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：WO1995026240A1

公开(公告)日：1995-10-05

申请号：PCT/JP1995000572

申请日：1995-03-27

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  TOKAI, Shigeru

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: B21D05/02

CPC classification number: G05B19/408 ,  B21D5/02 ,  B21D5/0209 ,  G05B19/404 ,  G05B2219/35362 ,  G05B2219/35475 ,  G05B2219/37403 ,  G05B2219/45143 ,  G05B2219/49184

Abstract: Working factors which influence a bending angle are specified from data sent from an NC device (10) in a grouping factor specifying section (13), and a tolerance at the time of grouping is set for the specified factors in a tolerance setting section (14), whereby grouping of corners to be bent is performed in a corner grouping section (15). Compensating conditions are then set in a compensating condition setting section (16), and compensating data for a depth amount is calculated based on actual depth data of a corner bending performed on a good product in a compensating data calculating section (17) based on the compensating conditions so set, and process data of the bending process is changed in a process data changing section (18). Thus, the depth amount of a corner to be bent is compensated whose bending angle measurement is not performed based on a compensating value for a depth amount of a specific corner to be bent for which a bending angle has actually been measured.

Abstract translation: 影响弯曲角度的工作因素由分组因子确定部（13）中从NC装置（10）发送的数据来指定，并且在公差设定部（14）中为规定的因素设定分组时的公差 ），由此在拐角分组部（15）中进行要弯曲的角的分组。 然后在补偿条件设定部（16）中设定补偿条件，基于补偿数据计算部（17）中对好产品进行的拐角弯曲的实际深度数据，基于 补偿条件如此设定，并且在过程数据改变部分（18）中改变弯曲过程的处理数据。 因此，基于实际测量弯曲角度的要弯曲的特定拐角的深度量的补偿值，补偿不进行弯曲角度测量的弯曲角度的深度量。

公开(公告)号：WO1998008630A1

公开(公告)日：1998-03-05

申请号：PCT/JP1997002847

申请日：1997-08-15

Applicant: KOMATSU LTD. ,  OOENOKI, Toshiyuki ,  OOTANI, Toshiro

Inventor： KOMATSU LTD.

IPC: B21D05/02

CPC classification number: B21D5/02 ,  G05B2219/37403 ,  Y10S72/702

Abstract: To correct a change in spring back angles due to dispersion in material characteristic values among material lots to thereby realize bending having a very high angular accuracy. A method comprises determining correction values of data with respect to a spring back behavior under processing conditions stored beforehand, on the basis of the difference between an actual bending angle detected during bending of a work and an estimated bending angle of a work W at an optional driving position of an upper die (5), and determining a final driving position of the upper die (5) on the basis of the corrected value.

Abstract translation: 通过材料批次之间的材料特性值的分散来校正弹簧后退角度的变化，从而实现具有非常高的角度精度的弯曲。 一种方法包括：基于在工件的弯曲期间检测到的实际弯曲角度与在可选的工件W的估计的弯曲角度之间的差异来确定相对于预先存储的处理条件下的弹回性能的数据的校正值 上模（5）的驱动位置，并且基于校正值确定上模（5）的最终驱动位置。

公开(公告)号：WO1994029044A1

公开(公告)日：1994-12-22

申请号：PCT/JP1994000840

申请日：1994-05-26

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  OOENOKI, Toshiyuki ,  OTANI, Toshiro

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: B21D05/02

CPC classification number: B21D5/02 ,  G05B19/188 ,  G05B2219/37403 ,  Y02P90/265

Abstract: An upper metallic mold is lowered to an unloading starting position for detection of a bending angle theta 1 of a work, and then is moved up at a very low speed so that, at the time of the ascending, positions of vertical movement of the upper metallic mold and a pressure force applied to a work, respectively, are successively detected. Then an increment of a forming force per unit ascending distance of the upper metallic mold is successively calculated, a bending angle of the work is detected at a point of time when an incremental value of the forming force converges to a particular value, relationships between a bending angle and a position of the upper metallic mold and between a forming force and a position of the upper metallic mold are linearly approximated from respective data of a bending angle and a forming force after that point of time, and a position of the upper metallic mold in which the forming force becomes zero is calculated on the basis of this approximate expression to estimate a bending angle theta 4 of the work at the calculated position of the upper metallic mold. Then, a difference theta 4 - theta 1 between the estimated bending angle theta 4 and the bending angle theta 1 at the unloading starting position is assumed to be an angle of spring back.

Abstract translation: 上金属模具下降到卸载起始位置，用于检测工件的弯曲角度θ1，然后以非常低的速度向上移动，使得在上升时，上部的金属模具的垂直运动位置 金属模具和施加到工件的压力分别被连续检测。 然后，依次计算上金属模具的每单位上升距离的成形力的增量，在成形力的增量值收敛到特定值的时间点检测作业的弯曲角度，a 弯曲角度和上金属模具的位置以及成形力与上金属模具的位置之间的弯曲角度和位置之间的弯曲角度和成形力的相应数据线性近似，并且上部金属模具的位置 基于该近似表达式计算成形力为零的模具，以估计在上金属模具的计算位置处的工件的弯曲角θ4。 然后，假定在卸载开始位置处的估计弯曲角θ4和弯曲角θ1之间的差θ4-θ1是弹回的角度。

公开(公告)号：WO1995026239A1

公开(公告)日：1995-10-05

申请号：PCT/JP1995000571

申请日：1995-03-27

Applicant: KABUSHIKI KAISHA KOMATSU SEISAKUSHO ,  TOKAI, Shigeru ,  TAKADA, Masaaki

Inventor： KABUSHIKI KAISHA KOMATSU SEISAKUSHO

IPC: B21D05/02

CPC classification number: G05B19/404 ,  B21D5/02 ,  B21D5/0209 ,  G05B2219/37403 ,  G05B2219/37526 ,  G05B2219/45143 ,  G05B2219/49184 ,  Y10S72/702

Abstract: In bending a work, a temporary drive-in position of a ram is calculated from working conditions that are inputted from a working condition input section and information on the relationship of a spring back angle relative to a target bending angle of a work stored in a spring back data section, and the ram is driven to this temporary drive-in position, where a bending angle of a work is detected by means of an angle measuring unit. Following this, a final drive-in position of the ram is obtained from the bending angle so detected, relation ship of a ram drive-in amount relative to the work bending angle stored in a bending angle/drive-in amount data section and relationship of the spring back angle relative to the target work bending angle stored in the spring back data section, and then the ram is driven to a final drive-in position so obtained to thereby complete the bending process.

Abstract translation: 在弯曲工件时，根据从工作条件输入部输入的工作条件和弹簧后退角度相对于存储在工件的工件的目标弯曲角度的关系的信息计算出冲头的临时推入位置 弹簧返回数据部分，并且冲头被驱动到该临时驱动位置，其中通过角度测量单元检测作业的弯曲角度。 接下来，从所检测的弯曲角度获得冲头的最终推入位置，相对于存储在弯曲角度/驱动量数据部分中的作业弯曲角度的冲头驱动量的关系式以及关系 相对于存储在弹回数据部中的目标工作弯曲角度的弹回角度，然后将该柱塞驱动到由此获得的最终驱动位置，从而完成弯曲过程。

公开(公告)号：WO1993019425A1

公开(公告)日：1993-09-30

申请号：PCT/US1993002477

申请日：1993-03-18

Applicant: LASER PRODUCTS, INC.

Inventor： LASER PRODUCTS, INC. ,  LIPARI, B., J.

IPC: G06F15/00

CPC classification number: G05B19/4097 ,  B21D5/004 ,  B21D5/02 ,  B21D53/00 ,  G05B2219/31424 ,  G05B2219/35083 ,  G05B2219/35157 ,  G05B2219/35192 ,  G05B2219/37403 ,  G05B2219/45143

Abstract: A method and apparatus for use in bending sheet stock to form a selected design is disclosed. The apparatus comprises a controller (12) including a programmable system for calculating the position and shapes of bends for bending the stock (16) to the selected design and a sequence for making the bends, and a printer (14) for printing instructions regarding the positions, shapes and sequence of the bends. The printer can print instructions directly on the stock or on a label (18) for attachment to the stock. The instructions can be utilized by an operator or machine in bending the sheet stock. The invention improves the efficiency and accuracy of the process for bending sheet stock.

Abstract translation: 公开了一种用于弯曲片料以形成选定设计的方法和装置。 该装置包括一个控制器（12），包括一个可编程系统，用于计算用于将库存（16）弯曲成所选择的设计的弯曲的位置和形状以及用于制作弯曲的顺序;以及打印机（14），用于打印关于 位置，形状和弯曲的顺序。 打印机可以直接在库存或标签（18）上打印指示，以附加到库存。 说明书可以由操作者或机器用来弯曲片材。 本发明提高了弯曲片材的工艺的效率和精度。

公开(公告)号：WO2009101649A2

公开(公告)日：2009-08-20

申请号：PCT/IT2009000049

申请日：2009-02-10

Applicant: CML INT SPA ,  CAPORUSSO ALESSANDRO ,  SCHIARANTE EUGENIO ,  ROSO GIUSEPPE

Inventor： CAPORUSSO ALESSANDRO ,  SCHIARANTE EUGENIO ,  ROSO GIUSEPPE

IPC: B21D7/08

CPC classification number: G05B19/19 ,  B21D5/14 ,  G05B2219/37403 ,  G05B2219/37573 ,  G05B2219/45143

Abstract: A method to check and control a roller bending machine for continuously bending an elongated workpiece at variable curvature radii in a bending machine using a series of rollers for bending, comprises the steps of measuring the distance of the elongated work piece in a point that is situated downstream the series of rollers for bending in successive instants, calculating a curvature radius of each bend section of the elongated workpiece, comparing the calculated curvature radius with the desired curvature radius and determining a difference between them, calculating the change of position to which an upstream roller has to be subjected in order to annul such a difference and operating the upstream roller on the base of the calculated change of position. A machine embodying the method is also described.

Abstract translation: 一种用于检查和控制弯辊机的方法，所述辊弯机用于在弯曲机中使用一系列用于弯曲的辊子以可变曲率半径连续弯曲细长工件，所述方法包括以下步骤：测量所述细长工件在所处点 在连续时刻弯曲的一系列辊子的下游，计算细长工件的每个弯曲部分的曲率半径，将计算出的曲率半径与期望的曲率半径相比较，并确定它们之间的差异，计算上游位置的变化 为了消除这种差异并且在所计算的位置变化的基础上操作上游辊，必须承受滚子。 还描述了体现该方法的机器。

公开(公告)号：WO1991013706A1

公开(公告)日：1991-09-19

申请号：PCT/FI1991000067

申请日：1991-03-07

Applicant: TOKOLA, Johannes

IPC: B21D07/12

CPC classification number: B21D7/12 ,  G05B19/4207 ,  G05B2219/31033 ,  G05B2219/31205 ,  G05B2219/36283 ,  G05B2219/37403 ,  G05B2219/45143 ,  Y02P90/04

Abstract: A method for bending pipes, where there is created a file containing known spring-back and extension properties of various pipe materials and sizes at different angles of bend; the routing of the pipe is determined on the intended site of installation of the pipe, for instance by defining the coordinates of the bending points, or by directly measuring the lengths as well as angles and planes of bend of the straight parts of the pipe; on the basis of the predetermined pipe routing, there is defined the geometrical information for the pipe, this information including the lengths of the straight parts, and the radiuses and planes of bend of the pipe angles; bending instructions for bending the pipe are created on the basis of this material information, including extension and spring-back information, calculated or measured geometrical information of the pipe as well as information of its size; and the pipe is bent according to the created bending information.

