JPH0370817U - - Google Patents
Info
- Publication number
- JPH0370817U JPH0370817U JP13250789U JP13250789U JPH0370817U JP H0370817 U JPH0370817 U JP H0370817U JP 13250789 U JP13250789 U JP 13250789U JP 13250789 U JP13250789 U JP 13250789U JP H0370817 U JPH0370817 U JP H0370817U
- Authority
- JP
- Japan
- Prior art keywords
- bending
- die
- manipulator
- workpiece
- ironing
- 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.)
- Granted
Links
- 238000005452 bending Methods 0.000 claims description 8
- 238000010409 ironing Methods 0.000 claims description 4
- 235000000396 iron Nutrition 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000605 extraction Methods 0.000 description 2
- 238000013075 data extraction Methods 0.000 description 1
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
Description
第1図は本考案の実施例に係るマニピユレータ
制御装置のブロツク図、第2図は実施例に用いる
しごき曲げ装置の全体構成を示す側面図、第3図
は伸びの説明図、第4図はクリアランスの説明図
、第5図は板厚と伸びの関係を示す図、第6図は
テーブルデータの説明図である。
12……マニピユレータ制御装置、13……曲
げプログラム入力部、14……曲げ条件抽出部、
15……寸法データ(フランジ寸法、底辺寸法)
抽出部、16……伸び及びクリアランスのデータ
テーブル、17……データ抽出部、18……補間
計算部、19……マニピユレータ位置計算部、2
0……マニピユレータ軸サーボコントローラN…
…伸び、C……クリアランス。
Fig. 1 is a block diagram of a manipulator control device according to an embodiment of the present invention, Fig. 2 is a side view showing the overall configuration of the ironing and bending device used in the embodiment, Fig. 3 is an explanatory diagram of elongation, and Fig. 4 is a An explanatory diagram of clearance, FIG. 5 is a diagram showing the relationship between plate thickness and elongation, and FIG. 6 is an explanatory diagram of table data. 12... Manipulator control device, 13... Bending program input unit, 14... Bending condition extraction unit,
15...Dimension data (flange dimensions, base dimensions)
Extraction unit, 16... Data table of elongation and clearance, 17... Data extraction unit, 18... Interpolation calculation unit, 19... Manipulator position calculation unit, 2
0...Manipulator axis servo controller N...
...Stretch, C...Clearance.
Claims (1)
れるワークの一端を曲げ金型でしごき曲げするし
ごき曲げプレスの前面に前記ワークの他端を把持
し前記押え金型に対して位置決めするマニピユレ
ータを配置したしごき曲げ装置のマニピユレータ
制御装置において、前記しごき曲げによるワーク
の伸び及び前記押え金型に対する前記曲げ金型の
位置を規定するクリアランスに関するデータテー
ブルと、該テーブルを検索し曲げ条件に応じた伸
び及びクリアランスに関する位置補正値を演算す
る手段と、該手段で演算された位置補正値を曲げ
寸法に適用することにより前記マニピユレータの
制御位置を演算する手段を備えたことを特徴とす
るしごき曲げ装置のマニピユレータ制御装置。 A manipulator is provided in front of the ironing and bending press, which presses the workpiece with a presser die and irons and bends one end of the workpiece projected from the die using the bending die, and grips the other end of the workpiece and positions it with respect to the presser die. In the manipulator control device of the arranged ironing and bending device, a data table regarding the elongation of the workpiece due to ironing and the clearance that defines the position of the bending die with respect to the presser die, and the table are searched to determine the elongation according to the bending conditions. and a means for calculating a position correction value regarding clearance, and a means for calculating a control position of the manipulator by applying the position correction value calculated by the means to a bending dimension. Manipulator control device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1989132507U JPH0744330Y2 (en) | 1989-11-16 | 1989-11-16 | Manipulator controller for ironing and bending machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1989132507U JPH0744330Y2 (en) | 1989-11-16 | 1989-11-16 | Manipulator controller for ironing and bending machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0370817U true JPH0370817U (en) | 1991-07-17 |
JPH0744330Y2 JPH0744330Y2 (en) | 1995-10-11 |
Family
ID=31679960
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1989132507U Expired - Fee Related JPH0744330Y2 (en) | 1989-11-16 | 1989-11-16 | Manipulator controller for ironing and bending machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0744330Y2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007014983A (en) * | 2005-07-07 | 2007-01-25 | National Institute Of Advanced Industrial & Technology | Method and apparatus for forming pipe |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59227379A (en) * | 1983-06-09 | 1984-12-20 | 株式会社アマダ | Method and device for supplying work |
JPS6192725A (en) * | 1984-10-15 | 1986-05-10 | Amada Co Ltd | Bend work system of plate stock |
JPS6261731A (en) * | 1985-09-12 | 1987-03-18 | Amada Co Ltd | Adjusting method for work reference plane in folding machine |
JPS6313622A (en) * | 1986-07-07 | 1988-01-20 | Amada Co Ltd | Butt position deciding device for back gage |
-
1989
- 1989-11-16 JP JP1989132507U patent/JPH0744330Y2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59227379A (en) * | 1983-06-09 | 1984-12-20 | 株式会社アマダ | Method and device for supplying work |
JPS6192725A (en) * | 1984-10-15 | 1986-05-10 | Amada Co Ltd | Bend work system of plate stock |
JPS6261731A (en) * | 1985-09-12 | 1987-03-18 | Amada Co Ltd | Adjusting method for work reference plane in folding machine |
JPS6313622A (en) * | 1986-07-07 | 1988-01-20 | Amada Co Ltd | Butt position deciding device for back gage |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007014983A (en) * | 2005-07-07 | 2007-01-25 | National Institute Of Advanced Industrial & Technology | Method and apparatus for forming pipe |
Also Published As
Publication number | Publication date |
---|---|
JPH0744330Y2 (en) | 1995-10-11 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |