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1.发明公开
公开(公告)号：EP0725692A1
公开(公告)日：1996-08-14
申请号：EP94931177.0
申请日：1994-10-27
Applicant: AMADA COMPANY LIMITED , CREA S.r.l.
Inventor： SARTORIO, Franco
CPC classification number: B21D43/105 , B21D5/02 , B21D5/0254 , B21D11/20 , B21D37/04 , B21D37/145 , Y10T483/16
Abstract: The system for producing bent sheet-metal articles comprises a bending machine (80) having a punch (84) and a die (86) which cooperate with each other and define a bending space, and a manipulator (64) having a movable head (76) which can grip a piece of sheet metal and place it in the bending space. Each piece to be bent has its own gripper and the head (76) of the manipulator (64) has rapid-attachment means for gripping and releasing the gripper associated with each piece. A table for defining the position of a piece to be bent, a manipulator for gripping and moving a piece of sheet metal by means of a floating head, a bending machine comprising an auxiliary structure for measuring the relative displacement of the punch and the die, and a device for automatically replacing tools of the bending machine are also described.
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公开(公告)号：EP0725692B1
公开(公告)日：1999-06-02
申请号：EP94931177.3
申请日：1994-10-27
Applicant: AMADA COMPANY, Ltd. , CREA S.r.l.
Inventor： SARTORIO, Franco
CPC classification number: B21D43/105 , B21D5/02 , B21D5/0254 , B21D11/20 , B21D37/04 , B21D37/145 , Y10T483/16
Abstract: The system for producing bent sheet-metal articles comprises a bending machine (80) having a punch (84) and a die (86) which cooperate with each other and define a bending space, and a manipulator (64) having a movable head (76) which can grip a piece of sheet metal and place it in the bending space. Each piece to be bent has its own gripper and the head (76) of the manipulator (64) has rapid-attachment means for gripping and releasing the gripper associated with each piece. A table for defining the position of a piece to be bent, a manipulator for gripping and moving a piece of sheet metal by means of a floating head, a bending machine comprising an auxiliary structure for measuring the relative displacement of the punch and the die, and a device for automatically replacing tools of the bending machine are also described.
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公开(公告)号：EP0637371B1
公开(公告)日：1998-07-22
申请号：EP94907078.3
申请日：1994-02-21
Applicant: AMADA COMPANY, LIMITED
Inventor： SARTORIO, Franco
CPC classification number: B21D5/0209 , G01B5/24 , G01B7/30 , Y10S72/702
Abstract: A device for measuring an angle in a piece (2), includes a base (8); a pair of feelers (12) which are movable relative to the base (8) and each of which has an active surface (16) for contacting a respective portion (2a, 2b) of the piece (2) during the measurement; thrust mechanism (18) for bringing the active surfaces (16) of said feelers (12) into contact with the respective portions (2a, 2b) of the piece (2) being measured; and sensors mechanism (32) for detecting the positions of the feelers (12) relative to the base (8).
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公开(公告)号：EP0637371A1
公开(公告)日：1995-02-08
申请号：EP94907078.0
申请日：1994-02-21
Applicant: AMADA COMPANY LIMITED
Inventor： SARTORIO, Franco
CPC classification number: B21D5/0209 , G01B5/24 , G01B7/30 , Y10S72/702
Abstract: A device for measuring an angle in a piece (2), includes a base (8); a pair of feelers (12) which are movable relative to the base (8) and each of which has an active surface (16) for contacting a respective portion (2a, 2b) of the piece (2) during the measurement; thrust mechanism (18) for bringing the active surfaces (16) of said feelers (12) into contact with the respective portions (2a, 2b) of the piece (2) being measured; and sensors mechanism (32) for detecting the positions of the feelers (12) relative to the base (8).
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公开(公告)号：EP0564604A1
公开(公告)日：1993-10-13
申请号：EP92905900.0
申请日：1991-12-23
Applicant: AMADA COMPANY LIMITED
Inventor： SARTORIO, Franco
CPC classification number: B30B1/18 , F16H25/2018 , F16H2025/2081 , F16H2025/2084 , F16H2025/2093 , Y10S254/02 , Y10T74/1864
Abstract: Actuateur à déplacement linéaire pour une machine, notamment une machine à plier. Il comporte un premier et un second corps (2, 4) montés coulissants l'un par rapport à l'autre ainsi qu'un mécanisme à vis mâle/femelle (14) commandant le coulissement relatif des deux corps le long d'une ligne d'action. La vis mâle (16) et la vis femelle (27) sont portées en rotation par les premier et second corps (2, 4) et peuvent être entraînées en rotation par des moteurs électriques respectifs (24, 38). Ces moteurs (24, 38) sont associés à des dispositifs réducteurs de vitesse respectifs (22, 26 et 38 respectivement) ayant des rapports de réduction sensiblement différents. En outre, l'actuateur comprend un dispositif de freinage (42, 44) associé à l'élément du mécanisme à vis mâle/femelle (14) qui est relié au dispositif réducteur de vitesse (22, 26) ayant le rapport de réduction le moins élevé.
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Patent Agency Ranking6.发明授权
公开(公告)号：EP0462286B1
公开(公告)日：1995-03-08
申请号：EP91901540.4
申请日：1990-12-28
Applicant: AMADA COMPANY, LIMITED
Inventor： PRUNOTTO, Gianpaolo , SARTORIO, Franco
CPC classification number: B21D5/002 , B21D43/003 , B21D43/105
Abstract: The method is of the type in which the metal sheet (W) is manipulated by means of a movable gripping member (G) of a manipulator robot controlled by a programmer (PC) according to a programm for positioning successive lines of working of the metal sheet in correspondence with a pair of linear tools (16, 18). The programmer (PC) starts the working program by transporting the metal sheet to the position which corresponds with the first virtual or imaginary working line (Bo). Sensors (S1, S2, Sy) detect the position of the virtual working line and signal to the programmer whether and to what extend the position of this virtual working line differs from the correct position. This is equivalent to the entering in the programmer of a datum relating to the displacement of the engagement point (Co) of the gripping member from its theoretical engagement point (C) on the metal sheet. The programmer moves the gripping member (G) on the basis of the error detected, repositions it relative to the metal sheet (W) at the theoretical engagement point (C).
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7.发明公开
公开(公告)号：EP0462286A1
公开(公告)日：1991-12-27
申请号：EP91901540.0
申请日：1990-12-28
Applicant: AMADA COMPANY LIMITED
Inventor： PRUNOTTO, Gianpaolo , SARTORIO, Franco
CPC classification number: B21D5/002 , B21D43/003 , B21D43/105
Abstract: Le procédé décrit est du type selon lequel une tôle métallique (W) est manipulée au moyen d'un organe mobile de préhension (G) d'un robot manipulateur commandé par une unité programmable (PC) en fonction d'un programme de positionnement de lignes successives de façonnage des tôles métalliques en correspondance avec une paire d'outils linéaires (16, 18). L'unité programmable (PC) fait démarrer le programme de façonnage en transportant la tôle métallique jusqu'à la position qui correspond à la première ligne virtuelle ou imaginaire de façonnage (Bo). Des capteurs (S1, S2, Sy) détectent la position de la ligne virtuelle de travail et indiquent à l'unité de programmation si la position de cette ligne virtuelle de façonnage diffère de la position correcte, et dans quelle mesure, ce qui équivaut à fournir à l'unité de programmation un repère concernant l'écartement du point de contact (Co) de l'organe de préhension par rapport à son point théorique de contact (C) avec la tôle métallique. L'unité de programmation déplace l'organe de préhension (G) en fonction de l'erreur détectée et le repositionne par rapport à la tôle métallique (W) au point théorique de contact (C).
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公开(公告)号：EP0456830A1
公开(公告)日：1991-11-21
申请号：EP90917527.0
申请日：1990-11-28
Applicant: AMADA COMPANY LIMITED
Inventor： SARTORIO, Franco
CPC classification number: B65H29/52 , B21D43/027 , B21D43/16 , B21D43/20 , B65H5/10 , B65H39/075
Abstract: Le dispositif décrit qui sert à transférer une pièce à façonner destinée à être présentée à un outil en vue de subir une opération de façonnage, comprend un élément de transport servant à prélever la pièce depuis une station d'amenée des pièces. L'élément de transport comporte une goulotte destinée à recevoir et à transférer un produit façonné dans une station réceptrice à la fin de l'opération de façonnage.
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公开(公告)号：EP0461275B1
公开(公告)日：1995-06-21
申请号：EP91901644.4
申请日：1990-12-28
Applicant: AMADA COMPANY, LIMITED
Inventor： SARTORIO, Franco , SCAVINO, Mario , VERGANO, Stefano
IPC: B21D43/10
CPC classification number: B21D43/105 , B21D43/026 , B23Q7/048 , B25J9/0084
Abstract: A device (12; 102) for manipulating sheet metal pieces (P) for a sheet metal processing machine (10; 101) is disclosed. The device (12; 102) comprises a plurality of manipulator units (20, 22; 106, 108, 110) with a plurality of gripping elements (32, 50, 52; 118, 126, 134) for gripping and moving the sheet metal pieces (P) so that the units (20, 22; 106, 108, 110) cooperate with one another in receiving a workpiece (P) from the associated processing machine (10; 101) and passing another workpiece (P) to the processing machine as well as such receiving from and passing to an associated device (4) for loading and discharging sheet metal pieces to utilize the processing machine (10; 101) as far as possible reducing its down times.
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10.发明授权
公开(公告)号：EP0458985B1
公开(公告)日：1995-03-08
申请号：EP91900932.4
申请日：1990-12-19
Applicant: AMADA COMPANY, LIMITED
Inventor： SARTORIO, Franco
Abstract: An electric welding robot (1) is disclosed. The robot comprises a projecting arm (9) movable horizontally and vertically (X, Z) and a first and a second rotating arms (19, 22) rotatable about vertical axis (E, F). The arms (9, 19, 22) are articulated with one another, and the second rotating arm (22) carries a welding electrode (29). The movements of the arms (9, 19, 22) are controlled by means (5, 8, 20, 23) to position the electrode (29) at desired positions and in desired directions for carrying out welding easily in any direction. The said means include second means (23) for rotating the second arm (22) forcibly about the axis (F) when necessary and automatically and mechanically clockwise about the axis (F) through an equal angle (α) when the first arm (19) is rotated forcibly by the first means (20) anti-clockwise about the axis (E) through an angle (α).
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