JP3212918B2 - Method and apparatus for integrating intelligent manufacturing systems with expert bending planning systems - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD OF THE INVENTION

 Related Application This application is related to the following application:

[0002] US Provisional Application No. 60 / 016,958 (19)
Filed May 6, 1996, entitled "Apparatus and Method for Managing and Distributing Design and Manufacturing Information through Sheet Metal Manufacturing Equipment" US Patent Application Serial No. 08 / 690,084 (filed July 31, 1996) Title of the Invention "Apparatus and Method for Managing and Distributing Design and Manufacturing Information Through Sheet Metal Manufacturing Equipment") US Patent Application Serial No. 08 / 338,115 (November 1994)
Application No. 08 / 386,369 (filed Feb. 9, 1995, entitled "Generate Sheet Metal Bending Plans," entitled "Method for Planning and Controlling Robot Motion" Intelligent System to Perform ") Copyright Notice Some portions of this specification include those subject to copyright. The owner of this copyright reserves all rights in this copyright.

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates generally to the manufacture of bent sheet metal elements. Further, the invention relates to an apparatus and method for integrating an intelligent manufacturing system with an expert bending planning system. The intelligent manufacturing system manages and distributes design manufacturing information through manufacturing facilities. The expert bending plan creation system generates a bending plan and control information for manufacturing a sheet metal element.

[0004]

2. Description of the Related Art Conventionally, manufacturing a bent sheet metal element includes a series of manufacturing steps. The first stage is the design stage, during which the design of the sheet metal part is generated based on the customer's specifications.
Customers typically place orders for specific sheet metal elements to be manufactured at their facility or factory. The customer order includes the necessary manufacturing and design information so that the element is manufactured at the facility. This information includes, for example, the geometric dimensions of the part, the material of the part, information on the special molded part, the quantity, the shipping date, and the like.

[0005] In this design stage, the design of sheet metal parts (sheet metal parts) is generated by a design office in the manufacturing facility using an appropriate computer-aided design system (CAD). Based on the customer's specifications, a two-dimensional model of the sheet metal part is generated by a programmer using the CAD system. Typically, the customer provides a blueprint or drawing of the element and critical geometric dimensions of the part. The drawings also show the location of holes or other types of openings in the surface of the sheet metal part, as well as any special moldings or marks included in the part. The design programmer uses this blueprint or drawing to generate a two-dimensional model on the CAD system. The two-dimensional model includes a plan view of the sheet metal part and one or more other perspective views;
They include bending lines and dimensional information.

[0006] Before the actual bending of the sheet metal element is performed, the part is first punched or cut off from the original sheet metal stock. A computer numerical control (CNC) or numerical control (NC) system is used to operate a punch press or a plasma or laser cutting machine to process the stock material. In order to facilitate the processing of the material, a computer aided manufacturing system (CAM) or CAD / CAM system is used by the design programmer to generate control codes based on the two-dimensional model. The control code comprises a part program that is supplied to and used by the punch press and / or cutting machine to cut or punch sheet metal elements from the stock material.

The next step in the manufacturing process is the step of preparing a bending plan. At this stage, a bending plan is generated by the bending operator on the factory floor. The operator is provided with a blueprint or two-dimensional drawing of the element, along with one or more cut or punched samples of stock material. Using these materials, the operator generates a bend plan, which defines the tools used and the order of bends to be performed. The bending workstation includes a CNC sheet metal bending machine, such as a CNC press brake, which allows an operator to generate bending codes or programs and enter data based on the bending plan.

Once a bend plan has been generated, the operator sets up (or sets or assembles) the workstation for the first test machining of the bend sequence.
I do. In this test processing stage, the punched or cut stock material is manually loaded into the press brake, and the press brake is operated to execute a programmed bending order on the workpiece. . The operator analyzes the final bent sheet metal part and checks whether it meets the customer's specifications. Based on the result of the first operation of the press brake, the operator modifies the bending order by editing the bending program. Further testing is typically performed until the bent sheet metal element falls within the desired design specifications.

One of the last steps in the manufacturing process is a bending step. After the bend plan has been generated and tested, the bend operator attaches the desired tool to the bend station and operates the press brake based on the bend plan and a stored bend program or code. The work schedule should also be such that the required quantity of punched or cut stock material is available at the bending station at a given time and other work is completed by the required shipping date. Done. After the final bent sheet metal part (or sheet metal part) is manufactured, the part (or part) is collected and packed for shipment to a customer.

[0010] The conventional production and manufacturing processes described above have several disadvantages and disadvantages. For example, design and manufacturing data for each customer's order is typically generated physically (eg, by paper in a file cabinet) or electrically (eg, by storage on a disk or magnetic tape). Data is usually stored separately and cannot be easily read. Further, such data is often lost or corrupted, and valuable time is lost in distributing the design and manufacturing information to factory floors or other locations in manufacturing facilities. Significant manufacturing time is lost due to the generation of design data and bending plans for the sheet metal parts. This is because the generation of the part design data and the bending plan is mainly performed by the design programmer and the bending operator, and greatly depends on the knowledge, skills and experience of the individual.

In recent years, research and attempts have been made to improve the conventional sheet metal manufacturing process and to improve the efficiency of the overall work process. For example, commercially available CAD /
The generation or use of a two-dimensional or three-dimensional model in a CAM system has facilitated and improved the modeling of the manufacturing process and the bent sheet metal element. The two-dimensional and three-dimensional representations of the part can be used by the design programmer or operator to better understand the geometry of the part and efficiently generate design data and bending order codes for the part. I do. The ability to store and transfer data electronically also improves the flow of information from the design office to locations on the factory floor. The development of computers and data communication networks has eliminated the need to search for old paper tape or magnetic disk cabinets or files.

[0012] Other recent developments have also improved the efficiency of the design and manufacturing process, and have led to the automation of cords in the manufacturing process of the sheet metal elements. For example, robotic manipulators or controllers have been developed for manipulating and positioning sheet metal workpieces on press brakes to perform bending. Further, a material handling device has been provided for loading and positioning the workpiece to a position where it can be gripped by the robot, and for unloading the manufactured workpiece. Also, repositioning grippers have been introduced to manipulate the workpiece at the press brake while changing or repositioning the position where the robot grips the workpiece.

[0013] For example, under the control of a program by manual manufacturing downloaded to various control devices,
A conventional bending workstation 110 for bending sheet metal parts (workpieces) 116 is illustrated in FIG. The exemplary bending station 110 of FIG. BM100 workstation. As shown in FIG. 1, the bending workstation 110 includes: That is, the workpiece 11
6, a robot manipulator (robot) 112 having five degrees of freedom for operating and positioning the work piece 116 in the press brake, and an unprocessed work piece by the robot 112. Material loading / unloading device (L) for loading and positioning to a position where
/ UL) 130 and a reposition gripper 132 for holding the workpiece 116 when the robot 112 changes its gripping position.

As shown in FIG. 1, the press brake 129 includes at least one die 119 located on a die rail 122 and at least a corresponding punch tool 118 held by a punch tool holder 120. The press brake 129 further includes a back gauge mechanism 124 and one or more bending stages (FIG. 1).
In the example, three bending stages are shown). Further, the robot arm 112 includes a robot arm gripper 114 used to grip the workpiece 116. The material loading / unloading device 130 includes:
Includes a number of suction cups 131 that generate an upward suction to lift the sheet metal workpiece 116;
Therefore, the loading / unloading device 130 is connected to the robot 112
The workpiece 116 is handed to the gripper 114, and the subsequently processed workpiece 116 is taken out from the gripper 114, and the processed workpiece is unloaded.

The operation of the device is as follows. The carry-in / carry-out device 130 takes out the unprocessed workpiece 116 from a material storage place (not shown), and
6 and move it to a position where it is gripped by the gripper 114 of the robot 112. The robot 11
2 then moves to a position in the bending workstation 110 corresponding to a particular bending stage. As shown in FIG. 1, the stage 1 includes the press brake 12
9 is a stage at the left end portion, the stage is located on the left side of the stage 1 along the die rail 122,
Stage 3 is located on the right side of stage 2 in the figure.
For example, when bending is performed on the stage 1, the robot 112 moves the workpiece 116 to the stage 1, and at a position between the punch tool 118 and the die 119, the robot 116 hits the back gauge mechanism 124. Workpiece 116 is operated on said press brake 129 until it reaches and contacts the part. With the help of the back gauge mechanism 124, the position of the workpiece 116 is adjusted by the robot arm 112. next,
By moving the die rail 122 upward, the workpiece 1 is bent in the stage 1. When the punch tool 118 and the die 119 simultaneously contact the workpiece 116 and the workpiece 116 assumes a relatively stable position inside the press brake 129, the gripper 114 releases the grip on the workpiece 116 and Move away from the piece 116. The press brake 129 then completes the bending of the workpiece 116 by completing the upward movement of the die 119 until the appropriate bend is made. Depending on the next bending operation to be performed and the shape of the workpiece 116, the gripping position of the gripper 114 must be repositioned. The reposition gripper 132 shown in FIG. 1 is provided for this purpose. Before performing the next bending operation that requires the robot gripper 114 to be repositioned, the workpiece 11
6 is moved by the robot 112 toward the repositioning gripper 132. The reposition gripper 132 then grips the workpiece 116 and the robot gripper 114 moves the workpiece 1 in the appropriate position for the next bending or series of bendings.
16 can be grasped again.

Bending workstation 1 shown in FIG.
10 is controlled by several separately housed controls. These controllers are MM20-CAPS
Interface 140, press brake control device 14
2, including a robot controller 144 and a loading / unloading device controller 146. The press brake control device 142
Includes an NC9R press brake controller, the robot controller 144 includes a 25B robot controller,
All of them are Amada America Inc. Available from

Each of the press brake control device 142 and the robot control device 144 has its own CPU.
And a program environment. The loading / unloading device control device 146 includes an independent programmable logic control device (P
LC) and are connected to respective consoles provided in the press brake control device 142 and the robot control device 144.

Each of the controllers 142, 144, 146 has a different type of bus and architecture and manufacturer. They are mainly regulated by parallel I / O signals. Serial interfaces are provided for transferring bending and robot programs to the controllers (control devices), each of the controllers being programmed in a different manner. For example, a logic diagram is used to program the PLC of the import / export controller 146, and RML is used to program the robot controller 144.

To create a plan for the bending workstation 110, the operator must determine the proper bending order and tool selection and tool stage placement and desired robot motion and gripper repositioning. No. After determining the plan, a delivery program or software 148, such as an NC9R press brake program and a 25B-RML robot program, is generated by the operator for the various controllers. Each of these programs is generated using the initial part design data generated from the CAD system. Both the robot program and the bending program must be created manually and require an extremely large amount of labor. In addition, the design programmer examines each part type to determine whether previously created and categorized programs can be used or whether new programs must be created. However, since each categorized program only supports a narrow range of acceptable part dimensions, new programs often have to be created by the operator. The last RML robot program is compiled when completed and MM2
It is downloaded to the robot controller 144 by the 0-CAPS system 140. A bending program is input and debugged in a control pendant provided in the press brake controller 142.

In view of the shortcomings of the above systems, research and development have been conducted in the field of intelligent and expert systems for automatically creating the bending plans and other manufacturing information required to manufacture sheet metal elements. Was. For example, U.S. patent application Ser. No. 08 / 386,369 (Title of Invention "Intelligent System for Creating and Executing Sheet Metal Bending Plans") discloses an intelligent intelligent bending system that creates a bending plan, The plan created in the above is executed for manufacturing the bent sheet metal element. The disclosed system includes one or more expert modules or subsystems for providing expert information regarding tooling and robot gripping and robot movement to a bend sequencer, wherein the bend sequencer includes: Determine and create a final bending plan. A sequencer is also provided to formulate and transmit the appropriate commands for the various components at the bending workstation to execute the final production plan and manufacture the bent sheet metal elements. Further, U.S. patent application Ser. No. 08 / 338,115 (title "Methods for Planning and Controlling Robot Motion") discloses a method for planning and controlling the motion of a robot to facilitate the manufacture of sheet metal elements. Disclose an expert system. The system disclosed herein plans the movement of a robot in a space limited by obstacles,
Thus, the robot can hold and manipulate the workpiece through a series of bending operations performed by the bending device.

Other advances have led to improvements in managing and distributing design and manufacturing information in all of the manufacturing facilities. For example, US patent application Ser. No. 08 / 690,084, based on US Provisional Application No. 60 / 016,958, describes the efficiency of stored expert knowledge by logically storing design and manufacturing information associated with sheet metal parts. An apparatus and method are disclosed for improving organization and thus making their information easily accessible and retrievable from anywhere in a manufacturing facility. According to one aspect, previous work data is stored in a central database or file server, so that they are easily accessed from anywhere in the factory and are the same or similar to previous work requests. A search method or process is provided so that information can be searched and identified. Various other features are also disclosed in US patent application Ser. No. 08 / 690,084, for example, to facilitate the development of bending plans by operators.

[0022]

Despite the advances described above, it has provided additional flexibility in the manufacturing process to accommodate various types of workstations and work requirements, and as described above. There is a need to integrate the functions of these systems. Thus, despite the robotic machinery and expert systems that have led to significant automation in the manufacture of sheet metal components, such components and systems manage and distribute part information to workstations throughout the manufacturing facility. It is not integrated (or integrated) with the intelligent manufacturing system to perform. There is also a need for a system that provides expert knowledge and information to both machines operated by robots and machines operated by humans. Such a system, when creating the bending plan,
Productivity may be improved by allowing the operator to selectively access multiple expert systems, for example, to provide advice in selecting and determining a tool or optimal bending order. Further, by providing more flexibility and tailoring in the expert and intelligent manufacturing systems, bending operators or programmers can adapt the system for a wide range of uses, providing different types of bending stations or Can fit machine.

In view of the above, the present invention, through various aspects and embodiments and specific features or sub-combinations thereof, provides one or more of the objects and advantages described below. Provided.

It is a general object of the present invention to provide more flexibility in intelligent manufacturing systems and bending expert systems to increase the efficiency of the production and manufacture of bent sheet metal elements.

It is a further object of the present invention to provide an apparatus and method for integrating an intelligent manufacturing system with an expert sheet metal planning and bending system.

Another object of the invention is to allow the operator to selectively adapt the expert planning and bending system on an order-by-order basis to a variety of applications, including bending applications with and without robotic assistance. It is to provide a method and a device that make it possible to respond.

It is yet another object of the present invention to provide an apparatus and method that enables an expert planning and bending system to communicate with and respond to messages of an intelligent manufacturing system. Such interfaces include devices and methods for creating and transmitting and sending and responding to commands sent to and from the bending expert system in a questionnaire language. A method and apparatus are provided for translating commands or information received from the expert system to store bending plan information in the intelligent manufacturing system.

Another object of the present invention is to provide an apparatus and a method for automatically creating a constraint phrase based on, for example, a bending order constraint condition input by an operator, wherein the constraint phrase is a bending phrase. Used by the expert planning system when creating plans.

[0029]

SUMMARY OF THE INVENTION The present invention is therefore directed to an integrated, integrated sheet metal manufacturing and production system, comprising: a highly intelligent manufacturing system for creating a bending model of a sheet metal part to be manufactured; An expert planning system for creating and proposing a bending plan for manufacturing sheet metal parts based on the bending model, the expert planning system comprising a plurality of expert modules, the apparatus further comprising: A system is provided for selecting the plurality of expert modules to adapt a planning system to different bending applications. Thereby, the expert planning system creates a bending plan based on the plurality of selectively activated expert modules.

According to the present invention, there is also provided a method for providing an integrated sheet metal manufacturing and production system. The method includes the following steps. That is, a step of creating a bending model of a sheet metal part to be manufactured by an intelligent manufacturing system, and an expert planning system including a plurality of expert modules, to create a bending plan for manufacturing a sheet metal part based on the bending model. And a step of selectively activating the plurality of expert modules to adapt the expert planning system to different bending applications. Thereby, the expert planning system creates a bending plan based on the plurality of selectively activated expert modules.

An integrated sheet metal manufacturing and production system is further provided. The system includes an intelligent manufacturing system for creating a bending model of a sheet metal part to be manufactured and a bending plan for creating and proposing a bending plan for manufacturing a sheet metal part based on the bending model. System. A constraint system is further provided, which selectively constrains a bending plan created by the expert planning system based on constraint conditions entered by an operator. The constraint system includes a constraint manager for creating a constraint phrase according to constraint conditions entered by an operator. The constraint phrases are used by the expert planning system when creating the bending plan. Further, the constraint condition includes a bending order constraint condition input by an operator, and the constraint manager creates a constraint phrase based on the bending order constraint condition.

The present invention further includes a method for creating a constraint phrase based on a constraint condition input by an operator.
The method includes the following steps. That is, based on a step of creating a bending model of a sheet metal part to be manufactured, a step of creating and proposing a bending plan for manufacturing a sheet metal part based on the bending model, and a constraint condition input by an operator. A step of selectively constraining the created bending plan. The method also includes creating a constraint phrase in response to a constraint condition entered by an operator. Here, the constraint phrase is used when creating a bending plan. Further, the constraint condition includes a bending order constraint condition input by an operator, and the constraint phrase is configured to be created based on the bending order constraint condition.

The present invention is also directed to an integrated manufacturing system and a method for interfacing an intelligent manufacturing system to an expert planning system. The systems and methods include: That is, a step of creating a bending model of a sheet metal part to be manufactured by an intelligent manufacturing system, and a step of creating and proposing a bending plan for manufacturing a sheet metal part by an expert planning system based on the bending model. Generating and transferring a message from the intelligent manufacturing system to the expert planning system via an interface module. Thereby, the expert planning system creates a bending plan based on the transferred message. According to the invention, the message is generated by a function exchange language (FEL) based interface module.

In addition, an apparatus and method for sheet metal manufacturing are provided, including: That is, an intelligent manufacturing system for creating a bending model of a sheet metal part to be manufactured, an expert planning system for creating and proposing a bending plan for manufacturing a sheet metal part based on the bending model, and A system for selectively activating an expert planning system for different bending applications. This allows the operator to independently create a bend plan based on the bend model and selectively activate an expert planning system to create a bend plan.

The above objects, features and advantages of the present invention are more fully disclosed below.

[0036]

BEST MODE FOR CARRYING OUT THE INVENTION

BRIEF DESCRIPTION OF THE APPENDIXS To further facilitate the detailed description of the present invention, reference is made to a number of appendices as non-limiting examples of features of the present invention. Here, Appendix A includes an example of the FEL message sent in executing the expert planning system for creating a bend plan for a workstation with a robot based on constraints set by an operator.

Appendix B describes the FEL sent to the expert planning system in creating a bend plan for a workstation with a robot in the absence of constraints entered by the operator.
Contains example messages.

Appendix C contains a typical configuration file that contains information relating to the state of the expert module and various parameters.

Appendix D contains examples of final bend planning information and FEL messages created by the expert planning system and stored in a "FIN" file.

Appendix E is a typical "EVB" file, which contains data related to backgauge settings and press brake motion or operation without X-direction measurement information.

Appendix F is a typical "EVT" file, which contains tool setting data and back gauge data for setting various tool stages.

Appendix G is a typical "EVX" file, which contains data relating to the proposed press brake motion and backgauge position of the bending plan.

Appendix H is a typical "RB1" file, which contains FEL messages with data related to robot motion with X-direction measurement information.

Appendix I is a typical "RB2" file, which contains FEL messages for defining a robot motion without X-direction measurement information.

The invention will be further described in the following detailed description, which is made with reference to the several drawings, which illustrate non-limiting embodiments of the invention. In the drawings, like reference numbers indicate like parts.

According to one aspect of the present invention, there is provided an apparatus and method for integrating an intelligent manufacturing system with an expert sheet metal planning and bending system. The intelligent manufacturing system is configured to manage and distribute design and manufacturing information throughout the factory, and provides various features and processes to facilitate the design and manufacturing of various elements within the factory. . Such features have the ability to search and retrieve previous work information from a central database, so that previous work information (including design and manufacturing information for previously manufactured parts) has been previously manufactured. Used to create a plan for manufacturing a new part having the same or similar characteristics as that of the part that was created. The intelligent work system also provides various graphical user interfaces to facilitate the creation of bending plans by the operator. As described below,
Various features disclosed in US patent application Ser. No. 08 / 690,084 and US Provisional Application No. 60 / 016,958 are used and implemented in the intelligent manufacturing systems disclosed herein.

The expert system includes one or more expert modules for creating and executing a bend plan for manufacturing a bent sheet metal element. These expert modules include expert systems or subsystems for determining the optimal bending order and tooling (including tool selection and tool stage placement) for the bending plan. In addition, for workstations with robots, a robot manipulating motion expert is provided to determine the robot motion path and the robot holding process for executing the bending plan. A repositioning expert is further provided to determine sequences and operations related to controlling the repositioning gripper and repositioning the robot. U.S. patent applications 08 / 386,369 and 08 / 338,115.
The features and aspects described in are implemented in the expert sheet metal planning and bending system. A more detailed summary of the features of the expert system and the features of the intelligent manufacturing system integrated in the apparatus and method of the present invention is provided below.

The features of the present invention are used in a very wide variety of factory environments and settings, and the present invention is practiced in a factory environment where a series of manufacturing and production steps are performed at different locations. As a non-limiting example or example, the present invention will be described with reference to the manufacture of bent sheet metal elements, for example, in an advanced sheet metal manufacturing facility. The equipment,
Includes automated or automated machines with robots at one or more workstations.

Referring to FIG. 2 (a), an advanced sheet metal manufacturing facility 38 is generally illustrated in block diagram form in accordance with an embodiment of the present invention. FIG. 2 (a)
As shown in FIG. 3, a sheet metal manufacturing facility or factory 38 has a plurality of locations (or locations) distributed throughout the factory.
10, 12, 14, ..., 20 are included. These places are
It includes a design office 10, an assembly station 12, a shipping station 14, a punching station 16, a bending station 18, and a welding station 20. FIG.
The sheet metal factory 38 in (a) is described as having only six different locations, but of course the factory is 6
One or more locations can be included, and one or more for each type of office or station illustrated in FIG. 2 (a). For example, one or more punching stations 16, bending stations 18 or welding stations 20 may be provided, depending on the manufacturing capacity requirements and size of the equipment 38. Further, the factory 38 may include one or more design offices 10, assembly stations 12 or shipping stations 1
4 and may also include other types of locations to facilitate producing and manufacturing multiple elements, such as bent sheet metal elements.

The locations 10, 1 in the factory 38
Each of 2, 14, ..., 20 includes and is configured to perform one or more of the individual manufacturing and production steps or steps associated with the manufacture and production of the element.

For example, the design office 10 has a suitable CAD /
A CAM system is provided to facilitate the creation of sheet metal part designs based on customer specifications. The CAD / CAM system includes one or more personal computers, displays, printers, and commercially available CAD / CA.
M software. As a non-limiting example, the CAD / CAM system of the design office 10 may be an AUTO
CAD or CADKEY, or Amada AP40 or AP60 CAD / CAM system It is available from Amada America, Inc., located in Buena Park, California. including. In addition, other commercially available CAD systems such as VELLUM can be used. The above is a CAD system based on Windows and is available from ASHLAR Inc. The CAD
With the / CAM software, a design programmer creates a two-dimensional model and / or a three-dimensional model of the sheet metal part based on drawings or data provided in a customer order. The design programmer can also cut or punch sheet metal elements from stock material,
In order to create a part program for controlling the NC punch press and / or the cutting machine, a control code is created based on the sheet metal part design data. The punch station 16 and the bending station 18 each comprise a combination of CNC and / or NC machine tools. For example, the punch station 16 has a CO
Including one or more CNC and / or NC punch presses, such as the MA series and / or PEGA series amada turret punch press or other commercially available CNC and / or NC punch presses. Further, the bending station 18 may include one or more CNCs.
And / or NC press brakes, such as RG series Amada press brakes or other commercially available multi-axis gauge press brakes. Fully automated or robot-assisted machines, such as Amada CELLROBO-NINI and Amada PROM
ECAMs are also provided at these locations. Preferably, the Amada BM100 robot workstation is used for controlling a robot according to aspects of the present invention. In addition, a welding station 20 with a suitable welding machine is provided to perform the desired welding on said sheet metal element. The punch station 16, bending station 18 and welding station 20 include machines located in various areas of the factory floor of the facility 38 and operated by skilled operators (eg, punch press operators, bending press operators, etc.). The desired punching and bending operations and other necessary welding operations are performed at these locations in the manufacturing process. These operations are performed by operators and / or by robot-assisted machines depending on factory needs and the level of automation required and / or provided.

As further shown in FIG. 2 (a), the advanced sheet metal installation 38 also includes an assembly station 12 and a shipping station 14. The assembly station 12 and shipping station 14 provide the necessary packing, shipping and / or
Or including transport equipment to facilitate the integration of manufactured elements and shipping to customers. The integration and shipping of said elements is performed or controlled manually by factory personnel or automated by machine and / or assisted by machine. Further, the collection station 12 and shipping station 14 may be physically located near the factory floor (eg, near the punch station 16, bending station 18 and / or welding station 20) or separate from the sheet metal factory. Equipment or area.

As noted above, the present invention integrates an intelligent manufacturing system with an expert sheet metal planning and bending system. The intelligent manufacturing system manages and distributes important design and manufacturing information by electronically storing and distributing the information. The intelligent manufacturing system,
Replaces, or at least assists, conventional electronic worksheets or worksheets with electronic worksheets that are instantaneously accessed from any location in the factory. The intelligent manufacturing system also provides for organizing and retrieving storage of design and manufacturing information related to previously performed work. Therefore, previous work information that is the same as or similar to the sheet metal part to be processed is accessed and read from any location in the factory. Further, according to an aspect of the present invention, various expert modules of the expert sheet metal planning and bending system include the server module 32.
, And accessed from any of the stations 10, 12, 14,... As described below, by sending a query request or a message and information to the server module 32, the stations 10, 12, 14,.
Accesses the various expert modules,
For example, it receives bending plan information including bending order and tool information for manufacturing a specific part.

For these purposes, a communication network 26 is provided, which connects the server module 32 and the database 30 to each of a plurality of locations 10, 12, 14,. Each of the locations 10, 12, 14, ..., 20 includes a station module for interfacing with the communication network 26 and the database 30. The communication network 26 includes the locations 10, 12, 14,.
, 20, and any network or combination of networks capable of transmitting data and information to and from the server module 32 and database 30. These data transmissions are performed electronically, optically, by RF transmission, or by infrared transmission. As a non-limiting example, the communication network 26 may be a local area network (LAN), ET
It can be implemented by HERNET or an equivalent network structure. Further, the communication network 26
Is performed by using an intranet or the Internet. Information and interrogation messages may be sent to the communication network 2 by any one of a variety of transmission protocols.
6 is sent. The protocol is a transmission control protocol / internet protocol (TCP / I
P). Each of the locations 10, 12, 14,..., 20 may also include a network terminal (eg, a computer,
A station module (including a minicomputer or workstation) and / or peripheral devices (eg, display monitor or screen, printer, CD-ROM and / or modem) for transmitting and receiving information via the communication network 26. The network terminals and peripherals include hardware and appropriate software and programmed logic to interface with the communications network 26 and provide various aspects and functions of the present invention. If a computer is provided at the factory location, the computer may be a stand-alone personal computer or a general-purpose computer that is part of an interface device of a machine or device provided at the location. For example, the computer can be an IBM compatible personal computer or a computer that is part of a machine interface / control system such as the AMADA AMNC system.

The server module 32 and the database 30 are also connected to the communication network 26.
The server module 32 includes the communication network 2
And a network terminal such as a minicomputer or mainframe computer having appropriate hardware and software for interfacing with the PC. The server module 32 also includes software or firmware for performing various features of the present invention, as described in more detail below. Further, in accordance with one aspect of the present invention, the server module 32 also includes a database 30 for storing design and manufacturing information and other part bending plan information associated with each customer order. The database 30 is implemented by a commercially available database having sufficient memory capacity to store factory customer design and manufacturing information and to store other data, tables and programs. For example, database 3
0 has a SCSI memory disk with 4 GB or more of available memory space. The design and manufacturing information stored in the database 30 is accessed and distributed from the various locations 10, 12, 14, ..., 20 in the sheet metal facility 38 via the communication network 26. Various data formats, such as Structured Query Language (SQL), are used to store and access data to the database.
Further, information stored in the database 30 is stored and backed up on various storage media, for example, a magnetic tape, an optical disk or a floppy disk. The server module 32 and the database are connected to the communication network 26 in different areas or locations of the factory 38 as shown in FIG. 2 (a) or in proximity to or within one of the predetermined stations ( The connection is made at a place that exists (for example, inside the design office 10). The embodiment of FIG.
Is part of the server module 32 and is adapted to interface with the communication network 26 via the server module, but the database 30 can of course be located at a physically different location from the server module 32, As shown in FIG. 2B, it can be connected to the communication network 26 via a network database module.

As a non-limiting example, according to a preferred embodiment of the present invention, each of the server module 32 and each of the locations 10, 12, 14,..., 20 is a personal computer, eg, a Pentium or equivalent processor. IBM compatible computer with a 100 to 200 megahertz central processor unit (CPU) including at least 32 MB of memory and a high resolution display screen, for example, any commercially available SVGA monitor with 800 × 600 resolution Having. The server module 32 and the locations 10, 12, 1
4,... 20 also have a joystick or mouse device and a Sound-Bluster or harmonic sound and game port adapter card to interface and control the displayed information. Operating system software is also provided to support communication. For example, the server module 3
2 is Microsoft Windows New Technology (NT) or Windows 95 operating system software (both in Red, Washington
available from Microsoft Corporation. ), Each of the locations 10, 12, 14,..., 20 has Microsoft Windows 95 operating software. Further, the server module 3
2 and locations 10, 12, 14,..., 20 support multiple languages (eg, English and Japanese, etc.) and have an object link / embedded server (OLE), eg, O
Full support for LE2 servers is provided.

Various database languages and management systems are also used to create, maintain and view the information stored in the database 30. The database language, for example, Structure Query Language (SQ)
L) is used to define and manipulate and control data in the database 30. For example, SQ
An L server, which is a product commercially available from Microsoft Corporation, is used to practice the present invention. Further, the present invention relates to an open database connectivity compatible driver (ODB).
C) to facilitate access of information from the database 30 via the communication network 26. The OD
More information on BC is available, for example, in Microsoft's Open Database Protection Software Development Kit Programmer's Reference Manual.

FIG. 2B shows an advanced sheet metal manufacturing facility constructed according to another embodiment of the present invention. FIG.
In the embodiment of (b), the database 30 and the server module 32 are provided separately. The database 30 is connected to the communication network 26 via a network database module 34. As described above, the invention is not limited to this arrangement, and the database and server module 32 are provided together (eg, as shown in FIG. 2 (a)). And the function of the network database module 34 to provide access to the database is combined with the server module.

According to one aspect of the present invention, the integration of the intelligent manufacturing system and the expert planning system partially relies on the main functions and processes of these systems in two separate modules in the server module 32. It is achieved by executing via applications (60 and 70). An interface module or application (not shown) is also provided on the server module 32 to facilitate the transmission of messages or information between the two applications and between the station module and the server module. The interface application may be a separate module or application within the intelligent manufacturing system application 60 and / or within the expert planning system application 70 or may be integrated (eg, one or more). Or more sub-modules).
Each of these applications is executed via software and may also be executed on a platform on a computer in the server module 32. As described further below, the server module 32 comprises operating system software, such as Windows NT, which allows for multiple operations of simultaneously running applications. Furthermore,
Various applications are developed using high-level programming languages (eg, C ++) and object-oriented programming techniques. Further, the locations 10, 12, 1
Each of the 4,..., 20 station modules is provided with an executable customer application to perform various operations associated with the intelligent manufacturing system and expert planning system. For example, the stations 10, 1
, 20 perform other functions related to the intelligent manufacturing system in accessing part information from the database 30 and creating a bend plan for a new work request. The stations 10, 12,
Each of the server modules 3,.
Selectively accessing a plurality of expert modules executed in step 2 to receive expert planning and bending planning information. Referring to FIG. 2 (c), an exemplary embodiment of the present invention using various hardware and software components is described below. In FIG. 2 (c), a typical station module 36 is shown as being at the bending station 18. Although not shown in the example of FIG. 2 (c), a similar station module 36 (with similar or different machines) is provided elsewhere in the facility 38.

As shown in FIG. 2C, each of the modules (ie, server module 32, network database module 34, and station module 36) connects to communication network 26 via a network interface card or port 42. Have been. The network interface card 42
Is specific to the vendor and is selected based on the type of communication network selected. Each of the modules 32, 34, 36 also includes network software or programmed logic for interfacing with the communication network 26. The communication network 26 may be Ethernet with any number of commercially available types of cables.
The type of the cable is, for example, 10 bases / T (twisted twisted pair) or 10 bases / 2 (coaxial line) or 10 bases / T
5 (thick line). The type of cable is equipment 38
Of the cable and the amount or length of cable required. Further, as noted above, communication network 26 may be implemented by one or more networks and by use of an intranet and / or the Internet. Information or interrogation messages are transmitted over the communication network 26 according to any one of a variety of communication protocols. The protocol includes a communication controller protocol / internet protocol (TCP / IP).

In FIG. 2C, the server module 32 has a personal computer 40 having a display monitor or CRT 44 and an input / output device 46 including a keyboard or mouse and / or a joystick. The network interface card 42
Is inserted into an available expansion slot or port of the personal computer 40.

Further, the personal computer 40
Has an IBM compatible computer having a speed of 100 to 200 megahertz and having a Pentium or Pentium Pro microprocessor. The personal computer 40 also includes, for example, 32 megabits or more available main memory and 1.2 gigabits or more available random access memory (RAM). The display device 44 is, for example, 80
Commercially available SVG with 0x600 resolution
It has a high resolution display screen, such as an A monitor.
The personal computer 40 supports various graphics and information displayed on the display device 44.
Include commercially available graphics cards, such as, for example, PCI graphics cards. Further, the computer 40 has a Sound-Bluster or compatible sound and game port adapter card,
The input / output device 46 has a keyboard or a joystick and / or a mouse device.

In order to execute various functions of the present invention,
The server module 32 includes software and various software packages. For example, the server module 32 includes operating system software such as Microsoft Windows NT (version 4.0). Further, in order to provide the server module with special functions and characteristics of the present invention,
The server module 32 has a software or program logic execution routine. As described in more detail below, these routines are developed using a high-level programming language such as C ++ and object-oriented programming techniques. The server module 32 includes:
In addition, CAD or CAD / CAM software (for example, V
ELLUM or Amada AP40 or AP60 software) to enter and / or create original 2D and 3D drawings based on customer specifications. For this reason, the server module may reside in the design office 10 of the manufacturing facility 38. To access data from the database 30, the server module 32 also includes an OBDC driver (eg, a Microsoft ODBC driver), and SQL as a standard for accessing the data.
Is used. An OLE server (eg, OLE2 server) is provided to link the data.

In the embodiment shown in FIG. 2C, the database 30 is provided separately from the server module 32, and the network database module 34
Is connected to the communication network 26 via the. As described above, the database 30 includes a SCSI disk having an appropriate memory space (for example, 1 to 4 Gigabit). The memory space may be selected based on the amount of parts and the amount of bending planning information to be stored in the database and the scale of equipment 38. The network database module 34 includes a personal computer 4
0 (e.g., an IBM compatible computer with an expansion slot that fits a Pentium microprocessor and a network interface card 42 for interfacing with the communication network 26).
The database 30 is connected to the personal computer 40 via a data bus, and the personal computer 40 is a standard display device and an input / output device (for example, a display monitor or a CRT and a keyboard, FIG. 2C).
(Not shown).

In order to facilitate access to the database 30 based on SQL, the personal computer 40 of the network database module 34
Includes a commercially available SQL server (eg, Microsoft SQL Server or Oracle SQL Server). An OLE server (eg, OLE2 server) is also provided for linking data. The personal computer 40 also includes various operating software (eg, DOS and Microsoft Windows NT (version 4.0)).

The embodiment of FIG. 2 (c) also includes an exemplary embodiment of the station module 36. In this embodiment, the station module 30 comprises the bending station 18
Executed in Each station module has a computer 48 with a display monitor or CRT 44 and an input / output device 46. The input / output device has a joystick or a mouse device. A network interface card 42 is inserted into an expansion slot or port of the computer 40. As described above, the computer of the station module 36 is a stand-alone personal computer or a general-purpose computer that forms part of a device or machine interface device provided at the location. For example, the computer 48 has 100 to 2
A computer which may be a stand alone personal computer such as an IBM compatible computer with a Pentium or Pentium Pro microprocessor having a speed of 00 MHz, or which is incorporated in or is part of an interface / control system of said machine ( For example, an AMADA AMNC system may be used. The computer 48 also has, for example, 32 megabits or more of available mesh memory and
Includes 2 Gigabit or more available random access memory (RAM). Display 44 includes a high resolution display screen (eg, a commercially available SVGA monitor with 800 × 600 resolution). To support the various figures and information displayed on the display device 44, the computer 48 also includes a commercially available graphics card, such as a PCI graphics card. Further, the computer 48 has a Sound-Bluster or compatible sound / game port adapter and a joystick or mouse device as the input / output device 46.

In order to execute various functions of the present invention,
The station module 36 includes software and various software packages. For example, the station module 36 may include operating system software (eg, Microsoft Windows NT).
Or Windows 95). In addition, the station module 36 has software or program logic execution routines to provide the station module with the special features and characteristics of the present invention. As described in more detail below, these routines are developed using high-level programming languages (eg, C ++) and object-oriented programming techniques. To access and link data, the station module 36 includes an OBDC driver (eg, a Microsoft OBDC driver) and an OLE server (eg, an OLE2 server). As with the server module 32, the station module uses SQ as a standard for accessing data from the database 30.
L is used.

If the station module 36 of the bending station 18 is provided as a stand-alone personal computer, certain software is provided, which generates bending code data (ie, NC data) and sends the data to the machine 25 (eg, CNC or (NC control press brake). For example, the computer 4
8 is implemented as a personal computer and has software for interfacing with the bending machine 25 via an interface (e.g., a standard RS-232-C wire interface). This interface is provided to allow the station module 36 to update and transmit or receive bending machine 25 and bending code data. Embodiments of this interface are vendor specific and will depend on the data format and machine instructions used in the bending machine 25. From the station module 36 to the bending machine 25
All data sent to is formatted based on the machine instructions defined for the machine. The computer 48 of the station module 36 also
It comprises commercially available CNC or NC software for generating said bending code data, and includes a CNC or NC system (such as Amada AM) for such machines.
NC) perform the functions normally provided by the inbuilt computer. Further, when the bending machine 25 includes an automatic device (for example, a robot manipulator, a material loading / unloading device), the computer 48 may control the machine 2
5 includes sequence and control functions (performed by hardware or software and / or program logic) to execute all bend plans and control various operations. The bending machine 25 also includes the computer 4
8 and an interface architecture (not shown) for interfacing with the various devices and sensors of the bending machine 25. The sequence and control of the bending machine is performed by any suitable combination of hardware and software, and is disclosed in US patent application Ser. No. 08 / 386,36.
The technique and process and equipment described in 9 are used for this purpose.

As described above, the intelligent manufacturing system comprises:
Design and manufacturing information is managed and distributed through the facility 38 and provides various functions and processes to facilitate the design and manufacture of parts within the facility.
Such features include the ability to retrieve previous work information from a central database and the ability to create a bend plan (including selecting a bend sequence and determining a tool) using various graphical user interfaces. They are described below with reference to FIGS. The expert system includes one or more expert modules for creating and executing a bend plan for manufacturing a bent sheet metal element. These expert modules include expert systems or subsystems for determining the optimal bending order and tools (including tool selection and tool stage placement) for the bending plan. In addition, for workstations with robots, robot operation and motion experts are provided to determine the path of robot motion and to determine the steps of gripping the workpiece to perform the bending plan. A repositioning expert is further provided to determine sequences and operations related to controlling repositioning operations of the repositioning gripper and the robot. The communication network 26
The various expert modules provided to the server module 32 are selectively accessed from the station modules residing in the facility 38 via Further description of the expert planning system and its relationship to the intelligent manufacturing system, as well as further description of other features of the present invention, is provided below with reference to FIGS.

Various features of the intelligent manufacturing system implemented in the present invention will be described with reference to FIGS. As noted above, U.S. patent application Ser. No. 08 / 690,0.
Various features and aspects of 84 are utilized in the apparatus and method of the present invention. Other features and aspects are also provided and integrated into this intelligent manufacturing system, as will be readily appreciated from the following description.

FIG. 3 illustrates an exemplary embodiment of the data flow between the server module 32 and the database 30 and the various network locations associated with the intelligent manufacturing system of the present invention. For purposes of illustration, the server module 32 and database 30 (integrated with the network database module 34) are shown separately and directly connected to the communication network 26 in FIG. The data flow between these elements is performed via the communication network. Of course, various data flow configurations are provided between these elements, as will be appreciated by those skilled in the art. When the database 30 is directly connected to the server module 32, the data and information are transmitted directly from the server module 32 to the database without passing through the communication network 26. To further simplify the description, the description of the communication network 26 in FIG. 3 is simplified, and only the punching station 16 and the bending station 18 are shown. Nevertheless, the data flow between the locations 10, 12, 14,... Is performed in a manner similar to that described for.

The design and manufacturing information associated with each customer's order is organized and stored in the database 30. When a customer order is first received, basic manufacturing and design information is entered into the server module 32 and then transferred to and stored in the database 30. As described above, the server module 32 has appropriate means for inputting data (for example, a personal computer having a keyboard or the like). If a personal computer is used in the server module 32, software is provided for generating a menu screen to facilitate operator entry of data. The data entry program may be a Microsoft Windows-based application having, for example, a help screen and / or a menu screen. As a non-limiting example, the data input or created in the server module 32 and transferred to the database 30 includes part information, bending model data, feature extraction data, and bending line information. They are shown generally in FIG.

The part information includes, for example, a part reference number or an order number, a customer name, a brief description of the part, a batch size or quantity, and a scheduled shipping date. The bending model data includes, for example, part shape and manufacturing data, and overall dimensions of the part (eg, width and height and depth), and part material information such as material type (eg, steel, stainless steel or aluminum) and thickness. And tensile strength. In addition, feature extraction data may be entered manually and / or automatically generated to identify important features of the part and facilitate similar part search and other searches of the database. This feature extraction data is stored as a separate data file in the database 32 or together with bending model data and other work information for each part. The feature extraction data includes, for example, the following. That is, the features of the parts, such as the number of surfaces,
The number or type of bending lines present (eg, a positive bend between two surfaces or a negative bend between two surfaces) and the relationship between the plurality of surfaces and / or the number of holes or holes in the component; Number of other types of openings. Such data is represented and organized in a feature-based part matrix and / or a series of search keys. Finally, the bending line information is input in the server module 32 and stored in the database 30. The bending line information includes, for example, the following. Relevant bend line information and bend angle and bend line length for each bend in the part, the inner radius (IR) of the bend and the amount of contraction and bend direction (forward or backward).

To exchange data with the database 30 via the communication network 26,
Each of the locations 10, 12, 14,..., 20 includes a station module (eg, the station module 36 described above) connected to a communication network. In FIG. 3, a punch station 16 and a bending station 18 are shown in block diagram form as the station modules. As mentioned above, the station module comprises, for example, software or control logic and a stand-alone personal computer or a general-purpose computer which forms part of a device or machine resident on site. For each customer order, the design and manufacturing information, including (parts information and bending line information and bending model data), is accessed and retrieved, for example, by entering a predetermined reference number or code. The reference number or code is entered manually (eg, via a keyboard or digital input pad) or by scanning a barcode with a barcode reader or scanner provided on the station module. Further, according to one aspect of the present invention, the previous work information is obtained by performing a similar part search to obtain any of the locations 10, 12, 14,.
20 access and read from the database 30. As described in further detail below, the similar parts search is performed based on feature extraction data or a search key stored in the database 30, and previous work information related to the same or similar parts is Read and used to reduce the overall work time of future work.

The design and manufacturing information read from the database is used by the factory floor operator to create and test the bending plan.
For example, an operator at the bending station 18 can access and read the part information, bend line information, and bend model data from the database 30;
Determine the optimal bending order and required tools for the sheet metal part. According to one aspect of the present invention, an OBDC driver is provided that allows each station module to interface with the database 30 and information stored in the database 30. Further, the server module 32 or the network database module of the database 30 includes an SQL server to facilitate access and retrieval of data stored in the database. Once the bending codes are programmed based on the final bending plan, the bending codes are sent from the station module of the bending station 18 to the database 30 via the communication network 30 along with the bending order and tooling information. This is shown generally in FIG.

This information is stored along with other design and manufacturing information associated with the operation.

Other information is also stored in the database 30. For example, two-dimensional and three-dimensional image surfaces of the part are stored along with the bending model data of the part. The two-dimensional and three-dimensional representations are created at the design station 10 or another location having a CAD / CAM system, and are sent to the database 30 via the communication module 26 and station modules of the design station (or other suitable location). Will be transferred. Alternatively, the two-dimensional or three-dimensional image may be a suitable CA
By interfacing with or utilizing a D / CAM system or modeling software and performing a series of functions or operations, it is created in the server module 32 as described in more detail below.

Referring to FIGS. 4 and 5, the server module 32 and each of the locations 10, 12, 14,.
, A detailed description of the operations and steps performed and programmed by the twenty station modules is provided. 4 and 5 show the server module 32 and each location 10 in the sheet metal manufacturing facility 38.
20 is a flowchart of a basic logic flow executed by the station modules 12, 14,..., 20.
FIG. 5 illustrates the steps and operations typically performed, for example, at bending station 18. However, it will be appreciated that other processes and steps may be performed depending on the type of processing being performed at each particular location in the facility 38. The steps and operations described below are performed by software and using one of a variety of programming languages and techniques. For example, according to one aspect of the present invention, the steps and operations described below with reference to the drawings are performed using a high-level programming language such as C ++ and using object-oriented programming techniques.
As a further non-limiting example, VISUAL-C ++ is used. This is a C + created by Microsoft Corporation for Windows based applications
+ One version of the programming language.

FIG. 4 is a flowchart showing the basic steps and operations executed by the server module 32 when the intelligent manufacturing system application is executed. FIG. 4 shows the basic logic flow of the steps and operations performed by the software or program logic of the server module 32. Server module 32 includes a Windows-based application that includes toolbar icons and help screens and / or menu screens to assist an operator or user in selecting and performing various steps or operations of the server module. The process begins at step S1, where a customer order is received at a sheet metal manufacturing facility. The customer's order typically includes the product and design information needed to produce certain parts at the facility 38. This information includes, for example, the geometric dimensions of the part and the material and other design information of the part. Based on the information received from the customer, the server module 32 retrieves the previous work information stored in the database 30, as shown in step S3. The database 3
The work information stored in 0 is searched based on various search conditions. For example, the information is retrieved based on a predetermined reference number or operation number, or a similar part search is performed based on a predetermined design feature of the part. Thus, previous work information relating to the same or similar parts is retrieved and used for the current work. A more detailed description of the similar parts search used can be found in US patent application Ser.
90,084 and US Provisional Application No. 60 / 016,958.

In step S5, the results of the database search are analyzed to determine whether the current customer order is for a new part, a part similar to the previous operation, or a repetition of the previous operation. If the same part is present (for example, when the same part number or reference number is retrieved) and the current customer order is a complete repetition of the work previously performed at the facility, the work information No modification to is necessary, the previous work information is read from the database,
It is used to execute the current customer order as shown in step S11. The database search provides a part number or reference number and / or file name of the previous operation so that the operation information is retrieved from the database by an operator at either the server module 32 or the station module. If only the part number or reference number is provided, a conversion table is provided so that the file name of the previous work information is determined and read based on the input of the part reference number or work number by the operator. You. Thus, for example, the operator in the server module 32 can read the work information and the two-dimensional and three-dimensional model information from the database 30 and analyze the geometric data of the part to confirm that it is a repeat order. If the order is confirmed to be a repeat order, the bending operator in the station module of the bending station 18 reads the previous work information and retrieves the work information (which includes bending code data and tooling information). Utilize and perform bending to manufacture the part. By using knowledge of such stored experts, repetitive orders can be produced more efficiently and without recreating previously entered and created work information.

However, if it is determined in step S5 that the current customer's order is similar to the previous operation, or the current order is the same as the previous operation but the operation number or reference number or the quantity is If it has to be changed, the previous work data identified by the search in step S7 is read from the database 30 and edited and modified by the operator in the server module 32. An editing function is provided to allow editing and modifying previous work data to create new work data. The new work data is stored in the database 30 for the customer's current order. The amount of editing required depends on the degree of similarity that exists between previous work and current work. The amount of editing may include changing reference numbers or operation numbers or quantities (batch size), or may include larger modifications such as editing the dimensions of the part or editing the bending sequence. After the previous work information has been edited, the corrected work information is stored in the database in step S9. The modified work information is stored under a new reference number or work number. In addition, various database management functions (eg, copy, delete, save, rename, etc.)
To allow the previous work information to be retained in the database 30 or to allow the previous work information to be deleted or overwritten by the input of a special command.

If it is determined that there are no similar or identical matches for the current operation, and thus the current customer order is determined to be related to the new operation,
The logic flow proceeds to step S15 as shown in FIG. In this case, design and manufacturing information must be independently created and entered because the current operation is related to the new operation. Menu and / or
Or, a help screen is provided to assist the operator in entering all necessary work information. According to one aspect of this intelligent manufacturing system, an operator at the server module 32 creates a new file by first entering basic part information for the new task. The part information includes, for example, a reference number or operation number, a customer name, a brief description of the part, a required batch size or quantity for the operation, and a scheduled shipping date. The feature extraction data or search key is also input in step S15, or these data are automatically created or extracted with the creation of the bending model data. Other data or information is also input in step S15 or after or at the time of inputting the bending model data. The bending model data is bending line information including a bending angle and a bending radius and a length of each bending line in the component. After step S15, the logic flow proceeds such that bending model data is created and input by the operator in the server module 32 (see FIG. 4).

The creation and input of the bending model data depends on the original drawings and information provided by the customer. The customer order may include, for example, a two-dimensional single-plan view of the part being manufactured and / or a two-dimensional three-view view of the part (including, for example, a plan view, front view, and side view). Often the customer will provide a three-dimensional wireframe drawing of the part. In this drawing, the thickness of the material of the component may or may not be shown. The stored bending model data includes both development information (that is, a two-dimensional plan view representation) and bending information (that is, a three-dimensional representation) of a manufactured part. Therefore, if only a two-dimensional plan is provided by the customer, the three-dimensional drawing of the
It must be generated by applying, for example, a folding algorithm or process to the dimensional drawing. Alternatively, if only a three-dimensional drawing of the part is provided, it is necessary to generate a two-dimensional plan by applying, for example, a development algorithm or process to the three-dimensional drawing. According to another feature of the intelligent manufacturing system, the two-dimensional and three-dimensional models stored in the bending model are generated and represented without a sheet metal thickness. This is possible due to the unique symmetry of all sheet metal parts. By creating and representing the two-dimensional and three-dimensional drawings without thickness, the model image and the simulation image of the part can be easily interpreted and understood by a design programmer or a bending programmer or other users. Can be. By deleting the thickness information, the work time required by the server module and the station module when performing various functions of the intelligent manufacturing system can be reduced and improved. A more detailed description of such functions and the bending and deployment algorithms used in the present invention are described in U.S. patent application Ser. No. 08 / 690,084 and U.S. Provisional Application No. 60 / 016,958.

FIG. 4 shows the general steps and operations for creating the bending model data. Various drawings received or created based on the customer's order and entered to create the bending model data are shown generally at steps S19, S23, S27, S31. A tool icon bar and a menu screen and / or a help screen are provided on the server module 32.
To assist the operator in selecting and performing each of these steps. The processing of these drawings to create two- and three-dimensional models of the part for the bending model depends on the type of drawing originally provided. These drawings show the server module 32
Are manually entered or created or they are downloaded from tape or disk. The server module 32 interfaces with, for example, a CAD / CAM system existing in the design office 10, or the server module includes a stand-alone CAD / CAM system. In addition, the two-dimensional and three
The dimensional drawing is stored as a DXF or IGES file and input to the server module 32.

If a two-dimensional single-plan view is provided, the process for creating the bending model starts with step S19 as shown in FIG. In step S19,
The received or developed two-dimensional plan is input to the server module 32. Other bending model data, such as overall dimensions (eg, width, height, depth) of the part and material information of the part, are also input in step S19. Then a folding algorithm or process is used,
As shown in step S21, a three-dimensional model (having no thickness) is created based on the first two-dimensional single drawing. Examples of processes and operations performed in creating a three-dimensional model from the two-dimensional plan view are described in US patent application Ser.
8 / 690,084 and US Provisional Application No. 60 / 016,9.
58. When a 3D wireframe drawing (without thickness) of the part is received or created
The drawing information is input in step S27. Further, other bending model data, for example, overall dimensions (for example, width, height, depth) of the part and material information of the part are stored in step S27.
Is entered. Thereafter, a deployment algorithm or a process is executed in the server module 32, and a step S is executed.
As shown in FIG. 29, the processes and operations performed when creating the two-dimensional model from the three-dimensional drawing (having no thickness) in which the two-dimensional model of the part is developed are also described in the second embodiment.
US patent applications.

The two-dimensional and three-dimensional representations of the part are stored as part of the bending model of the part. Further, as described above, during the creation and input of the two-dimensional and three-dimensional models, other bending model data is input (for example, component material information and other manufacturing information). Therefore, they are also stored in the database together with the bending model data.
Object oriented programming techniques are used to define and structure the bending model of the part. The two U.S. patent applications (08 / 690,084 and 60/01).
6,958) are used to organize and store a bending model of the part.

As shown in FIG. 4, if a simple three-dimensional drawing (without thickness) of the part is initially created or received, the unfolding algorithm required to create the final two-dimensional model Or, a paired process is required to create a three-dimensional model of the part (without thickness) before performing the process. Step S23,
S25, S31 and S33 generally illustrate the additional processes and operations performed by the server module 32 before executing the unfolding algorithm and creating a two-dimensional model in step S29.

For example, when a two-dimensional three-view drawing of the part is first given or created, the drawing is input or introduced into or into the server module 32 in step S23. Further, other bending model data, for example, dimensions (for example, width, height, and depth) of the entire component and component material information are input in step S23.
Thereafter, in step S25, a simple three-dimensional plan view of the part is created based on the input two-dimensional three-dimensional view. The created three-dimensional drawing is used to create a two-dimensional model in step S29 of FIG. Examples of multiple processes and operations performed to create a three-dimensional model from a two-dimensional three-view drawing are described in US patent application Ser. No. 08 / 69,083.
No. 0,084 and US Provisional Application No. 60 / 016,958.

However, for example, when a three-dimensional drawing having a thickness is first received or created, appropriate processing is performed after the drawing information is input in step S31 and before the development algorithm is applied. Other bending model data, such as the general dimensions of the part (eg width, height, depth)
And component material information are input again in step S31.
Thereafter, in step S33, a procedure for removing the thickness is performed, and the thickness in the three-dimensional drawing is removed. According to one aspect of the present invention, the server module 32
Prompts the operator or user to indicate the thickness in the drawing when performing the thickness removal procedure and to indicate which side (inner or outer) to hold. Examples of procedures for removing the thickness used in the present invention are described in the two U.S. applications. After the thickness in the three-dimensional drawing has been removed in step S33, the logic flow proceeds to step S29. Therefore, a three-dimensional model having no thickness is used, and an appropriate unfolding algorithm or process is applied to the final 2D model.
A dimensional model is created. Said deployment process and said 3
Examples of the various processes and operations performed in creating a two-dimensional model from a two-dimensional drawing are described in the aforementioned two U.S. patent applications (08 / 690,084 and 60 / 016,956).
8). As shown in FIG. 4, after all relevant information has been created and entered, the part information, bending model information and other data relating to the customer order are transferred from the server module 32 and step S35.
At the database 30. The data stored in the database 30 includes feature extraction data or search data, which is used when searching the database. The feature extraction data or search data indicates basic features or key features of the parts associated with each work. Accordingly, a search of the database is performed to identify work information or stored expert knowledge related to the same or similar parts. The data and information input in the server module 32 are sent directly to the database 30 or transferred via the communication network 26 as shown in FIG.

FIG. 5 is a flowchart of the basic process and operation of the intelligent manufacturing system executed in each of the station modules. The station modules are provided at a plurality of locations 10, 12, 14, ..., 20 of the sheet metal manufacturing equipment 38. By way of example, FIG. 5 shows an example of the basic logic flow of a process or operation performed by a station module residing in a bending station 18, for example. As will be readily appreciated by those skilled in the art based on the description herein, the logic flow shown in FIG. 5 will of course be modified for each station module based on the nature of the operations and processes performed at each of the locations. Can be
Further, as with the server module 32, the processes and operations of the station modules described below are performed by software or program logic.
Further, the station module includes a toolbar-based icon or a Windows-based application having a help screen and / or a menu screen to facilitate an operator or user to select and perform various steps and operations of the station module. Such help screens and / or menu screens are provided to facilitate data entry or transfer in the station module.

As shown in FIG. 5, after initializing the station module in step S51, the operator inputs one or more database search conditions or key languages in step S53. The search condition is input to identify previous work information related to a new or current work stored in the database 30. For example, the operator inputs a predetermined reference number or code and reads predetermined operation information from the database 30. For example, a barcode is attached to a routine sheet or stock material, and the information is read by scanning with a barcode reader in the station module. Alternatively, the reference code or number is manually entered via a keyboard or digital input pad on the station module. Further, a conversion table is provided, and the name of the previous work information file is determined based on the input of the part reference number or the work number by the operator. Further, a similar part search is performed for the work information stored before the search condition or key is input. Such a search is performed based on various design features or feature extraction data of the part. The description of similar part search executed in this intelligent manufacturing system is described in the above-mentioned U.S. application Ser.
And No. 60 / 016,958).

After the search condition is input in step S53, the station module proceeds to step S55.
To search the database 30 via the communication network 26 and the network database module 34. The result of this search is sent back to the station module and analyzed in step S57, and the information entered by the operator or the user relates to a new task, to a task similar to the previous task, or to complete the previous task. Is determined to be relevant to the repetition.

If exactly the same is detected (ie, the same part number or reference number is detected) and if it is determined that the previous operation should be repeated, the storage associated with the operation is performed. The designed and manufactured information is transferred from the database 30 to the station module. Then, the information is displayed for observation by the operator as shown in step S59. The station module has one or more menu display screens or directories to allow an operator to select and display various information read from the database 30. The operator observes the displayed information and performs various simulations, such as the three-dimensional bending simulation in step S61, observes the various stages in the bending order and understands the geometry of the part for the operation. The operator also observes other information, such as necessary tools and other special instructions or messages recorded with the work information. After confirming the work information, the operator assembles a bending or other necessary machine and operates the machine to manufacture a specific sheet metal part. The work information read from the database includes final bending plan data, including, for example, bending codes for controlling machines at the bending station 18. The assembling operation and the actual operation of the machine are executed by the operator as shown in step S63 of FIG.

If neither the same work information nor similar work information is retrieved, and if the information is determined to be related to a new work (ie, only preliminary work information is input in the server module 32 and complete work information If not already created), the partial part information and bending model data are downloaded from the database and sent to the station module where it is observed by the operator (step S7).
7). Because the requested information relates to a new operation, the operator needs to create and enter a bend plan that includes the required tools and bend orders. Therefore, step S7
At 9, the operator defines and creates a bending sequence and tool selection for the new operation based on the information provided to the station module. If a robot is provided, the robot motion plan and reposition plan are also programmed and created by the operator. A graphical user interface (GUI) and other features are provided on the station module to facilitate a bending operator in developing the bending plan. The graphical user interface allows the operator to display a tentative bend order, display tool options, automatically check for potential collisions between the part and the tool, and select intermediate bends in the tentative bend order. Simulating each of the steps assists in creating the bending plan. Further, as described below, an operator launches the expert planning system application to receive expert planning information related to the manufacture of the part. This information includes bending order and tool information and data on robot motion and reposition planning. The various functions of the expert planning system will be described below with reference to FIGS.

After creating and entering the bending plan in the server module, the operator proceeds to step S
At 80, the bending sequence is programmed and the bending code (ie, CNC or NC for performing the bending process on the bending machine).
Code). The bending code is entered directly at the station module or introduced to the station module by interfacing with the CNC or NC controller of the bending machine. Thereafter, the operator assembles the machine and performs step S81.
Test the bending plan at the bending workstation. When all necessary tests and all necessary modifications to the bending plan have been completed, the final bending data is entered and stored in the database 30 in step S83. The final bending data includes the bending order and tool assembling information, a bending program and / or robot motion control information. These information are sent from the station module of the bending station 18, for example, to the database 30 and stored along with other design and manufacturing information for the new operation.

The information input in step S57 in FIG. 5 relates to a part similar to the previous operation or to the same part as the previous operation, for example, a different reference number or operation number, or a different batch size (quantity). ), The logic flow proceeds to step S65. Then, in step S65, the previous work information is read from the database 30 and displayed at the bending station 18. The bending operator or user will therefore observe this data and determine what changes need to be made to such similar parts. Again, the station module creates a series of menu display screens or directories, allowing the operator to select which information is to be displayed or how that information is displayed and changed. For example, in step S69, the station module performs a three-dimensional bending simulation based on the read information to facilitate an operator to create a bending plan for similar parts. After observing the previous work information, the operator corrects the tool information, the bending information, and the bending program in step S70. Other work information, such as part dimensions or reference numbers or quantities (batch size) are also modified or edited in step S70. The various functions of the expert planning system (described below with reference to FIGS. 6 to 24) are also utilized in the above for compiling and completing bending plans. Thereafter, in step S71, the actual tooling and testing is performed by the operator on the factory floor to test the modified bending plan. Upon completion of the testing of the bending plan and further modifications thereto, the operator enters the final bending data in step S73 and stores it in a database under a new operation number or reference number.

As described above, the previous work information is stored in the database 30 together with other stored work files. In addition, various database management functions are provided for storing, deleting, renaming, etc., the files stored in the database.

As described above, the intelligent manufacturing system of the present invention is disclosed in the aforementioned U.S. patent application Ser. Nos. 08 / 690,084 and
/ 016,958. For example, various graphical user interfaces are provided to assist the operator in manually selecting and determining the bending order and tools for a part. Such an interface allows the operator to enter a bend sequence by sequentially selecting bend lines in a displayed image of the part using one or more display screen images, or It is possible to select a tool based on icons representing various available molds (for example, punches, dies, die rails, etc.). Object oriented programming techniques can also be used to organize and store bending model data and bending operations performed on electrical components as a complete bending file in a database (eg, based on class structure or library) And The parts are represented in two-dimensional and three-dimensional space, and the intelligent manufacturing system allows an operator to selectively display, zoom, rotate and pan two- and three-dimensional images of the parts. Details of such features or other features are described in U.S. Pat.
8 / 690,084 and US Provisional Application No. 60 / 016,9.
58.

Referring now to FIGS. 6-24, various features of the expert planning system and its interaction with the intelligent manufacturing system will be described. As described above, U.S. application Ser. Nos. 08 / 338,115 and 08/386,
Various features and aspects of 365 are utilized in the apparatus and method of the present invention. Other features and aspects are also incorporated into this expert planning system. It will be readily understood by the following description.

FIG. 6 illustrates an exemplary embodiment of the data and message flow between the various network locations and modules associated with the expert planning system of the present invention. For simplicity, the illustration of the communication network 26 in FIG. 6 has been simplified, and only the database 30, server module 32 and bending station 18 are shown. However, it will be appreciated that the flow of data to and from the other locations or station modules of the facility 38 will occur in a manner similar to that described below.

In the expert planning system of the present invention, a bending operator or a programmer selectively activates a plurality of expert modules of the expert planning system, and selectively receives expert information relating to, for example, bending order selection and tool selection and robot motion planning. To make things possible. According to one aspect of the invention, an operator can set various constraints (eg, a complete bending order or a partial bending order or one or more tool selections). The constraints are then used by the expert planning system when creating a bending plan. Various other features are provided for the operator to observe the results of the expert planning system calculations, determine whether to store the resulting information in a database, and use the information in performing the bend planning. To determine whether or not. Such features are described below with reference to, for example, FIGS. 8-11 and 12-20.

According to one aspect of the present invention, the main functions and processes executed by the expert planning system are executed inside the server module 32. The server module 32 is located anywhere in the factory 38 (including the design office 10) and the functions and processes of the expert planning system are performed on a computer-based platform provided to the server module 32. It is executed by software that performs Such features may be provided at each of the locations 10, 12, 14, ..., 20 throughout the sheet metal installation 38. Alternatively, a customer-server relationship may be established at the facility 38, wherein each of the locations (customers) is connected to the server module 32 via the communication network 26.
In order to access and activate the expert planning system provided therein, an interface may be provided for sending appropriate data and messages. Other configurations, such as a host-terminal configuration, are also provided to implement various features or aspects of the invention. Further, if the communication network 26 is implemented via an intranet or the Internet, the server module may be accessed locally or remotely from a plurality of geographically separated locations to access and activate the expert planning system.

As described above, FIG. 6 shows the server module 32 and the database 30 and the location 18.
(It is described in the illustrated embodiment as a bending workstation having a station module) which is an exemplary embodiment of the transfer of various data and messages. For purposes of illustration, the embodiment of FIG. 6 is based on a customer-server relationship, where the expert planning system is implemented inside the server module 32 and each of the locations (including the bending workstation 18) Can access the expert planning system provided in the server module 32 via the communication network 26. When the expert planning system of the server module 32 is initialized and activated, a bending model file representing the geometry and / or topology of the part is downloaded from the database 30 and read by the expert planning system. The bend model of the part is CAD or CAD / CAM when the customer order is received.
It is created by the system and stored in the database 30. The bending model is also created via various functions and aspects of the intelligent manufacturing system (eg, those described above in connection with FIG. 4) and includes design and manufacturing information associated with the component.

After the bending model file is read into the expert planning system, various expert modules provided in the server module 32 are executed to determine and generate a bending plan. The expert planning system is used by an operator when, for example, an unsatisfactory result is obtained as a result of a similar part search in the intelligent manufacturing system or when assistance is needed in creating a bending plan for a new part. You. As described below with reference to FIG. 7, the expert planning system can be used to determine the bending order or to select a tool (which includes selecting the placement of punch and die tools and tool stages) or robot motion. Includes various expert modules for planning. The expert module also determines the grip and reposition of the robot. After the bending plan has been created, the expert information is transferred from the server module 32 to the database 30 via the communication network 26, and the information is stored in a bending model file associated with the sheet metal part to be manufactured. Alternatively, the bend plan information is stored in one or more files to allow easy access to and readout of various types of information related to the generated bend plan.

The expert planning system has various locations 10, 12,
, 20 are also used and used by them. For example, the bending workstation 18 may include
One or more messages (eg, FEL messages) are sent to server module 32 via communication network 26. These messages include FEL commands indicating which expert modules are activated, and constraint phrases or data indicating various constraints used by the expert planning system. The message sent via the communication network 26 is:
Sent according to the protocol of the communication network used to implement the network 26 (eg, Ethernet protocol or TCP / IP). When these messages or constraint data are received at the server module 32, they are transferred to the expert planning system, and when the expert planning system is activated, the messages are interpreted or read and the appropriate bends are made. A model file is read from the database 30 and bending plan information is generated based thereon. The resulting expert information generated is stored in the database 30 (including the determined bending order and tool selection and robot motion, etc.) and updates the bending model file. When the actual final bend plan is executed, the bend plan information is downloaded from the database 30 to, for example, the bending workstation 18, and the necessary bending is performed on the sheet metal element. Alternatively, the final bending information is accessed from the server module 32 and sent therefrom to the bending workstation 18 when bending is performed.
Further, as described above, the station module of the bending workstation 18 includes a planning device and a sequencer for controlling various machines in the bending workstation based on the bending planning information.

FIG. 7 shows the expert planning system 7.
0 shows examples of various expert modules or systems provided in the system. As described above, the intelligent manufacturing system 60 and the expert planning system 70 are provided as software applications executable on the server module 32 (see, for example, FIG. 2B). As shown in FIG. 7, the expert planning system 70 includes a planning expert 72 and a tool expert 80, a holding / gripping expert 82, and a motion expert 84. As will be described in further detail below, a sensor expert 86 is also provided. The planning expert 72 works in cooperation with the tool expert 80 and the gripping expert 82 and the motion expert 84 and other experts (e.g., the sensor expert 86) to create a plan for the part production by the bending station 18, for example. The planning expert 72 performs various functions as follows. That is, for example, in order to propose a particular bending step in a virtual bending order or to have a particular bending occupy a particular position in the virtual bending order, no initial steps must be performed by the system. Decide not to be. To determine the result of the proposed bending, the bending expert 7
2 queries the tool expert 80 as to what tools are required to perform the proposed bend and how the workpiece is performed while performing the proposed bend to the holding expert 82. Ask if it can be retained. The Planning Expert 7
2 also queries the motion expert 84 as to whether or not the robot holding the workpiece can operate to assist in performing the bending. If the sensor expert is provided, the planning expert 72 asks the sensor expert 86 the following questions: That is, whether sensor-based control is required to facilitate the execution of the proposed bend by the workstation, or how much the costs associated with a particular sensor-based control are. Planning Expert 72
Is configured to successively propose a plurality of bends from a first bend to a last bend in a complete bend sequence, thus providing a series of complete bends for producing a final product. Is formed. When an appropriate bending order is created in this way, the planning expert 72 creates a final plan. The plan includes a general list of the steps and any accompanying information needed to control the execution of the machine and various hardware components of the workstation. The planning expert 72 then sends the plan to the database 32 and / or to, for example, a sequencer or controller of the bending workstation.

Hereinafter, the operation of the expert 70 will be described. The planning expert 72 first analyzes the designed part by reading the bending model file from the database 30. And it proposes a bending sequence to be performed by the bending workstation. The planning expert 72 uses a state space search method,
Determining the efficient order of bending available by the bending workstation. The planning expert 72 talks and asks questions with the tool expert 80 and the holding expert 82 and the motion expert 84 to obtain the information it needs to make decisions.

The tool expert 80 answers the questions made by the planning expert 72 and provides the planning expert 72 with information regarding the tools and the like required for a particular bending operation or bending order. In addition, tool expert 80 informs planning expert 72 of the placement of tools at the workstation. The tool expert 80, together with the planning expert 72,
Attempts to design the tooling installation and use a minimal number of stages and tools to produce a given part (ie, to perform a complete bending sequence to produce that part).

Retention expert 82 makes the decisions related to retention. For example, whether the robot can hold the workpiece while the predetermined bend specified by the planning expert 72 is being performed. The holding and gripping expert 82 also controls the workpiece of the robot so that the workpiece is manipulated without colliding with other objects during a series of bending operations and without changing the position of the robot's grip on the workpiece. Is determined. Further, the holding expert 82 determines the position at which the reposition gripper grips the workpiece when the gripping position of the robot is changed, and performs the loading / unloading device (L) when loading / unloading the workpiece.
/ UL) determines where the suction cup should be located on the workpiece. In addition, the exercise expert 84
Generates a motion plan, i.e., a method of operating a robot to move a workpiece through various spaces and along the various paths required to perform multiple bends. As a result, a collision-free robot motion path is determined to control the operation of the workpiece by the robot when performing various bending operations.

The planning expert 72 and each of the experts are modular and reciprocally update in a question-based manner. For example, before deciding to include a particular bend as part of the bend sequence, the planning expert 7
2 queries the tool expert 80 as to whether there are enough tools to perform the bend. The planning expert 72 then waits for a response from the tool expert 80. The tool expert 80 is the planning expert 7
Recognize the question from 2 and return a response. The response indicates, for example, that there are enough tools to handle the particular bend queried by the planning expert 72. As an example, the planning expert 72 can also hold the robot arm grip to the holding or gripping expert 82 without repositioning the grip on the workpiece during a particular bending operation. Ask whether or not. The holding expert 8
2 answers the questions asked by the planning expert 72, and the planning expert 72 uses the information to make the next decision.

Each module of the expert planning system 70 includes a geometric modeling library (not shown).
Utilizes one or more of the functions provided by, and models the relative interactions and locations of each of the mechanical and hardware elements of the system, as required in each decision. US Patent Application 08
/ 386,369 and 08 / 338,115 are utilized to perform various functions of the expert planning system. Although the description of the above application shows a Unix-based system, various functions therein are easily converted and introduced into PC-based Windows NT applications. The Windows NT application is executable on a computer-based platform of the server module 32. Various other functions are also provided in the expert planning system, as described below.

The planning expert 72 of the embodiment shown in FIG. 7 performs two main functions. First, the planning expert 72 creates a bend sequence that includes various operations associated with each bend. The planning expert 72
Also asks the other expert module about the determination of the bending order it has generated and the details of the plan or subplan required to complete the generated bending order. Finally, planning expert 72 also compiles all the collected or generated information and creates a general bending plan. Such a plan identifies the steps required to execute the bending sequence by a controller that controls the operation of various machines at the sheet metal bending workstation. Further, each expert of the expert planning system 70 (tool expert 80, gripping expert 82, motion expert 8
4) perform three main functions when requested by the planning expert 72. They each determine the incremental cost of performing each step in the bending order and create proposed or intermediate planning information. In addition, each of the experts translates the incremental cost and planning information into the planning expert 7.
Send to 2. The proposed or intermediate planning information includes two types of information. That is, the determined information and the undefined information. For example, at some point during planning, the holding expert knows which region of the workpiece is being gripped by the robot gripper to perform a bend in the bending sequence (the grip region is fixed). . However, the gripping expert does not know the exact gripping position (the exact gripping position is uncertain). A temporary (uncertain) gripping position is provided by the gripping expert 82, which can be changed later. As described above, the planning expert 72 queries each expert about the determined bending order created by each expert.

The determination of the bending order is expressed in terms of cost. The cost of the bending order as it is created is determined as a function of one or more of the following: That is, the time it takes to perform a given operation in the bending order, the extent to which the operation in the bending order will affect the accuracy of the operation and the quality of the resulting workpiece, and the predetermined points in the bending order. Whether there is a safety concern associated with performing a given operation in and the performing of another operation instead of one at a given point in the bending sequence (if one considers it). Is there a heuristic to suggest?

The planning expert 72 also provides each expert with a predetermined stage which tool shape should be utilized to perform a predetermined bend in the bend sequence or required to perform a predetermined bend. In performing one or more bends in the bending sequence which stage segments are required to perform, the robot's gripper queries for information such as where to grip the workpiece. In addition, the planning expert asks each of the experts the following questions: That is, how should the robot and the workpiece perform various operations through sequences such as when to reposition the workpiece in the bending sequence or when bending or repositioning or loading into or out of the workstation. Etc.

As described below, if the bending workstation does not include a robot controller and the bending operation is performed with a manual press brake, the operator must:
For example, selectively activating the plurality of expert modules to provide only bending order and tool information. In such a case, the planning expert 72 would, for example, only ask the tool expert 80 and ask the holding or gripping expert 82 and the motion expert 8
4 is not used. This is because robot motion and grip information are unnecessary. By sending a query-based message to the server module 32, the bending workstation 18 can indicate which expert module should be used for a particular task.

As described above, the planning expert of FIG. 7 utilizes various techniques and processes. For example, as shown in U.S. application Ser. No. 08 / 386,369, various sheet metal bending heuristics are used by the planning expert 72 in determining and creating the bending order. These heuristics include, for example: That is, bend the inner tab first, make the bend along the outer bend line before the bend along the inner bend line, and bend along the shorter side before bending along the longer side. And collinear bending (collinear bending). A state space search algorithm is also used by the planning expert 72 to analyze the implicit meaning of performing various bends in a predetermined order. By imposing a cost on each bend, the geometry of the machine and the resulting workpiece is modeled as the machine and the workpiece are interrelated in performing each bend. The meaning is used to determine the physical meaning of a particular bend. The state space search algorithm includes an A * algorithm. The algorithm is described in the next book. That is, author N. J. NIL
The name of the SSON book, "Methods for Solving Problems in Artificial Intelligence", published by the publisher, McGraw-Hill Book Company, 1971, pages 43p to 67p. Cost evaluation is also performed by the bending expert 72 in creating the bending sequence. Further, the expert planning system 70 creates a global motion plan and a fine motion plan. These are described, for example, in US patent application Ser. No. 08 / 338,115.

Depending on the geometric features associated with the part to be manufactured, there may be bending-related operations that cannot be performed at some point in the planned sequence of operations. These bend-related operations can be constrained (or eliminated) in place in the bend sequence using a mechanism called "constraints (or constraining conditions)". A feature extraction module (not shown) is provided for automatically labeling geometric features from a geometric model produced by a CAD system or a suitable design system, and these geometric features are automatically labeled. Labels are used to create legal phrases (eg, binding phrases) in an interface communication language (eg, FEL). A more detailed description of the FEL is provided below. The constraints (or constraints) are defined using a data structure that describes the specific arrangement of the bending operation.
Identify within a certain degree of flexibility. For example, for a part having multiple sides (see, for example, FIG. 23 (c)), the following constraints or constraint phrases or statements are used to specify the order in which bending 1, 2, 3, and 4 are performed. That is, (restriction ((1 2 3 4))).

This statement means that the first bend is performed before the second bend, the second bend is performed before the third, and the third is performed before the fourth. . Further, since the statement does not include any operators, no other bending operations are performed before, during, or after any of the bends 1-4.

If Bend 2 must be performed before Bend 3, but there are no other constraints or constraints on the arrangement of the bending operations in the bend sequence, the following constraint statement is used. That is, (restriction ((* 2 * 3
*))).

The operator “*” acts as a “wildcard”, allowing no or a number of bending operations to be performed at that position in the bending order. Further, the type of bending operation performed at the position of the wildcard operator can be any of the remaining bending operations not specified in the constraint statement (restraint statement). Furthermore, such a wildcard operator can also be provided to mean that a repositioning of the robot gripper executed at the position of said wildcard operator takes place.

Another wildcard operator that may be provided is "?". This wildcard means that at that position in the bending order, only one of the bending operations not specified in the constraint statement is performed. Thus, if exactly one bending operation is performed before bending 2 (ie, for example, as in the part shown in FIG. 23 (c)), but the number or type of bending operations after said bending 2 If there are no restrictions (but they do not include the bend 2), the following constraint statement is used. In other words, ((?? 2
*))).

The constraint statement also includes a grouping operator. This grouping operator requires that a plurality of bending operations be grouped into one group, and that there is no restriction on the order of bending operations within the group. For example, the following constraint statement (constraint statement) is that the bends 2 and 3 are performed before the bend 4 in the bend order, and the bends 2 and 3 are grouped into one group and between them. Requires that no bending operations be performed. That is, (constraint ((* ｛23｝ * 4 *))).

One constraint statement (bound statement) may contain one or more constraint expressions (bound statement). For example, the following constraint statement (bound statement) includes the grouping constraint expression and an additional constraint expression. This additional constraint expression further requires that the bend 1 be performed before the bend 4 and that there are no additional restrictions on the placement and addition of other operations with respect to the bends 1 and 4. That is, (constrained ((* ｛23｝ * 4 *) (* 1
* 4 *)).

A group may include any number of bending operations. Then, a plurality of groups are nested (nested), and it is specified that the plurality of groups are not arranged in a specific order. For example, the following expression specifies that bends 1 and 2 are adjacent to each other in a bending order, and that the bends 3 and 4 are adjacent to each other in a bending order. However, according to this constraint expression,
There are no restrictions on the insertion or placement of other bending operations.

(* ｛｛12｝ *｝ ｛34｝｝ *).

Other examples of constraint expressions include (* 7). This means that the bending operation 7 must be performed as the last bending operation in the bending order. Expression (* 7
? ) Means that the bend 7 must be performed as the second bend in the bending sequence.

The types of operators used to define the constraints can be extended and include Boolean operators such as NOT, OR, and AND. For example, the constraint expression having the NOT operator is (* NOT7). This means that the seventh bend is not the last bend operation in the bend sequence.

There are no restrictions on the type of constraint (or constraint expression) used. Also, any entity in the expert planning system (including the various experts and the operators of the expert planning system itself) can define the constraints. These constraints can be related to the desired bending order and tool selection and can be entered, for example, by an operator at the bending workstation 18. In addition, a constraint manager is provided in the intelligent manufacturing system 60 or expert planning system 70, and based on the bending order (full or partial bending order) or tool selection entered by the operator, the constraint phrase (or Automatically create binding phrases and help maintain the consistency of the constraints (or constraints) and resolve conflicts that may arise between multiple constraints.

A more detailed description of an embodiment of a constraint manager that automatically creates constraint phrases based on operator input of constraints related to bending is provided below with reference to FIGS. As described below, the operator inputs a partial or complete bend order, and those bend orders are used as constraints (or constraints) by the expert planning system. A tool is also selected by the operator, constraining tool selection by the expert planning system. The constraint manager creates a constraint phrase based on, for example, the bending order input by the operator. In such a case, the constraint manager analyzes the geometric features or bends of the part and (if appropriate) detects the detected collinear bends (collinear bends).
And Z-bends are grouped and a constraint phrase is created based on the input bend order. Therefore, the binding phrase is used by the expert planning system 70.

The constraint manager includes an algorithm to determine if there is a conflict between the constraint expressions. This algorithm checks whether a common operation exists in a given pair of constraint expressions. If a common operation exists in the plurality of constraint expressions, they are merged into one and it is determined whether or not they contradict. Various constraint expressions are analyzed, which speeds up the search for operator input constraints and mechanical constraints enforced by machine and tool limitations, component constraints enforced by part features, and bending orders. Optimization constraints generated for For example, if a constraint (* 1 * 2 *) is merged with a constraint (* 2 * 3 *), the resulting merged constraint expression is (* 1 *
2 * 3 *). If the constraint (* 1 * 2 *) is merged with an inconsistent expression, for example (* 2 * 1 *), 0 (empty set) is generated as a result, and the two constraint expressions are mutually contradictory. Show.

As described above, the planning expert 72
Uses a state space search algorithm. In this state space search algorithm, the answer is obtained by operating an operator on the state description until the expression described as the final state is reached. In performing this state space search method, the departure node is attached to the first state description, and subsequent nodes following the departure node are calculated using operators applicable to the state description associated with the node. Is done. The node is extended by calculating all of the nodes that follow it.

A pointer is set from each subsequent node to the parent node. This pointer is later used to indicate the answer path to return to the starting node after the last node is finally found. The subsequent nodes (successors) check to see if they are final nodes by checking the state description corresponding to that node (ie, checking if they describe the final state). Is done. If the last node has not been found yet, the steps of expanding the node and setting the corresponding pointer are continued. When the last node is found, the pointer goes back to the starting node and creates a solution path. The state description operators associated with the path curves are then assembled into a solution path.

The above steps constitute a state space search algorithm. Variations of the algorithm are defined by the order in which nodes are expanded. If the nodes are expanded in the order in which they are created, the search method is called a "spread-re-election method". If the most recently generated node is expanded first, the method is called a "depth-re-election method". The "area-re-election method" and "depth-
The re-election method is a blind search algorithm. This is because the order in which the nodes are expanded is not affected by the position of the last node.

The heuristic information about the general properties of the graph and the general direction of the goal (final destination) are used to modify the search method.
Such information is used to help direct the search in the direction of the goal, with the aim of first expanding (or expanding) the most likely nodes.
One type of such a heuristic search method is, for example, the author N.A. J. It is described in a book by NILSON.

The blind search algorithm (eg, width-re-election algorithm or depth-re-election algorithm) is an exhaustive method for finding a solution path to the final node. In applications, using such a method is usually impractical and time consuming. This is because the search expands (expands) an excessive number of nodes until a solution path is found. Such exhaustive expansion of the nodes wastes more computer memory and more time to expand the nodes and compute their points. Therefore, an efficient alternative to the blind search method is desired. Heuristics are applied to focus the search based on the special information available for the problem represented by the graph. One way to centralize the search is to reduce the number of successors of each expanded node. Another way to centralize the search is to change the order in which the nodes are expanded so that the search is expanded outward towards the node most likely to be . A search algorithm that changes the order of node expansion is called an ordered search algorithm.
The ordered search algorithm uses an evaluation function to rank some nodes that are candidates for expansion in order to determine the node that is most likely to be on the optimal path to the final node I do. In operation of the ordered search algorithm, an f-value is determined at each possible node ni for expansion.
Here, f represents an estimate of the cost of the route with the minimum cost, from the starting node to the last node, provided that the route passes through the node ni. Each successive node with the smallest f-value is selected as the order of expansion.

A typical state space search algorithm, which is used by the planning expert 72 of the present invention.
Is provided in US patent application Ser. No. 08 / 386,369.
Various other steps or methods are performed by the expert planning system 70 to determine optimal bending order and tool and robot motion information. In addition, global motion and fine motion mechanisms are used to suggest and determine the path of the robot motion. To this end, the techniques and methods for planning and controlling robot motion disclosed in US patent application Ser. No. 08 / 338,115 are utilized.

In order to facilitate the transfer of information and messages between the various systems and between the modules of the expert planning system, a query-based language (FE)
L) is used. This FEL was initially 19
It was developed by David Alamborn in 1988 and has since been further improved. For more detailed information related to FEL, refer to several user guides provided by the Robotics Laboratory at Carnegie Mellon University. These are for example: That is, "Feature Extraction Language Programmer's Guide", David Alan Bourne, Dune T. Williams (1994
January 14). "Using Feature Extraction Languages in Next-Generation Controllers", David Alan Bourne, Dune T. Williams, CPU-RY-TR-90-1
9. "Functional Feature Exchange Language" by David Alan Bourne, Jeff Beyard, Paul Elion and Dune T. Williams, CPU-RY-TR-90-0
6.

FIG. 24 shows a typical FEL plan message 18
5 is shown. It is sent from the planning expert 72 as shown in representation 186 to the movement expert 184 as shown in representation 188. The FEL planning message consists of a query command sent from the planning expert 72 to the motion expert 84. It gives preliminary information to the motion expert 84, which answers the question. Message 185
Is provided immediately after the main verb or command "GET" 152 and has the expression "TYP".
E MESSAGE "187 and" FROM PLAN
NING "186 and" TO MOVING "188 and" STATE REQUEST "189. The expression “TYPE COST” 154 is provided immediately after the setting unit 150 and means the following. That is, the question is made to the athletic expert and requests that the cost of a particular operation be reported to the planning expert. The following expression "BENDS ..." 156 asks how much it is cost to perform bend number 3 after bend number 6. Numbers 7 and 1 represent the faces of the workpiece inserted into the die space of the bending workstation for said bendings 6 and 3.

The following expression "AVERAGE-COST"
2.321 "158 notifies the exercise expert of: That is, this is the average cost of movement per bend (k-cost) for a previously performed bend based on the costs previously assigned by the movement expert. In this case, the average cost is 2.321 seconds per bend made previously. The next expression "FLANGE-BEFORE-BEND" 16
0 represents the height (in millimeters) of the associated tallest flange used by the motion expert to make clearance decisions. The expression "FLANGE
-AFTER-BEND "162 also represents the height (in millimeters) of the tallest flange that exists after the bend has been made (described as 17.5 mm in FIG. 18). Next expression "ROBOT-LOC" 1
64 indicates to the motion expert the position of the part by specifying the position of the robot (since the robot is left behind at the end of the previous bending). The last expression of the plan message 185, "BENDM
"AP" 166 indicates the tool stage for the previous bend and the currently proposed bend and indicates where the workpiece should be for each stage for each bend. The first set of numbers relates to previous bends. The first value 168 indicates that one information is provided for bend number 6, and the second value 170 indicates the stage where bend number 6 is performed, in this case it is stage number 1. Some coordinates are the first and second values 168,1
70 to the right. First coordinate value "257"
Represents the position of the left edge of the part relative to the left edge of the stage,
The second coordinate value “−257” indicates the position of the left end of the component with respect to the stage. The value “350.7” represents the position of the right end of the component with respect to the stage. The last value "320" represents the position of the stage along the rail with respect to the left edge of the rail. Each of the values is expressed in units of a predetermined length (for example, millimeters or centimeters).

The “BENDMAP” message (FIG. 2)
The second set of numbers in 4) relates to the currently proposed bend. The first value 172 indicates that one piece of information relates to bend number 3 and the second number 174 indicates the stage on which bend number 3 is performed, which is some coordinate values in this case stage number 1 Are listed to the right of the first and second values 172,174. The first coordinate value “70” indicates the position of the left end of the component with respect to the left end of the stage, and the second coordinate value “70” indicates the position of the left end of the component with respect to the stage. The value “225” represents the position of the right end of the component with respect to the stage. Last value "320"
Represents the position of the stage along the rail with respect to the left end of the rail. As described above, each coordinate value is expressed in a unit of a predetermined length (for example, millimeter or centimeter).

In general, the planning message 185 indicates that the motion expert has positioned the work piece from the first position (ie, where the work piece was placed after the completion of the previous bend) for the next bend. Send all the information you need to generate a sub-plan to move to the location.

The features of the query-based interface structure between the planning expert and the various sub-expert modules are as follows. That is, when the planning expert sends a question to the expert module, it is that the expert module conveys all background information to answer the question to the expert module. Thus, the expert module does not need to save the information, but only answers the questions from the planning expert, and sends all relevant information to the planning expert and saves it.

The planning expert system 7 shown in FIG.
To form a zero, a command is sent to each of the experts, including the planning expert 72 and each of the experts 80, 82, 84, to read its start configuration file. An example of such a command is as follows.

(READ ((TYPE FILE (NAME "CONFIG.S 2.FE
L "))) ((TYPE MESSAGE) (FROM PLANNING) (TO TOOLING) (NAME
"CONFIG"))) After each module reads its start configuration file, the system is configured so that expert 72 can use any particular number of experts using commands such as: .

(SET ((TYPE EXPERTS) (EXPERTS (TOOLING
GRASPING MOVING)))) After the expert used by the planning expert is specified, the part design data is read into each module from the bending model file as needed, and the planning expert 72 starts the planning process. .

The table in Table 1 lists some commands specified by the planning expert 72 when the planning expert 72 talks with other modules of the expert planning system, including each expert. Similar commands are exchanged between the intelligent manufacturing system and the expert planning system application as well as between the server and the station module. It is described in more detail below.

[0147]

[Table 1] The table in Table 2 lists some commands specified by the planning expert 72 for execution of a controller or sequencer device residing on the station module or workstation. These FEL commands are transmitted via the communication network 26 to the locations 10, 12, 14,
.., 20.

[0148]

[Table 2] The "read" command instructs the module to read a predetermined file required for planning (the file is a representation of the part design to be manufactured) and arrange itself according to the part design. Used to The functions of various modules are set by using the “set” command. For example, how to display information or how to interface with other modules. The "display" command is:
Used to display data of various modules to the user. The data may include, for example, the A, which represents various costs or child bends in a proposed bend order.
* The various nodes of the algorithm.

Various features and aspects of the expert planning system of the present invention are described below with reference to FIGS. The features of the expert planning system 70 and the functions of the intelligent manufacturing system 60 can be obtained from the server module 32 or any of the locations 10, 12, 14,
, 20 accessed and executed. Depending on where the operator executes the expert planning system, the various data and / or messages exchanged between the server module 32 and database 30 and each station module will be different. This was shown above with reference to FIG. In the embodiment described below, the expert planning system 70 and the intelligent manufacturing system 60 are implemented as Windows-based applications, and each location 10, 12, 14,
, 20 have a server-client relationship.

FIG. 8 illustrates various processes or operations performed by an operator, which creates a bend plan for manufacturing sheet metal parts at a station having a robot-based machine. FIG. 8 and the related drawings,
The various processes performed by the expert planning system 70 and the relationship between the various processes performed by the intelligent manufacturing system 60 and the processes and operations are described.

After the server module 32 and the application of the system have been initialized in step S98, the bending operator proceeds to step S98 based on the customer's specifications.
At 100, a bend model of the part is created or imported. As mentioned above, the customer provides a two-dimensional and / or three-dimensional drawing of the part and the drawing is populated or, for example, in response to the processes and operations described above with reference to FIG. To create a bending model of the part (including a two-dimensional and / or three-dimensional representation of the part). This bending model file, which includes the three-dimensional representation of the part shown in FIG. 12, is stored in database 30 for later access and reading from the expert planning system. As described above, other part information and manufacturing information are also stored in the bending model file.

After creating the bending model of the part, the operator selects and activates the expert planning system in step S104 by selecting an icon or inputting a command on the display screen of the server module or the station module. I do.

According to one aspect of the present invention, the operator can change the expert planning system from the operating environment of the intelligent manufacturing system (either the server module 32 or any of the locations 10, 12, 14,..., 20). Station module). For example, as shown in FIG. 12, the intelligent manufacturing system application (depicted as "BendCAD" in the figure) provides a display screen based on Windows, which activates command 218 (i.e., "D
R. ABE ") and / or icons 220 (eg, a person wearing a hat) select or activate the expert planning system. When the expert planning system is selected,
It is launched in the server module 32 and the screen at the operator's location is displayed with another Windows-based display screen (eg as shown in FIG. 13). The display screen includes a two-dimensional representation of the part, wherein each bend line is identified by an identifying number (eg, 1, 2, 3,..., Etc.). Various other information and function keys are displayed in the expert planning window display (these are described in more detail below).

If the operator decides to run or execute the expert planning system to create the bend plan, in step S106 the user selects the "Start" function key or button on the display screen or issues a command. (They are, for example,
The various expert modules of the expert planning system are executed. When the expert planning system 70 is operated, the associated bending model files are read from the database 30 and a series of processes and steps are performed by the expert module to create a proposed bending plan. The expert planning system 70 is disclosed in US patent application Ser.
And configured to create a bend plan based on the features and aspects disclosed in US Pat. For example, after reading the bending model data file, the expert planning system 70 determines "obvious" constraints based on the geometry of the part and based on one or more bending heuristics. Thereafter, by interrogating each of the expert modules, various punch and die tools and robot grippers are selected based on the geometric constraints. At the same time, tooling and repositioning costs are anticipated or evaluated. Thereafter, a search step is performed based on, for example, a state space search algorithm, whereby the bending order is determined, and at the same time, information on the actual tool stage arrangement and repositioning is created. After performing such a step, the bending sequence and the arrangement of the tool stages are finally determined, and then the movement of the robot or the necessary back gauge (for example to facilitate the setting of the tool in the press brake). Exercise is created. After finally determining the motion of the robot and other necessary information, the expert planning system finally determines the bending planning data and applies it to the intelligent manufacturing system 60 and / or via, for example, FEL commands. The data is sent to the database 30 where it is stored. A detailed description of the transfer of the FEL message between the intelligent manufacturing system and the expert planning system is provided below.

As shown in FIG. 14, when the various expert modules are executed, the window display of the expert planning system displays the following contents to the user. That is, the elapsed time of the operation being performed (for example, see the “time” information block), the state of each of the expert modules, the state of the state space search process or another process, and the search / answer route (for example, FIG. 14, the inside of a large information window provided in the lower part of the display). Based on the information about each of the states, the operator stops the execution of the expert planning system by selecting the appropriate key on the window display (eg the function keys "stop", "restart" and "stop") or Restart or abort. These function keys can be selected by the operator at any time when the expert planning system is running.

As shown in FIG. 14, the window displays the following. That is, the expected stage cost and reposition cost (for example, see the “forecast stage” and “foreseeable lipo” information blocks) and the grippers and reposition grippers selected by the expert planning system (for example, “selection gripper” and "Selected lipoglipper" information block). This information is displayed each time those items are set or determined during execution of the expert planning system. Additionally, other information is displayed when the expert planning system is running. For example, predetermined operating costs associated with each tool stage and gripper reposition are displayed and instructed to the operator (eg, "Stage Cost" and "Repo Cost").
See info block). Number of open nodes (open nodes: nodes that may be extended in the future) and closed nodes (closed nodes: nodes that cannot be extended in the future or nodes at infinity) related to the state space search process Is also displayed in real time on the screen during the search (see, for example, the "open node" and "closed node" information blocks). When the final proposed bending plan is completed by the expert planning system, a message is provided on the display screen (see, for example, the message "planning success" in FIG. 14) and for the operator, by the expert planning system, Inform that the final bending plan or solution has been determined. Other messages may also be provided to indicate errors or if no answer was found by the expert planning system (eg, "error" or "no answer found").

In step S108, the bending operator or programmer observes the proposed bending plan (including the bending sequence and tool and robot motion selected by the expert planning system). For example, by returning to the intelligent manufacturing system application window and / or by selecting the appropriate icon or function command, the operator can observe the results of the execution of the expert planning system. Various function commands or icons are provided,
The operator (in the display screen for the intelligent manufacturing system or the expert planning system)
It allows to observe the selected bending order and the tool or tool stage arrangement. Function commands are also provided, allowing the operator to observe a simulation of the bending plan including the proposed robot motion and repositioning. According to one aspect of the invention, the interface screens of the intelligent manufacturing system and the expert planning system are displayed simultaneously to the user (eg, in a cascaded or overlapped format).
Allows an operator to select and operate various functions within the application.

As described above, the operator selects the appropriate icon or inputs / selects an appropriate function command through the intelligent manufacturing system application window to thereby obtain the bending order determined by the expert planning system. And observe the tool and robot movement. Alternatively, as shown in FIG. 14, another action key or button is provided on the expert planning system window display so that an operator can directly access and observe the results of the planning system from the expert planning system window display. Is possible. As a non-limiting example, a "Show Bending Order" command button is provided (see, for example, FIG. 14), allowing the operator to view the bending order selected by the expert planning system. When the "display bend order" command is selected, a bend order window as shown in FIG. 15 is provided on the operator's screen to display the proposed bend order to the operator. When the operator selects or highlights each bend displayed in the bend sequence window, a cross-sectional view of the workpiece and the punch tool is displayed, and the orientation of the workpiece and tool immediately prior to the selected bending process and the Their orientation immediately after the bending process is displayed (these cross-sectional views are provided on the right side of the screen as shown in FIG. 15).

Further, a "tool display" command key in the expert planning system window display (FIG. 14)
By selecting (Ref.), A tool setting window display (or a tool setting window display or a tool setup window display) as shown in FIG. 16 is provided to the operator, and the tool and the tool selected by the expert planning system are displayed. The tool stage arrangement is shown. As shown in FIG. 16, the tool mounting setting window display provides a two-dimensional display of the tool stage set in the press brake and a cross-sectional view of the punch and die tools present in each stage of the press brake.
The cross-sectional views of these tools are continuously displayed on the screen each time the displayed press brake tool stage is selected by the operator. Again, the various display screens (including the bend order window display and the tool assembly window display) are displayed simultaneously with the display of other applications, allowing the operator to move freely from one screen or application to another. Make it possible.

Further, a simulation of the movement and bending operation of the robot gripper and a simulation of the reposition gripper are provided to the user to confirm the robot movement selected by the expert planning system. FIG. 17 shows a typical robot motion simulation window, which is displayed in response to selection of an icon or input of a function command in one of the window displays. The robot simulation window includes a three-dimensional representation of the press brake and the robot arm and grippers and reposition grippers. Based on the input of commands by the operator (for example, by double-clicking a mouse device or pressing a predetermined key on a keyboard), the general bending order and robot motion determined by the expert system are dynamically displayed on the screen. Simulate the movement of various machines in real time. The simulation may be provided for the entire bend sequence or may be provided (in response to a command entered by the operator) for the operation associated with each bend in the bend sequence. The indication may also include an indication of a material loading and unloading device and an indication of the interaction of the robot with the material handling device or a reposition gripper (if repositioning is required). . Further, the simulation window display may also include a three-dimensional display of the back gauge member and / or sensor. The back gauge facilitates the robot aligning the workpiece with the press brake. A simulation of the movement or operation between these members in the bending sequence is also provided.

After observing the result of the bending plan determined by the expert planning system, the operator determines in step S110 of FIG. 8 whether to save the result or to store the result in the relevant bending model in the database 30. Determines whether to put it in the file. If the operator is satisfied with the bend plan created by the expert planning system, he saves the results and updates the bend model data file in step S118. The result is stored by selecting the displayed function key or button or inputting a command (for example, see the "update" function key). The key or button resides in any application window, including the expert planning system window. Thereafter, the bending plan is executed in step S122 by downloading the final bending plan information from the database, for example, to the bending workstation 18. Then, the machine is assembled (set) and controlled based on the determined bending plan. Further, the operator prints a work setting sheet based on the final bending plan by selecting an appropriate operation key (for example, a “print” key in FIG. 14). Thus, the sheets can be inspected by others or distributed to various locations in the factory.

If the operator is not satisfied with the conclusions of the expert planning system, the result in step S114 is to enter an appropriate command or select a function key (eg, the "Cancel" function key shown in FIG. 14). Canceled by: The operator is then 1
The expert planning system is reactivated by entering one or more constraints or modifying the bending model file. As described in further detail below, the operator can enter constraints (or constraints) to constrain or control the manner in which the expert planning system creates a bend plan. For example, the operator enters a desired overall bending order or one or more bending steps that must be performed in a particular order or manner. Further, specific tools are defined by the operator, limiting the number of tool selections made by the expert planning system. This feature allows an operator to modify or adapt the expert planning system to specific applications and / or customer specifications.

According to another aspect of the present invention, the expert planning system includes an
Based on one or more constraints, it is used to create a bend plan for a bend station with a robot. These constraints include, for example, bending order constraints and tool selection constraints. A constraint manager is provided to automatically create constraint phrases and resolve conflicts among multiple constraints based on information entered by the operator. The constraint manager may be provided as one independent executable module or as an internal subsystem of the intelligent manufacturing system in the server module 32. The generated constraint phrase is passed to the expert planning system when the various expert modules are executed. A more detailed description of the constraint manager and how the constraint phrase is passed to the expert planning system using, for example, the FEL command is described below with reference to FIGS.

Referring to FIG. 9, a flowchart of various processes and operations performed to create a bend plan for a robotic workstation, with one or more constraints entered by an operator. Examples are provided. The overall process is similar to that described above with reference to FIG. That is, in step S128, the system software and the server module 32 are initialized, and in step S130
Then, a bending model of the part is created or introduced into the database 30. Again, the various steps and operations described above in connection with the intelligent manufacturing system are utilized,
A bend model of the part, including a two-dimensional and three-dimensional representation of the customer's part, is created. Thereafter, in step S134, the operator enters one or more constraints used in the bending plan.
An operator inputs these constraint conditions from the intelligent manufacturing system operating environment. For example, from the intelligent manufacturing system window display of FIG. 12, the operator activates and displays the bend order input window shown in FIG. 15 (eg, by entering an appropriate command or selecting an icon). Then, a desired bending order for the component is input through the bending order input window. Other constraint information is entered with or separately from the bending order. For example, by selecting to display a tool dialog window, as shown in FIG. 19, the operator can select and indicate the desired punch or die tool to be used in the bend plan. Alternatively, by selecting or launching the expert planning system from the intelligent manufacturing system window display, the bend sequence and / or tool constraint information may be displayed in various interactive windows and the expert planning system window display. It is directly input via a function key (for example, see the upper left corner of the window display in FIG. 13).

If the operator inputs the constraint information from the intelligent manufacturing system operating environment, the expert planning system is selected in step S138 (for example, by inputting an appropriate command or selecting an icon). The expert planning system is activated. For purposes of explanation, assume that the operator enters only bending order constraint information. The relevant constraint phrase created by the constraint manager is then passed to the expert planning system and subsequently displayed to the operator. FIG. 18 includes the bending order constraint phrase (eg, “BENDC
Refer to the information block entitled "Use AD Bending Order"). Shows an example of an expert planning system window display. FIG.
In the display of FIG. 8, the constraint phrases created by the constraint manager are as follows.

* ((25)) * 9 * ((16)) *
7 * 3 * 10 * 4 * 8 * The bend identification number (eg, 2, 5, 9, 1, 6, etc.) used in the constraint phrase is a two-dimensional representation of the part displayed in the expert planning system window display Corresponding to that shown in. By analyzing the constraint phrase on the screen, the operator decides to edit or modify the constraint phrase directly on the screen, or cancel the created constraint phrase and enter a different constraint phrase. As shown in FIG. 18, the expert planning system window display includes various keys (eg, "delete", "add", "clear", etc.) for entering and / or modifying the constraint phrase. After modifying the constraint phrase or satisfying the constraint phrase created by the constraint manager, the operator proceeds to step S142.
At, select the constraint phrase to indicate that it should be used by the expert planning system. The confirmation of the constraint phrase is performed in various ways, including double-clicking the constraint phrase displayed on the screen with a mouse or inputting an appropriate command. As shown in FIG. 18, confirmation of the use of the bending order constraint phrase is provided to the user by providing an "X" next to the displayed constraint phrase.

In step S146, the operator operates or executes the expert module of the expert planning system by inputting or selecting an appropriate command (eg, "Start" in FIG. 18). The expert planning system then creates a bending plan (including final bending order and tool selection and stage placement and robot motion) based on the constraint phrase or phrases entered by the user.
The resulting final bending plan and the selections made by the expert planning system are observed by the operator in a manner similar to that described above in step S150. After observing and confirming the bending order and the tool and robot movements selected by the expert planning system, the operator determines in step S154 whether to save the results. If the operator decides to save the result, the database is updated with the final bend plan information in step S158, and then the bend plan is executed in step S162. Again, the final bending plan is stored in the database 30 as part of the bending model file associated with the part. If the operator is not satisfied with the result in step S154, the result is canceled in step S156 and the operator modifies or enters the constraints used by the expert planning system. Then, after that, the expert module of the expert system executes step S1.
The process is executed again at 46. Further revisions and modifications are made by the user until a satisfactory bending plan is created by the expert planning system.

The intelligent manufacturing system and expert planning system of the present invention can be selectively modified by an operator to suit a particular machine and / or application. That is, the intelligent manufacturing system and expert planning system can be adapted to use not only a system having the robot-based machine but also to provide intelligent information and expert information for a bending operation without a robot. FIGS. 10 and 11 show exemplary flowcharts of the steps and operations performed by an operator to generate a bending plan for a manual bending operation (it does not require information about robot motion or robot gripping). . FIG.
FIG. 11 shows a specific example of a logic flow relating to such an operation when there is no constraint input by the operator, and FIG. (When there is a constraint to perform).

As shown in FIG. 10, after the server module 32 and the application are initialized in step S168, the bending model of the part is changed to step S172.
Created or populated. A bending model of the part is created within the intelligent manufacturing system operating environment;
The bending model includes a three-dimensional representation of the part as shown in FIG. Then, in step S176, the operator selects which expert module to execute. The selection of the expert module is made by editing a configuration file (environment file) or environment file, or by using a graphic user interface. The graphical user interface assists the operator in selecting or indicating which expert module to activate. Based on the selected expert module, a FEL message is sent to the expert planning system to indicate which expert module should be activated. A more detailed discussion of how the expert module is directed or selected for the expert planning system is provided below.

If the operator wants to create a bend plan for a workstation without a robot, the operator will determine which experts should be activated (eg, planning expert 72 and tool expert 8).
0) and which experts should not be activated (eg grasping expert 82 and motion expert 8)
Select 4) selectively. Therefore, only the necessary information is created by the expert planning system 70. Furthermore, for applications with or without the robot, the expert planning system should be activated if the operator wishes to create only specific information (eg bending order or tool information). Only certain expert modules are selected by the operator. The status of the expert module is sent to the expert planning system when it is selected and activated by the operator in step S178. The selection and activation of the expert planning system can be performed by inputting an appropriate action command (for example, “DR.ABE”) or by selecting an appropriate icon (for example, a person wearing a hat) in the intelligent manufacturing system window display. It is performed by And this has been described above with reference to FIG.

After the expert planning system is selected, the operator operates the selected expert module in step S182, for example, by double-clicking the "Start" command key in the expert planning system window display (see, for example, FIG. 13). Or execute. Various information is provided to the operator during the execution of the selected expert module, including the current run time for the execution and the status of each of the selected expert modules. Based on the current status information, the operator stops or restarts the execution of the expert module by selecting an appropriate key on the window display (for example, a "stop", "restart" and "stop" key). Or decide to cancel. These function keys are selected by the operator whenever the expert planning system is running.

At step S186, when all the selected expert modules have completed execution, the operator observes the result of the expert planning system.
As described above, the operator can use the bending order window or the tool stage arrangement window (for example, FIGS. 15 and 16).
) And observe the bend sequence and tool setup (or tool setting, tool assembly, tool installation) determined by the expert planning system. Further, a simulation of the bending order (which does not include the movement of the robot or the manipulation of the sheet metal by the robot) is activated,
It is provided to the operator in a manner similar to that described above in connection with FIG. In that case, the arm and gripper of the robot are removed from the simulation of the three-dimensional screen in FIG. 17, and the movement and positioning of the workpiece with respect to the press brake are indicated by floating the workpiece in free space;
Alternatively, the work piece is displayed by operating the three-dimensionally displayed operator. After observing the result, the operator decides in step S190 whether to save or cancel the result. If the operator saves the result, the "update" function key is selected, the database 30 is updated, and the bending plan information is stored with the associated bending model file in step S194. Thereafter, the bending plan and the required bending operation are performed by the operator at the workstation in step S1 by downloading the bending planning information from the database 30 or distributing a printed work setting sheet to the workstation.
The operation is performed at 96.

If the operator determines that the result is not satisfactory, the result is canceled by selecting the "cancel" function key from the expert planning system window display in step S192. The operator may then enter new constraints or modify previously used constraints, and in step S182, execute the selected expert module again. The operation of the expert module continues to be performed by the operator until a satisfactory bending plan is created by the expert planning system. Again, the various display screens of the present invention are utilized by the operator so that the operator can confirm the bending sequence, tools, etc., selected by the expert planning system.

FIG. 11 is an exemplary flowchart of steps and operations performed to create a bend plan for a workstation without a robot based on one or more constraints entered by an operator. It is. As in the above process, the server module 32 and the system application execute step S2.
Initialized at 00, then a bend model of the part is created or populated in step S204 via various functions of the intelligent manufacturing system. At step S208, various expert module states are selected by the operator based on the bending and machine performed at the workstation. For example, if a manual press brake is provided to the bending workstation 18, the various expert modules associated with robotic motion planning (eg, holding / gripping expert 82 and motion expert 84) will not be activated or selected, Other expert modules needed to create the bend plan (eg, plan expert 72 and tool expert 80) are activated or selected by the operator. Because of the open architecture or modular design of the expert planning system 70, the operator is given the flexibility to adapt or modify the expert planning system for a particular application or bending environment. The selection of the expert module is communicated to the expert planning system using a FEL command, as described in detail below.

After selecting the expert module, at step S212, one or more constraint conditions are input by the operator to restrain the expert planning system. These constraints may be based on a complete bend sequence or a portion of a bend sequence entered by the operator, or may be constraints associated with one or more bends or a group of bends. FIG.
A bend order input window is provided as shown in FIG.
Assist the operator in entering constraints for such bending. Further, as described above, such constraints on the bending order are entered directly through the expert planning system window display. The operator can also input the constraint conditions related to the bending by inputting the constraint conditions related to the bending and selecting a specific tool to be used in the bending process.
The input and selection of constraints for such tools is
This is performed via a tool dialog window as shown in FIG. It can be accessed by inputting appropriate work commands or selecting icons from the intelligent manufacturing system window display.

As shown in FIG. 19, the tool dialogue window displays icons (for example, dies and die holders, punches, punch holders and rails) representing tool types, and tools associated with the tool type selected by the operator. Contains icons that represent shapes. These icons are displayed continuously, and a table of available tools is ultimately displayed based on the operator's choice of tool type and tool shape. In the example of FIG.
The "punch" icon is selected as the tool type, whereby a plurality of tool type icons representing various punch tool types are displayed on the screen. Based on the operator's selection of the "sash punch" icon, the resulting available sash punch tool is displayed in the lower information window. In the embodiment shown in FIG. 19, a split tool (i.e., a tool that is manufactured by being split into different sized portions to facilitate placement of multiple tool stages on the press brake) is selected. (Available from the tool library associated with the tool type used) is displayed to facilitate selection of the tool. The tool is then selected by highlighting or double-clicking on the part listed in the table. The front and rear cross-sectional views of the tool are also displayed in the tool dialogue window, as shown in FIG. 19, to facilitate selection of tool constraint conditions by the operator. An "auto select" function is also provided in the tool dialog window.
According to this, the plurality of tools displayed or listed in the displayed table are selected or limited based on the thickness of the part or the inside radius of the bending to be performed.

After the appropriate constraint conditions have been selected or entered, the expert planning system applies the appropriate function command (eg, “DE. ABE”) or tool icon (eg, a person wearing a hat) to the intelligent manufacturing system. It is selected or activated by inputting from a window display (for example, see FIG. 12). When the expert planning system is selected in step S216, a constraint phrase is created by the constraint manager as described above. The constraint terms associated with the bending order entered by the operator and / or the constraint terms relating to the tool selected by the operator are transferred to the expert planning system or a configuration file or read by the expert planning system when the system is run. Provided in the setup file. Preferably, however, the bending constraint is conveyed by a constraint phrase and the tool constraint is conveyed by tool data indicating which tool is selected. As noted above, the expert planning system window display shows the entered constraints to the operator. In step S220, the operator corrects and / or selects the created constraint phrase by inputting an appropriate command or by double-clicking on the information. For example, as shown in FIG. 20, a constraint on the bending order and a constraint on the tool selection are selected, and an X mark is displayed to confirm such selection. (For example,
See "X" adjacent to the window labeled "Use BENDCAD Bending Order" and "X" adjacent to the window labeled "Use BENDCAD Tooling." Then, at step S224, for example, "Start" of the expert planning system window display is displayed.
By selecting or pressing a command, the selected expert module is executed. Selected expert modules, such as, for example, the planning expert 72 and the tool expert 80, then create a final bending plan based on the bending order or tool constraints entered by the user.

As noted above, the expert planning system window display provides the operator with real-time information and indicates the status of the selected expert module and the operating hours of operation. When the selected expert module has completed execution, an indication is provided to the operator that the plan is complete (eg, "plan successful").
The operator observes the result in step S228. If no solution or answer is found or an operating time error occurs, a message is displayed to the operator to indicate this. Further, by monitoring the various status information provided in the window display, the operator may decide to stop, restart, or stop execution of the expert module, as described above.

In step S228, the result of the successful planned operation is displayed on the window display, for example, as “bending order display”.
Alternatively, the command is displayed to the operator by selecting a command button of "tool display" (see FIG. 20), and the operator observes the proposed bending order of the bending plan and the tool stage arrangement. In addition, simulation of the bending plan (without robot movement) is activated and provided to the operator in a manner similar to that described above with reference to FIG. Again, the robot arm and gripper have been removed from the three-dimensional representation simulation in FIG. 17, and movement and positioning of the workpiece relative to the press brake can be performed by floating the workpiece in free space or by an operator operating the three-dimensional representation of the workpiece. Is indicated by indicating that

If the operator decides to save the result in step S232, the final bend plan determined by the expert planning system is determined in step S236 by, for example, an "update" function on the window display. It is stored in the database by selecting a button. Thereafter, as described above, step S2
At 40, a final bending plan is performed at the bending workstation 18.

If the operator decides not to save the result in step S232, the process proceeds to step S2.
At 34 the result is canceled and the operator changes the constraint and / or enters new constraint information and executes the expert planning system again at step S224. In step S234, the operator can change the selection of the expert module to obtain more satisfactory results.

Referring to FIGS. 21-23, various features or aspects related to the steps and operations performed to create a constraint phrase based on constraints entered by an operator are provided. As described above, a constraint manager is provided for creating a constraint phrase based on constraints entered by the operator. The constraint manager also resolves conflicts between constraints and provides various constraint information to expert modules of the expert planning system. The constraint manager may be provided as an independently executable application, as a module in the server module 32, or as a subsystem or sub-module within the intelligent manufacturing system 60 or the expert planning system 70. You. The operations and steps of the constraint manager described below are performed via software using a high-level programming language (eg, C ++).

As shown in FIG. 21, the constraint manager is initialized at step S260 whenever the expert planning system is selected or activated by the operator. Alternatively, the initialization of the constraint manager is performed by the operator,
Alternatively, it is executed whenever a constraint condition is input into the expert planning system 70. For illustration, FIG.
One embodiment illustrates the various steps and procedures performed to create a constraint phrase based on the bending order entered by the operator from the intelligent manufacturing system operating environment.
However, constraint phrases can be created for other constraints, such as tool constraints. Such tool constraint phrases represent constraints on tool selection and / or tool stage placement entered by the operator.

After selecting or entering the bending order and activating the expert planning system, the constraint manager is initialized in step S260, and the bending order entered by the user is evaluated in step S262.

As described above, a bend identification number is assigned to each bend line of the component to specify each bend in the bend order. A bend order number is also provided, which is assigned to each bend identification number based on the bend order entered by the operator. For example, it is assumed that a part having a plurality of sides shown in FIG. 23A has bending identification numbers 1, 2, 3, 4, 5, and 6. Using a graphical user interface or other suitable means, the operator indicates the desired bend sequence to be used as a constraint on the expert planning system. For example, a bend order input window, such as that shown in FIG. 15, is provided to facilitate the operator to enter a bend order. Such a bend order input window includes a two-dimensional representation of the part and a bend line of the part. The operator enters the desired bend order by selecting or highlighting each bend line in the desired order (eg, by double clicking with a mouse device). Such interfaces also allow operators to
Multiple bends (e.g., collinear bends (collinear bends)) can be grouped together so that they can be performed simultaneously during a single bending operation.

In the embodiment of FIG. 23 (a), bend 1 is performed first, bend 2 is performed last, and bend 3 is 3
Bend 4 is performed fourth, Bends 5 and 6 are grouped into one group and performed last. A bend order table such as that shown in FIG. 23 (b) is created and provided, and the constraint manager evaluates the bend order entered by the operator. FIG.
A typical table in (b) is an identification number (ID) of each bending line.
1) and the accompanying bending order number (SEQ1) based on the bending order entered by the operator. Such a table is stored in a memory, such as database 30, and is associated with the bending model file for the part.

[0187] Based on the bending order entered by the user, the constraint manager in step S262 inserts an asterisk operator "*" between each bend identification number in the bending order to identify the first constraint phrase. create. If a plurality of bends are grouped in a bend order, the associated bend identification numbers are grouped using, for example, the parentheses, and the asterisk operator “*” indicates the grouped bend identification number of the bend identification number. It is not inserted between them. As mentioned above, the operator “*” acts as a wildcard,
No bending or any number of bendings may be performed at that location in the bending order. The type of bending performed at that location may be any of the remaining bendings not specified in the constraint command. The operator “*” also acts as a wildcard, allowing any desired robot or work reposition to be performed at the position of the “*” in the constraint phrase. That is, if all bends are indicated in the constraint phrase, the operator means that any desired repositioning will take place at that location. For example, in the example shown in FIG. 23A, when the bends 5 and 6 are not grouped by an operator (operator) and are instructed to be executed as the fifth or sixth bend in the bend order, The constraint manager creates an initial constraint phrase as follows.

* 1 * 4 * 3 * 2 * 5 * 6 *.

The first constraint phrase is that bending 1 is performed first, bending 4 is performed second, bending 3 is performed third, bending 2 is performed fourth, and bending 5 is performed fifth. 6 means last in the bending order. The first constraint phrase may also include the operator "*" so that the repositioning or other operation can be performed during any of the bends, before the first bend, or the last bend. Means that it can be done after. When the bending order input by the operator includes a plurality of bends to be grouped into one (for example, in the example of FIG. 23A, the bends 5 and 6 should be grouped and the same bend The bends can be grouped using braces or parentheses in the first constraint phrase generated by the constraint manager).

According to one aspect of the invention, the constraint manager evaluates, in step S264, the geometry and bend lines of the part and refines the constraint phrase with one or more bend heuristics. Become For example, the constraint manager may analyze various bend lines, identify the collinear bends (collinear bends) and Z-bends, and group those collinear bends and / or Z-bends. Let it happen at the same time. Said collinear bending may be performed simultaneously during bending in conjunction with a plurality of bends lying along the same axis. The Z-bending is related to multiple bends that cannot be performed separately and requires a special set of Z-bending punches and dies to perform the Z-bending. If the collinear bend or Z-bend is detected by the constraint manager, the associated bends are 1
And are so indicated in the constrained phrase using, for example, the braces or parentheses.

In step S268, the constraint manager checks for collinear bends (collinear bends) in the part. The collinear bends are indicated in the geometry or topology information of the part in the bend model file, or the constraint manager determines the presence of one or more bend lines along a common axis or line. Based on the plurality of bending lines, it is determined that the bending lines relate to the bending on the same line. They are also determined based on the bending order entered by the operator (ie, one or more bend line identification numbers have the same bending order number). For example, in FIG. 22A, bends 1 and 2 are determined to be collinear bends, and in FIG. 22B, bends 1 and 3 are also determined to be collinear bends. If collinear bends (collinear bends) have been detected and if they were not grouped by the operator when these bend orders were entered, then in step S270, those bends modify the first constraint phrase And grouping them by, for example, curly braces. FIG.
In the embodiment of (a), the bends 5 and 6 are provided as collinear bends. Thus, these bends are grouped by modifying the first constraint phrase as follows.

* 1 * 4 * 3 * 2 * ((56)) *.

Thereafter, in step S272, the constraint manager analyzes the bending line and the geometry of the part, and
Detect the presence of a bend. If there are Z bends, and if these bends were not grouped by the operator when entered, at step S274 each Z bend
Bend lines associated with the bend are grouped, for example, by parentheses. FIG. 22 (c) shows a typical Z-bend. The existence of the Z-bend is determined in step S272 based on the height of the Z-bend (Z), the thickness (T) of the sheet metal, and a predetermined coefficient (N). The factor N is defined by the customer and relates to the available Z-bending tools and the capabilities of the machine in the facility 38. The presence of the Z bend is determined based on the relationship of the Z to the N and T.
The following equation is used by the constraint manager in determining whether a Z-bend is present.

Z ≦ N × T.

When Z ≦ N × T, it is determined that Z bending is performed, and those bendings are grouped. When Z> N × T, Z bending is performed.
The plurality of bends are not grouped because no bend is performed. Again, parentheses are used by the constraint manager to group the plurality of bends and the "*" operator that exists between the grouped bends is removed. The detection of the Z-bend is also performed by analyzing a bend model file of the part. The part bend model file contains feature data describing the relationship between the various bends of the part, and thus indicates which bend is a Z bend.

After executing steps S268 to S274, the constraint manager proceeds to step S276.
To create the final binding phrase. The final binding phrase is then saved to a file and, at step S278, is sent to the expert planning system when it is run. As described below, a FEL command is used to indicate the constraint or constraint phrase to the expert planning system. The constraint or constraint phrase is used when creating a bending plan.

The bend identification number, which is used to identify different bends in a part, must be consistent in the intelligent manufacturing system and expert planning system. If the intelligent manufacturing system application and the expert planning system application are created on similar platforms (eg, a PC-based Windows application environment), to store part information in the bending model file and in the part A common rule is used to assign the bend identification number to a bend line.
As a result, the bend identification number in the constraint phrase or phrases conveyed between the intelligent manufacturing system and the expert planning system is properly or consistently interpreted by those systems. However, if different platforms are used to provide intelligent and expert manufacturing systems (eg, Unix based applications are used for Windows based applications) or
When different rules are used in storing part design information or assigning bend identification numbers, the bend identification is passed when the constraint phrase is passed between the intelligent manufacturing system and the expert planning system. Numbers can be misinterpreted for the part. For example, one of the systems (e.g., the intelligent manufacturing system) analyzes and stores part design information based on data arrays and tables, while the other system (e.g., an expert planning system) stores pointers and linked lists. When analyzing and storing the part design information based on such parts, such systems may assign different bend identification numbers to the same bend line of the part. If such a difference exists, one or more additional tables are provided to assist the constraint manager in creating a constraint phrase that is properly utilized by the expert planning system. Additionally or alternatively, an intermediate data file representing the part (e.g., an ASCII-based file) is used to convert the bend identification number from one system to another.

For example, if the expert planning system is
FIG. 23 (a) manufactured by the intelligent manufacturing system
When using the bend identification number expression or rule shown in FIG. 23C for the same part shown in FIG.
The tables shown in (d) and 23E are used to create the final binding phrase for the expert planning system. The table shown in FIG.
It is provided to translate or associate the first set of bend identification numbers (ID1) used in (a) with the second set of bend identification numbers (ID2) used in FIG. 23 (c). . Such an association identification number table is used, for example, to associate or convert a bending identification number used in the intelligent manufacturing system with that used in the expert planning system. 23 (d) and FIG.
Based on the bending order table provided in (b),
A final bending order table is created by the constraint manager as shown in FIG. FIG.
The table of (e) is used to indicate the bend order entered by the operator according to the bend identification number system used in FIG. 23 (c) (eg, it is used by the expert planning system). .
Using such a table, the constraint manager:
Create the final translated next constraint phrase for the exemplary part shown in the figure. That is, * 1 * 2 * 3 * 4
* ((56)) *.

The above table is also used by the constraint manager or intelligent manufacturing system in interpreting bending planning information from the expert planning system. In the foregoing, the bend planning information from the expert planning system includes a bend identification number assigned to the part based on a different assignment scheme or rule.

As described above, the FEL message is used for transmitting information between the intelligent manufacturing system and the expert planning system. These messages indicate when all expert modules are executed or when only selected expert modules are executed in the expert planning system. Further, these messages indicate various constraint information phrases used in creating the bending plan. Multiple sockets are used to carry the various messages and information between the various modules and system applications. For example, the intelligent manufacturing system 6
If the 0 and expert planning system 70 is written as a PC-based Windows application, a Windows-based socket (eg, WINSOCK version 1.1 from Microsoft) is used and a predetermined protocol (eg, Internet Protocol (IP)) , Messages are exchanged between the system applications. The FE
L messages are also sent from the various station modules to the server module via the communication network 26 using any number of suitable protocols, including, for example, Ethernet protocols and TCP / IP.

After a final bend plan is created by the expert planning system, the FEL message is also used to send the final bend plan information back to the intelligent manufacturing system. The FEL message is interpreted by the intelligent manufacturing system or interface module and the resulting bend plan information is
As such, such information is retrieved or filtered from the message and stored with the other information in the bend model file or other separate file.

The above operations, which are described in further detail below, are handled by the interface module in the server module 32. This interface module, when it is initialized, sends the appropriate FEL message to the expert planning system 70
Send to Further, the interface module is provided from the expert planning system to the intelligent manufacturing system 6.
Interpret the FEL message sent back to 0. The interface module includes the server module 32
Provided as a separately executable application to facilitate or cooperate in the transmission of messages between the intelligent manufacturing system application 60 and the expert planning system application 70. The interface module may be provided as a subsystem or sub-module in the intelligent manufacturing system and / or the expert planning system. The high-level programming language such as C ++ is the FEL
It is used to perform the following interfaces or various steps and operations for handling and transmitting commands.

When the expert planning system application 70 is selected and activated by an operator, a series of FEL messages are sent to the expert planning system to initialize it and provide various information. When the expert module of the expert planning system is used to create a bend plan for the bending workstation, a plurality of parameters and data file names are sent from the intelligent manufacturing system or interface module to the expert planning system. Sent. The FEL message indicates not only the file name of the bending model of the part but also the file name of the tool library and / or the gripper library. The latter library contains information about the tools and robot grippers available for a particular workstation. A file name for a machine data file and / or a robot data file is also provided, which includes data regarding the location or geometry of the bending machine and / or robot at the workstation. The machine data file includes setting data (setup data or assembling data) indicating the current or previous setting (setup or assembling) of the bending machine. Each of the files is stored in, for example, a database 30 or a local storage device provided in the server module 32.

