Boots – shoes – and leggings
Patent
1991-08-07
1994-02-15
Fleming, Michael R.
Boots, shoes, and leggings
395 82, 72422, 36447407, 36447422, 364188, 364472, 901 3, B25J 916, G05B 19405
Patent
active
052874338
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a device for control of a robot manipulator for a metal sheet bending installation.
2. Description of the Prior Art
The present invention is advantageously applied to the command and control of a robot manipulator of the type described in Italian Patent application filed Mar. 15, 1988 under application No 67224-A/88 by the same applicant. This manipulator device comprises a pair of motor driven manipulator heads which translate within a manipulation space and are rotatable about a common axis which is parallel to a linear bending zone defined by the dies of a press. The manipulator heads are adapted to grip the opposite edges of a metal sheet and to position this metal sheet between the dies of the press in such a way as to allow a predetermined bending of the metal sheet. This manipulator device further has an arm with a plurality of auxiliary pincers which can grip an edge of the metal sheet to invert it. The manipulator device and the press are controlled by an electronic command and control unit which, on the basis of previously memorised instructions, imparts thereto sequential instructions defining successive bending cycles.
The instructions for the various working phases are normally imparted to the command unit by the so-called "self-learning" procedure on the basis of which an operator physically moves the machine in a sequential manner through the movements which the bending cycle requires, and when each individual movement has been effected inserts into the command unit the parameters relating to this movement.
In this way the various positions assumed by the elements of the machine (for example the successive positions assumed by the manipulator heads) are memorised in a sequential manner within the RAM memory of the command and control unit, and can subsequently be read by this command unit and therefore performed again during the operating bending cycles.
It is clear from what has been explained above that when it is desired to modify a previously memorised bending cycle it is necessary to perform a new self-learning procedure which takes up considerable time to complete and is rather onerous.
Moreover, the staff employed to perform the self-learning procedure must know the machine and the admissible sequence of operating steps very well, and must position the various elements thereof with extreme precision, so as to insert reliable data into the control unit.
SUMMARY OF THE INVENTION
Thus, a first object of the present invention is to provide a device for control of a robot manipulator for the sheet metal bending installation, which apparatus effects automatic creation of command signals for controlling the phases of the working cycle of a robot manipulator for a sheet metal bending installation, and which allows a simpler and more rapid definition of the cycle of operations to be achieved.
The first object of the present invention is achieved by the provision of a control device characterised by the fact that it comprises means selectable by an operator and operable to create a complete sequence of the said command signals for controlling the said phases.
A second object of the present invention is to provide a control apparatus for increasing the working speed of the sequence of control signals for a metal sheet bending installation so as to reduce the time taken to perform the working cycle with respect to that defined as a result of programming, with a guarantee of the correct and complete execution of the various operating phases of the bending cycle.
The second object of the present invention is achieved by the provision of a control device that is characterised by the fact that it includes means for detecting at least a predetermined one of the command and control signals, and for associating another command and control signal to the predetermined signal.
Further, in the control device of the prior art, in order to reduce the time taken to create the instructions for the various phases of a bend
REFERENCES:
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patent: 4757459 (1988-07-01), Lauchnor et al.
patent: 4815011 (1989-03-01), Mizuno et al.
patent: 4888708 (1989-12-01), Brantmark et al.
patent: 4998206 (1991-03-01), Jones et al.
patent: 5005394 (1991-04-01), Sartorio et al.
Copy of International Search Report and Annex, Mar. 12, 1991.
English Language Translation of Italian Patent Application No. 67224-A/88, 1988.
Prada Marco
Prunotto Gianpaolo
Amada Company Limited
Downs Robert W.
Fleming Michael R.
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