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1. (WO1991008869) DEVICE FOR CONTROL OF A ROBOT MANIPULATOR FOR A METAL SHEET BENDING INSTALLATION
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/1991/008869 International Application No.: PCT/JP1990/001648
Publication Date: 27.06.1991 International Filing Date: 18.12.1990
IPC:
B21D 5/02 (2006.01) ,B21D 43/10 (2006.01) ,G05B 19/408 (2006.01) ,G05B 19/409 (2006.01) ,G05B 19/425 (2006.01)
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
10
by grippers
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
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 [JP/JP]; 200 Ishida Isehara-shi Kanagawa 259-11, JP (AllExceptUS)
PRUNOTTO, Gianpaolo [IT/IT]; IT (UsOnly)
PRADA, Marco [IT/IT]; IT (UsOnly)
Inventors:
PRUNOTTO, Gianpaolo; IT
PRADA, Marco; IT
Agent:
MIYOSHI, Hidekazu; 5th Floor, Toranomon-Daiichi Building 2-3, Toranomon 1-chome Minato-ku Tokyo 105, JP
Priority Data:
68115 A-8918.12.1989IT
68116 A-8918.12.1989IT
68117 A-8918.12.1989IT
Title (EN) DEVICE FOR CONTROL OF A ROBOT MANIPULATOR FOR A METAL SHEET BENDING INSTALLATION
(FR) DISPOSITIF DE COMMANDE D'UN MANIPULATEUR ROBOTIQUE POUR UNE INSTALLATION DE PLIAGE DE PLAQUES DE METAL
Abstract:
(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 means for inputting a command signal for actuating a first actuator means that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key means 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 means for detecting a plurality of command signals for subsequently actuating a plurality of actuators and for subsequently moving an element or elements of the installation, and means for associating 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.
(FR) Afin de préparer simplement et rapidement un programme de commande, le dispositif de commande d'un manipulateur robotique pour une installation de pliage de feuilles ou plaques de métal est muni d'une première touche de commande permettant l'introduction d'un signal de commande destiné à actionner un premier actuateur qui est apte à déplacer un élément amovible de ladite installation sur une distance constante, ainsi que d'une deuxième touche de commande permettant l'introduction d'un signal de commande destiné à actionner un deuxième actuateur qui est apte à déplacer un autre élément amovible de ladite installation sur une distance variable. Par ailleurs, afin d'augmenter la vitesse de marche de la séquence de signaux de commande destinés à ladite installation, le dispositif de commande est muni d'un dispositif détecteur d'une pluralité de signaux de commande afin qu'il puisse ensuite actionner une pluralité d'actuateurs et déplacer un ou plusieurs éléments de ladite installation, ainsi que d'un dispositif destiné à associer la pluralité de signaux de commande afin de produire un seul signal de commande qui permet l'actionnement du deuxième actuateur sans aucun arrêt entre les opérations de celui-ci.
Designated States: JP, KR, US
European Patent Office (AT, BE, CH, DE, DK, ES, FR, GB, GR, IT, LU, NL, SE)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
EP0458976US5287433KR1019920700852