Abstract translation: 一种用于弯曲管道的方法，其中创建了包含不同管道材料和不同弯曲角度的尺寸的已知弹簧和延伸特性的文件; 管道的布置在管道的安装位置确定，例如通过限定弯曲点的坐标，或者通过直接测量管道的直线部分的弯曲部分的长度以及角度和平面来确定。 基于预定的管道路线，定义了管道的几何信息，该信息包括直线部分的长度以及管道角度的弯曲半径和平面; 根据该材料信息，包括扩展和弹回信息，管道的计算或测量几何信息以及其尺寸信息，创建弯曲管道的弯曲指令。 并根据所产生的弯曲信息使管弯曲。

公开(公告)号：WO2016123697A1

公开(公告)日：2016-08-11

申请号：PCT/CA2016/050064

申请日：2016-01-27

Applicant: THE UNIVERSITY OF WESTERN ONTARIO

Inventor： FERREIRA, Louis ,  STOKES, Matthew

IPC: G01B5/00 ,  A61B34/20 ,  G01L25/00 ,  G05D3/14 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/77 ,  A61B2034/2046 ,  A61B2034/2061 ,  A61B2090/064 ,  B25J9/1633 ,  B25J9/1694 ,  G01L25/00 ,  G05B2219/37403 ,  G05B2219/39218 ,  G05D1/10

Abstract: The present disclosure provides a navigation method and system which does not require a remotely located tracking system, or additional targets or other devices to be installed on the patient or object being tracked. The system uses one flexible component in physical contact with the patient/object and measures relative position as a function of forces that are generated by the flexing component as it is bent. The system translates forces into navigational commands for a robot, other manipulator, or for human manual navigation. A method for transforming a pre-planned motion pathway into a sequence of forces for this mode of navigation is also described. This system is also applicable in the field of manufacturing robotics, where the locations of objects or assemblies may not be precisely known or constant. The method and system disclosed herein can be used to maintain known position of an object/assembly or to navigate movement of a robot relative to an object/assembly as in the case of machining.

Abstract translation: 本公开提供了一种导航方法和系统，其不需要远程定位的跟踪系统，或者要安装在被跟踪的患者或对象上的附加目标或其他设备。 系统使用与患者/物体物理接触的一个柔性部件，并测量作为弯曲部件弯曲产生的力的函数的相对位置。 系统将力量转换为机器人，其他操纵器或人工手动导航的导航命令。 还描述了一种用于将预先计划的运动路径转换成用于该导航模式的一系列力的方法。 该系统也适用于制造机器人的领域，其中物体或组件的位置可能不是精确的已知或不变的。 本文公开的方法和系统可以用于保持物体/组件的已知位置，或者如在机加工的情况下导航机器人相对于物体/组件的移动。

公开(公告)号：WO2010053428A1

公开(公告)日：2010-05-14

申请号：PCT/SE2009/051194

申请日：2009-10-20

Applicant: URSVIKEN TECHNOLOGY AB ,  RÖNNMARK, Ulf ,  CARLSSON, Johannes

Inventor： RÖNNMARK, Ulf ,  CARLSSON, Johannes

IPC: B21D5/02 ,  B21D11/22 ,  B21D35/00

CPC classification number: B21D5/0209 ,  B21D5/006 ,  G01B11/26 ,  G05B2219/37403

Abstract: A method and an arrangement for the measurement of angles at a workpiece (2) during the bending of the workpiece (2) to a predetermined angle in a press brake (1), where the bending operation takes place between a moveable die (4) and a pressure table (5), comprising a measurement arrangement (15) that can be displaced parallel to the workpiece (2) with a measurement head (18) intended for the measurement of the angle at the workpiece (2) after the bending operation, and adjustment means (10) for adjusting the curvature of the pressure table (5). The arrangement comprises a guide (14) for the control of the measurement arrangement (15), which guide is arranged parallel to the moveable die (4) and along which the measurement arrangement (15) runs.

Abstract translation: 一种用于在工件（2）的弯曲期间将工件（2）上的角度测量在压制机（1）中以预定角度进行测量的方法和装置，其中弯曲操作发生在可移动模具（4） 和压力表（5），包括可以在弯曲操作之后用用于测量工件（2）上的角度的测量头（18）平行于工件（2）移位的测量装置（15） ，以及用于调节压力表（5）的曲率的调节装置（10）。 该装置包括用于控制测量装置（15）的引导件（14），该引导件平行于可移动模具（4）布置，并且测量装置（15）沿着该引导件运行。