JPH0370817U - - Google Patents

Info

Publication number
JPH0370817U
JPH0370817U JP13250789U JP13250789U JPH0370817U JP H0370817 U JPH0370817 U JP H0370817U JP 13250789 U JP13250789 U JP 13250789U JP 13250789 U JP13250789 U JP 13250789U JP H0370817 U JPH0370817 U JP H0370817U
Authority
JP
Japan
Prior art keywords
bending
die
manipulator
workpiece
ironing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP13250789U
Other languages
Japanese (ja)
Other versions
JPH0744330Y2 (en
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1989132507U priority Critical patent/JPH0744330Y2/en
Publication of JPH0370817U publication Critical patent/JPH0370817U/ja
Application granted granted Critical
Publication of JPH0744330Y2 publication Critical patent/JPH0744330Y2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Landscapes

  • Bending Of Plates, Rods, And Pipes (AREA)

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本考案の実施例に係るマニピユレータ
制御装置のブロツク図、第２図は実施例に用いる
しごき曲げ装置の全体構成を示す側面図、第３図
は伸びの説明図、第４図はクリアランスの説明図
、第５図は板厚と伸びの関係を示す図、第６図は
テーブルデータの説明図である。 １２……マニピユレータ制御装置、１３……曲
げプログラム入力部、１４……曲げ条件抽出部、
１５……寸法データ（フランジ寸法、底辺寸法）
抽出部、１６……伸び及びクリアランスのデータ
テーブル、１７……データ抽出部、１８……補間
計算部、１９……マニピユレータ位置計算部、２
０……マニピユレータ軸サーボコントローラＮ…
…伸び、Ｃ……クリアランス。 Fig. 1 is a block diagram of a manipulator control device according to an embodiment of the present invention, Fig. 2 is a side view showing the overall configuration of the ironing and bending device used in the embodiment, Fig. 3 is an explanatory diagram of elongation, and Fig. 4 is a An explanatory diagram of clearance, FIG. 5 is a diagram showing the relationship between plate thickness and elongation, and FIG. 6 is an explanatory diagram of table data. 12... Manipulator control device, 13... Bending program input unit, 14... Bending condition extraction unit,
15...Dimension data (flange dimensions, base dimensions)
Extraction unit, 16... Data table of elongation and clearance, 17... Data extraction unit, 18... Interpolation calculation unit, 19... Manipulator position calculation unit, 2
0...Manipulator axis servo controller N...
...Stretch, C...Clearance.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 押え金型でワークを押え込み該金型から突出さ
れるワークの一端を曲げ金型でしごき曲げするし
ごき曲げプレスの前面に前記ワークの他端を把持
し前記押え金型に対して位置決めするマニピユレ
ータを配置したしごき曲げ装置のマニピユレータ
制御装置において、前記しごき曲げによるワーク
の伸び及び前記押え金型に対する前記曲げ金型の
位置を規定するクリアランスに関するデータテー
ブルと、該テーブルを検索し曲げ条件に応じた伸
び及びクリアランスに関する位置補正値を演算す
る手段と、該手段で演算された位置補正値を曲げ
寸法に適用することにより前記マニピユレータの
制御位置を演算する手段を備えたことを特徴とす
るしごき曲げ装置のマニピユレータ制御装置。 A manipulator is provided in front of the ironing and bending press, which presses the workpiece with a presser die and irons and bends one end of the workpiece projected from the die using the bending die, and grips the other end of the workpiece and positions it with respect to the presser die. In the manipulator control device of the arranged ironing and bending device, a data table regarding the elongation of the workpiece due to ironing and the clearance that defines the position of the bending die with respect to the presser die, and the table are searched to determine the elongation according to the bending conditions. and a means for calculating a position correction value regarding clearance, and a means for calculating a control position of the manipulator by applying the position correction value calculated by the means to a bending dimension. Manipulator control device.
JP1989132507U 1989-11-16 1989-11-16 Manipulator controller for ironing and bending machine Expired - Fee Related JPH0744330Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1989132507U JPH0744330Y2 (en) 1989-11-16 1989-11-16 Manipulator controller for ironing and bending machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1989132507U JPH0744330Y2 (en) 1989-11-16 1989-11-16 Manipulator controller for ironing and bending machine

Publications (2)

Publication Number Publication Date
JPH0370817U true JPH0370817U (en) 1991-07-17
JPH0744330Y2 JPH0744330Y2 (en) 1995-10-11

Family

ID=31679960

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1989132507U Expired - Fee Related JPH0744330Y2 (en) 1989-11-16 1989-11-16 Manipulator controller for ironing and bending machine

Country Status (1)

Country Link
JP (1) JPH0744330Y2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007014983A (en) * 2005-07-07 2007-01-25 National Institute Of Advanced Industrial & Technology Method and apparatus for forming pipe

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59227379A (en) * 1983-06-09 1984-12-20 株式会社アマダ Method and device for supplying work
JPS6192725A (en) * 1984-10-15 1986-05-10 Amada Co Ltd Bend work system of plate stock
JPS6261731A (en) * 1985-09-12 1987-03-18 Amada Co Ltd Adjusting method for work reference plane in folding machine
JPS6313622A (en) * 1986-07-07 1988-01-20 Amada Co Ltd Butt position deciding device for back gage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59227379A (en) * 1983-06-09 1984-12-20 株式会社アマダ Method and device for supplying work
JPS6192725A (en) * 1984-10-15 1986-05-10 Amada Co Ltd Bend work system of plate stock
JPS6261731A (en) * 1985-09-12 1987-03-18 Amada Co Ltd Adjusting method for work reference plane in folding machine
JPS6313622A (en) * 1986-07-07 1988-01-20 Amada Co Ltd Butt position deciding device for back gage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007014983A (en) * 2005-07-07 2007-01-25 National Institute Of Advanced Industrial & Technology Method and apparatus for forming pipe

Also Published As

Publication number Publication date
JPH0744330Y2 (en) 1995-10-11

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees