CN1890038A - Control system - Google Patents
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- CN1890038A CN1890038A CN 200480036186 CN200480036186A CN1890038A CN 1890038 A CN1890038 A CN 1890038A CN 200480036186 CN200480036186 CN 200480036186 CN 200480036186 A CN200480036186 A CN 200480036186A CN 1890038 A CN1890038 A CN 1890038A
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Abstract
The invention relates to a control system for use with a machine having a moving tool arranged to move through a known path of movement. The control system includes a means for detecting the location of objects in or adjacent the path of the tool (12) and a processing and control means arranged to determine the distance between the objects in or adjacent the path of the tool and a leading edge (22) of the tool (12). The control system includes at least one mode of operation in which the processing and control means controls movement of the tool (12) such that the distance between the objects in or adjacent the path of the tool and the leading edge (22) of the tool (12) is maintained within minimum and maximum values.
Description
Technical field
The present invention relates to a kind of control system, relate in particular to the system of the machine that is used to have moving component such as bullodozer, on the path of moving component, to survey object and moving of control assembly correspondingly.
Background technology
Typical bullodozer has the long anvil block blade similar to the groove of anvil block with the edge of a knife that V-shaped groove is arranged at the top.For monolithic bending metallic plate, most of machines generals back gauge is driven into the position with material alignment.Material is placed on the anvil block and the bootstrap block that is provided by back gauge anchor clamps can be provided.Then, the operator begins to press down, and drives blade downwards to contact with material, and then bending is placed on the metallic plate on the anvil block groove.
Controller (device that the control blade moves) can be triggered by mechanical device or existing sensing device.Mechanical device can be that as floor push, both hands touch near switch or this type of switch.Existing sensing device such as light curtain are placed in the anterior of blade and allow blade to be moved both hands and trigger from sensitive zones by the operator.
After bending, if blade is enough not far away from the workpiece withdrawal, then material is difficult to be removed from anvil block.For this situation, the bullodozer blade be designed to usually to be withdrawn into the bending material can easily be removed and height, and new sheet material is put on the anvil block.The height that blade is moved away to setting in this mode has not only reduced production efficiency and has increased operator's workpiece amount, then just can push one piece material to anvil block because the operator must wait blade to withdraw for the first time according to the triggering near switch.
Because the slit that exists an operator can insert finger or hand, so this relative big opening has increased operator's danger.On technological means, have the programmable blade open height in each stage that is used to the program of bending and/or be used to enhance productivity with respect to the technology like that of the closing speed of material fast.
Invented a plurality of systems being used to survey hand or the finger that the blade downside exists, thereby and to avoid issuable extruding injury or cramping.
For example, will use the system of the laser beam that stretches out along the blade downside to be used for this purpose, and by allow blade comparatively safely directly by quiet to enhance productivity.A kind of improved method has also been described in application in the early stage patent of inventor, and this patent application is published among the international monopoly WO03/104711.This disclosure of the Invention a kind of applicable to device safely, it can slow down and stop blade according to the unsafe act that detects.Except stopping or slowing down mobilely, device does is controlled the blade motion according to the image that receives and is not also allowed blade to move once more to reclose near switch up to the operator.Have, known laser system of stretching out along the blade downside is born vibration from laser beam because of the length of blade again, and known needs are periodic manually recalibrates.
In order to improve safety, the predeterminable range (being commonly called quiet point or folder point) that blade can be stopped at above material is located, and need be disconnected and reclose near switch before bending restarts.Owing to need the extra time, so this action has reduced production efficiency, in the process of alignment material, trigger near switch, wait for that blade is close to material and disconnects and reclose near switch at quiet point.Perhaps, patent WO03/104711 and other patent are described, check that zone and blade before the blade are allowed to not need to stop by quiet point conditionally, yet, this method only zone before blade is considered to use under the safe situation, and since blade before the contact of blade and material by a relative distance of length, the operator controls and the safety thought is reduced.In this case, blade is not just to be parked on the material, so the operator can not use blade to guarantee that material is properly oriented.
Some modern bullodozers with the bending operation that can make material be presented at graphically on the computer screen computer system use together.Computer can make blade open up into a proper height that is used for carrying out the bending operation.Yet if material fault orientation on being placed on anvil block the time will produce wrong bending so, or the operator need stop machine and again with the material orientation.
