Title:
フィンガ・パッド力検知システム
Document Type and Number:
Japanese Patent JP3727657
Kind Code:
B2
Abstract:
The invention relates to an apparatus and method for controlling a movement of a gripper which grips a sheet metal workpiece. The sheet metal workpiece is fed into a press brake. First, at least one finger pad force sensor is affixed to the gripper such that it is positioned between the gripper and the workpiece in order to experience a shear force experienced by the workpiece. Then, a threshold of the shear force is determined such that a slippage between the gripper and the workpiece occurs when a value of the shear force experienced by the workpiece exceeds the threshold. The shear force experienced by the workpiece is detected by the finger pad force sensor, and when the shear force is above the threshold, the movement of the gripper is changed from a predetermined movement.
Inventors:
Marian Marie
Moor Richard M Junior
Bone David Alan
Siegel Melvin W
Moor Richard M Junior
Bone David Alan
Siegel Melvin W
Application Number:
JP51591196A
Publication Date:
December 14, 2005
Filing Date:
November 09, 1995
Export Citation:
Assignee:
Amada Co., Ltd.
Amada america,ink
Amada america,ink
International Classes:
B21D5/02; B25J15/08; B25J19/02; G01F1/74; G01L1/04; G01L1/24; G01L5/00; G01L5/16; G01L5/22; (IPC1-7): G01L5/00; B21D5/02; B25J15/08; B25J19/02; G01L1/04; G01L1/24
Domestic Patent References:
| JP61122536A | ||||
| JP6066982U | ||||
| JP60195431A | ||||
| JP63117242A |
Foreign References:
| US4942767 |
Attorney, Agent or Firm:
Hidekazu Miyoshi