ES2181982T3 - Metodo operativo para un area de trabajo que comprende un robot servidor de una prensa de doblado para conformar laminas metalicas. - Google Patents

Metodo operativo para un area de trabajo que comprende un robot servidor de una prensa de doblado para conformar laminas metalicas.

Info

Publication number
ES2181982T3
ES2181982T3 ES97201416T ES97201416T ES2181982T3 ES 2181982 T3 ES2181982 T3 ES 2181982T3 ES 97201416 T ES97201416 T ES 97201416T ES 97201416 T ES97201416 T ES 97201416T ES 2181982 T3 ES2181982 T3 ES 2181982T3
Authority
ES
Spain
Prior art keywords
robot
press
combat
metal iron
work area
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 - Lifetime
Application number
ES97201416T
Other languages
English (en)
Inventor
Mario Marobin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Salvagnini Italia SpA
Original Assignee
Salvagnini Italia SpA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Salvagnini Italia SpA filed Critical Salvagnini Italia SpA
Application granted granted Critical
Publication of ES2181982T3 publication Critical patent/ES2181982T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B21D13/00—Corrugating sheet metal, rods or profiles; Bending sheet metal, rods or profiles into wave form
    • B21D13/02—Corrugating sheet metal, rods or profiles; Bending sheet metal, rods or profiles into wave form by pressing
    • 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • G05B2219/40054—Supply sheet to bending machine
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Manipulator (AREA)
  • Press Drives And Press Lines (AREA)
  • Numerical Control (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)

Abstract

SE PRESENTA UN METODO OPERATIVO PARA UN AREA DE TRABAJO (100) QUE COMPRENDE UN ROBOT ANTROMORFO (101) ESCLAVO DE UNA PRENSA COMBADORA (102) PARA TRABAJAR UNA PLANCHA DE METAL (111), EL METODO COMPRENDE A) LA DETECCION DE DATOS DE ENTRADA FIJOS FORMADOS POR LAS POSICIONES GEOMETRICAS EN EL ESPACIO EN EL ROBOT (101), DE LA PRENSA (102) Y DE AL MENOS UNA UNIDAD DE SUMINISTRO (105), B) LA DEFINICION DE DATOS DE ENTRADA VARIABLES FORMADOS POR EL GROSOR DE LA PLANCHA DE METAL (111), LA ALTURA, EL ANGULO Y LA DIRECCION DE CADA COMBADURA, LA LONGITUD Y LA ORIENTACION DE CADA COMBADURA, LA POSICION DE UNA HERRAMIENTA COMBADORA (110), C) EL PROCESAMIENTO DE LOS DATOS ANTES MENCIONADOS EN UNA UNIDAD DE PROCESAMIENTO (120) MEDIANTE UN ALGORITMO BASADO EN LAS SOLUCIONES DE LAS CINEMATICAS INVERSAS PARA GENERAR AUTOMATICAMENTE CICLOS DE SUMINISTRO, DE COMBADURA Y DE DESCARGA DE LA PLANCHA DE METAL (111) Y D) LA TRANSFERENCIA DE ESTOS CICLOS A UNA UNIDAD DE CONTROL (103) DEL ROBOT (101) DE MANERA QUE CONTROLE LA PRENSA COMBADORA (102) PARA INICIAR UN CICLO DE TRABAJO PRODUCTIVO COMPLETO DE UNA PLANCHA DE METAL FINALIZADA (112) COMENZANDO A PARTIR DE LA PLANCHA DE METAL A COMBAR (111).
ES97201416T 1996-05-16 1997-05-10 Metodo operativo para un area de trabajo que comprende un robot servidor de una prensa de doblado para conformar laminas metalicas. Expired - Lifetime ES2181982T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT96MI000982A IT1283019B1 (it) 1996-05-16 1996-05-16 Metodo di gestione di un'isola di lavoro comprendente un robot asser- vito ad una pressa piegatrice per lavorazione di fogli di lamiera.

Publications (1)

Publication Number Publication Date
ES2181982T3 true ES2181982T3 (es) 2003-03-01

Family

ID=11374271

Family Applications (1)

Application Number Title Priority Date Filing Date
ES97201416T Expired - Lifetime ES2181982T3 (es) 1996-05-16 1997-05-10 Metodo operativo para un area de trabajo que comprende un robot servidor de una prensa de doblado para conformar laminas metalicas.

Country Status (11)

Country Link
US (1) US5988855A (es)
EP (1) EP0807497B1 (es)
JP (1) JP4130703B2 (es)
KR (1) KR970073892A (es)
AT (1) ATE224261T1 (es)
CA (1) CA2205162C (es)
DE (1) DE69715508T2 (es)
DK (1) DK0807497T3 (es)
ES (1) ES2181982T3 (es)
IT (1) IT1283019B1 (es)
PT (1) PT807497E (es)