When the bending box, existing bullodozer will go wrong again.During operation, two of the bent box of operator is surveyed, and then turning of work piece 90 degree are with the rear portion of bending box.If if incorrect alignment of material or material are not set level on anvil block, the left side of blade or the right will be damaged so, or owing to blade contacts with a rising portions material be crumpled.If material is not aligned when being triggered near switch, then this situation may occur.
For fear of this problem, knownly use laser system that blade just is parked in maybe this to be stopped on the rising portions forming display in the machine, thereby allow the operator to guarantee that material is correctly placed so that blade by between the both sides and do not contact with them.Perhaps, what the operator can reduce blade opening height so that its height less than the material rising portions, and this will cause increasing the difficulty of inserting or taking out the bending material potentially.Yet this type systematic is because processing needs the extra time, so will cause reducing production efficiency.
Can need multiple device to finish above-mentioned various task, and this will increase the complexity of system, system has more part to be damaged, and calibration is connected to above-mentioned machine, alignment, and lost efficacy in operation, perhaps hinder material, blade, anvil block or bending operation.
Summary of the invention
The present invention is devoted to overcome at least in part some above-mentioned problems.
According to an aspect of the present invention, the control system that provides is used to have the machine of the instrument that moves on the known paths of being arranged in, and control system is characterised in that, comprising:
Be used for surveying in tool path or the device of the object space at close tool path place; Processing control apparatus, it is arranged to determines in tool path or the object at close tool path place and the distance between the instrument front end;
Wherein, control system comprises first operator scheme, and processing control apparatus the moving of control tool in this pattern will be remaining between the minimum and maximum value in tool path or near the object at tool path place and the distance between the instrument front end.
Description of drawings
The present invention will describe with reference to the accompanying drawings together by example, and accompanying drawing is as follows:
Fig. 1 is a figure that can use the typical bullodozer of control system of the present invention, represents and can be used for material side anchor clamps of the present invention;
Fig. 2 represents according to the light-emitting device of control system of the present invention and infrared rays receiver;
Fig. 3 is the perspective view of the bullodozer with instrument edge of a knife near zone shown in the present;
Fig. 4 is the echo that produces by control system of the present invention;
Fig. 5 a is the vertical view that is used for the light-emitting device regulator layout of control system of the present invention;
Fig. 5 b is the side view of light-emitting device regulator layout among Fig. 5 a;
Near the layout in a plurality of zones the instrument front end of the control system that the instrument that Fig. 6 represents to be used to control moves;
Fig. 7 is the vertical view that is used for being bent for the sheet material of box;
Fig. 8 a is a perspective view on the infrared rays receiver in preceding twice bending step process of sheet material shown in Figure 7 to 8c;
Fig. 9 a is a perspective view on the infrared rays receiver in the third and fourth bending step process of sheet material shown in Figure 7 to 9c;
Figure 10 is the front view of bullodozer in the 3rd bending process shown in Figure 9;
Figure 11 is the perspective view of bullodozer that the control system of positional detecting device is arranged;
Figure 12 is the flow chart that the instrument of the bullodozer of control system in the present invention moves step;
Figure 13 is the flow chart that the instrument of bullodozer of the control system of second alternative of the present invention moves step;
Figure 14 is the flow chart that the instrument of bullodozer of the control system of the 3rd alternative of the present invention moves step;
Figure 15 is the flow chart that the instrument of bullodozer of the control system of the 4th alternative of the present invention moves step.
The specific embodiment
With reference to accompanying drawing, shown the control system of together using with the machine that moving-member is arranged, there is barrier to be used to survey on the mobile route of moving-member.In the embodiment shown, control system is used to bullodozer, and bullodozer comprises the workpiece movement instrument 12 that impact is placed that is arranged on anvil block 14.
Shown in Fig. 1 to 3, a kind of based on the object sensing device that is disclosed in the system in the International Patent Application WO 03/104711, the present invention can implement thereon.Control system need be used for surveying in instrument 12 paths or the device of the width of the object of vicinity and be arranged to the processing control apparatus of distance between the front end 22 of determining object and instrument 12.
Shown in control system 10 comprise light-emitting device 16 and infrared rays receiver 18.Light-emitting device 16 is arranged near the part of mobile route of the instrument of illuminating 12 zone 20 to survey the obstacle in described regional 20.
Fig. 2 represents laser diode 23, speculum 27 and lens devices are used to produce the layout of large-scale collimated light beam 24.Infrared rays receiver 18 comprises the aperture 42 of pin hole shape, and projection screen 44 and camera comprise charge-coupled device (CCD) 46.
As shown in Figure 3, light-emitting device 16 is installed in instrument 12 1 ends of bullodozer, thus near the zone 20 the mobile route of collimated light beam 24 irradiation instruments 12, and this zone comprises the preceding edge of a knife 22 of instrument 12.Infrared rays receiver 18 is installed in the opposite end of instrument 12 to be used for receiving beam 24.If barrier 50, for example operator's hand enters zone 20, and then Dui Ying projection 52 will be incident upon on the CCD46.
Use single long wavelength laser diode, then on projection screen, observe hot spot, and this hot spot causes being used for the non-desirably minimizing of sensing resolution ratio of control system with high-contrast.Need to prove that the wavelength of laser diode is with power output and variations in temperature, and spot pattern is with the wavelength change of laser diode.According to producing image with appropriate resolution, so being adjusted wavelength, the electric current by laser diode also is changed, change about 0.3% in this case.Electric current changes with high-frequency, so, receive a plurality of wavelength, thereby receive multiple spot pattern in the time at the aperture of CCD camera.Electric current by laser diode in lower power levels than changing slower in high power levels, thereby wavelength is slower than changing in high power levels in lower power levels, this has guaranteed that the CCD camera receives similar gross energy under multiple different wave length, thereby receives the similar gross energy of multiple different spot pattern in the time at aperture.Perhaps, projection screen can by fibrous material for example paper make so that hot spot further dwindles.
Connect the processing control apparatus (not shown), thereby make it from infrared rays receiver 18 reception information and control the operation of bullodozer.Processing control apparatus can be to be stored in the form that receives the computer or the software program in the DSP (digital signal processor) of input from the output of infrared rays receiver 18, and processing control apparatus is designed to receive from other source as machine or operator's output, and is designed to be used in to export and controls machine.
Described in above-mentioned international patent application, processing control apparatus is caught the image that is received by CCD46, and memory image is as a shade Figure 54.Perhaps, these echoes can be pre-loaded into the control system from external source.The source can be the system that the external data base that comprises this information maybe can produce information from the information of known bending operation.Treating apparatus will be stored a plurality of known shadow Figure 54 (storing the position that is called as " shade storehouse " into).Have, every kind of bending that the operator carried out can be assigned with a number (will be called as " bending number ") and each shade storehouse is stored in the echo according to the bending number again.Known shade Figure 54 is expression stationary body and the shade Figure 54 that waits to bend material.
In a preferred embodiment, shown in Fig. 5 a and 5b, control system comprises the device of automatic adjusting emission beam direction.Direction changes by the motion of three linearities or voice coil loudspeaker voice coil trigger 70.Mobile laser diode 23 make its to speculum 27 near or from speculum 27 away from having changed to the optical path length of lens devices 25.Therefore, by moving all three linear triggers 70 together, can make laser-beam divergence or convergence.Move linear trigger 70 separately, then change the direction of light beam.Comparatively ideal is that moving of linear trigger 70 controlled based on the image that infrared rays receiver 18 is received by processing control apparatus, thereby allows calibration automatically.
Therefore, the caused problem of the vibration of the laser beam of describing in patent WO03/104711 and WO04/079255 corrects by numeral change image or search coverage.Preferred embodiment has the device that is used for regulating with respect to the height of blade emitter and receiver height.This mechanism causes losing some rigidity and has increased the vibration of launching laser beam potentially.In order to overcome this point, preferred embodiment has used a kind of balance transmitter, the center of gravity of transmitter by vertical alignment in the point that loss of rigidity in guiding mechanism, occurs.Equalization point can be adjusted by using vernier to regulate counterweight weight.For the influence that further reduces to vibrate, can use the low acceleration of blade and deceleration and the urgent stopping period of blade or in the short time thereafter image can be left in the basket.The residual misalignment of the image that receives that is caused by the vibration or the distortion of blade or distortion are left in the basket by the shadow region of expanded images, or by using shade cover or other devices to determine amount of mis-alignment and compensated.
For the lengthening bullodozer, wind can cause the scalloping near blade, so in this situation, can not use the zone near blade, maybe needs bullodozer is positioned over the position of not being destroyed property airflow influence.
Control system of the present invention comprises a plurality of operator schemes.Wherein in time there is image that the operator scheme of control system will receive by infrared rays receiver and determines from operator's input at arbitrfary point place.Control system of the present invention comprises an operator scheme at least, processing control apparatus uses the image that is received by infrared rays receiver 18 to go to determine the preceding edge of a knife 22 and the distance between any barrier on instrument 12 mobile routes of instrument 12 in this operator scheme, and the distance between the closest approach of the preceding edge of a knife 22 of instrument 12 and barrier is maintained between the predetermined minimum and maximum value like this.Just, instrument 12 is arranged to along barrier and moves.This allows the operator not to be subjected to instrument 12 to interfere the ground travelling workpiece, and does not need complete retraction tool 12.Minimum and maximum value can be default by the operator, and can be pre-defined or dynamically change according to the object width that detects in the viewing area.
Fig. 6 represents to be used for the layout of instrument 12 near zones defined in the process control system that control tool 12 moves with above-mentioned operator scheme.In the layout of Fig. 6, comprise first access areas, 82, the second access areas 80, stop area 86 and withdrawal zone 88.In use, detect the barrier nearest with respect to instrument by processing control apparatus and be arranged in second access areas 80 or do not have barrier to be detected, then instrument 12 is moved toward anvil block 14.If nearest barrier is detected in first access areas 82, then instrument 12 is shifted to anvil block 14 with the mobile slow speed that is caused than barrier in second access areas 80.If detect nearest barrier in withdrawal zone 88, then instrument 12 is removed from anvil block, and if in stop area 86, detect nearest barrier, then the mobile of instrument 12 is terminated.Four zones of figure shown in though this layout is used, what can expect is also to use the layout of other regional graphics and quantity.Have, according to the bending of being carried out, the qualification in zone of using can be changed again.
Control system also can have at least three other operator schemes usually, and when material was placed on the anvil block, second operator scheme was the pattern of blade near material, and the 3rd operator scheme is the workpiece bending, and the 4th operator scheme is the unconditional withdrawal of instrument 12.
The change of the operator scheme of control system by the image that receives or one or more operator also or other input unit control.Input unit comprises near switch and withdrawal switch.When the withdrawal switch was depressed, it played the effect that Move tool 12 leaves from anvil block 14.When the withdrawal switch was disconnected or reaches the predetermined altitude distance of material or anvil block (perhaps from), instrument 12 was away from the Mobile Termination of anvil block 14.
Near the triggering of switch make instrument 12 along workpiece such as above-mentioned as move allowing the operator to adjust on the distance of material, perhaps before bending near workpiece, also or the bending workpiece, and the factor that is depended on comprises whether the image that is received by infrared rays receiver is the part of known shadow Figure 54.
Using of control system will be with reference to being described sheet material 60 bending as shown in Figure 7 as box.The flow chart of Figure 12 has been showed a rational embodiment, and it can use by processed control device in the step of bending box.
In use, with reference to Figure 12, instrument 12 persons of being operated (state 1 among Figure 12) withdrawal uses the withdrawal switch for material being placed on empty space of opening abundance on the anvil block 14.When the disconnection of withdrawal switch, system advances to state 3.Fig. 8 a has shown the image that does not have material to exist in instrument 12 and the anvil block 14.The operator then places sheet material 60 and also triggers near switch to anvil block 14.Processing control apparatus through condition 5 gets the hang of 2 from material during greater than 25mm at blade, thereby and moving of control tool 12 make not the image similar keep predeterminable range (being about 25mm in this case) (state 2 in flow chart) from instrument to any known safe shadow maps.If do not have image by the processing control apparatus of packing in advance, so just do not have initial known image, so Move tool 12 up to anvil block 14 and sheet material 60 from instrument 12 about 25mm.When being continued to depress near switch, processing control apparatus will keep this state, thereby along with workpiece moves and moves.
If security needs, instrument 12 are parked in above-mentioned state (state 2 in the flow chart, shown in Fig. 8 b) and the operator must disconnect and reclose near switch to continue.Then, processing control apparatus record is disconnected (therefore advancing to state 3) near switch and is no more than from barrier at instrument under the state of predeterminable range and recloses.Because the image at this point is not a known safe shadow maps,, set up new image (therefore advancing to state 7) through state 5 so instrument 12 moves down the predeterminable range that arrives from workpiece or anvil block up to instrument 12.Predeterminable range is to be arranged to fully near the distance of workpiece to continue to bend, as 3mm.Comparatively ideally be, can guarantee safety unless this moves to low-speed motion, guarantee can to allow under the safe situation approaching fast.The image that receives by infrared rays receiver 18 is shown in Fig. 8 c.
From this state, near the disconnection of switch and reclose make instrument 12 bending materials (from state 7 advance to that the next one ' stops ' condition and to state 9).
After bending was finished, the new echo of creating was stored in the shade storehouse, and control system turns back to the state 2 of Figure 12 and is placed into material on the anvil block along the person of being operated.
In the bending of second side of box, rising portions will be away from the light area enough far not to be detected.If the bending number is not used from state 2, processing control apparatus is measured image to be a known shadow figure (setting up and storage when bending first side) and therefore to move on to state 4, therefore with fast moving up to instrument near anvil block (through condition 13 to state 6).Have again, the safety that provides and near the accessible property (not having barrier in this case blade) of mobile material can be provided, blade to material advance can with image similarity in the degree of the known image in the shade storehouse proportional (since before material is by complete matching blade shift to material, so this can increase production efficiency).Then, bending can be by near the disconnection of switch with reclose and finish.In addition, after the predetermined time cycle, and can guarantee to provide safe the time, bending can begin (dotted line in the condition 15) automatically.If use the bending number, learn by aforementioned that so unless identical bending number is used as first side, otherwise second side must be set in the suitable part of shade storehouse corresponding to second bending.
In order to further describe operation, we can suppose that the complete retraction tool 12 of operator is to above-mentioned material.If instrument 12 surpasses 25mm from the material withdrawal, so as mentioned above, in state 2, instrument 12 is maintained at the predeterminable range place from unknown shade.Therefore, when bending the 3rd side, removing non-image quilt loads in advance, otherwise the rising portions of box is not identified, and therefore the top of rising portions is maintained at from instrument 12 (shown in Fig. 9 a) predeterminable range place, yet, if instrument be retracted back into a lower height so when being triggered near switch system advance to state 5, need not get the hang of 2 and move along material.When the operator prepares to handle, near switch such as above-mentioned as be disconnected and reclose, and instrument slowly descends (if can guarantee that safety also can descend fast) to from workpiece or anvil block 14 (as arrival state 7 as above-mentioned) preset distance place.In this case, instrument 12 declines are positioned at from rising portions preset distance place (shown in Fig. 9 b) up to it.When disconnecting near switch in this case, because instrument 12 is kept off anvil block 14, so system advances to state 3 through condition 11 from state 7.When reclosing near switch, instrument 12 slowly descends, and the image section that will hinder instrument 12 loses function, shown in Fig. 9 c (once more by state 5 to state 7).In this process, create echo and be stored as known shadow figure subsequently.
Because the image section of obstruction instrument 12 loses function,, instrument 12 arrives from workpiece or anvil block 14 preset distance places up to instrument 12 so will descending.In this case, instrument 12 descends up to the flat preset distance place of its arrival from the workpiece of the existence that does not have other barrier on anvil block shown in Fig. 9 c.Then, can finish bending, and as mentioned above, known echo is stored in the shade storehouse.
After finishing the 3rd bending, if instrument 12 withdrawals and control system are got back to the state 2 that just moves along material near switch triggering.Operator's material overturning.Instrument 12 will move up to it and arrive from the preset distance place at unknown images top, and in this case, it will be the rising portions that is produced by first and second bendings.
By disconnecting and reclosing near switch twice, control system will be by state 4,6, and 4 and 6 move once more with the bending material.In addition, keep rising portions in the front of instrument if operator's material is placed on the anvil block squarely, this satisfies condition 3 so, thus shape and direction all to be stored in the image storehouse in image similar.Have again, so can guarantee safety owing to can observe around the spacious path of instrument, thereby control system just arrives the flat top of material with driven tool at a high speed downwards, and by disconnecting and reclosing near switch once, control system is moved through state 4 and 6 with the bending material.Perhaps, if can determine the position and the safety of side material, condition 13 is modified so, and does not need the state that advances to 6 during near material when the new portion of blade, but blade can be decelerated simply.Have again, if at tool retraction to high part or TO are set at than rising portions and are disconnected near switch before low than rising portions, will only need to disconnect and reclose once near switch so.Yet as mentioned above, if use the bending number, unless so identical bending number is used to the 3rd side, otherwise the 4th side must be set to corresponding to bending in the suitable part of shade storehouse.
When the operator need bend other box of same type, because system can discern the image of storing similar in appearance to when bending first box, so process will be very fast.When the every side of bending, system for storing one of echo, therefore passes through state 4 fast near material with image recognition.Single disconnection under every side situation and reclosing is done permission bending.Comparatively ideally be, the maximum height of instrument suitably be set and use acknowledging time at interval that then as each condition 15, when every side of bending box afterwards, control device is confirmed to allow to be triggered once and to keep the security of triggering near switch.In order to ensure security, the operator can be trained holds material in a certain way, and control system can be with various above-mentioned technology, for example, vibration damping, material position sensing or back gauge anchor clamps correctly align and reduce hot spot to guarantee that material is accurately alignd.
Shown in Figure 13 to 15, according to other three embodiment of the logical process of system of the present invention.These embodiment are variations of the system described among Figure 12, and can be understood with reference to a last embodiment.
Embodiment shown in Figure 13 is very similar to the embodiment shown in Figure 12.The main difference point be after the process of following (state 2) when instrument stops (" wait near switch " state), triggering is near switch, in this case echo be unknown and instrument near material, thereby cause instrument slowly to descend up to it, rather than stop on each barrier and (in Figure 12, return) through condition 11 near anvil block.If can guarantee security then allow the instrument fast moving.
Figure 14 represents additional embodiments, and wherein, instrument is arranged to along barrier and moves and do not trigger near switch.System is arranged to: if echo be unknown (state 3) then instrument in the first relatively long distance along barrier, if image is known then drops to approaching relatively distance (state 4).If at state 4, then be triggered near switch and instrument near anvil block, system will allow bending handle (through condition 9 to " check if can then proceed " and arrive state 6).If what its time in office triggers near switch, then system will shift to state 2, and instrument will be near material in this state, and slowly advances on demand to guarantee security and to stop on the new barrier, store new echo up to instrument near anvil block, then the bending can proceed.
Figure 15 is to use another embodiment of follow the mode (state 2), but this embodiment does not use the echo of storage.In this embodiment, instrument is maintained at the preset distance place on the barrier.Instrument will not stop at this distance when moving of barrier occurs, or be in state 2.From this state, if be disconnected and reclose near switch, if then instrument near anvil block (moving to state 5) so instrument also will near and the bending material, perhaps instrument will not use (state 4) near the part of image, and system is with return state 2 (Here it is follows barrier).
Fig. 1,10 and 11 expressions others of the present invention.As mentioned above, problem occurs when bending one side of box between two rising portions, as shown in figure 10.Preferred embodiment comprises a pattern, blade can not need the operator to confirm that (situation 13 in Figure 12 through the rising portions motion in this pattern, if can not being identified maybe, correct material position can not confirm security, then only be parked on the new portion near material of instrument), yet, if workpiece does not correctly align along the length of anvil block 14, then instrument 12 one of may clash in the rising portions.The others according to the present invention, position sensing device 66 is installed on the bullodozer.Position sensing device 66 positions with respect to back gauge anchor clamps 15 or selectable material requested snap point, and like this, if workpiece correctly laterally is placed on the anvil block, then position sensing device can be determined.
Position sensing device can comprise one or more inductive pick-ups, and inductive pick-up can determine whether workpiece covers some or all sensing devices.Then, the output of sensing device is used to determine whether workpiece is correctly placed before bending.
Perhaps, as mentioned above, can use back gauge anchor clamps (or back gauge groove that material inserted).In this case, if material is installed to back gauge guiding groove improperly, thereby image just can not be correct so similar detect unjustified.
For the technical staff in field of the present invention, improve within the scope of the present invention and variation is conspicuous.
For example, described in patent WO03/1047111, this system also can be arranged to light-emitting device and infrared rays receiver can be with respect to instrument or anvil block and install regularly.
Claims (28)
1. control system, the machine that it is used to have the instrument that moves on the known paths of being arranged in is characterized in that:
Comprise: be used for surveying in tool path or the device of the object space at close tool path place; Processing control apparatus, it is arranged to determines in tool path or the object at close tool path place and the distance between the instrument front end;
Wherein, control system comprises first operator scheme, and processing control apparatus the moving of control tool in this pattern will be remaining between the minimum and maximum value in tool path or near the object at tool path place and the distance between the instrument front end.
2. control system according to claim 1 is characterized in that:
Be used to survey in tool path or comprise near the device of the position of the object at tool path place: light-emitting device, it is arranged to and illuminates the peripheral region, path; Infrared rays receiver, it is arranged to the light that receives through the zone, thus the object in the zone is projeced into shade on the infrared rays receiver;
Wherein, infrared rays receiver and processing control apparatus exchange message, thus make processing control apparatus come to exist in the identified region barrier by the image that infrared rays receiver received.
3. control system according to claim 2 is characterized in that:
Processing control apparatus comprises storage device, storage device be arranged to storage by image that infrared rays receiver received with as known image.
4. control system according to claim 3 is characterized in that:
Processing control apparatus comprises the device that receives known image from external source.
5. according to claim 3 or 4 described control systems, it is characterized in that:
Known image is given in the part of storage device according to specific known machine operation.
6. according to each described control system among the claim 3-5, wherein:
Machine is to have anvil block and be arranged as to impact the material be put on the anvil block bullodozer with the instrument of bending material.
7. control system according to claim 6 is characterized in that:
Select maximum so that instrument and anvil block are positioned at the visual field of infrared rays receiver, and minimum of a value is chosen as enough big value so that material can easily be placed on the anvil block or from anvil block removes.
8. according to claim 6 or 7 described control systems, it is characterized in that:
Minimum and maximum value changes according to image that infrared rays receiver received and the similarity degree that is stored between the known image in the storage device.
9. according to each described control system among the claim 6-8, it is characterized in that:
When image that processing control apparatus received and arbitrary known image were all dissimilar, control system was in first operator scheme.
10. control system according to claim 9 is characterized in that:
Provide near switch and when triggering near the switch person of being operated control system only remain in first operator scheme.
11., it is characterized in that according to each described control system among the claim 6-10:
Second operator scheme is provided and when control system is in second operator scheme, instrument is shifted to material to arrive the distance littler than described minimum range.
12. control system according to claim 11 is characterized in that:
In second operator scheme, instrument is moved on to from certain distance of material so that the operator can not be inserted into finger between instrument and the material.
13., it is characterized in that according to claim 11 or 12 described control systems:
When processing control apparatus recognizes the part (described part is the shape and direction of material on the anvil block) of the image that infrared rays receiver receives when similar to the counterpart of one of known image, control system is converted to second operator scheme from first operator scheme.
14., it is characterized in that according to claim 11 or 12 described control systems:
When processing control apparatus was one of described known image with the image recognition that infrared rays receiver received, control system was converted to second operator scheme from first operator scheme.
15. control system according to claim 10 is characterized in that:
Control system only remains in second operator scheme when triggering near the switch person of being operated.
16. control system according to claim 9 is characterized in that:
Control system changes second operator scheme into from first operator scheme when disconnecting near the switch person of being operated and reclosing, and when instrument is moved toward anvil block in second operator scheme image that processing control apparatus received is used to create known image.
17., it is characterized in that according to each described control system among the claim 6-12:
The 3rd operator scheme is provided, and wherein, when control system was in the 3rd operator scheme, Move tool was with the material on the bending anvil block.
18. control system according to claim 17 is characterized in that:
The known image that to create in second operator scheme is stored in after bending beginning in the storage device with as known image.
19., it is characterized in that according to claim 17 or 18 described control systems:
Control system is changing the 3rd operator scheme near the disconnection of switch with when reclosing into from second operator scheme.
20., it is characterized in that according to each described control system among the claim 6-19:
The 4th operator scheme is provided, and wherein, when control system was in the 4th operator scheme, instrument was unconditionally withdrawn from anvil block.
21. control system according to claim 20 is characterized in that:
Provide control system, and when the operator triggered the withdrawal switch, control system changed the 4th operator scheme into withdrawal switch.
22., it is characterized in that according to each described control system among the claim 3-21:
When control system was in first operator scheme, processing control apparatus defined in the image that infrared rays receiver received:
Withdrawal zone, it is around instrument, like this, if detect the object of close instrument in the withdrawal zone, then instrument is removed from object;
Stop area, it is around withdrawal zone, like this, if detect the object of close instrument at stop area, then stops instrument moving;
First access areas, it is around stop area, and like this, if detect the object of close instrument in first access areas, then instrument is shifted to object.
23. control system according to claim 22 is characterized in that:
Processing control apparatus defines second access areas around first access areas, like this, if detect the object of close instrument in second access areas, then the comparatively faster speed of speed that is moved of instrument instrument with than the object that detects the most close instrument in first access areas time is shifted to object.
24., it is characterized in that according to each described control system among the claim 3-23:
The speed of instrument changes to provide smooth instrument to move according to the distance between the border in the zone that limits between instrument and described minimum and the maximum.
25., it is characterized in that according to each described control system among the claim 2-24:
Light-emitting device comprises laser diode and regulates through the electric current of laser diode to create the spot pattern that changes and thereby to improve the resolution ratio that has received image.
26. control system according to claim 25 is characterized in that:
Infrared rays receiver comprises and the relevant screen in light process zone that screen is made into veined further to reduce the influence by the spot pattern of laser diode generation.
27., it is characterized in that according to each described control system among the claim 2-26:
Light-emitting device comprises the adjusting device with a plurality of linear triggers, linear trigger is connected on the light-emitting device and is arranged on the direction that is parallel to emission light optical axis and moves, like this, the linearity of any one linear trigger moves and changes radiative direction, all linear triggers mobile light-emitting device is moved so that on its optics more near or away from infrared rays receiver.
28., it is characterized in that according to the described control system of above arbitrary claim:
Processing control apparatus comprises the software program that resides in the digital signal processor.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2003906838 | 2003-12-11 | ||
| AU2003906838A AU2003906838A0 (en) | 2003-12-11 | A control device | |
| AU2003907100 | 2003-12-23 | ||
| AU2004902730 | 2004-05-24 | ||
| AU2004903144 | 2004-06-11 | ||
| AU2004904464 | 2004-08-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1890038A true CN1890038A (en) | 2007-01-03 |
| CN100386160C CN100386160C (en) | 2008-05-07 |
Family
ID=37579103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800361860A Expired - Fee Related CN100386160C (en) | 2003-12-11 | 2004-12-10 | Control system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN100386160C (en) |
| ZA (1) | ZA200605725B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103168192A (en) * | 2010-08-24 | 2013-06-19 | 红帽子技术有限公司 | Safety system in a portable tool |
| CN108603633A (en) * | 2016-01-12 | 2018-09-28 | 皮尔茨公司 | Safety device for monitoring machine and method |
| CN110456423A (en) * | 2018-05-07 | 2019-11-15 | 特鲁普机械奥地利有限公司及两合公司 | Cutting clast for bending unit identifies |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4430879A (en) * | 1981-06-12 | 1984-02-14 | Hurco Manufacturing Company, Inc. | Apparatus for controlling a press brake |
| AU667057B2 (en) * | 1991-10-18 | 1996-03-07 | Thomas John Appleyard | Brake press safety apparatus |
| AUPN744696A0 (en) * | 1996-01-05 | 1996-02-01 | Appleyard, Thomas John | Safety apparatus and protection method for machines |
| AUPQ022199A0 (en) * | 1999-05-05 | 1999-06-03 | Lazer Safe Pty Ltd | Industrial press safety system |
| US6389860B1 (en) * | 2000-08-11 | 2002-05-21 | Lion Machinery, Inc. | Control system for a press brake |
| US6644080B2 (en) * | 2001-01-12 | 2003-11-11 | Finn-Power International, Inc. | Press brake worksheet positioning system |
-
2004
- 2004-12-10 CN CNB2004800361860A patent/CN100386160C/en not_active Expired - Fee Related
-
2006
- 2006-07-07 ZA ZA200605725A patent/ZA200605725B/en unknown
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103168192A (en) * | 2010-08-24 | 2013-06-19 | 红帽子技术有限公司 | Safety system in a portable tool |
| CN103168192B (en) * | 2010-08-24 | 2016-01-20 | 红帽子技术有限公司 | Safety system in portable instrument |
| CN108603633A (en) * | 2016-01-12 | 2018-09-28 | 皮尔茨公司 | Safety device for monitoring machine and method |
| CN110456423A (en) * | 2018-05-07 | 2019-11-15 | 特鲁普机械奥地利有限公司及两合公司 | Cutting clast for bending unit identifies |
| CN110456423B (en) * | 2018-05-07 | 2024-03-19 | 特鲁普机械奥地利有限公司及两合公司 | Cutting chip identification for bending units |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA200605725B (en) | 2007-05-30 |
| CN100386160C (en) | 2008-05-07 |
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