架冲床还包括用于冲击冲头的冲头（21）和冲头（19）。 冲头（19）设置在冲头（21）的底部上，以便能够在处理区域中指定的冲头上方的两个水平方向（X，Y）上移动。 在转台冲压机中，当转台在处理区域中被分度时，许多冲头和模具在加工区域中同时被分度。 因此，通过将冲击器沿着处理区域中指定的冲头上方的两个水平方向移动，可以在不使塔架中间旋转的情况下快速执行许多连续的冲压操作。

公开(公告)号：WO1998009204A1

公开(公告)日：1998-03-05

申请号：PCT/JP1997002943

申请日：1997-08-25

Applicant: AMADA COMPANY, LIMITED

Inventor： AMADA COMPANY, LIMITED ,  NAKAMURA, Kaoru

IPC: G05B19/418

CPC classification number: G05B19/41865 ,  G05B19/41835 ,  G05B2219/31088 ,  G05B2219/31174 ,  G05B2219/31418 ,  G05B2219/31422 ,  Y02P90/06 ,  Y02P90/12 ,  Y02P90/18 ,  Y02P90/20

Abstract: When a copied machining program is tranferred from a central station (1) to a NC machine (24), the transfer method determining means (33) of a controller (20) compares a copied machining schedule and the machining program from the central station (1) with transfer decision rules (Ri) which are generated in a data base (30) beforehand and determines automatically whether the transfer is performed by the memory transfer or by the DNC transfer. Then, a machining program transfer means (34) transfers the machining program to the NC apparatus (24) by the determined method.

Abstract translation: 当复制的加工程序从中央站（1）传送到NC机器（24）时，控制器（20）的传送方法确定装置（33）将复制的加工程序和来自中心站的加工程序 1）具有在数据库（30）中预先生成的传送决定规则（Ri），并且自动确定通过存储器传送或通过DNC传送来执行传送。 然后，加工程序传送装置（34）通过所确定的方法将加工程序传送到NC装置（24）。

公开(公告)号：WO1997046926A2

公开(公告)日：1997-12-11

申请号：PCT/JP1997001910

申请日：1997-06-05

Applicant: AMADA COMPANY, LIMITED

Inventor： AMADA COMPANY, LIMITED ,  INAMASU, Toru ,  NISHIYAMA, Kiyotaka

IPC: G05B19/409

CPC classification number: G05B19/409

Abstract: In the invention of this application, an operator can easily recognize the operating state of a plate material processing machine, such as the position state of a positioning pin used in positioning of a work W in a predetermined position and the operating state of a work clamping device for gripping the work W and the like, by displaying this operating state of the plate material processing machine in the form of an image of the plate material processing machine itself intuitively easy even for a beginner to understand on the display screen of a display unit. The present invention has a skill mode selecting key for selectively switching an expert mode requiring a detailed operating procedure for an expert and a beginner mode requiring a simple operating procedure for a beginner. These two modes can be selectively switched in accordance with a skill degree of the operator.

Abstract translation: 在本申请的发明中，操作者可以容易地识别板材加工机的运转状态，例如在将工件W定位在预定位置时使用的定位销的位置状态以及夹紧工件的工作状态 通过以平板材料加工机的图像的形式显示该板材处理机的这种操作状态，即使是初学者在显示单元的显示屏上也能够理解，也能够直观地容易地夹持工件W等的装置 。 本发明具有技能模式选择键，用于选择性地切换需要专家的详细操作程序的专家模式和初学者需要简单操作程序的初学者模式。 这两种模式可以根据操作者的技能来选择性地切换。