CN104903804B - 用于在多工位压力机中确定工件传送轨迹的方法 - Google Patents

用于在多工位压力机中确定工件传送轨迹的方法 Download PDF

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Publication number
CN104903804B
CN104903804B CN201380055153.XA CN201380055153A CN104903804B CN 104903804 B CN104903804 B CN 104903804B CN 201380055153 A CN201380055153 A CN 201380055153A CN 104903804 B CN104903804 B CN 104903804B
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CN
China
Prior art keywords
trajectory
transfer
press
workpiece
stations
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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CN201380055153.XA
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English (en)
Chinese (zh)
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CN104903804A (zh
Inventor
D.沙尔
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Guedel Group AG
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Guedel Group AG
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—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
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39105—Manipulator cooperates with moving machine, like press brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40395—Compose movement with primitive movement segments from database
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40421—Motion planning for manipulator handling sheet metal profiles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43176—Scale velocity profile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45142—Press-line
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Data Mining & Analysis (AREA)
  • Mathematical Physics (AREA)
  • Robotics (AREA)
  • Computational Mathematics (AREA)
  • Software Systems (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Algebra (AREA)
  • Pure & Applied Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • Press Drives And Press Lines (AREA)
  • Control Of Presses (AREA)
  • Numerical Control (AREA)
CN201380055153.XA 2012-10-22 2013-10-22 用于在多工位压力机中确定工件传送轨迹的方法 Expired - Fee Related CN104903804B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH2068/12 2012-10-22
CH20682012 2012-10-22
PCT/CH2013/000181 WO2014063262A1 (en) 2012-10-22 2013-10-22 Method for the determination of workpiece transport trajectories in a multiple station press

Publications (2)

Publication Number Publication Date
CN104903804A CN104903804A (zh) 2015-09-09
CN104903804B true CN104903804B (zh) 2018-09-11

Family

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CN201380055153.XA Expired - Fee Related CN104903804B (zh) 2012-10-22 2013-10-22 用于在多工位压力机中确定工件传送轨迹的方法

Country Status (8)

Country Link
US (1) US9864822B2 (https=)
EP (1) EP2909684B1 (https=)
JP (1) JP6530315B2 (https=)
KR (1) KR102149566B1 (https=)
CN (1) CN104903804B (https=)
ES (1) ES2802850T3 (https=)
SG (1) SG11201503120PA (https=)
WO (1) WO2014063262A1 (https=)

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EP2952988B1 (de) * 2014-06-03 2020-07-29 Siemens Aktiengesellschaft Verfahren zur Berechnung einer optimierten Trajektorie
US10551820B2 (en) * 2015-06-03 2020-02-04 Siemens Aktiengesellschaft Method for calculating an optimized trajectory
DE102016222649B3 (de) * 2016-09-19 2017-08-31 Schuler Automation Gmbh & Co. Kg Verfahren zur Bestimmung einer Bahnkurve für eine Transfereinrichtung und Produktionsvorrichtung
EP3315267B1 (de) * 2016-10-25 2019-12-04 Siemens Aktiengesellschaft Verfahren zur optimierung von bewegungsprofilen, verfahren zur bereitstellung von bewegungsprofilen, steuereinrichtung, anlage und computerprogrammprodukt
JP6765291B2 (ja) * 2016-12-16 2020-10-07 コマツ産機株式会社 シミュレーション装置、シミュレーション方法およびシミュレーションプログラム
CN109426690B (zh) * 2017-08-31 2023-07-28 西门子公司 生成空间的可视化模型布局的方法、装置和设备
JP7051465B2 (ja) 2018-01-29 2022-04-11 コマツ産機株式会社 シミュレーション装置、プレスシステム、シミュレーション方法、プログラム、および記録媒体
CN108563826B (zh) * 2018-03-02 2022-02-08 河北工业大学 多连杆伺服压力机传动机构性能分析系统
EP3627257B1 (de) * 2018-09-18 2022-11-30 Siemens Aktiengesellschaft Bewegungsplanung für ein transportsystem einer servopressenanlage
DE102018125434B4 (de) * 2018-10-15 2020-06-18 Schuler Pressen Gmbh Verfahren zur Prüfung der Transferfreigängigkeit
JP6508691B1 (ja) * 2018-10-15 2019-05-08 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法
WO2020116479A1 (ja) * 2018-12-04 2020-06-11 株式会社エイチアンドエフ トランスファプレスシステム
CN113396035A (zh) 2019-02-27 2021-09-14 伯克希尔格雷股份有限公司 用于在可编程运动系统中的软管布线的系统和方法
ES2982678T3 (es) * 2019-04-25 2024-10-17 Berkshire Grey Operating Company Inc Sistema y método para mantener la vida útil de una manguera de vacío en sistemas de enrutamiento de mangueras en sistemas de movimientos programables
JP7355533B2 (ja) * 2019-06-25 2023-10-03 ファナック株式会社 ロボットプログラミング装置
JP7316111B2 (ja) * 2019-06-25 2023-07-27 ファナック株式会社 プレス加工シミュレーション装置
JP7438761B2 (ja) * 2020-01-20 2024-02-27 住友重機械工業株式会社 プレス装置
US12413242B2 (en) * 2020-12-21 2025-09-09 Google Llc Reconfigurable analog-to-digital converter
CN115283508B (zh) * 2021-03-16 2025-08-29 浙江大学台州研究院 一种雨刮器钢条的折弯设备
CN114378818B (zh) * 2022-01-14 2024-06-28 浙江精尚数控科技有限公司 一种多工位配套夹持机械手的移动选择方法
JP2024002097A (ja) * 2022-06-23 2024-01-11 コマツ産機株式会社 シミュレーションプログラム、記録媒体、シミュレーション方法、およびシミュレーション装置
CN116653346B (zh) * 2023-07-05 2025-06-17 合肥工业大学 一种冲压工件成形质量的在线监测方法与工具
DE102024120336A1 (de) * 2024-07-18 2026-01-22 Andritz Schuler Pressen Gmbh Verfahren und Vorrichtung zur Steuerung eines Stößelantriebs
DE102024130355A1 (de) * 2024-10-18 2026-04-23 Andritz Schuler Pressen Gmbh Verfahren zur Bewegungssteuerung einer Umformanlage

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Also Published As

Publication number Publication date
EP2909684A1 (en) 2015-08-26
JP6530315B2 (ja) 2019-06-12
US9864822B2 (en) 2018-01-09
JP2016500882A (ja) 2016-01-14
EP2909684B1 (en) 2020-04-22
KR20170074723A (ko) 2017-06-30
ES2802850T3 (es) 2021-01-21
SG11201503120PA (en) 2015-05-28
WO2014063262A1 (en) 2014-05-01
CN104903804A (zh) 2015-09-09
US20150294044A1 (en) 2015-10-15
KR102149566B1 (ko) 2020-08-31

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