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1. (US5287433) Device for control of a robot manipulator for a metal sheet bending installation

Office : United States of America
Application Number: 07741436 Application Date: 07.08.1991
Publication Number: 5287433 Publication Date: 15.02.1994
Grant Number: 5287433 Grant Date: 15.02.1994
Publication Kind : A
Prior PCT appl.: Application Number:JP90001648 ; Publication Number: Click to see the data
IPC:
G05B 19/405
B25J 9/16
B21D 5/02
B21D 43/04
B21D 43/10
B25J 9/10
B25J 9/22
B25J 13/06
G05B 19/18
G05B 19/408
G05B 19/409
G05B 19/4155
G05B 19/425
(Deprecated)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
403
characterised by the computer used for interpolating or synchronizing data from the program in order to generate signals for the positioning means
405
Input arrangements; Monitoring arrangements
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
B PERFORMING OPERATIONS; TRANSPORTING
21
MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
D
WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING
5
Bending sheet metal along straight lines, e.g. to form simple curves
02
on press brakes without making use of clamping means
B PERFORMING OPERATIONS; TRANSPORTING
21
MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
D
WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING
43
Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
02
Advancing work in relation to the stroke of the die or tool
04
by means in mechanical engagement with the work
B PERFORMING OPERATIONS; TRANSPORTING
21
MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
D
WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING
43
Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
02
Advancing work in relation to the stroke of the die or tool
04
by means in mechanical engagement with the work
10
by grippers
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
10
characterised by positioning means for manipulator elements
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
16
Programme controls
22
Recording or playback systems
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
06
Control stands, e.g. consoles, switchboards
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
408
characterised by data handling or data format, e.g. reading, buffering or conversion of data
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
409
characterised by using manual data input (MDI) or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4155
characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
42
Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
425
Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
Applicants: Amada Company Limited
Inventors: Prunotto Gianpaolo
Prada Marco
Agents: Sandler, Greenblum & Bernstein
Priority Data: 6811589 18.12.1989 IT
6811689 18.12.1989 IT
6811789 18.12.1989 IT
Title: (EN) Device for control of a robot manipulator for a metal sheet bending installation
Abstract: front page image
(EN)

To perform a simple and rapid preparation of control program, the control device for a robot manipulator for a sheet metal bending installation is provided with a first key for inputting a command signal for actuating a first actuator that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key for inputting a command signal for actuating a second actuator that is adapted to move another movable element of the metal sheet bending installation through a changeable distance or amount. Further, to increase the working speed of the sequence of control signals for the metal sheet bending installation, the control device is provided with a device for detecting a plurality of command signals for subsequently actuating a plurality of actuator and for subsequently moving an element or elements of the installation, and a device for associating the the plurality of command signals to produce an associated single command signal for actuating subsequently the plurality of the second actuator without any stops between the actions thereof.


Also published as:
EP0458976KR1019920700852WO/1991/008869