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IT1284548B1 (it) * 1996-09-18 1998-05-21 Salvagnini Italia Spa Metodo per trasporto di fogli di lamiera in un'isola di lavoro comprendente una macchina utensile e un robot
IT1294998B1 (it) * 1997-09-09 1999-04-27 Salvagnini Italia Spa Procedimento per la generazione automatica di una sequenza di comandi per macchina piegatrice di fogli di lamiera
NL1010359C2 (nl) * 1998-10-20 1999-10-11 Delem B V Werkwijze voor het bepalen van een gereedschapconfiguratie.
IT1313346B1 (it) * 1999-09-06 2002-07-23 Abb Ricerca Spa Metodo per eseguire la programmazione fuori linea di un robotindustriale.
US6269677B1 (en) 1999-12-28 2001-08-07 Abb T&D Technology Ltd. Press brake back gauge finger
DE10338170B4 (de) * 2003-08-20 2005-12-29 Edag Engineering + Design Ag Rollfalzvorrichtung und deren Verwendung
EP1763421A1 (en) * 2004-03-16 2007-03-21 Abb Ab System of manupulators and method for controlling such a system
EP1817707B1 (en) * 2004-10-25 2009-10-21 Alcoa Inc. Virtual programming of formed component trajectories
SE0402891D0 (sv) * 2004-11-26 2004-11-26 Abb Ab A system and a method for controlling movements of an industrial robot
US7746018B2 (en) 2005-11-10 2010-06-29 MI Robotic Solutions Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes
US20070299556A1 (en) * 2005-11-10 2007-12-27 Hugo Salamanca Robot system and method for scrap bundling in metal smelting and refining processes
JP4271232B2 (ja) * 2006-12-20 2009-06-03 ファナック株式会社 ロボットのオフラインプログラミングを実行するための装置、方法、プログラム及び記録媒体
CN101572029B (zh) * 2008-04-28 2012-01-25 鸿富锦精密工业（深圳）有限公司 机器人板材折弯模拟系统及方法
US8285413B1 (en) * 2009-03-29 2012-10-09 International Training Institute for the Sheet Metal and Air Conditioning Industry Sheet metal fabrication system
ITMO20090154A1 (it) * 2009-06-12 2010-12-13 Piercarlo Bonomi Attrezzatura per la lavorazione meccanica su pezzi fusi o stampati, particolarmente per la sbavatura, la molatura e il taglio dei canali di colata di pezzi in ghisa, acciaio o simili
JP4910097B2 (ja) 2011-07-25 2012-04-04 コージ産業株式会社 棚装置
EP2666598B1 (en) * 2011-08-24 2019-07-17 Yamazaki Mazak Corporation Nc machine tool system
CN104369128A (zh) * 2013-08-17 2015-02-25 江苏卡威汽车工业集团有限公司 一种汽车左右侧外板总成夹具
CN104625992B (zh) * 2013-11-06 2017-12-05 富泰华工业（深圳）有限公司 定位装置
JP6019149B2 (ja) * 2015-02-19 2016-11-02 株式会社アマダホールディングス ベンディングロボット及びワーク検出方法
CN106141954B (zh) * 2016-07-26 2017-11-24 北京工业大学 一种基于振动的能量采集对边简支结构发电装置的夹具
CN106272166B (zh) * 2016-09-26 2018-05-29 南昌航空大学 一种飞机长梁多工位自动夹具
CN106514511B (zh) * 2016-11-29 2018-03-27 延锋伟世通电子科技（南京）有限公司 一种汽车导航屏模组装配用定位工装
JP6932380B2 (ja) * 2018-09-05 2021-09-08 株式会社ウエーブ 箔押し機用給排紙方法および装置
DE102018124671B4 (de) * 2018-10-06 2020-11-26 Bystronic Laser Ag Verfahren und Vorrichtung zur Erstellung eines Robotersteuerprogramms
WO2021028011A1 (en) * 2019-08-09 2021-02-18 Quintus Technologies Ab System and method for handling and isostatic pressure treatment of a load
CN110548783B (zh) * 2019-09-14 2020-08-11 江苏省健尔康医用敷料有限公司 医用纱布纺织机翻转滑拨板的自动化生产装置
KR102432978B1 (ko) * 2020-11-25 2022-08-18 에코캡 주식회사 메탈피시비 성형장치 및 방법

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IT1237740B (it) * 1989-12-22 1993-06-15 Prima Ind Spa Sistema per la creazione di segnali di comando e di controllo per un ciclo operativo completo di un dispositivo manipolatore robotizzato di un impianto di piegatura di lamiere, tramite la simulazione dello ambiente operativo.
IT1237750B (it) * 1989-12-29 1993-06-15 Prima Ind Spa Procedimento di piegatura di una lamiera
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Also Published As

Publication number Publication date
JPH10111707A (ja) 1998-04-28
CA2205162C (en) 2006-08-15
ITMI960982A0 (es) 1996-05-16
CA2205162A1 (en) 1997-11-16
ITMI960982A1 (it) 1997-11-16
JP4130703B2 (ja) 2008-08-06
DK0807497T3 (da) 2003-01-06
KR970073892A (ko) 1997-12-10
EP0807497A1 (en) 1997-11-19
DE69715508T2 (de) 2003-05-28
IT1283019B1 (it) 1998-04-03
US5988855A (en) 1999-11-23
PT807497E (pt) 2003-02-28
ATE224261T1 (de) 2002-10-15
DE69715508D1 (de) 2002-10-24
EP0807497B1 (en) 2002-09-18

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