DE69515116D1 - Vorrichtung zum anschlag- und sensor-basierten steuern von biegeoperationen - Google Patents

Vorrichtung zum anschlag- und sensor-basierten steuern von biegeoperationen

Info

Publication number
DE69515116D1
DE69515116D1 DE69515116T DE69515116T DE69515116D1 DE 69515116 D1 DE69515116 D1 DE 69515116D1 DE 69515116 T DE69515116 T DE 69515116T DE 69515116 T DE69515116 T DE 69515116T DE 69515116 D1 DE69515116 D1 DE 69515116D1
Authority
DE
Germany
Prior art keywords
stop
sensor
based control
bend operations
bend
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69515116T
Other languages
English (en)
Other versions
DE69515116T2 (de
Inventor
Richard M Moore Jr
David Alan Bourne
Kerry L Elkins
Anne Marie Murray
Robert H Sturges Jr
Kensuke Hazama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amada Co Ltd
AMADA Ltd US
US Amada Ltd
Original Assignee
Amada Co Ltd
AMADA Ltd US
US Amada Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Amada Co Ltd, AMADA Ltd US, US Amada Ltd filed Critical Amada Co Ltd
Publication of DE69515116D1 publication Critical patent/DE69515116D1/de
Application granted granted Critical
Publication of DE69515116T2 publication Critical patent/DE69515116T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/002—Positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B23Q15/225—Control or regulation of position of tool or workpiece in feed control, i.e. approaching of tool or work in successive decreasing velocity steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2233—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece
    • B23Q17/225—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work for adjusting the tool relative to the workpiece of a workpiece relative to the tool-axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B23Q3/186—Aligning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31103—Configure parameters of controlled devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31326—Database to manage communication networks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37571—Camera detecting reflected light from laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39508—Reorientation of object, orient, regrasp object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39528—Measuring, gripping force sensor build into hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39529—Force, torque sensor in wrist, end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39532—Gripping force sensor build into finger
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39542—Plan grasp points, grip matrix and initial grasp force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40054—Supply sheet to bending machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45143—Press-brake, bending machine
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
DE69515116T 1994-11-09 1995-11-09 Vorrichtung zum anschlag- und sensor-basierten steuern von biegeoperationen Expired - Fee Related DE69515116T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US33815394A 1994-11-09 1994-11-09
US08/385,829 US5761940A (en) 1994-11-09 1995-02-09 Methods and apparatuses for backgaging and sensor-based control of bending operations
PCT/JP1995/002289 WO1996014949A2 (en) 1994-11-09 1995-11-09 Methods and apparatuses for backgaging and sensor-based control of bending operations

Publications (2)

Publication Number Publication Date
DE69515116D1 true DE69515116D1 (de) 2000-03-23
DE69515116T2 DE69515116T2 (de) 2000-06-15

Family

ID=26991058

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69515116T Expired - Fee Related DE69515116T2 (de) 1994-11-09 1995-11-09 Vorrichtung zum anschlag- und sensor-basierten steuern von biegeoperationen

Country Status (5)

Country Link
US (3) US5761940A (de)
EP (1) EP0738190B1 (de)
JP (3) JP3784831B2 (de)
DE (1) DE69515116T2 (de)
WO (1) WO1996014949A2 (de)

Families Citing this family (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5761940A (en) * 1994-11-09 1998-06-09 Amada Company, Ltd. Methods and apparatuses for backgaging and sensor-based control of bending operations
US5835684A (en) * 1994-11-09 1998-11-10 Amada Company, Ltd. Method for planning/controlling robot motion
WO1996014968A1 (en) * 1994-11-09 1996-05-23 Amada Company, Limited Shear force sensing system
DE69534977T2 (de) 1994-11-09 2007-06-06 Amada Co., Ltd., Isehara Biegemaschine mit einer Steuerung zur Erstellung und Ausführung eines Metallplattenbiegeplanes
US5950484A (en) * 1996-09-26 1999-09-14 Reinhardt Maschinenbau Gmbh Bending center
SE9703157L (sv) * 1997-09-02 1999-03-03 Pullmax Ursviken Ab Sätt vid bockningsförfaranden
US6826449B1 (en) * 1997-12-30 2004-11-30 Ali F. Abu-Taha Method for producing natural motions
US6269677B1 (en) * 1999-12-28 2001-08-07 Abb T&D Technology Ltd. Press brake back gauge finger
EP1258299B1 (de) * 2000-01-17 2010-04-21 Amada Company, Ltd. Biegeverfahren und biegevorrichtung
KR100331632B1 (ko) * 2000-04-14 2002-04-09 이계안 트랜스퍼 프레스용 핑거 제작 방법
US6644080B2 (en) * 2001-01-12 2003-11-11 Finn-Power International, Inc. Press brake worksheet positioning system
JP4527296B2 (ja) * 2001-02-13 2010-08-18 株式会社アマダエンジニアリングセンター 板金加工機用加工条件データベースの作成方法
US20060240125A1 (en) * 2005-04-21 2006-10-26 Astrup Arne V Composition for affecting weight loss
JP2003326486A (ja) 2001-06-20 2003-11-18 Amada Co Ltd ワーク位置決め装置
SI21200A (sl) * 2002-03-27 2003-10-31 Jože Balič Cnc upravljalna enota za krmiljenje obdelovalnih centrov s sposobnostjo učenja
US6938454B2 (en) * 2002-05-13 2005-09-06 Trumpf Maschinen Austria Gmbh & Co. Kg. Production device, especially a bending press, and method for operating said production device
ATE405388T1 (de) * 2002-05-13 2008-09-15 Trumpf Maschinen Austria Gmbh Fertigungseinrichtung mit einer biegepresse, einer handhabungsvorrichtung und einer kalibriereinrichtung
JP3691032B2 (ja) * 2002-08-23 2005-08-31 ファナック株式会社 加工装置
DE10252150B4 (de) * 2002-11-09 2005-03-10 Daimler Chrysler Ag Einweisungsvorrichtung
US20050098745A1 (en) * 2003-11-10 2005-05-12 Kai Peng Apparatus for detecting distortion of transfer arm robot
AT502501B1 (de) 2004-03-05 2007-04-15 Trumpf Maschinen Austria Gmbh Durchlichteinheit
US7130714B1 (en) * 2004-06-11 2006-10-31 Cessna Aircraft Company Method of predicting springback in hydroforming
US9110456B2 (en) * 2004-09-08 2015-08-18 Abb Research Ltd. Robotic machining with a flexible manipulator
WO2006043408A1 (ja) * 2004-10-22 2006-04-27 Amada Co., Ltd 曲げ加工方法及びその装置
BE1016590A3 (nl) * 2005-05-19 2007-02-06 Robosoft Nv Verbeterde plaatbewerkingsmachine en werkwijze voor het bewerken van platen.
JP5108260B2 (ja) * 2006-07-06 2012-12-26 株式会社アマダ 曲げ加工機金型レイアウトの活用方法およびその装置
EP2058062A4 (de) * 2006-08-31 2015-05-27 Nippon Steel & Sumitomo Metal Corp Ursachenidentifizierungsverfahren für das auftreten von rückfederung, anzeigeverfahren des einflussgrades der rückfederung, ursachenteilidentifizierungsverfahren für das auftreten von rückfederung, messpositionsbestimmungsverfahren für die rückfederung, deren vorrichtungen und programme
WO2008136292A1 (ja) * 2007-04-27 2008-11-13 Nabtesco Corporation ロボットアーム
JP2008296310A (ja) * 2007-05-30 2008-12-11 Fanuc Ltd 加工ロボットの制御装置
CN101572029B (zh) * 2008-04-28 2012-01-25 鸿富锦精密工业（深圳）有限公司 机器人板材折弯模拟系统及方法
US8212533B2 (en) * 2009-12-23 2012-07-03 Toyota Motor Engineering & Manufacturing North America, Inc. Robot battery charging apparatuses and methods
US8662552B2 (en) 2010-02-23 2014-03-04 Massachusetts Institute Of Technology Dexterous and compliant robotic finger
US8265792B2 (en) * 2010-04-15 2012-09-11 GM Global Technology Operations LLC Method and apparatus for calibrating multi-axis load cells in a dexterous robot