The various FEL commands and messages are:
It is used to communicate the file name of the data to the expert planning system. These messages are
Includes the setting section described with reference to FIG. 24, having a "TYPE PARAMS" FEL command. As a non-limiting example, the following FEL message may be sent from the interface module or intelligent manufacturing system (ie, “from INTERACTING”) to an expert planning system (ie, “TO PLANNIN”):
G ”) and the file names of the various parts (“ FILE ”).
NAME ”) and the file name of the tool library (“ T
"OOLING DATABASE") and the file name of the gripper library ("GRIPPER DATABA").
SE ”) and machine database file name (“ MACH
INE DATABASE ”) and the file name of the machine setup database (“ SETUP DATABA
SE ”) is transmitted.

(SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST))) ((TYPE PARAMS) (FILENAME "c: / PC_ABE / BIN / FILE1")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (TOOLING_DATABASE "c: /pc_abe/database/tool.fel")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (GRIPPER_DATABASE "c: /pc_abe/database/grip.fel"))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (MACHINE_DATABASE "c: /pc_abe/database/machine_database.fbd3.fel"))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (SETUP_DATABASE "c : /Pc_abe/database/cursetup.fel "))). In addition, the FEL command" TYPE PART "is used to indicate the type of bending model data file stored in the memory. In this regard, a typical FEL message is sent from the intelligent manufacturing system 60 (or interface module) to the expert planning system 70 as described below. That is, (PLAN ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST))) ((TYPE PART) (MODEL "c: /pc_abe/bin/file1.pgf"))). The FEL message is sent to the expert planning system 70 to initialize and set various parameters and / or variables. "TYPE P
A FEL message such as "ARAMS" is also used, which is a repo cost (REPO COST).
And stage time cost (STAGETIME COS)
Initialize or set various costs, including T). As a non-limiting example, various FEL commands are sent from the intelligent manufacturing system or interface module to the expert planning system to set various parameters and / or variables. That is, (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (REPO_COST 30) (UNLOADING_COST 0) (UNLOADING_GRASP_FACE 0))) (SET ((TYPE MESSAGE) (FROM (INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (STAGE_TIME_COST 0) (NO_UNLOAD_COST 0) (TOOLING NOT SPACE AVAIL_COST 0))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (QUANTITY 0))). After the various FEL commands and messages have been sent to the expert planning system 70, they have been entered by the operator and converted, for example, into constraint words by the constraint manager. Constraints are sent to the expert planning system. As mentioned above, these constraints are:
Based on various constraints entered by the operator, they include constraints on bending order and tool selection. The constraint generated based on the bending order or the partial bending order is converted into a constraint phrase, which is referred to as “TYPE OPTIO”.
NS "and" CONSTRAINTS "
It is sent to the expert planning system using commands. Further, the tool constraint conditions set by the operator are stored in the tool library or the data file, and the file names are transmitted to the expert planning system by the above-mentioned “TYPE PARAMS” and “TOO”.
LING DATABASE ”FEL message. As a non-limiting example, the following FEL message is sent by the intelligent manufacturing system 60 (or interface module) to the expert planning system 70 to indicate typical constraints set by the operator. That is, (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE OPTIONS) (CONSTRAINTS (((* 1 * 2) ((6 1) * 2) (* 1 * 2 ) (9 * 2) (* 1 * 2) ((5 2) * 2) (* 1 * 2) (7 * 2) (* 1 * 2) (3 * 2) (* 1 * 2) (4 * 2) (* 1 * 2) (10 * 2) (* 1 * 2) (8 * 2) (* 1 * 2)))))). Included in the constraint words sent to the expert planning system 70 Operators can be replaced or represented by other symbols. For example, the operator "*" is for example "-"
(For example, see Appendix A) or other symbols in the actual constraint sent to the expert planning system 70. When creating the bending plan,
The various expert modules of the expert planning system 70 use such constraints and constraints on the tool to set and suggest each of the bend planning parameters.

When the expert planning system 70 is initialized and executed, examples of the various FEL messages sent to the expert planning system are in Appendix A and B.
Given to. Appendix A shows examples of various FEL messages sent to execute the expert planning system to create a bend plan for the robot based workstation, depending on the constraints set by the operator. Appendix B describes the expert planning system 7 when creating bending plans for workstations with robots in the absence of constraints.
5 shows examples of various FEL messages sent to 0.

As described above, the present invention allows the operator to selectively activate or deactivate various expert modules in the expert planning system 70 to accommodate various bending applications. In such a case, as described above, in creating the bending plan, the operator selects or specifies various bending constraints utilized by the selected or activated expert module. When a particular expert module is activated, the intelligent planning system 7 (or interface module)
The various FEL messages sent to 0 are similar to those described above for the case where all expert modules are used to create a complete bend plan for a workstation with a robot. But,
If a particular expert module is activated by the operator and other modules are paused, a different FEL message is sent to the expert planning system to indicate which expert module is selected and activated.

For example, a FEL command such as "TYPE EXPERS" is used to initialize an appropriate expert module in the expert planning system. For example, the following command is sent from the intelligent manufacturing system 60 (or the interface module) to the expert planning system 70, and the tool expert 80 and the gripper expert 8 are sent.
2 and a motion expert 84 are set or activated for the bending plan. That is, In contrast, for a bending application without a robot, the operator pauses the expert module associated with the robot motion and reposition planning, so the following FEL message is sent to the expert planning system 70: That is, The FEL message informs the expert planning system 70 and the planning expert 72 that only the tool expert module 80 has been activated. The planning expert 72 queries each expert module, determines the bending order, and completes the bending plan. Therefore, the planning expert 72 is able to
It is desirable to always be started when executing. If the operator wishes to receive only tool information from the expert planning system, other means may be used to limit the bending order planning by the planning expert 72. For example, as described above, by inputting a desired bending order as a constraint, the operator can constrain or specify the bending order of the bending order plan created by the expert planning system.

The selected state of the expert module is stored inside a configuration file, which includes not only the state of each expert module, but also various file names and parameter values. Appendix C shows an exemplary configuration file that contains information related to the state of the expert module. When the expert planning system is initialized or activated, the intelligent manufacturing system 60 (or interface module) reads the configuration file and selects a selected state of the expert module (eg, “EXPGRASPIN”).
G "," EXPOOLING "and" EXPMOV "
ING ") and various parameters (e.g.," REPO
COST "and" STAGE COST "). FEL messages (eg, “TYPE EXPERS” and “EXPERT”
S ") is created and sent to the expert planning system to indicate the status of the various expert modules. In addition, FEL commands such as "TYPE TARAMS" are used to send messages to the expert planning system as described above to indicate the values of various parameters. In the exemplary embodiment of Appendix C, the various states of the expert module may include a status command "TRUE" indicating that the module is activated, or
The status is indicated by any of the status commands “FALSE” indicating that the status is not activated. For applications without a robot, the gripping expert 82 and motion expert 84 must be set to "FALSE" by the operator in the configuration file. This is because there is no need for a robot movement plan.

As described above, the configuration file is directly modified by the operator, or a graphical user interface is provided for the operator to select the state of each expert module and thereby modify the configuration file. Provided.
Such an interface may be located at locations 10, 1 throughout the server module 32 or equipment 38.
, 20 are provided as graphic user interfaces provided to arbitrary station modules. Such a graphical user interface
Indicate to the operator the current setting or state of the expert module (eg, activated or paused) or indicate that state to a specific bending application (eg, a bending application with a robot or a robot). The bending application does not have it). In addition, information about the various bending workstations in the facility 38 is stored, so that the status of each of the expert modules is automatically set when the operator enters the environment of the workstation to which the bending plan is applied. It can also be done. A list of machine settings or set-ups or workstation environments is also provided to the operator, and the expert module can be configured based on the operator's selection of a particular workstation environment. Various other features or aspects are also provided to facilitate configuration of the expert module.

According to another aspect of the present invention, the FEL
A message is also returned from the expert planning system to the intelligent manufacturing system after completion of the bending plan. The F returned to the intelligent manufacturing system 60
The EL message includes the final bend plan information created by the activated expert module based on the constraints (if any) entered by the operator. The bending plan information includes a bending order, tool selection, tool stage arrangement, robot motion, repositioning, and back gauge settings. A series of BE
NDMAP data is provided by the expert planning system and shows: That is, the relationship between the stage arrangement and the bending order for each bending, the arrangement of each stage for each bending, the position of the bending line with respect to the tool stage (for example, the distance from the left end and / or the right end of the stage), and the robot Gripper position and
Robot position or orientation, etc. The BENDMA
P data is also used by the intelligent manufacturing system for various applications. For example, the data may be used to simulate a final bend plan via the graphical interface (as shown in FIG. 17) and in various interfaces provided to the operator as described above. Used to display the bending plan information.

The FEL command sent from the expert planning system 70 to the intelligent manufacturing system 60 is, for example, interpreted by the interface module provided to the server module 32. As described above, this interface module is a separately executable application or is provided inside the intelligent manufacturing system application 60. Based on the received FEL command, the interface module interprets and retrieves the final bending plan information and stores it in the database 30. The FEL message includes a "FINALIZE" message for indicating the final bending plan information. Additional FEL to indicate the various final bending plan information
Commands (eg "BENDS", "LOADER LO
"CATIONS""ROBOTLOC""REPO
LOC "," BENDMAP "," BGAGE LOC ")
Is used. Additionally, other FEL commands may be used to indicate tool and gripper selection (eg, "ROBOT G
RIPPER "and" REPO GRIPPER ").
Appendix D shows a typical set of FEL messages sent from the expert planning system to the intelligent manufacturing system when the final bending plan is created.

The final bending plan information sent to the intelligent manufacturing system 60 is organized and stored in one or more files depending on the type of category. These files are stored in the database 30 and sent to the bending workstation or other location when the final bending plan is executed. Depending on the type of machine or element at the workstation, the file contains NC data and the FEL command for controlling the machine and performing a bending operation according to the bending plan. For example, an "EVT" file containing data relating to the bending machine including the setting of the back gauge and the operation of the press brake is created and stored based on the final bending plan information. These data are stored without X-direction measurement information. Appendix E shows a typical example of the "EVT" file, which includes, for example, an NC for controlling an Amada FBT press brake.
Including data. Another stored data is an "EVT" file, which contains tool setting data including back gauge data used to set various tool stages in the press brake. US Patent Application 08
The various steps or operations described in / 386,369 are used to facilitate the setting of the tool stage by using and controlling the back gauge of the press brake. Appendix F is a typical "EVT" file, which contains, for example, NC data for controlling an Amada FBT press brake.

Further, an "EVX" data file for executing a learning step for correcting the robot motion is stored. This data file contains the initial press brake motion and back gauge position set in the final bending plan. Appendix G is a typical "EVX"
A file, which includes, for example, NC data for controlling the Amada FBT press brake. This data is later adjusted to correct the robot's motion using the X gauging motion and material loading height information. In this connection, an "RB1" file is also provided, which contains the direction and movement of the robot with respect to the workstation, having X gauging information. This "RB
The "1" file contains a FEL message. Appendix H is a typical "RB1" file, which is the AMADA BM
Includes FEL messages for controlling the robot at 100 workstations. The "EVX" and "RB
1 "file is used simultaneously to provide the learning function process. "RB2" and "RB3" files are also provided or generated based on adjustments made to the data in the "EVX" file and the final bending plan information. That is, the “RB2” file is X
Includes data to define all robot motions that do not include gauging information, and the "RB3" file is generated to include all adjustments to the "EVX" file after the learning function steps have been performed. And stored. Various features set forth in US application Ser. No. 08 / 386,369 are provided for performing the learning functions of the present invention. The “RB2” file includes a FEL message. Appendix I is a typical "RB2" file,
It contains FEL messages for controlling the robot of the Amada BM100 workstation.

[0215] Further, a "FIN" data file is stored by the intelligent manufacturing system 60 so that all relevant final bending planning information generated by the expert planning system 70 is included in the system 60. Such a file contains FEL messages and data similar to those described in Appendix D. The resulting bend plan information stored in the intelligent manufacturing system is sent or downloaded to various workstations to execute the bend plan. As described above, this final bending plan information is stored in the database 30 together with the bending model file related to the part. Alternatively, these files are stored in the server module 32
Is stored in the storage device. To perform the final bending plan, the file is sent to the controller or sequencer of the bending workstation to perform various tasks. These files are stored in the FE
L messages and commands and / or NC data interpreted by the workstation controller or sequencer. Thus, the various components and machines of the workstation are operated according to the final bending plan.

For example, the "EVT" file and other tool information are sent to the bending workstation via, for example, a communication network 26 to set up the necessary tools for the press brake and / or workstation. The "EVX" and "RB1" files are first sent to the bending workstation to perform the learning function, and various settings and movements determined by the expert planning system are tested and / or modified. After appropriate adjustments to the final bend plan parameters, the "EVB" and "RB3" files are sent to the bend workstation and the bend plan is executed to produce the customer's part. The "RB3" file is also sent during the first stage of the setup and testing, where the robot motion is performed without using the workpiece and the robot motion determined by the expert planning system is checked and satisfied Is confirmed.

Although the invention has been described with reference to certain illustrative embodiments, the terms used are illustrative rather than limiting. Accordingly, changes may be made in the appended claims without departing from the scope or spirit of the invention or aspects thereof without departing from the scope of the invention.
Also, while the present invention has been described using particular means, materials, and examples, the present invention is not limited to the particulars described herein, and the invention is not to be limited by the scope of the appended claims. And can be extended to equivalent structures and methods and specifications.

