Title:
METHODS AND APPARATUSES FOR BACKGAGING AND SENSOR-METHODS AND APPARATUSES FOR BACKGAGING AND SENSOR-BASED CONTROL OF BENDING OPERATIONS BASED CONTROL OF BENDING OPERATIONS
Document Type and Number:
WIPO Patent Application WO1996014949
Kind Code:
A3
Abstract:
Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.
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| WO/2016/037208 | BRAKE PRESS |
Inventors:
MOORE RICHARD M JR
BOURNE DAVID ALAN
ELKINS KERRY L
MURRAY ANNE MARIE
STURGES ROBERT H JR
HAZAMA KENSUKE
BOURNE DAVID ALAN
ELKINS KERRY L
MURRAY ANNE MARIE
STURGES ROBERT H JR
HAZAMA KENSUKE
Application Number:
PCT/JP1995/002289
Publication Date:
December 05, 1996
Filing Date:
November 09, 1995
Export Citation:
Assignee:
AMADA CO LTD (JP)
AMADA LTD US (JP)
AMADA LTD US (JP)
International Classes:
B21D5/00; B21D5/02; B21D43/00; B23Q3/18; B23Q15/22; B23Q17/22; B25J9/16; B25J19/02; (IPC1-7): B21D5/00; B21D5/02; B21D11/22; B21D43/00; B25J9/16; B25J19/02
Domestic Patent References:
| WO1991009696A1 | 1991-07-11 |
Foreign References:
| JPH04309414A | 1992-11-02 | |||
| JPH03110022A | 1991-05-10 | |||
| JPH03110018A | 1991-05-10 |
Other References:
PATENT ABSTRACTS OF JAPAN vol. 017, no. 126 (M - 1381) 17 March 1993 (1993-03-17)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 298 (M - 1141) 29 July 1991 (1991-07-29)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 298 (M - 1141) 29 July 1991 (1991-07-29)
PATENT ABSTRACTS OF JAPAN vol. 018, no. 239 (M - 1601) 9 May 1994 (1994-05-09)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 325 (M - 1148) 19 August 1991 (1991-08-19)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 298 (M - 1141) 29 July 1991 (1991-07-29)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 298 (M - 1141) 29 July 1991 (1991-07-29)
PATENT ABSTRACTS OF JAPAN vol. 018, no. 239 (M - 1601) 9 May 1994 (1994-05-09)
PATENT ABSTRACTS OF JAPAN vol. 015, no. 325 (M - 1148) 19 August 1991 (1991-08-19)
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