バックゲージ動作及びセンサに基づく曲げ加工制御の方法及び装置

Japanese Patent JP3784831

B2

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.

Moor Richard M Junior
Bone David Alan
Elkins Kelly El
Marian Marie
Sturgis Robert H. Jr.
Hazama Kensuke

JP51591296A

June 14, 2006

November 09, 1995

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Amada Co., Ltd.
U.S.AMADA,LTD.

B21D5/02; B21D5/00; B21D43/00; B23Q3/18; B23Q15/22; B23Q17/22; B25J9/16; B25J19/02

JP3110022A
JP4309414A
JP4504821A

Hidekazu Miyoshi

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