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。