DE202010006391U1 (de) 2010-05-04 2010-11-04 Bystronic Laser Ag Winkelmessvorrichtung für Abkantpressen
US9339859B2 (en) * 2010-06-11 2016-05-17 Thermal Structures, Inc. Reciprocating devices for forming, folding, and/or hemming and methods therefor
AT509857B1 (de) 2010-08-05 2011-12-15 Trumpf Maschinen Austria Gmbh Biegepresse mit einer werkteil-positionier- vorrichtung sowie ein verfahren zum betrieb
JP2013136141A (ja) * 2011-11-30 2013-07-11 Canon Inc 把持装置、ロボット装置及び把持装置の制御方法
JP6091065B2 (ja) * 2012-02-24 2017-03-08 株式会社アマダホールディングス ゲージング方法，ゲージング装置，及び曲げ加工装置
JP5923371B2 (ja) * 2012-04-06 2016-05-24 株式会社アマダホールディングス ワーク搬送システム
ITMI20120751A1 (it) 2012-05-04 2013-11-05 Salvagnini Italia Spa Apparato e metodo per la misurazione dell'angolo di piegatura di una lamiera.
AT511959B1 (de) * 2012-05-09 2013-04-15 Trumpf Maschinen Austria Gmbh Verfahren zur automatisierten Handhabung eines Biegewerkzeuges und Fertigungseinrichtung
DE102012013022A1 (de) * 2012-06-29 2014-04-24 Liebherr-Verzahntechnik Gmbh Vorrichtung zur automatisierten Handhabung von Werkstücken
US10189068B2 (en) * 2013-08-09 2019-01-29 Bystronic Laser Ag Bending press
US9849494B2 (en) 2013-11-15 2017-12-26 Textron Innovations Inc. Automated bender and systems and methods for providing data to operate an automated bender
US9833962B2 (en) * 2014-02-26 2017-12-05 Toyota Motor Engineering & Manufacturing Norh America, Inc. Systems and methods for controlling manufacturing processes
AT515296B1 (de) * 2014-03-19 2015-08-15 Trumpf Maschinen Austria Gmbh Biegehilfe für eine Abkantpresse
CN103920812B (zh) * 2014-04-22 2016-04-27 靖江三鹏模具科技股份有限公司 飞轮减振系统内齿盘精冲模具
WO2015198294A1 (de) 2014-06-27 2015-12-30 Bystronic Laser Ag Verfahren zum herstellen eines biegeteils sowie vorrichtung zum herstellen eines biegeteils mit einer biegepresse oder abkantpresse sowie mit einem roboter
EP2982933B1 (de) * 2014-08-07 2021-03-24 SALVAGNINI ITALIA S.p.A. Vorrichtung und Verfahren zum Messen des Biegewinkels eines Werkstücks
DE202015004582U1 (de) 2015-06-29 2015-08-20 Bystronic Laser Ag Gesenkbiegepresse
AT518560B1 (de) * 2016-04-18 2018-01-15 Trumpf Maschinen Austria Gmbh & Co Kg Biegebalken für eine Schwenkbiegemaschine
CH712435A2 (de) * 2016-05-04 2017-11-15 Soudronic Ag Verfahren und Vorrichtung zur Ausrichtung einer Blechtafel bei der Zuführung der Blechtafel zu einer Bearbeitungsstation, insbesondere zu einer Stanzpresse.
JP6564425B2 (ja) 2017-07-04 2019-08-21 ファナック株式会社 ロボットシステム
US10967510B2 (en) * 2017-11-16 2021-04-06 Industrial Technology Research Institute Robot arm processing system and method thereof
CN107671875B (zh) * 2017-11-23 2020-07-07 哈尔滨工业大学 柔性机器人关节上能测力矩的紧凑型金属橡胶弹性元件
JP7305258B2 (ja) * 2018-07-18 2023-07-10 株式会社ディスコ 搬送システム
AT521529B1 (de) * 2018-07-27 2020-04-15 Trumpf Maschinen Austria Gmbh & Co Kg Biegevorrichtung und Verfahren zur Ermittlung zumindest eines Materialparameters bzw. Bearbeitungsparameters für eine Werkstückbearbeitungsvorrichtung
DE102018133551B4 (de) * 2018-12-21 2021-04-15 Bystronic Laser Ag Biegemaschine, Bearbeitungslinie und Verfahren zum Biegen
US11028898B2 (en) * 2019-01-11 2021-06-08 The Boeing Company Couplings that actively stabilize vibrations
WO2021028011A1 (en) * 2019-08-09 2021-02-18 Quintus Technologies Ab System and method for handling and isostatic pressure treatment of a load
US11660649B2 (en) * 2019-08-14 2023-05-30 Accurpress America Inc. Press brake system
JP6894951B2 (ja) * 2019-09-17 2021-06-30 株式会社アマダ 曲げ加工方法及び曲げ加工システム
TWI728762B (zh) * 2020-03-27 2021-05-21 財團法人工業技術研究院 減低機械手臂振動之方法
US20210323158A1 (en) * 2020-04-17 2021-10-21 Abb Schweiz Ag Recovery system and method using multiple sensor inputs
US11813655B2 (en) * 2021-05-20 2023-11-14 Kuka Systems North America Llc Apparatus and methods for forming attachment pads
CN114273470B (zh) * 2021-12-23 2024-03-22 揭阳市鼎高精密金属制品有限公司 一种机械自动化冲压折弯装置

Family Cites Families (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4369563A (en) * 1965-09-13 1983-01-25 Molins Limited Automated machine tool installation with storage means
US4309600A (en) * 1967-12-15 1982-01-05 Cincinnati Milacron Inc. Machine tool
US3654616A (en) * 1970-06-29 1972-04-04 Unimation Inc Program selection arrangement for manipulator apparatus
US3890552A (en) * 1972-12-29 1975-06-17 George C Devol Dual-armed multi-axes program controlled manipulators
GB1525044A (en) * 1975-02-12 1978-09-20 Bottomley A Tool for working sheet metal
US4260940A (en) * 1975-10-28 1981-04-07 Unimation, Inc. Programmable automatic assembly system
IT1122696B (it) * 1979-08-02 1986-04-23 Salvagnini Transferica Spa Perfezionamento nelle presse-piegatrici
JPS5841927B2 (ja) * 1979-10-25 1983-09-16 攻 牧野 プレス曲げ加工用工具
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPH065486B2 (ja) * 1981-03-26 1994-01-19 株式会社安川電機 ロボットの軌跡制御方法
JPS5856003A (ja) * 1981-09-30 1983-04-02 Hitachi Ltd 工業用ロボツトの制御方法
US4501135A (en) * 1982-02-09 1985-02-26 L & F Industries Stress sensor for yield-point detection in a stretch press
DE3216053A1 (de) * 1982-04-29 1983-11-03 Karl Mengele & Söhne Maschinenfabrik und Eisengießerei GmbH & Co, 8870 Günzburg Optoelektronisches messverfahren und vorrichtung zur durchfuehrung des verfahrens
CH655874A5 (de) * 1982-06-07 1986-05-30 Haemmerle Ag Maschf Werkzeugeinrichtung an einer abkantpresse.
KR840006854A (ko) * 1982-11-10 1984-12-03 원본미기재 위치탐지기
JPS59114609A (ja) * 1982-12-22 1984-07-02 Hitachi Ltd ロボットの制御装置
JPS59189415A (ja) * 1983-04-13 1984-10-27 Hitachi Ltd 工業用ロボツトの動作教示方法および装置
JPS60104679A (ja) * 1983-06-30 1985-06-10 株式会社アマダ 板状ワーク搬入装置
CH654761A5 (fr) * 1984-02-03 1986-03-14 Beyeler Machines Sa Presse-plieuse dont le dispositif de pliage permet un controle continu de l'angle de pliage de la piece a plier.
US4658625A (en) * 1984-03-30 1987-04-21 Amada Company, Limited Bending machine and a die changing system for such bending machine
US4998206A (en) * 1988-07-29 1991-03-05 The Boeing Company Automated method and apparatus for fabricating sheet metal parts and the like using multiple manufacturing stations
US5146670A (en) * 1985-04-24 1992-09-15 The Boeing Company Profiling and deburring of workpieces
IT1182514B (it) * 1985-07-15 1987-10-05 Imp Prima Spa Procedimento ed impianto per effettuare la piegatura di precisione di lamiere
CH665364A5 (fr) * 1985-10-30 1988-05-13 Cybelec Sa Dispositif pour le controle automatique de l'operation de pliage lors du pliage avec une presse-plieuse.
US4942767A (en) * 1986-11-19 1990-07-24 Massachusetts Institute Of Technology Pressure transducer apparatus
US4748571A (en) * 1987-01-20 1988-05-31 Fmc Corporation Line-up vision system
US4745812A (en) * 1987-03-25 1988-05-24 The United States Of America As Represented By The Secretary Of The Army Triaxial tactile sensor
US4802357A (en) * 1987-05-28 1989-02-07 The Boeing Company Apparatus and method of compensating for springback in a workpiece
US4831549A (en) * 1987-07-28 1989-05-16 Brigham Young University Device and method for correction of robot inaccuracy
WO1989002587A1 (en) * 1987-09-18 1989-03-23 Kazuhiro Okada Force detection apparatus using resistance element and its application
DE3739173A1 (de) * 1987-11-19 1989-06-01 Feintool Int Holding Verfahren und vorrichtung zum biegen von werkstuecken
GB2211002B (en) * 1987-12-15 1992-01-08 Amada Co Ltd Device and method for controlling a manipulator for a plate bending machine
US5182936A (en) * 1988-01-29 1993-02-02 Amada Company, Limited Plate bending machine equipped with a plate clamping manipulator and a plate position detecting device
