JP6530315B2 - マルチプルステーションプレス内の工作物移送軌道の決定方法 - Google Patents

マルチプルステーションプレス内の工作物移送軌道の決定方法 Download PDF

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Publication number
JP6530315B2
JP6530315B2 JP2015538230A JP2015538230A JP6530315B2 JP 6530315 B2 JP6530315 B2 JP 6530315B2 JP 2015538230 A JP2015538230 A JP 2015538230A JP 2015538230 A JP2015538230 A JP 2015538230A JP 6530315 B2 JP6530315 B2 JP 6530315B2
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Japan
Prior art keywords
workpiece
press
stations
trajectory
segment
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JP2015538230A
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Japanese (ja)
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JP2016500882A (ja
JP2016500882A5 (enExample
Inventor
シャー，ドミニーク
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グーデル グループ アーゲー
グーデル グループ アーゲー
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Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Robotics (AREA)
  • Computational Mathematics (AREA)
  • Algebra (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Databases & Information Systems (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Press Drives And Press Lines (AREA)
  • Control Of Presses (AREA)
  • Numerical Control (AREA)
JP2015538230A 2012-10-22 2013-10-22 マルチプルステーションプレス内の工作物移送軌道の決定方法 Expired - Fee Related JP6530315B2 (ja)

Applications Claiming Priority (3)

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

Publications (3)

Publication Number Publication Date
JP2016500882A JP2016500882A (ja) 2016-01-14
JP2016500882A5 JP2016500882A5 (enExample) 2016-11-17
JP6530315B2 true JP6530315B2 (ja) 2019-06-12

Family

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JP2015538230A Expired - Fee Related JP6530315B2 (ja) 2012-10-22 2013-10-22 マルチプルステーションプレス内の工作物移送軌道の決定方法

Country Status (8)

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

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EP2952988B1 (de) * 2014-06-03 2020-07-29 Siemens Aktiengesellschaft Verfahren zur Berechnung einer optimierten Trajektorie
US10551820B2 (en) * 2015-06-03 2020-02-04 Siemens Aktiengesellschaft Method for calculating an optimized trajectory
DE102016222649B3 (de) * 2016-09-19 2017-08-31 Schuler Automation Gmbh & Co. Kg Verfahren zur Bestimmung einer Bahnkurve für eine Transfereinrichtung und Produktionsvorrichtung
EP3315267B1 (de) * 2016-10-25 2019-12-04 Siemens Aktiengesellschaft Verfahren zur optimierung von bewegungsprofilen, verfahren zur bereitstellung von bewegungsprofilen, steuereinrichtung, anlage und computerprogrammprodukt
JP6765291B2 (ja) * 2016-12-16 2020-10-07 コマツ産機株式会社 シミュレーション装置、シミュレーション方法およびシミュレーションプログラム
CN109426690B (zh) * 2017-08-31 2023-07-28 西门子公司 生成空间的可视化模型布局的方法、装置和设备
JP7051465B2 (ja) * 2018-01-29 2022-04-11 コマツ産機株式会社 シミュレーション装置、プレスシステム、シミュレーション方法、プログラム、および記録媒体
CN108563826B (zh) * 2018-03-02 2022-02-08 河北工业大学 多连杆伺服压力机传动机构性能分析系统
ES2934802T3 (es) * 2018-09-18 2023-02-27 Siemens Ag Planificación de movimiento para un sistema de transporte de una instalación de servoprensas
JP6508691B1 (ja) * 2018-10-15 2019-05-08 株式会社Ｍｕｊｉｎ 制御装置、作業ロボット、プログラム、及び、制御方法
DE102018125434B4 (de) * 2018-10-15 2020-06-18 Schuler Pressen Gmbh Verfahren zur Prüfung der Transferfreigängigkeit
JP6792231B2 (ja) * 2018-12-04 2020-11-25 株式会社エイチアンドエフ トランスファプレスシステム
CA3131913C (en) 2019-02-27 2024-10-15 Berkshire Grey Inc SYSTEMS AND METHODS FOR ROUTING PIPE IN PROGRAMMABLE DISPLACEMENT SYSTEMS
WO2020219480A1 (en) * 2019-04-25 2020-10-29 Berkshire Grey, Inc. Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
JP7355533B2 (ja) * 2019-06-25 2023-10-03 ファナック株式会社 ロボットプログラミング装置
JP7316111B2 (ja) * 2019-06-25 2023-07-27 ファナック株式会社 プレス加工シミュレーション装置
JP7438761B2 (ja) * 2020-01-20 2024-02-27 住友重機械工業株式会社 プレス装置
US12413242B2 (en) * 2020-12-21 2025-09-09 Google Llc Reconfigurable analog-to-digital converter
CN113059040B (zh) * 2021-03-16 2022-10-04 浙江大学台州研究院 一种雨刮器钢条的折弯设备及其方法
CN114378818B (zh) * 2022-01-14 2024-06-28 浙江精尚数控科技有限公司 一种多工位配套夹持机械手的移动选择方法
CN116653346B (zh) * 2023-07-05 2025-06-17 合肥工业大学 一种冲压工件成形质量的在线监测方法与工具

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Also Published As

Publication number Publication date
ES2802850T3 (es) 2021-01-21
WO2014063262A1 (en) 2014-05-01
JP2016500882A (ja) 2016-01-14
EP2909684A1 (en) 2015-08-26
CN104903804B (zh) 2018-09-11
CN104903804A (zh) 2015-09-09
US20150294044A1 (en) 2015-10-15
US9864822B2 (en) 2018-01-09
KR20170074723A (ko) 2017-06-30
KR102149566B1 (ko) 2020-08-31
EP2909684B1 (en) 2020-04-22
SG11201503120PA (en) 2015-05-28

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