公开(公告)号：WO1996029167A2

公开(公告)日：1996-09-26

申请号：PCT/US1996002319

申请日：1996-03-08

Applicant: U.S. AMADA, LTD. ,  CREA S.R.L.

Inventor： U.S. AMADA, LTD. ,  CREA S.R.L. ,  ITO, Katsuhide

IPC: B23B00/00

CPC classification number: B23P19/02 ,  Y10T29/5343 ,  Y10T29/53522 ,  Y10T29/53709 ,  Y10T29/5397 ,  Y10T29/53974 ,  Y10T29/53978

Abstract: A machine for driving inserts into pieces of sheet metal includes a punch (50) and a die (46) movable relative to one another along an axis (A) along which the inserts are to be driven. The punch (50) and die (46) define a driving zone (52) therebetween, in which a hole (144) in the piece (22) in which an insert is to be driven is positioned. The axis (A) along which the inserts are to be driven is substantially horizontal and the pieces are held in a substantially vertical plane by an automatic handling device (26).

Abstract translation: 用于将插入件推入片状金属片的机器包括冲头（50）和可沿着所述插入件沿其驱动的轴线（A）可相对于彼此移动的模具（46）。 冲头（50）和模具（46）在其间限定了驱动区域（52），其中定位有待驱动插入件的件（22）中的孔（144）。 要驱动插入件的轴线（A）基本上是水平的，并且通过自动处理装置（26）将件保持在基本垂直的平面中。

公开(公告)号：WO1996028280A1

公开(公告)日：1996-09-19

申请号：PCT/US1996002320

申请日：1996-03-08

Applicant: U.S. AMADA, LTD. ,  CREA S.R.L.

Inventor： U.S. AMADA, LTD. ,  CREA S.R.L. ,  ITO, Katsuhide ,  SCAVINO, Mario

IPC: B23Q07/10

CPC classification number: B23Q7/10 ,  B21K25/00 ,  B23P19/001 ,  Y10T29/53478 ,  Y10T29/53522 ,  Y10T29/53709

Abstract: A machine for driving inserts into pieces of sheet metal includes an automatic loading device (60) having a plurality of cartridges (62) containing inserts (70) of different types. Each cartridge (62) can be connected selectively to an insert-supply duct integral with the punch (46).

Abstract translation: 用于将插入件推入片材的机器包括具有多个包含不同类型的插入件（70）的盒（62）的自动装载装置（60）。 每个盒（62）可以选择性地连接到与冲头（46）整体的插入物供应管道。

公开(公告)号：WO1996028277A1

公开(公告)日：1996-09-19

申请号：PCT/US1996002318

申请日：1996-03-08

Applicant: U.S. AMADA, LTD. ,  CREA S.R.L.

Inventor： U.S. AMADA, LTD. ,  CREA S.R.L. ,  SCAVINO, Mario ,  VERGANO, Stefano

IPC: B23Q03/00

CPC classification number: B21J15/32 ,  B21J15/02

Abstract: A device for driving inserts into pieces of sheet metal includes a punch (1, 100) having a longitudinal axis of symmetry (5, 105), a thrust surface (9, 109) and a through hole extending along its longitudinal axis (5, 105) which constitutes a supply duct (6, 106) for the inserts. The through hole (6, 106), extends through the thrust surface (9, 109). A thrust rod (50, 150) applies a driving force to the inserts to move them into position in front of the thrust surface (9, 109) of the punch (1, 100). The thrust surface (9, 109) drives the head (42, 142) of the insert (40, 140) into a piece of sheet metal (30, 130) through a hole (31, 131) while plastically deforming the periphery of the hole (31, 131) which interfaces with the head (42, 142).

Abstract translation: 用于将插入件推入片材的装置包括具有纵向对称轴（5,105）的冲头（1,100），推力表面（9,109）和沿着其纵向轴线（5,105）延伸的通孔， 105），其构成用于插入件的供应管道（6,106）。 通孔（6,106）延伸穿过推力表面（9,109）。 推杆（50,150）向插入件施加驱动力以将它们移动到冲头（1,100）的推力表面（9,109）前方的位置。 推力表面（9,109）通过孔（31,131）将插入件（40,140）的头部（42,142）驱动成一块金属片（30,130），同时塑性变形 孔（31,131），其与头部（42,142）接合。

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：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：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。