DE3902149C2 (de) * 1988-01-29 2000-05-18 Amada Co Biegeeinrichtung und Verfahren zum Positionieren von Werkstücken in einer Blechbiegeeinrichtung
IT1219110B (it) * 1988-03-15 1990-05-03 Prima Ind Spa Dispositivo manipolatore di pezzi di lamiera per una pressa piegatrice e procedimento per la fabbricazione di pezzi profilati di lamiera mediante piegatura alla pressa
US5047916A (en) * 1988-03-25 1991-09-10 Kabushiki Kaisha Toshiba Method and apparatus of free space enumeration for collision avoidance
FR2630358B1 (fr) * 1988-04-21 1993-12-10 Picot Sa Procede et dispositif pour le controle du retour elastique, lors du cintrage d'un element allonge tel que tube
AT389829B (de) * 1988-05-03 1990-02-12 Haemmerle Ag Verfahren zum biegen von blechstuecken mit hilfe einer biegeeinrichtung
IT1219302B (it) * 1988-05-16 1990-05-03 Prima Ind Spa Macchina per la fabbricazione di pezzi di lamiera piegata
US5031441A (en) * 1988-07-29 1991-07-16 The Boeing Company Two arm robot
US4947666A (en) * 1988-09-16 1990-08-14 The Boeing Company Method and apparatus for bending an elongate workpiece
IT1224044B (it) * 1988-12-29 1990-09-26 Prima Ind Spa Pressa piegatrice di precisione per pezzi di lamiera lunghi
US4995087A (en) * 1989-05-15 1991-02-19 General Electric Company Machine vision system
US5081763A (en) * 1989-05-30 1992-01-21 The Boeing Company Automated drilling station
JP2773917B2 (ja) * 1989-09-22 1998-07-09 株式会社アマダ ベンディング装置のワーク位置決め装置
US5307282A (en) * 1989-09-22 1994-04-26 Hewlett-Packard Company Method of computer-aided prediction of collisions between objects including fabrication tools and parts to be fabricated
JP2727241B2 (ja) * 1989-09-26 1998-03-11 株式会社小松製作所 プレスブレーキシステムのワーク位置決め装置および方法
JP2723994B2 (ja) * 1989-10-06 1998-03-09 株式会社アマダ ベンディング装置のゲージング処理方法
US5009098A (en) * 1989-11-27 1991-04-23 Machinefabriek Wila B.V. Press and curve-forming means therefor
IT1237750B (it) * 1989-12-29 1993-06-15 Prima Ind Spa Procedimento di piegatura di una lamiera
CA2054705C (en) * 1990-02-23 2001-08-14 Hidehiko Kouno Device and method for measuring angles of a workpiece
US5036694A (en) * 1990-07-02 1991-08-06 The Boeing Company Method and apparatus for bending the flange of a workpiece
US5531087A (en) * 1990-10-05 1996-07-02 Kabushiki Kaisha Komatsu Seisakusho Metal sheet bending machine
US5088181A (en) * 1990-10-09 1992-02-18 The Boeing Company Sheet metal part machining system
JP2661395B2 (ja) * 1991-04-09 1997-10-08 ダイキン工業株式会社 プレスブレーキシステムにおけるワーク位置決め方法およびその装置
US5212647A (en) * 1991-07-15 1993-05-18 Preco Industries, Inc. Die stamping press having ccd camera system for automatic 3-axis die registration
BE1006784A3 (nl) * 1992-02-14 1994-12-06 Lvd Co Plooirobot.
JP3181382B2 (ja) * 1992-07-15 2001-07-03 株式会社アマダ 折曲げ加工機のワーク位置決め装置
JP3172900B2 (ja) * 1993-02-19 2001-06-04 東京エレクトロン株式会社 基板搬送装置及び基板処理装置及び基板搬送方法及び基板処理方法
JP2752898B2 (ja) * 1993-06-16 1998-05-18 株式会社小松製作所 Ｖ曲げ加工におけるスプリングバック角度計測装置
IT1260677B (it) * 1993-07-29 1996-04-22 Antonio Codatto Manipolatore per la movimentazione di lastre, particolarmente pannellidi lamiera, nei confronti di una macchina operatrice, quale una pressapiegatrice.
US5608817A (en) * 1993-11-18 1997-03-04 Honda Giken Kogyo Kabushiki Kaisha Optical measuring method
JP3256393B2 (ja) * 1994-11-07 2002-02-12 東洋鋼鈑株式会社 板材加工機−ロボットシステムにおける位置決め方法および装置
US5761940A (en) 1994-11-09 1998-06-09 Amada Company, Ltd. Methods and apparatuses for backgaging and sensor-based control of bending operations
WO1996014968A1 (en) 1994-11-09 1996-05-23 Amada Company, Limited Shear force sensing system
US5969973A (en) * 1994-11-09 1999-10-19 Amada Company, Ltd. Intelligent system for generating and executing a sheet metal bending plan
US5835684A (en) 1994-11-09 1998-11-10 Amada Company, Ltd. Method for planning/controlling robot motion

Also Published As

Publication number Publication date
DE69515116T2 (de) 2000-06-15
WO1996014949A2 (en) 1996-05-23
JP4637082B2 (ja) 2011-02-23
US5761940A (en) 1998-06-09
WO1996014949A3 (en) 1996-12-05
US5987958A (en) 1999-11-23
JP2007075898A (ja) 2007-03-29
EP0738190A1 (de) 1996-10-23
JPH09509368A (ja) 1997-09-22
JP3784831B2 (ja) 2006-06-14
JP2006218542A (ja) 2006-08-24
EP0738190B1 (de) 2000-02-16
US6292716B1 (en) 2001-09-18

Similar Documents

Publication Publication Date Title
DE69515116D1 (de) Vorrichtung zum anschlag- und sensor-basierten steuern von biegeoperationen
DE69433123D1 (de) Vorrichtung zum Behandeln von Wunden
DE69525083T2 (de) Vorrichtung zum vorschub von ligaturklammern
DE69637219D1 (de) Druckgerät und Steuerverfahren dafür
KR960008460A (ko) 수치제어방법 및 그의 장치
DE29507608U1 (de) Vorrichtung zum Bewegen von Bauwerken
DE69520018T2 (de) Vorrichtung zum Verbinden von Bändern
DE9407177U1 (de) Vorrichtung zum Kaschieren und Umbugen von Verkleidungsteilen
DE69502900D1 (de) Vorrichtung zum Handhaben und Positionieren von Schrauben
DE69520019T2 (de) Vorrichtung zum Verbinden von Bändern
DE59607463D1 (de) Vorrichtung zur kontrolle von flächenmassen
DE19680030D2 (de) Verfahren und Vorrichtung zum Steuern von Russbläsern
DE69511226D1 (de) Vorrichtung zum Behandeln von Gegenständen
DE9407666U1 (de) Vorrichtung zum Beeinflussen von ein- oder mehrzelligen Organismen
DE9402502U1 (de) Vorrichtung zum Behandeln von Müll
DE69417038T2 (de) Gerät zum öffnen von kartons
DE69509840T2 (de) Vorrichtung zum Entfernen und Zerbrechen von Pflaster
DE29509233U1 (de) Vorrichtung zum Betätigen von Türen
DE59606256D1 (de) Vorrichtung zum enthäuten und abschwarten von behandlungsgut
DE29504437U1 (de) Vorrichtung zum Bekämpfen von Schadorganismen
DE9406915U1 (de) Vorrichtung zum Fernhalten von Insekten
DE9420417U1 (de) Vorrichtung zum Betätigen des Auslaufverschlusses von Badewannen (Rotexa-Linear)
DE9406730U1 (de) Vorrichtung zur Bekämpfung von Nacktschnecken
ATA200395A (de) Vorrichtung zum öffnen von briefen
DE69516731T2 (de) Vorrichtung zum abwickeln und zum verbinden von bahnen

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee