DE69715508T2 - Betriebsverfahren für einen Arbeitsraum mit einem an eine Biegepresse gehörenden Roboter zur Blechteilebearbeitung - Google Patents

Betriebsverfahren für einen Arbeitsraum mit einem an eine Biegepresse gehörenden Roboter zur Blechteilebearbeitung

Info

Publication number
DE69715508T2
DE69715508T2 DE69715508T DE69715508T DE69715508T2 DE 69715508 T2 DE69715508 T2 DE 69715508T2 DE 69715508 T DE69715508 T DE 69715508T DE 69715508 T DE69715508 T DE 69715508T DE 69715508 T2 DE69715508 T2 DE 69715508T2
Authority
DE
Germany
Prior art keywords
metal sheet
robot
bending
operating method
bending press
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 - Lifetime
Application number
DE69715508T
Other languages
English (en)
Other versions
DE69715508D1 (de
Inventor
Mario Marobin
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.)
Salvagnini Italia SpA
Original Assignee
Salvagnini Italia SpA
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 Salvagnini Italia SpA filed Critical Salvagnini Italia SpA
Publication of DE69715508D1 publication Critical patent/DE69715508D1/de
Application granted granted Critical
Publication of DE69715508T2 publication Critical patent/DE69715508T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D13/00Corrugating sheet metal, rods or profiles; Bending sheet metal, rods or profiles into wave form
    • B21D13/02Corrugating sheet metal, rods or profiles; Bending sheet metal, rods or profiles into wave form by pressing
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40054Supply sheet to bending machine
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/40Robotics, robotics mapping to robotics vision
    • G05B2219/40421Motion planning for manipulator handling sheet metal profiles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Press Drives And Press Lines (AREA)
  • Manipulator (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)
  • Numerical Control (AREA)
DE69715508T 1996-05-16 1997-05-10 Betriebsverfahren für einen Arbeitsraum mit einem an eine Biegepresse gehörenden Roboter zur Blechteilebearbeitung Expired - Lifetime DE69715508T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT96MI000982A IT1283019B1 (it) 1996-05-16 1996-05-16 Metodo di gestione di un'isola di lavoro comprendente un robot asser- vito ad una pressa piegatrice per lavorazione di fogli di lamiera.

Publications (2)

Publication Number Publication Date
DE69715508D1 DE69715508D1 (de) 2002-10-24
DE69715508T2 true DE69715508T2 (de) 2003-05-28

Family

ID=11374271

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69715508T Expired - Lifetime DE69715508T2 (de) 1996-05-16 1997-05-10 Betriebsverfahren für einen Arbeitsraum mit einem an eine Biegepresse gehörenden Roboter zur Blechteilebearbeitung

Country Status (11)

Country Link
US (1) US5988855A (de)
EP (1) EP0807497B1 (de)
JP (1) JP4130703B2 (de)
KR (1) KR970073892A (de)
AT (1) ATE224261T1 (de)
CA (1) CA2205162C (de)
DE (1) DE69715508T2 (de)
DK (1) DK0807497T3 (de)
ES (1) ES2181982T3 (de)
IT (1) IT1283019B1 (de)
PT (1) PT807497E (de)

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7624028B1 (en) 1992-11-17 2009-11-24 Health Hero Network, Inc. Remote health monitoring and maintenance system
US6968375B1 (en) * 1997-03-28 2005-11-22 Health Hero Network, Inc. Networked system for interactive communication and remote monitoring of individuals
IT1284548B1 (it) * 1996-09-18 1998-05-21 Salvagnini Italia Spa Metodo per trasporto di fogli di lamiera in un'isola di lavoro comprendente una macchina utensile e un robot
IT1294998B1 (it) * 1997-09-09 1999-04-27 Salvagnini Italia Spa Procedimento per la generazione automatica di una sequenza di comandi per macchina piegatrice di fogli di lamiera
NL1010359C2 (nl) * 1998-10-20 1999-10-11 Delem B V Werkwijze voor het bepalen van een gereedschapconfiguratie.
IT1313346B1 (it) 1999-09-06 2002-07-23 Abb Ricerca Spa Metodo per eseguire la programmazione fuori linea di un robotindustriale.
US6269677B1 (en) 1999-12-28 2001-08-07 Abb T&D Technology Ltd. Press brake back gauge finger
DE10338170B4 (de) * 2003-08-20 2005-12-29 Edag Engineering + Design Ag Rollfalzvorrichtung und deren Verwendung
US8588981B2 (en) * 2004-03-16 2013-11-19 Abb Ab System of manipulators and method for controlling such a system
ATE446534T1 (de) * 2004-10-25 2009-11-15 Alcoa Inc Virtuelle programmierung von formteilbahnen
SE0402891D0 (sv) 2004-11-26 2004-11-26 Abb Ab A system and a method for controlling movements of an industrial robot
US20070299556A1 (en) * 2005-11-10 2007-12-27 Hugo Salamanca Robot system and method for scrap bundling in metal smelting and refining processes
US7746018B2 (en) 2005-11-10 2010-06-29 MI Robotic Solutions Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes
JP4271232B2 (ja) * 2006-12-20 2009-06-03 ファナック株式会社 ロボットのオフラインプログラミングを実行するための装置、方法、プログラム及び記録媒体
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***及方法
US8285413B1 (en) * 2009-03-29 2012-10-09 International Training Institute for the Sheet Metal and Air Conditioning Industry Sheet metal fabrication system
ITMO20090154A1 (it) * 2009-06-12 2010-12-13 Piercarlo Bonomi Attrezzatura per la lavorazione meccanica su pezzi fusi o stampati, particolarmente per la sbavatura, la molatura e il taglio dei canali di colata di pezzi in ghisa, acciaio o simili
JP4910097B2 (ja) 2011-07-25 2012-04-04 コージ産業株式会社 棚装置
CN103987496B (zh) * 2011-08-24 2015-05-20 山崎马扎克公司 Nc机床***
CN104369128A (zh) * 2013-08-17 2015-02-25 江苏卡威汽车工业集团有限公司 一种汽车左右侧外板总成夹具
CN104625992B (zh) * 2013-11-06 2017-12-05 富泰华工业(深圳)有限公司 定位装置
JP6019149B2 (ja) * 2015-02-19 2016-11-02 株式会社アマダホールディングス ベンディングロボット及びワーク検出方法
CN106141954B (zh) * 2016-07-26 2017-11-24 北京工业大学 一种基于振动的能量采集对边简支结构发电装置的夹具
CN106272166B (zh) * 2016-09-26 2018-05-29 南昌航空大学 一种飞机长梁多工位自动夹具
CN106514511B (zh) * 2016-11-29 2018-03-27 延锋伟世通电子科技(南京)有限公司 一种汽车导航屏模组装配用定位工装
JP6932380B2 (ja) * 2018-09-05 2021-09-08 株式会社ウエーブ 箔押し機用給排紙方法および装置
DE102018124671B4 (de) * 2018-10-06 2020-11-26 Bystronic Laser Ag Verfahren und Vorrichtung zur Erstellung eines Robotersteuerprogramms
WO2021028011A1 (en) * 2019-08-09 2021-02-18 Quintus Technologies Ab System and method for handling and isostatic pressure treatment of a load
CN110548783B (zh) * 2019-09-14 2020-08-11 江苏省健尔康医用敷料有限公司 医用纱布纺织机翻转滑拨板的自动化生产装置
KR102432978B1 (ko) * 2020-11-25 2022-08-18 에코캡 주식회사 메탈피시비 성형장치 및 방법

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4430879A (en) * 1981-06-12 1984-02-14 Hurco Manufacturing Company, Inc. Apparatus for controlling a press brake
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
DE3407445A1 (de) * 1984-02-29 1985-09-12 Siemens AG, 1000 Berlin und 8000 München Positioniervorrichtung fuer automatisch bestueckbare biegepresse
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
DE3902149C2 (de) * 1988-01-29 2000-05-18 Amada Co Biegeeinrichtung und Verfahren zum Positionieren von Werkstücken in einer Blechbiegeeinrichtung
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
US5287433A (en) * 1989-12-18 1994-02-15 Amada Company Limited Device for control of a robot manipulator for a metal sheet bending installation
IT1237740B (it) * 1989-12-22 1993-06-15 Prima Ind Spa Sistema per la creazione di segnali di comando e di controllo per un ciclo operativo completo di un dispositivo manipolatore robotizzato di un impianto di piegatura di lamiere, tramite la simulazione dello ambiente operativo.
US5642291A (en) * 1989-12-22 1997-06-24 Amada Company, Limited Of Japan System for creating command and control signals for a complete operating cycle of a robot manipulator device of a sheet metal bending installation by simulating the operating environment
IT1237750B (it) * 1989-12-29 1993-06-15 Prima Ind Spa Procedimento di piegatura di una lamiera
WO1991009695A1 (en) * 1989-12-29 1991-07-11 Amada Company, Limited A device for manipulating sheet metal pieces
US5347616A (en) * 1991-01-28 1994-09-13 Tsubakimoto Chain Co. Method of controlling position and attitude of working robot and its manipulator and apparatus thereof
JP3515137B2 (ja) * 1992-11-17 2004-04-05 株式会社アマダ 曲げロボットの制御方法
WO1996015481A2 (en) * 1994-11-09 1996-05-23 Amada Company, Limited 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
JP3334400B2 (ja) * 1995-02-02 2002-10-15 トヨタ自動車株式会社 仕掛計画立案装置

Also Published As

Publication number Publication date
ATE224261T1 (de) 2002-10-15
DK0807497T3 (da) 2003-01-06
DE69715508D1 (de) 2002-10-24
EP0807497A1 (de) 1997-11-19
PT807497E (pt) 2003-02-28
US5988855A (en) 1999-11-23
ITMI960982A0 (de) 1996-05-16
CA2205162C (en) 2006-08-15
CA2205162A1 (en) 1997-11-16
IT1283019B1 (it) 1998-04-03
KR970073892A (ko) 1997-12-10
JPH10111707A (ja) 1998-04-28
ES2181982T3 (es) 2003-03-01
ITMI960982A1 (it) 1997-11-16
JP4130703B2 (ja) 2008-08-06
EP0807497B1 (de) 2002-09-18

Similar Documents

Publication Publication Date Title
DE69715508D1 (de) Betriebsverfahren für einen Arbeitsraum mit einem an eine Biegepresse gehörenden Roboter zur Blechteilebearbeitung
KR970005520B1 (ko) 판굽힘장치용 매니퓰레이터의 제어장치 및 방법
EP1160024A4 (de) Biegepresssystem
CN104608114A (zh) 机器人***及被加工物的制造方法
KR0136597B1 (ko) 굽힘장치
CN106061689B (zh) 机械手、机器人及工件操纵方法
ATE143839T1 (de) Verbesserung in einem blechbiegeverfahren und zugehörige maschine
US7222416B2 (en) Edge bending apparatus
ATE77270T1 (de) Vorrichtung zum erzeugen von blechabkantungen durch biegen.
DE69714534T2 (de) Verfahren zur Handhabung von Blechteilen in einem Arbeitsraum mit einer Werkzeugmaschine und einem Roboter
US7204118B2 (en) Hemming tool die assembly
JPH0747429A (ja) ヘミング加工装置
ATE104879T1 (de) Verfahren und einrichtung zur herstellung von einen unrunden querschnitt aufweisenden dosenkoerpern.
CN211073636U (zh) 一种两自由度机械手机构
JPH06122025A (ja) プレスブレーキロボットシステムのワーク曲げ追従方法
CN101052482A (zh) 金属板弯曲成型机工作单元位移运动***
US6366046B1 (en) System for servomotor driven press to permit performance of multi purpose tasks
CN214393136U (zh) 一种基于三轴机械手的自动锁螺丝装置
CN215467711U (zh) 一种多功能钢丝折弯机
CN212238699U (zh) 一种具有容错功能的机器人折弯***
CN212151563U (zh) 全自动灌装***
JP3710267B2 (ja) スプリングバック角度推定方法およびそれを用いる曲げ加工方法並びに曲げ加工装置
GB1080471A (en) Machines for bending over the edges of metal sheets
JPS6119581A (ja) 関節形ロボツト制御方式
JPS62286625A (ja) 材料供給装置

Legal Events

Date Code Title Description
8364 No opposition during term of opposition