Appendix A send msg size 119 send msg size 116 send msg size 114 send msg size 115 Read c: / PC_ABE / planning / config. fel Read c: / PC_ABE / planning / exports. fel (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE OPTIONS) (VERBOSE TRUE) (REPORT TRUE))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING ) (STATE REQUEST)) ((TYPE PARAMS) (FILENAME "c: / pc_abe / bin / file1"))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS ) (TOOLING_DATABASE "c: / pc_abe / database / tool. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (GRIPPER_DATABASE" c: / pc_abe / database / grip. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (MACHINE_DATABASE" c: / pc_abe / database / machine_database. fbd3. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST))) ((TYPE PARAMS) (SETUP_DATABASE" c: / pc_abe / database / cursetup. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE OPTIONS) (CONSTRAINTS (((-1 -2) ((6 1) -2) (- 1 -2) (9 -2) (-1 -2) ((5 2) -2) (-1 -2) (7 -2) (-1 -2) (3 -2) (-1 -2 ) (4 -2) (-1 -2) (10 -2) (-1 -2) (8 -2) (-1 -2)))))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (REPO_COST 30) (UNLOADING_COST 0) (UNLOADING_GRASP_FACE 0))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) (( (TYPE PARAMS) (STAGE_TIME_COST 0) (NO_UNLOAD_COST 0) (TOOLING_NOT_AVAIL_COST 0))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (QUANTITY 0))) (PLAN ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PART) (MODEL "c: / pc_abe / bin / file1. pgf ")))) Appendix B send msg size 119 send msg size 116 send msg size 114 send msg size 115 Read c: / PC_ABE / planning / config. fel Read c: / PC_ABE / planning / exports. fel (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE OPTIONS) (VERBOSE TRUE) (REPORT TRUE))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING ) (STATE REQUEST)) ((TYPE PARAMS) (FILENAME "c: / pc_abe / bin / file1"))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS ) (TOOLING_DATABASE "c: / pc_abe / database / tool. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (GRIPPER_DATABASE" c: / pc_abe / database / grip. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (MACHINE_DATABASE" c: / pc_abe / database / machine_database. fbd3. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST))) ((TYPE PARAMS) (SETUP_DATABASE" c: / pc_abe / database / cursetup. fel ")))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (REPO_COST 30) (UNLOADING_COST 0) (UNLOADING_GRASP_FACE 0))) (SET ((TYPE MESSAGE ) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PARAMS) (STAGE_TIME_COST 0) (NO_UNLOAD_COST 0) (TOOLING_NOT_AVAIL_COST 0))) (SET ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) REQUEST)) ((TYPE PARAMS) (QUANTITY 0))) (PLAN ((TYPE MESSAGE) (FROM INTERACTING) (TO PLANNING) (STATE REQUEST)) ((TYPE PART) (MODEL `` c: / pc_abe / bin / file1 . pgf "))) Appendix C FELcom = True SHPLIB = True ExpThis = interacting ExpPlan = planning UIKEYWORDS = c: / pc_abe / bin / uikwords. fel DataBaseDir = c: / pc_abe / database GRIPPER_DB = gripper_database. fel PUNCH_DB = punch. fel DIE_DB = die. fel DHOLDER_DB = dhl. fel PHOLDER_DB = phl. fel ToolFileName = tool. fel GripFileName = grip. fel PartDir = c: / pc_abe / bin MotionDir = c: / pc_abe / bin MotionFileName = file1 BascomDir = c: / pc_abe / bin DirPart = pgf International = English BascomCreation = True ExpGrasping = False ExpTooling = True ExpBending = False ExpMoving = False rxPlanning = c: / pc_abe / bin / planning. exe rxMoving = c: / pc_abe / bin / moving. exe rxGrasping = c: / pc_abe / bin / grasping. exe rxTooling = c: / pc_abe / bin / tooling. exe rxBending = c: / pc_abe / bin / bending. exe MACHINE_SETUP_DB = c: / pc_abe / database / setup. fel MACHINE_DB_DIR = c: / pc_abe / database MACHINE_DB_FILES = machine_database. fbd3. fel | MACHINE_NAMES = JAPAN | robot_form = old REPO_COST = 30 UNLOADING_COST = 10 UNLOADING_FACE = 0 STAGE_COST = 0 NO_UNLOADING_COST = 5000 NO_TOOLING_COST = 100:; Tool Setup information (EVT); Xoffset = 0; Loffset = 4. 5 Zoffset = 0 Retract = 200. 0 Tstrength_MILD = 32 Tstrength_ALM = 10 Tstrength_SUS = 15: Roffset = Machine wide / 2-cmu's refference Point: 690. 2-528 (BM100): 1250-528 (FBD3) 722 Roffset = 0: Boffset = 6. 5 Boffset = 3. 25: Gage max and min location 04-24-96 BGage_left_min = -840 BGage_left_max = 840 BGage_right_max = 849:: Bend Setup Information (EVB, EVX): Ladjust = 0 Zadjust = 0; 15; support gage thickness / 2 for Z hight in PM; Bending Speed setup for EVX (initial value) Speed1 = 3 Appendix D (REPORT ((TYPE MESSAGE) (FROM PLANNING) (TO INTERACTING) (STATE REPLY)) ((TYPE INIT) (ROBOT_GRIPPER "IG-0725-U332Q () (REPO_GRIPPER "YG-1521-U59N") (PREDICTED_REPOS 2) (PREDICTED_STAGES 3))) (REPORT ((TYPE MESSAGE) (FROM PLANNING) (TO INTERACTING) (STATE REPLY)) ((TYPE FINALIZE) (BENDS ( ((2 5) 3) (9 7) (0 0) ((1 6) 3) (7 7) (3 9) (10 7) (0 0) (4 9) (8 9) (-10 0 ))) (LOADER_LOCATIONS ((48. 00000 48. 00000) (268. 00000 138. 00000))) (ROBOT_LOC ((1 1 (2. 00000 -109. 50000 0. 00000) (207. 00000 -109. 50000 0. 0 0000) 140. 00000 68. 92000 71. 42000 0. 00000 2 0 0 43. 49000 2. 00000) (1 1 (208. 54000 59. 34000 0. 00000) (0. 46000 59. 34000 0. 00000) 140. 00000 2. 00000 58. 59000 0. 00000 1 1 1 88. 67000 2. 00000) (1 1 (208. 54000 59. 34000 0. 000 00) (0. 46000 59. 34000 0. 00000) 70. 00000 38. 18000 40. 68000 0. 00000 0 0 1 54. 98000 2. 00000))) (REPO_LOC ((1 1 (-26. 00000 -46. 00000 0. 00000) (0. 46000 -46. 00000 0. (0000 0) 13. 00000 19. 99000 22. 50000 10. 36000 114. 04000 3. 14000 1. 00000) (1 1 (2. 00000 -100. 34000 0. 00000) (207. 00000 -100. 34000 0. 00000) 93. 00000 4. 00 000 50. 44000 10. 36000 71. 88000 3. 14000 2. 00000))) (BENDMAP ((1 (2 5) 1 3. 00000 0 0 0 0 0 0 0 0 614. 75000) (1 (9) 2 253. 00 000 0 0 0 0 0 0 0 0 614. 75000) (1 (6) 3 280. 50000 0 0 0 0 0 0 0 1 614. 75 000) (2 (1) 3 -2. 50000 0 0 0 0 0 0 0 1 1185. 25000) (1 (7) 4 3. 00000 0 0 0 0 0 0 0 0 614. 75000) (3 (3) 5 -0. 17000 0 0 0 0 0 0 0 0 1525. 00000) (2 (10) 6 -2. 50000 0 0 0 0 0 0 0 0 1185. 25000) (3 (4) 7 -0. 17000 0 0 0 0 0 0 0 0 1525. 00000) (2 (8) 8 -2. 50000 0 0 0 0 0 0 0 0 1185. 25000))) (BGAGE_LOC ((72 7 10. 00000 10. 00000 2 2 16 15 9. 00000 72) (27 26 10. 000 00 10. 00000 1 1 32 29 9. 00000 27) (2 32 10. 00000 10. 00000 1 1 32 31 9. 00 000 2) (16 15 10. 00000 10. 00000 2 2 15 14 9. 00000 16) (16 15 10. 00000 10. 00000 2 2 15 14 9. 00000 16) (52 51 10. 00000 10. 00000 1 1 52 49 9. 00000 52) (27 26 10. 00000 10. 00000 1 1 27 28 9. 00000 27) (46 45 10. 00000 10. 00 000 1 1 48 37 10. (00000 46)))) ((TYPE PUNCH_SEGMENTS) (STAGE 1) (LENGTH 305) (HORNS "NONE") (SIZES (160 100 20 15 10)) (X_LOCATION 614. 75000) (PUNCH "00301") (PUNCH_ORIENT 2) (PUNCH_HOLDER "00001")) ((TYPE PUNCH_SEGMENTS) (STAGE 2) (LENGTH 200) (HORNS "NONE") (SIZES (160 40)) (X_LOCATION 1185. 25000) (PUNCH "00301") (PUNCH_ORIENT 2) (PUNCH_HOLDER "00001")) ((TYPE PUNCH_SEGMENTS) (STAGE 3) (LENGTH 105) (HORNS "NONE") (SIZES (80 15 10)) (X_LOCATION 1525. (00000) (PUNCH "00301") (PUNCH_ORIENT 2) (PUNCH_HOLDER "00001")) ((TYPE DIE_SEGMENTS) (STAGE 1) (LENGTH 305) (SIZES (160 100 20 15 10)) (X_LOCATION 614. 75000) (DIE "10606") (DIE_V_NUMBER 1) (DIE_HOLDER "53100")) ((TYPE DIE_SEGMENTS) (STAGE 2) (LENGTH 200) (SIZES (160 40)) (X_LOCATION 1185. 25000) (DIE "10606") (DIE_V_NUMBER 1) (DIE_HOLDER "53100")) ((TYPE DIE_SEGMENTS) (STAGE 3) (LENGTH 105) (SIZES (80 15 10)) (X_LOCATION 1525. 00000) (DIE "10606") (DIE_V_NUMBER 1) (DIE_HOLDER "53100")) ((TYPE SETUP) (MACHINE_NAME "JAPAN") (ROBOT_GRIPPER "TG25") (REPO_GRIPPER UNDEFINED) (LOADER_GRIPPER UNDEFINED) (BACKGAGE_FINGLE. (00000) (PHL_LOCATIONS (75 275 475 675 875 1075 1275 1475 1675 1875 2075 2275)) (PHL_TYPES (150 150 150 150 150 150 150 150 150 150 150 150 150)) (DHL_LOCATIONS (0)) (DHL_TYPES (2500)) (STAGE_LOCATIONS (614 1185 1525)) (PUNCH_TYPES ("00301" "00301" "00301")) (DIE_TYPES ("10606" "10606" "10606")) (PUNCH_ORIENT UNDEFINED) (STAGES ((1 305. 00000 614. 75000 2 0 "00301" "10606" "00001" "53100" 1 2 1 108. 34000 265. 50000 0 2 0) (2 200. 00000 1185. 25000 2 0 "00301" "10606" "00001" "53100" 1 2 2 265. 50000 57. 00000 1 3 0) (3 105. 00000 1525. 0000 0 2 0 "00301" "10606" "00001" "53100" 2 1 1 54. 51000 63. 67000 2 0 0))))) Appendix E Example of "EVB" file.  WK01WNbbc03 NP1T1. 00MNSPCC1 QM1S32SQ8 SN1PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN2PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN3PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN4PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN5PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 KD01H9. 03A90. 00B94SN11 KD02H54. 03A90. 00B49SN22 KD03H20. 03A90. 00B53SN11 KD04H54. 03A90. 00B49SN33 KD05H53. 83A90. 00B105SN44 KD06H10. 03A90. 00B207SN11 KD07H53. 83A90. 00B105SN22 KD08H53. 06A90. 00B207SN11 PM01LD56F3BP-398YL-540. 3YR-256. 3LS39. 2 PM02LD71F3BP-533YL-532. 2YR-412. 4LS100. 0 PM03LD45F3BP250YL103. 0YR397. 0LS100. 0 PM04LD55F3BP-686YL-806. 4YR-686. 5LS100. 0 PM05LD32F3BP-241YL-278. 9YR-159. 1LS67. 5 PM06LD55F3BP-607YL-700. 4YR-513. 4LS100. 0 PM07LD32F3BP-241YL-322. 1YR-202. 3LS83. 0 PM08LD28F3BP-607YL-700. 4YR-513. 4LS100. 0 Appendix F Example of "EVT" file.  WK01WNbbc03 NP1T1. 00MNSPCC1 QM1S32SQ8 SN1PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 TS00LL200. 00LR200. 00XL-501. 1XR875. 0Z100. 0 TS01LL2. 50LR2. 50XL-501. 1XR875. 0Z100. 0 SN2PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 TS00LL2. 50LR2. 50XL-187. 4XR875. 0Z100. 0 SN3PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 TS00LL2. 50LR2. 50XL124. 5XR875. 0Z100. 0 SN4PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 TS00LL2. 50LR2. 50XL412. 0XR875. 0Z100. 0 SN5PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 TS00LL200. 00LR200. 00XL412. 0XR875. 0Z100. 0 KD01H22. 00A90. 20B100SN11 Appendix G Example of "EVX" file.  WK01WNbbc03 NP1T1. 00MNSPCC1 QM1S32SQ8 SN1PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN2PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN3PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN4PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 SN5PN00301PR0. 6PA88. 00PH90. 00PP30DN10606V6DR1. 5DA88. 00DH60. 00DW7. 0DB14. 0 DP94DT1HH50. 00 KD01H9. 03A90. 00B94SN11 KD02H54. 03A90. 00B49SN22 KD03H20. 03A90. 00B53SN11 KD04H54. 03A90. 00B49SN33 KD05H53. 83A90. 00B105SN44 KD06H10. 03A90. 00B207SN11 KD07H53. 83A90. 00B105SN22 KD08H53. 06A90. 00B207SN11 PM01LD56F3BP-398YL-540. 3YR-256. 3LS39. 2 XG00LL29. 24LR29. 24XL-540. 3XR-256. 3Z100. 0XS3 XG01LL39. 24LR39. 24XL-540. 3XR-256. 3Z100. 0XS0 XG02LL39. 24LR39. 24XL-558. 6XR-201. 3Z100. 0XS0 XG03LL6. 00LR6. 00XL-558. 6XR-201. 3Z100. 0XS1 XG04LL6. 00LR6. 00XL-568. 6XR-201. 3Z100. 0XS0 XG05LL39. 24LR39. 24XL-568. 6XR-201. 3Z100. 0XS0 XG06LL39. 24LR39. 24XL-540. 3XR-256. 3Z100. 0XS0 XG07LL9. 03LR9. 03XL-540. 3XR-256. 3Z100. 0XS0 XG08LL28. 16LR28. 16XL-540. 3XR-256. 3Z100. 0XS2 PM02LD71F3BP-533YL-532. 2YR-412. 4LS100. 0 XG00LL54. 03LR54. 03XL-532. 2XR-412. 4Z100. 0XS3 XG01LL64. 03LR64. 03XL-532. 2XR-412. 4Z100. 0XS0 XG02LL64. 03LR64. 03XL-564. 6XR-357. 0Z100. 0XS0 XG03LL44. 29LR44. 29XL-564. 6XR-357. 0Z100. 0XS1 XG04LL44. 29LR44. 29XL-574. 6XR-357. 0Z100. 0XS0 XG05LL64. 03LR64. 03XL-574. 6XR-357. 0Z100. 0XS0 XG06LL64. 03LR64. 03XL-532. 2XR-412. 4Z100. 0XS0 XG07LL54. 03LR54. 03XL-532. 2XR-412. 4Z100. 0XS0 XG08LL73. 16LR73. 16XL-532. 2XR-412. 4Z100. 0XS2 PM03LD45F3BP250YL103. 0YR397. 0LS100. 0 XG00LL69. 87LR69. 87XL103. 0XR397. 0Z100. 0XS3 XG01LL79. 00LR79. 00XL103. 0XR397. 0Z100. 0XS0 XG02LL79. 00LR79. 00XL89. 8XR447. 0Z100. 0XS0 XG03LL60. 13LR60. 13XL89. 8XR447. 0Z100. 0XS1 XG04LL60. 13LR60. 13XL79. 8XR447. 0Z100. 0XS0 XG05LL79. 00LR79. 00XL79. 8XR447. 0Z100. 0XS0 XG06LL79. 00LR79. 00XL103. 0XR397. 0Z100. 0XS0 XG07LL20. 03LR20. 03XL103. 0XR397. 0Z100. 0XS0 XG08LL44. 66LR44. 66XL103. 0XR397. 0Z100. 0XS2 PM04LD55F3BP-686YL-806. 4YR-686. 5LS100. 0 XG00LL54. 03LR54. 03XL-806. 4XR-686. 5Z100. 0XS3 XG01LL64. 03LR64. 03XL-806. 4XR-686. 5Z100. 0XS0 XG02LL64. 03LR64. 03XL-861. 7XR-673. 3Z100. 0XS0 XG03LL44. 29LR44. 29XL-861. 7XR-673. 3Z100. 0XS1 XG04LL44. 29LR44. 29XL-861. 7XR-663. 3Z100. 0XS0 XG05LL64. 03LR64. 03XL-861. 7XR-663. 3Z100. 0XS0 XG06LL64. 03LR64. 03XL-806. 4XR-686. 5Z100. 0XS0 XG07LL54. 03LR54. 03XL-806. 4XR-686. 5Z100. 0XS0 XG08LL76. 51LR76. 51XL-806. 4XR-686. 5Z100. 0XS2 PM05LD32F3BP-241YL-278. 9YR-159. 1LS67. 5 XG00LL53. 83LR53. 83XL-288. 9XR-169. 1Z100. 0XS3 XG01LL63. 83LR63. 83XL-288. 9XR-169. 1Z100. 0XS0 XG02LL63. 83LR63. 83XL-354. 3XR-145. 9Z100. 0XS0 XG03LL44. 09LR44. 09XL-354. 3XR-145. 9Z100. 0XS1 XG04LL44. 09LR44. 09XL-354. 3XR-135. 9Z100. 0XS0 XG05LL63. 83LR63. 83XL-354. 3XR-135. 9Z100. 0XS0 XG06LL63. 83LR63. 83XL-288. 9XR-169. 1Z100. 0XS0 XG07LL53. 83LR53. 83XL-278. 9XR-159. 1Z100. 0XS0 XG08LL76. 32LR76. 32XL-278. 9XR-159. 1Z100. 0XS2 PM06LD55F3BP-607YL-700. 4YR-513. 4LS100. 0 XG00LL15. 74LR15. 74XL-700. 4XR-513. 4Z100. 0XS3 XG01LL25. 74LR25. 74XL-700. 4XR-513. 4Z100. 0XS0 XG02LL25. 74LR25. 74XL-750. 7XR-500. 1Z100. 0XS0 XG03LL6. 00LR6. 00XL-750. 7XR-500. 1Z100. 0XS1 XG04LL6. 00LR6. 00XL-750. 7XR-490. 1Z100. 0XS0 XG05LL25. 74LR25. 74XL-750. 7XR-490. 1Z100. 0XS0 XG06LL25. 74LR25. 74XL-700. 4XR-513. 4Z100. 0XS0 XG07LL10. 03LR10. 03XL-700. 4XR-513. 4Z100. 0XS0 XG08LL29. 16LR29. 16XL-700. 4XR-513. 4Z100. 0XS2 PM07LD32F3BP-241YL-322. 1YR-202. 3LS83. 0 XG00LL53. 83LR53. 83XL-312. 1XR-192. 3Z100. 0XS3 XG01LL63. 83LR63. 83XL-312. 1XR-192. 3Z100. 0XS0 XG02LL63. 83LR63. 83XL-335. 4XR-127. 0Z100. 0XS0 XG03LL44. 09LR44. 09XL-335. 4XR-127. 0Z100. 0XS1 XG04LL44. 09LR44. 09XL-345. 4XR-127. 0Z100. 0XS0 XG05LL63. 83LR63. 83XL-345. 4XR-127. 0Z100. 0XS0 XG06LL63. 83LR63. 83XL-312. 1XR-192. 3Z100. 0XS0 XG07LL53. 83LR53. 83XL-322. 1XR-202. 3Z100. 0XS0 XG08LL76. 32LR76. 32XL-322. 1XR-202. 3Z100. 0XS2 PM08LD28F3BP-607YL-700. 4YR-513. 4LS100. 0 XG00LL53. 06LR53. 06XL-700. 4XR-513. 4Z100. 0XS3 XG01LL63. 06LR63. 06XL-700. 4XR-513. 4Z100. 0XS0 XG02LL63. 06LR63. 06XL-750. 7XR-499. 8Z100. 0XS0 XG03LL41. 24LR41. 24XL-750. 7XR-499. 8Z100. 0XS1 XG04LL41. 24LR41. 24XL-750. 7XR-489. 8Z100. 0XS0 XG05LL63. 06LR63. 06XL-750. 7XR-489. 8Z100. 0XS0 XG06LL63. 06LR63. 06XL-700. 4XR-513. 4Z100. 0XS0 XG07LL53. 06LR53. 06XL-700. 4XR-513. 4Z100. 0XS0 XG08LL71. 32LR71. 32XL-700. 4XR-513. 4Z100. 0XS2 Appendix H Example of "RB1" file.  (STARTUP ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (NBENDS 8) (NPARTS 1) (DIE_WIDTH 7. 00000)) ((TYPE ROBOT) (GRIPPER CLOSE) (ROBOT_SPEED 3) (VERIFY_POINT (1017. 00000 -426. 57000 124. 56000 -18. 99000 85. 40000)) (ROBOT_ABS_MOVE ((800. 00000 -400. 00000 100. 00000 0. 00000 -90. (00000)))) ((TYPE BACKGAGE))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE LOADER) (ROBOT_ABS_MOVE ((900. 00000 -500. 00000 480. 00000 0. 00000 -90. 00000) (90 0. 00000 -500. 00000 480. 00000 -90. 00000 -90. 00000) (900. 00000 -500. 00000 480. 00000 -180. 00000 -90. 00000) (900. 00000 -468. 50000 480. 00000 -180. 000 00 -90. 00000) (884. 57000 -468. 50000 499. 20000 -180. 00000 -90. 00000))) (ROBOT_ZGAGE (518. 20000 480. 20000)) (MEMORIZE_PRELOAD_POINT (884. 57000 -468. 50000 499. 20000 -180. 00000 -90.  00000)) (ROBOT_REL_MOVE ((260. 48000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((1145. 05000 -468. 50000 480. 20000 -180. 00000 -90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 6. 50000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-500. 00000 0. 00000 0. 00000 0. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((645. 05000 -468. 50000 486. 70000 -180. 00000 -90. 00000) (645. 05000 -468. 50000 486. 70000 -90. 00000 -90. 00000) (645. 05000 -468. 500 00 486. 70000 0. 00000 0. 00000) (-364. 83000 -468. 50000 131. 00000 0. 00000 0. 00000) (-364. 83000 -390. 35000 131. 00000 0. 00000 0. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-364. 83000 -390. 35000 131. 00000 0. 00000 0. 0000 0)) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 29. 24000))) (ROBOT_REL_MOVE ((0. 00000 60. 21000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-364. 83000 -330. 14000 110. 00000 0. 00000 0. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-320. 14000 -300. 14000 -325. 14000 -256. 33000 -540. 33000 29. 24000)) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 39. 24000) (-201. 33000 110. 00000 -558. 58000 110. 00000 39. 24000))) (ROBOT_REL_MOVE ((15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-201. 33000 110. 00000 -558. 58000 110. 00000 6. 00000))) (ROBOT_XGAGE (-364. 83000 -379. 83000 -359. 83000)) (BGAGE_ABS_MOVE ((-201. 33000 110. 00000 -568. 58000 110. 00000 6. 00000) (-201. 33000 110. 00000 -568. 58000 110. 00000 39. 24000) (-256. 33000 110. 00000 -540. 33000 110. 00000 39. 24000))) (ROBOT_REL_MOVE ((0. 00000 -25. 21000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-364. 83000 -340. 35000 110. 00000 0. 00000 0. 00000)) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 9. 03000))) (ROBOT_YGAGE (-340. 35000 -320. 35000 -345. 35000 -256. 33000 -540. 33000 9.  03000)) (MEMORIZE_BEND_POINT (-364. 83000 -340. 35000 110. 00000 0. 00000 0. (00000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND ((10 1) 8)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 28. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -3 0. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -53. 93000 -70. 28000 15. 00000 0. 00000) (0. 00000 -33. 90000 -81. 85000 15. 00000 0. 00000) (0. 00000 -11. 5600 0 -87. 83000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((-364. 83000 -420. 35000 131. 00000 0. 00000 0. 00000) (-36 4. 83000 -420. 35000 131. 00000 0. 00000 -90. 00000) (-736. 39000 -241. 49000 1 31. 00000 0. 00000 -90. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-736. 39000 -241. 49000 131. 00000 0. 00000 -90. 00 000)) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 54. 03000))) (ROBOT_REL_MOVE ((0. 00000 93. 16000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-736. 39000 -148. 33000 110. 00000 0. 00000 -90. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-138. 33000 -118. 33000 -143. 33000 -412. 37000 -532. 21000 54. 03000)) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 64. 03000) (-357. 03000 110. 00000 -564. 62000 110. 00000 64. 03000))) (ROBOT_REL_MOVE ((15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-357. 03000 110. 00000 -564. 62000 110. 00000 44. 29000))) (ROBOT_XGAGE (-736. 39000 -751. 39000 -731. 39000)) (BGAGE_ABS_MOVE ((-357. 03000 110. 00000 -574. 62000 110. 00000 44. 29000) (-357. 03000 110. 00000 -574. 62000 110. 00000 64. 03000) (-412. 37000 110. 0000 0 -532. 21000 110. 00000 64. 03000))) (ROBOT_REL_MOVE ((0. 00000 -5. 00000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-736. 39000 -138. 33000 110. 00000 0. 00000 -90. 00000)) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 54. 03000))) (ROBOT_YGAGE (-138. 33000 -118. 33000 -143. 33000 -412. 37000 -532. 21000 54. 03000)) (MEMORIZE_BEND_POINT (-736. 39000 -138. 33000 110. 00000 0. 00000 -90. (00000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (4 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 73. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 65. 00000 0. 00000 0. 00000) (0. 00000 -8 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 83000 -28. 44000 15. 00000 0. 00000) (0. 00000 -13. 72000 -33. 12000 15. 00000 0. 00000) (0. 00000 -4. 68000 -35. 55000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-736. 39000 -223. 33000 130. 00000 0. 00000 -90. 00000) (-736. 39000 -396. 08000 130. 00000 0. 00000 -90. 00000) (-764. 56000 -396. 08000 479. 77000 0. 00000 -90. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-764. 56000 -396. 08000 479. 77000 0. 00000 -90. 00 000)) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-934. 56000 -396. 08000 458. 35000 0. 00000 -90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 -30. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-1104. 56000 -396. 08000 428. 35000 0. 00000 -90. 00000) (-1104. 56000 -396. 08000 200. 00000 0. 00000 -90. 00000) (-198. 20000 -328. 540 00 200. 00000 0. 00000 -90. 00000) (-135. 90000 -380. 00000 200. 00000 0. 00000 0. 00000) (-135. 90000 -380. 00000 200. 00000 0. 00000 90. 00000) (-198. 20000 -380. 00000 200. 00000 0. 00000 90. 00000) (-198. 20000 -380. 00000 439. 35000 0. 00000 90. 00000) (-198. 20000 -328. 54000 439. 35000 0. 00000 90. 00000))) (ROBOT_ZGAGE (458. 35000 420. 35000)) (MEMORIZE_PRELOAD_POINT (-198. 20000 -328. 54000 439. 35000 0. 00000 90. 000 00)) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-368. 20000 -328. 54000 458. 35000 0. 00000 90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 21. 42000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((172. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((-196. 20000 -328. 54000 479. 77000 0. 00000 90. 00000) (-1 96. 20000 -496. 84000 479. 77000 -90. 00000 90. 00000) (-196. 20000 -496. 84000 479. 77000 -180. 00000 180. 00000) (215. 96000 -496. 84000 139. 16000 -180. 00 000 180. 00000) (215. 96000 -447. 83000 139. 16000 -180. 00000 180. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (215. 96000 -447. 83000 139. 16000 -180. 00000 180.  00000)) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 69. 87000))) (ROBOT_REL_MOVE ((0. 00000 114. 50000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((215. 96000 -333. 33000 110. 00000 -180. 00000 180. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-323. 33000 -303. 33000 -328. 33000 397. 00000 103. 00000 69. 8 7000)) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 79. 00000) (44 7. 00000 110. 00000 89. 75000 110. 00000 79. 00000))) (ROBOT_REL_MOVE ((15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((447. 00000 110. 00000 89. 75000 110. 00000 60. 13000))) (ROBOT_XGAGE (215. 96000 200. 96000 220. 96000)) (BGAGE_ABS_MOVE ((447. 00000 110. 00000 79. 75000 110. 00000 60. 13000) (447. 00000 110. 00000 79. 75000 110. 00000 79. 00000) (397. 00000 110. 00000 103. 0 0000 110. 00000 79. 00000))) (ROBOT_REL_MOVE ((0. 00000 -54. 84000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (215. 96000 -373. 17000 110. 00000 -180. 00000 180. 000 00)) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 20. 03000))) (ROBOT_YGAGE (-373. 17000 -353. 17000 -378. 17000 397. 00000 103. 00000 20. 0 3000)) (MEMORIZE_BEND_POINT (215. 96000 -373. 17000 110. 00000 -180. 00000 180. (000 00))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND ((3 9) 2)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 44. (66000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 52. 00000 0. 00000 0. 00000) (0. 00000 -6 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -59. 15000 -77. 08000 15. 00000 0. 00000) (0. 00000 -37. 18000 -89. 76000 15. 00000 0. 00000) (0. 00000 -12. 6800 0 -96. 33000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((215. 96000 -488. 17000 149. 16000 -180. 00000 180. 00000) (215. 96000 -488. 17000 149. 16000 -90. 00000 270. 00000) (215. 96000 -496. 840 00 149. 16000 0. 00000 270. 00000) (-1048. 71000 -242. 03000 149. 16000 0. 0000 0 270. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-1048. 71000 -242. 03000 149. 16000 0. 00000 270. 0 0000)) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 54. 03000))) (ROBOT_REL_MOVE ((0. 00000 93. 16000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-1048. 71000 -148. 87000 110. 00000 0. 00000 270. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-138. 87000 -118. 87000 -143. 87000 -686. 53000 -806. 37000 54. 03000)) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 64. 03000) (-673. 28000 110. 00000 -861. 71000 110. 00000 64. 03000))) (ROBOT_REL_MOVE ((-15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-673. 28000 110. 00000 -861. 71000 110. 00000 44. 29000))) (ROBOT_XGAGE (-1048. 71000 -1033. 71000 -1053. 71000)) (BGAGE_ABS_MOVE ((-663. 28000 110. 00000 -861. 71000 110. 00000 44. 29000) (-663. 28000 110. 00000 -861. 71000 110. 00000 64. 03000) (-686. 53000 110. 0000 0 -806. 37000 110. 00000 64. 03000))) (ROBOT_REL_MOVE ((0. 00000 -5. 00000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-1048. 71000 -138. 87000 110. 00000 0. 00000 -90. 0000 0)) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 54. 03000))) (ROBOT_YGAGE (-138. 87000 -118. 87000 -143. 87000 -686. 53000 -806. 37000 54. 03000)) (MEMORIZE_BEND_POINT (-1048. 71000 -138. 87000 110. 00000 0. 00000 -90. (0000 0))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (6 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 76. (51000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 72. 00000 0. 00000 0. 00000) (0. 00000 -1 05. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 91000 -28. 56000 15. 00000 0. 00000) (0. 00000 -13. 77000 -33. 25000 15. 00000 0. 00000) (0. 00000 -4. 7000 0 -35. 69000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((-1048. 71000 -293. 87000 149. 16000 0. 00000 270. 00000) (-1048. 71000 -293. 87000 130. 00000 0. 00000 270. 00000) (-521. 29000 -293. 870 00 130. 00000 0. 00000 270. 00000) (-521. 29000 -242. 03000 130. 00000 0. 00000 270. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-521. 29000 -242. 03000 130. 00000 0. 00000 270. 00 000)) (BGAGE_ABS_MOVE ((-169. 11000 110. 00000 -288. 95000 110. 00000 53. 83000))) (ROBOT_REL_MOVE ((0. 00000 92. 96000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-531. 29000 -149. 07000 110. 00000 0. 00000 270. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-139. 07000 -119. 07000 -144. 07000 -169. 11000 -288. 95000 53. 83000)) (BGAGE_ABS_MOVE ((-169. 11000 110. 00000 -288. 95000 110. 00000 63. 83000) (-145. 86000 110. 00000 -354. 29000 110. 00000 63. 83000))) (ROBOT_REL_MOVE ((-15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-145. 86000 110. 00000 -354. 29000 110. 00000 44. 09000))) (ROBOT_XGAGE (-531. 29000 -516. 29000 -536. 29000)) (BGAGE_ABS_MOVE ((-135. 86000 110. 00000 -354. 29000 110. 00000 44. 09000) (-135. 86000 110. 00000 -354. 29000 110. 00000 63. 83000) (-169. 11000 110. 0000 0 -288. 95000 110. 00000 63. 83000))) (ROBOT_REL_MOVE ((0. 00000 -5. 00000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-521. 29000 -139. 07000 110. 00000 0. 00000 -90. 00000)) (BGAGE_ABS_MOVE ((-159. 11000 110. 00000 -278. 95000 110. 00000 53. 83000))) (ROBOT_YGAGE (-139. 07000 -119. 07000 -144. 07000 -159. 11000 -278. 95000 53. 83000)) (MEMORIZE_BEND_POINT (-521. 29000 -139. 07000 110. 00000 0. 00000 -90. (00000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (8 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-159. 11000 110. 00000 -278. 95000 110. 00000 76. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -9 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 94000 -28. 60000 15. 00000 0. 00000) (0. 00000 -13. 79000 -33. 30000 15. 00000 0. 00000) (0. 00000 -4. 70000 -35. 74000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((-521. 29000 -284. 07000 130. 00000 0. 00000 270. 00000) (-521. 29000 -466. 84000 130. 00000 0. 00000 270. 00000) (-521. 29000 -466. 84000 130. 00000 0. 00000 360. 00000) (-572. 83000 -447. 83000 130. 00000 0. 00000 3 60. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-572. 83000 -447. 83000 130. 00000 0. 00000 360. 00 000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 15. 74000))) (ROBOT_REL_MOVE ((0. 00000 54. 87000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-572. 83000 -392. 96000 110. 00000 0. 00000 360. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-382. 96000 -362. 96000 -387. 96000 -513. 37000 -700. 37000 15. 74000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 25. 74000) (-500. 12000 110. 00000 -750. 71000 110. 00000 25. 74000))) (ROBOT_REL_MOVE ((-15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-500. 12000 110. 00000 -750. 71000 110. 00000 6. 00000))) (ROBOT_XGAGE (-572. 83000 -557. 83000 -577. 83000)) (BGAGE_ABS_MOVE ((-490. 12000 110. 00000 -750. 71000 110. 00000 6. 00000) (-490. 12000 110. 00000 -750. 71000 110. 00000 25. 74000) (-513. 37000 110. 00000 -700. 37000 110. 00000 25. 74000))) (ROBOT_REL_MOVE ((0. 00000 -10. 71000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-572. 83000 -388. 67000 110. 00000 0. 00000 0. 00000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 10. 03000))) (ROBOT_YGAGE (-388. 67000 -368. 67000 -393. 67000 -513. 37000 -700. 37000 10. 03000)) (MEMORIZE_BEND_POINT (-572. 83000 -388. 67000 110. 00000 0. 00000 0. 00000)))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (7 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 29. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -1 30. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -61. 61000 -80. 29000 15. 00000 0. 00000) (0. 00000 -38. 73000 -93. 50000 15. 00000 0. 00000) (0. 00000 -13. 210 00 -100. 34000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-572. 83000 -518. 67000 130. 00000 0. 00000 360. 00000) (-572. 83000 -518. 67000 130. 00000 0. 00000 450. 00000) (-201. 86000 -518. 67000 479. 77000 0. 00000 450. 00000) (-201. 86000 -224. 54000 479. 77000 0. 00000 4 50. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-201. 86000 -224. 54000 479. 77000 0. 00000 450. 00 000)) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-371. 86000 -224. 54000 458. 35000 0. 00000 450. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 -30. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((170. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-201. 86000 -224. 54000 428. 35000 0. 00000 450. 00000) (-201. 86000 -294. 54000 428. 35000 0. 00000 450. 00000) (-201. 86000 -294. 54000 439. 35000 0. 00000 450. 00000))) (ROBOT_ZGAGE (458. 35000 420. 35000)) (MEMORIZE_PRELOAD_POINT (-201. 86000 -294. 54000 439. 35000 0. 00000 450. 00 000)) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-371. 86000 -294. 54000 458. 35000 0. 00000 450. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 21. 42000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((172. 00000 0. 00000 0. 00000 0. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((-199. 86000 -294. 54000 479. 77000 0. 00000 450. 00000) (-199. 86000 -243. 95000 479. 77000 0. 00000 450. 00000) (40. 05000 -243. 95000 1 30. 00000 0. 00000 450. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (40. 05000 -243. 95000 130. 00000 0. 00000 450. 0000 0)) (BGAGE_ABS_MOVE ((-192. 29000 110. 00000 -312. 13000 110. 00000 53. 83000))) (ROBOT_REL_MOVE ((0. 00000 92. 96000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((50. 05000 -150. 99000 110. 00000 0. 00000 450. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-140. 99000 -120. 99000 -145. 99000 -192. 29000 -312. 13000 53. 83000)) (BGAGE_ABS_MOVE ((-192. 29000 110. 00000 -312. 13000 110. 00000 63. 83000) (-126. 95000 110. 00000 -335. 38000 110. 00000 63. 83000))) (ROBOT_REL_MOVE ((15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-126. 95000 110. 00000 -335. 38000 110. 00000 44. 09000))) (ROBOT_XGAGE (50. 05000 35. 05000 55. 05000)) (BGAGE_ABS_MOVE ((-126. 95000 110. 00000 -345. 38000 110. 00000 44. 09000) (-126. 95000 110. 00000 -345. 38000 110. 00000 63. 83000) (-192. 29000 110. 0000 0 -312. 13000 110. 00000 63. 83000))) (ROBOT_REL_MOVE ((0. 00000 -5. 00000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (40. 05000 -140. 99000 110. 00000 0. 00000 90. 00000)) (BGAGE_ABS_MOVE ((-202. 29000 110. 00000 -322. 13000 110. 00000 53. 83000))) (ROBOT_YGAGE (-140. 99000 -120. 99000 -145. 99000 -202. 29000 -322. 13000 53. 83000)) (MEMORIZE_BEND_POINT (40. 05000 -140. 99000 110. 00000 0. 00000 90. (00000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (2 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-202. 29000 110. 00000 -322. 13000 110. 00000 76. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -9 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -22. 25000 -28. 99000 15. 00000 0. 00000) (0. 00000 -13. 99000 -33. 77000 15. 00000 0. 00000) (0. 00000 -4. 77000 -36. 23000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (ROBOT_ABS_MOVE ((40. 05000 -285. 99000 130. 00000 0. 00000 450. 00000) (40.  05000 -457. 68000 130. 00000 0. 00000 450. 00000) (40. 05000 -457. 68000 130. 0 0000 0. 00000 360. 00000) (-642. 83000 -438. 67000 130. 00000 0. 00000 360. 000 00))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (-642. 83000 -438. 67000 130. 00000 0. 00000 360. 00 000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 53. 06000))) (ROBOT_REL_MOVE ((0. 00000 91. 32000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((-642. 83000 -347. 35000 110. 00000 0. 00000 360. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MODE XGAGE_YES) (MODE YSHIFT_NO) (ROBOT_YGAGE (-337. 35000 -317. 35000 -342. 35000 -513. 37000 -700. 37000 53. 06000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 63. 06000) (-499. 78000 110. 00000 -750. 71000 110. 00000 63. 06000))) (ROBOT_REL_MOVE ((-15. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (BGAGE_ABS_MOVE ((-499. 78000 110. 00000 -750. 71000 110. 00000 41. 24000))) (ROBOT_XGAGE (-642. 83000 -627. 83000 -647. 83000)) (BGAGE_ABS_MOVE ((-489. 78000 110. 00000 -750. 71000 110. 00000 41. 24000) (-489. 78000 110. 00000 -750. 71000 110. 00000 63. 06000) (-513. 37000 110. 0000 0 -700. 37000 110. 00000 63. 06000))) (ROBOT_REL_MOVE ((0. 00000 -5. 00000 0. 00000 0. 00000 0. 00000))) (MEMORIZE_LOAD_POINT (-642. 83000 -337. 35000 110. 00000 0. 00000 0. 00000)) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 53. 06000))) (ROBOT_YGAGE (-337. 35000 -317. 35000 -342. 35000 -513. 37000 -700. 37000 53. 06000)) (MEMORIZE_BEND_POINT (-642. 83000 -337. 35000 110. 00000 0. 00000 0. 00000)))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (5 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 71. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 28. 00000 0. 00000 0. 00000) (0. 00000 -1 40. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -53. 45000 -69. 66000 15. 00000 0. 00000) (0. 00000 -33. 60000 -81. 12000 15. 00000 0. 00000) (0. 00000 -11. 460 00 -87. 06000 15. 00000 0. 00000))))) ((TYPE LOADER) (ROBOT_ABS_MOVE ((-642. 83000 -477. 35000 130. 00000 0. 00000 360. 00000) (-642. 83000 -477. 35000 280. 00000 -90. 00000 270. 00000) (-642. 83000 -477. 350 00 280. 00000 -180. 00000 270. 00000) (-642. 83000 -529. 16000 280. 00000 -180. 00000 270. 00000) (612. 57000 -529. 16000 299. 20000 -180. 00000 270. 00000))) (ROBOT_ZGAGE (88. 00000 250. 00000)) (MEMORIZE_PRELOAD_POINT (612. 57000 -529. 16000 299. 20000 -180. 00000 270.  00000)) (ROBOT_REL_MOVE ((500. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((1112. 57000 -529. 16000 280. 20000 -180. 00000 270. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 5. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-212. 57000 0. 00000 0. 00000 0. 00000 0. 00000))))) Appendix I Example of "RB2" file.  (STARTUP ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (NBENDS 8) (NPARTS 1) (DIE_WIDTH 7. 00000)) ((TYPE ROBOT) (GRIPPER CLOSE) (ROBOT_SPEED 3) (VERIFY_POINT (1017. 00000 -426. 57000 124. 56000 -18. 99000 85. 40000)) (ROBOT_ABS_MOVE ((800. 00000 -400. 00000 100. 00000 0. 00000 -90. (00000)))) ((TYPE BACKGAGE))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE LOADER) (ROBOT_ABS_MOVE ((900. 00000 -500. 00000 480. 00000 0. 00000 -90. 00000) (90 0. 00000 -500. 00000 480. 00000 -90. 00000 -90. 00000) (900. 00000 -500. 00000 480. 00000 -180. 00000 -90. 00000) (900. 00000 -468. 50000 480. 00000 -180. 000 00 -90. 00000) (884. 57000 -468. 50000 499. 20000 -180. 00000 -90. 00000))) (ROBOT_REL_MOVE ((260. 48000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((1145. 05000 -468. 50000 480. 20000 -180. 00000 -90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 6. 50000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-500. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 9. 03000))) (ROBOT_ABS_MOVE ((645. 05000 -468. 50000 486. 70000 -180. 00000 -90. 00000) (645. 05000 -468. 50000 486. 70000 -90. 00000 -90. 00000) (645. 05000 -468. 500 00 486. 70000 0. 00000 0. 00000) (-364. 83000 -468. 50000 131. 00000 0. 00000 0. 00000) (-364. 83000 -390. 35000 131. 00000 0. 00000 0. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-340. 35000 -320. 35000 -345. 35000 -256. 33000 -540. 33000 9.  03000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND ((10 1) 8)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-256. 33000 110. 00000 -540. 33000 110. 00000 28. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -3 0. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -53. 93000 -70. 28000 15. 00000 0. 00000) (0. 00000 -33. 90000 -81. 85000 15. 00000 0. 00000) (0. 00000 -11. 5600 0 -87. 83000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 54. 03000))) (ROBOT_ABS_MOVE ((-364. 83000 -420. 35000 131. 00000 0. 00000 0. 00000) (-36 4. 83000 -420. 35000 131. 00000 0. 00000 -90. 00000) (-736. 39000 -241. 49000 1 31. 00000 0. 00000 -90. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-138. 33000 -118. 33000 -143. 33000 -412. 37000 -532. 21000 54. 03000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (4 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-412. 37000 110. 00000 -532. 21000 110. 00000 73. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 65. 00000 0. 00000 0. 00000) (0. 00000 -8 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 83000 -28. 44000 15. 00000 0. 00000) (0. 00000 -13. 72000 -33. 12000 15. 00000 0. 00000) (0. 00000 -4. 68000 -35. 55000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-736. 39000 -223. 33000 130. 00000 0. 00000 -90. 00000) (-736. 39000 -396. 08000 130. 00000 0. 00000 -90. 00000) (-764. 56000 -396. 08000 479. 77000 0. 00000 -90. 00000) (-934. 56000 -396. 08000 479. 77000 0. 00000-90. 00000))) (ROBOT_ABS_MOVE ((-934. 56000 -396. 08000 458. 35000 0. 00000 -90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 -30. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-170. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-1104. 56000 -396. 08000 428. 35000 0. 00000 -90. 00000) (-1104. 56000 -396. 08000 200. 00000 0. 00000 -90. 00000) (-198. 20000 -328. 540 00 200. 00000 0. 00000 -90. 00000) (-135. 90000 -380. 00000 200. 00000 0. 00000 0. 00000) (-135. 90000 -380. 00000 200. 00000 0. 00000 90. 00000) (-198. 20000 -380. 00000 200. 00000 0. 00000 90. 00000) (-198. 20000 -380. 00000 439. 35000 0. 00000 90. 00000) (-198. 20000 -328. 54000 439. 35000 0. 00000 90. 00000) (-368. 20000 -328. 54000 439. 35000 0. 00000 90. 00000))) (ROBOT_ABS_MOVE ((-368. 20000 -328. 54000 458. 35000 0. 00000 90. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 21. 42000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((172. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 20. 03000))) (ROBOT_ABS_MOVE ((-196. 20000 -328. 54000 479. 77000 0. 00000 90. 00000) (-1 96. 20000 -496. 84000 479. 77000 -90. 00000 90. 00000) (-196. 20000 -496. 84000 479. 77000 -180. 00000 180. 00000) (215. 96000 -496. 84000 139. 16000 -180. 00 000 180. 00000) (215. 96000 -447. 83000 139. 16000 -180. 00000 180. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-373. 17000 -353. 17000 -378. 17000 397. 00000 103. 00000 20. 0 3000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND ((3 9) 2)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((397. 00000 110. 00000 103. 00000 110. 00000 44. (66000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 52. 00000 0. 00000 0. 00000) (0. 00000 -6 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -59. 15000 -77. 08000 15. 00000 0. 00000) (0. 00000 -37. 18000 -89. 76000 15. 00000 0. 00000) (0. 00000 -12. 6800 0 -96. 33000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 54. 03000))) (ROBOT_ABS_MOVE ((215. 96000 -488. 17000 149. 16000 -180. 00000 180. 00000) (215. 96000 -488. 17000 149. 16000 -90. 00000 270. 00000) (215. 96000 -496. 840 00 149. 16000 0. 00000 270. 00000) (-1048. 71000 -242. 03000 149. 16000 0. 0000 0 270. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-138. 87000 -118. 87000 -143. 87000 -686. 53000 -806. 37000 54. 03000)))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (6 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-686. 53000 110. 00000 -806. 37000 110. 00000 76. (51000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 72. 00000 0. 00000 0. 00000) (0. 00000 -1 05. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 91000 -28. 56000 15. 00000 0. 00000) (0. 00000 -13. 77000 -33. 25000 15. 00000 0. 00000) (0. 00000 -4. 7000 0 -35. 69000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-159. 11000 110. 00000 -278. 95000 110. 00000 53. 83000))) (ROBOT_ABS_MOVE ((-1048. 71000 -293. 87000 149. 16000 0. 00000 270. 00000) (-1048. 71000 -293. 87000 130. 00000 0. 00000 270. 00000) (-521. 29000 -293. 870 00 130. 00000 0. 00000 270. 00000) (-521. 29000 -242. 03000 130. 00000 0. 00000 270. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-139. 07000 -119. 07000 -144. 07000 -159. 11000 -278. 95000 53. 83000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (8 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-159. 11000 110. 00000 -278. 95000 110. 00000 76. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -9 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -21. 94000 -28. 60000 15. 00000 0. 00000) (0. 00000 -13. 79000 -33. 30000 15. 00000 0. 00000) (0. 00000 -4. 70000 -35. 74000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 10. 03000))) (ROBOT_ABS_MOVE ((-521. 29000 -284. 07000 130. 00000 0. 00000 270. 00000) (-521. 29000 -466. 84000 130. 00000 0. 00000 270. 00000) (-521. 29000 -466. 84000 130. 00000 0. 00000 360. 00000) (-572. 83000 -447. 83000 130. 00000 0. 00000 3 60. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-388. 67000 -368. 67000 -393. 67000 -513. 37000 -700. 37000 10. 03000)))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (7 4)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 29. (16000))))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -1 30. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -61. 61000 -80. 29000 15. 00000 0. 00000) (0. 00000 -38. 73000 -93. 50000 15. 00000 0. 00000) (0. 00000 -13. 210 00 -100. 34000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-572. 83000 -518. 67000 130. 00000 0. 00000 360. 00000) (-572. 83000 -518. 67000 130. 00000 0. 00000 450. 00000) (-201. 86000 -518. 67000 479. 77000 0. 00000 450. 00000) (-201. 86000 -224. 54000 479. 77000 0. 00000 4 50. 00000) (-371. 86000 -224. 54000 479. 77000 0. 00000 450. 00000))) (ROBOT_ABS_MOVE ((-371. 86000 -224. 54000 458. 35000 0. 00000 450. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 -30. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((170. 00000 0. 00000 0. 00000 0. 00000 0. 00000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE REPO) (ROBOT_ABS_MOVE ((-201. 86000 -224. 54000 428. 35000 0. 00000 450. 00000) (-201. 86000 -294. 54000 428. 35000 0. 00000 450. 00000) (-201. 86000 -294. 54000 439. 35000 0. 00000 450. 00000) (-371. 86000 -294. 54000 439. 35000 0. 00000 4 50. 00000))) (ROBOT_ABS_MOVE ((-371. 86000 -294. 54000 458. 35000 0. 00000 450. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 21. 42000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((172. 00000 0. 00000 0. 00000 0. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-202. 29000 110. 00000 -322. 13000 110. 00000 53. 83000))) (ROBOT_ABS_MOVE ((-199. 86000 -294. 54000 479. 77000 0. 00000 450. 00000) (-199. 86000 -243. 95000 479. 77000 0. 00000 450. 00000) (40. 05000 -243. 95000 1 30. 00000 0. 00000 450. 00000))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-140. 99000 -120. 99000 -145. 99000 -202. 29000 -322. 13000 53. 83000))))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE FOLLOW) (BEND (2 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-202. 29000 110. 00000 -322. 13000 110. 00000 76. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 10. 00000 0. 00000 0. 00000) (0. 00000 -9 5. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -22. 25000 -28. 99000 15. 00000 0. 00000) (0. 00000 -13. 99000 -33. 77000 15. 00000 0. 00000) (0. 00000 -4. 77000 -36. 23000 15. 00000 0. (00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 53. 06000))) (ROBOT_ABS_MOVE ((40. 05000 -285. 99000 130. 00000 0. 00000 450. 00000) (40.  05000 -457. 68000 130. 00000 0. 00000 450. 00000) (40. 05000 -457. 68000 130. 0 0000 0. 00000 360. 00000) (-642. 83000 -438. 67000 130. 00000 0. 00000 360. 000 00))) (MODE YSHIFT_NO) (ROBOT_YGAGE (-337. 35000 -317. 35000 -342. 35000 -513. 37000 -700. 37000 53. 06000)))) (BEND ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST)) ((TYPE FOLLOW) (BEND (5 6)) (BEND_ANGLE 90. 00000) (MATERIAL_THICKNESS 1. 00000) (PRESS_TRAVEL 2. 57000) (FOLLOWING_SPEED 0) (FOLLOWING_HEIGHT 0. 00000) (MODE DIE_CONTACT) (BGAGE_ABS_MOVE ((-513. 37000 110. 00000 -700. 37000 110. 00000 71. (32000)))))) (GET ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE PRESSBRAKE) (MODE DIE_CONTACT) (ROBOT_REL_MOVE ((0. 00000 0. 00000 28. 00000 0. 00000 0. 00000) (0. 00000 -1 40. 00000 0. 00000 0. 00000 0. 00000) (0. 00000 -53. 45000 -69. 66000 15. 00000 0. 00000) (0. 00000 -33. 60000 -81. 12000 15. 00000 0. 00000) (0. 00000 -11. 460 00 -87. 06000 15. 00000 0. 00000)))))) (PUT ((TYPE MESSAGE) (FROM RIMD) (TO MACH90) (STATE REQUEST))) ((TYPE LOADER) (ROBOT_ABS_MOVE ((-642. 83000 -477. 35000 130. 00000 0. 00000 360. 00000) (-642. 83000 -477. 35000 280. 00000 -90. 00000 270. 00000) (-642. 83000 -477. 350 00 280. 00000 -180. 00000 270. 00000) (-642. 83000 -529. 16000 280. 00000 -180. 00000 270. 00000) (612. 57000 -529. 16000 299. 20000 -180. 00000 270. 00000))) (ROBOT_REL_MOVE ((500. 00000 0. 00000 0. 00000 0. 00000 0. 00000))) (ROBOT_ABS_MOVE ((1112. 57000 -529. 16000 280. 20000 -180. 00000 270. 00000))) (EXCHANGE_PART 5. 00000) (ROBOT_REL_MOVE ((0. 00000 0. 00000 5. 00000 0. 00000 0. 00000))) (ROBOT_REL_MOVE ((-212. 57000 0. 00000 0. 00000 0. 00000 0. 00000))))) (Copyright 1996 AmadaSoft America, Inc. )

[Brief description of the drawings]

FIG. 1 shows an exemplary prior art of a bending workstation with a robot.

FIG. 2 (a) shows, in a block diagram, an advanced sheet metal manufacturing facility according to one aspect of the present invention. FIG.
(B) and FIG. 2 (c), in block diagram form, illustrate an advanced sheet metal manufacturing facility in accordance with additional features and aspects of the present invention.

FIG. 3 illustrates an exemplary embodiment of data flow between server modules and databases and various network locations associated with an intelligent manufacturing system.

FIG. 4 is an exemplary flowchart of the basic steps and operations performed by the server module when the intelligent manufacturing system application is executed.

FIG. 5 is an exemplary flowchart of the steps and operations associated with the intelligent manufacturing system performed by, for example, a station module residing at the bending station.

FIG. 6 illustrates an exemplary embodiment of the flow of data and messages between various networks and modules associated with the expert planning system.

FIG. 7 illustrates, in block diagram form, examples of various expert modules or systems provided to the expert planning system.

FIG. 8 shows examples of various operations and steps performed by an operator to create a bend plan for manufacturing sheet metal elements at a station having a machine with a robot.

FIG. 9 is an exemplary flowchart of various steps and operations performed to create a bend plan for a workstation having a robot with constraints entered by one or more operators. It is.

FIG. 10 illustrates an example of a logical flow of various steps or operations performed to create a bend plan for a manual workstation.

FIG. 11 is a logical flow of various steps and operations performed to create a bend plan for the manual workstation with constraints entered by one or more operators. Here is an example.

FIG. 12 is an exemplary intelligent manufacturing system window display including a three-dimensional display of the part to be manufactured.

FIG. 13 is an exemplary expert planning system window display including a two-dimensional representation of the part to be manufactured and a bend identification number displayed thereon.

FIG. 14 is another example of an expert planning system window display in which status information related to bending planning and execution of the expert system is displayed.

FIG. 15 shows the proposed bending order,
FIG. 4 shows a typical bend sequence entry window display provided to allow an operator to enter or modify the bend sequence.

FIG. 16 shows a typical tool setting window display provided to show, for example, proposed tools and tool stage placements selected by the expert planning system.

FIG. 17 shows a typical robot motion simulation window display including press brakes and robot arms and grippers and reposition grippers.

FIG. 18 illustrates another example of an expert planning system window display, where the window display includes bend order constraints.

FIG. 19 shows an exemplary tool interaction window display that allows an operator to select and indicate a desired tool to be used as a tool constraint.

FIG. 20 is another example of the expert planning system window display, in which a tool selection constraint condition and a bending order constraint condition are selected, and “X” is displayed to confirm these selections. I have.

FIG. 21 shows various steps and operations performed by a constraint manager when creating a constraint phrase based on constraint conditions entered by an operator.

FIGS. 22A and 22B show examples of collinear bending. FIG. 22C shows an example of Z bending.

FIG. 23 (a) shows a typical two-dimensional representation of a sheet metal part having a bend identification number and a bend order number. FIG.
(B) shows a bend order table based on the typical part of FIG. 23 (a), which shows the identification number (ID1) of each bend
And a bending sequence number (SEQ1) based on the bending sequence input by the operator. FIG. 23 (c) shows another exemplary two-dimensional representation of a sheet metal part having a bend identification number;
Here, the bending identification number is assigned according to a different rule from that in FIG. FIG. 23D shows the bending identification number (ID1) used in FIG.
To the set of bend identification numbers (ID) used in FIG.
2 represents an exemplary conversion table provided for converting 2) into a second set. FIG. 23 (e) shows a typical bending order table used to show the bending order entered by the bending operator, according to the bending identification number system used in FIG. 23 (c).

FIG. 24 shows an example of an FEL planning message sent from the planning expert to the athletic expert of the expert planning system.

────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Liang Yuh Fan United States 92620 Irvine, California, 14 Chattanooga Examiner Toshiro Kanazawa (56) References JP-A-3-43132 (JP, A) JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B21D 5/01 G06F 17/30

Claims (10)

(57) [Claims] 1. A two-dimensional single plan view or a plan view of a sheet metal part to be manufactured as an integrated sheet metal manufacturing and production system .
2D 3D view including front view and side view, or 3D frame
From the diagram, two-dimensional development before bending and 3D after bending
An intelligent manufacturing system for generating a bending model including a three-dimensional image ; and an expert planning system for generating and proposing a bending plan for producing the sheet metal part based on the bending model. Comprising: a plurality of expert modules; and a system for selectively activating the plurality of expert modules to adapt the expert planning system to adapt to different bending operations, thereby comprising: An expert planning system generates the bend plan based on the plurality of selectively activated expert modules. 2. A two-dimensional single plan view or a plan view of a sheet metal part to be manufactured as a comprehensive sheet metal manufacturing and production system .
2D 3D view including front view and side view, or 3D frame
From the diagram, two-dimensional development before bending and 3D after bending
An intelligent manufacturing system for generating a bending model including a three-dimensional image ; an expert planning system for generating and proposing a bending plan for manufacturing the sheet metal part based on the bending model; A constraint system for selectively constraining a bending plan generated by the expert planning system based on the constraint conditions, wherein the constraint system generates a constraint phrase according to the constraint condition input by an operator. A constraint manager for generating the bend plan, wherein the constraint phrase is used by the expert planning system in generating the bend plan. 3. The system of claim 2, wherein the constraint is a bending order constraint, and wherein the constraint manager generates a constraint phrase based on the bending order constraint. 4. A two-dimensional single plan view or a plan view of a sheet metal part to be manufactured as an integrated manufacturing system .
2D 3D view including front view and side view, or 3D frame
From the diagram, two-dimensional development before bending and 3D after bending
An intelligent manufacturing system for generating a bending model including a three-dimensional image ; an expert planning system for generating and proposing a bending plan for manufacturing the sheet metal part based on the bending model; An interface module for generating and transferring a message from a system to the expert planning system, wherein the expert planning system generates the bending plan based on the message. 5. The integrated sheet metal manufacturing and production system of claim 4, wherein the message is a feature exchange language (FE).
L) The system generated by the interface module based on L). 6. A two-dimensional single plan view or a plan view of a sheet metal part to be manufactured as a comprehensive sheet metal manufacturing and production system .
2D 3D view including front view and side view, or 3D frame
From the diagram, two-dimensional development before bending and 3D after bending
An intelligent manufacturing system for generating a bending model including a three-dimensional image ; an expert planning system for generating and proposing a bending plan for manufacturing the sheet metal part based on the bending model; A system for selectively activating the expert planning system for the adaptation of the above, wherein the operator independently generates a bending plan based on the bending model, or selectively generates the expert planning system. A system for activating and generating the bending plan. 7. A two-dimensional single plan view or a plan view of a sheet metal part to be manufactured as a comprehensive sheet metal manufacturing and production system .
2D 3D view including front view and side view, or 3D frame
From the diagram, two-dimensional development before bending and 3D after bending
An intelligent manufacturing system for generating a bending model including a three-dimensional image ; and an expert planning system for generating and proposing a bending plan for producing the sheet metal part based on the bending model. Has a plurality of expert modules including at least a planning expert module 72 and a tool expert module 80; and a system for selectively activating the plurality of expert modules to adapt the expert planning system to different bending operations. And whereby the expert planning system generates the bending plan based on the selectively activated expert modules. 8. The system of claim 7, wherein the expert planning system includes an expert module 82 for holding a sheet metal by a robot, an expert module 84 for moving a robot, and an expert module 86 for a back gauge. A system characterized by being selectively activated. 9. A method for manufacturing a sheet metal part in a high-intelligence part manufacturing facility, comprising: (a) storing, in a data storage device, a plurality of past data relating to parts manufactured in the past by the facility; (B) receiving data relating to a part currently to be manufactured by the facility; and (c) comparing stored historical data with the data relating to a part currently to be manufactured. (D) comparing the stored past data with the data for the currently manufactured part, and determining whether at least one of the previously manufactured parts is the same as or different from the part to be manufactured; (E) reading out data on the previously manufactured parts if it is determined in step (d) that they are the same. (F) If it is determined in step (d) that there is a difference, at least a plurality of expert modules including at least the planning expert module 72 and the tool expert module 80 are selectively activated to set the shape of the currently manufactured part. Generating a bending plan for producing the part based on data or the like. 10. A two-dimensional single plane of a sheet metal part to be manufactured.
Figures, or two-dimensional three-view drawings including plan views, front views, and side views,
Or, from a 3D frame diagram, a 2D development diagram before bending
Generates a bending model including 3D images after bending
And an expert planning system for generating a bending plan for manufacturing the sheet metal part based on the bending model. The expert planning system Includes a constraint system for selectively constraining a bending plan generated by the expert planning system based on constraints entered by an operator, the constraint system responding to the constraints entered by the operator. And a constraint manager for generating a predetermined constraint expression used by the expert planning system when generating the bending plan.