Metal deforming – With use of control means energized in response to activator... – Sensing work or product
Patent
1995-02-09
1998-06-09
Jones, David
Metal deforming
With use of control means energized in response to activator...
Sensing work or product
72420, 72422, 72461, B21D 4311, B21J 1312
Patent
active
057619409
ABSTRACT:
Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.
REFERENCES:
patent: 3654616 (1972-04-01), Dunne et al.
patent: 3890552 (1975-06-01), Devol et al.
patent: 4111027 (1978-09-01), Bottomley
patent: 4260940 (1981-04-01), Engelberger et al.
patent: 4309600 (1982-01-01), Perry et al.
patent: 4356718 (1982-11-01), Williamson
patent: 4369563 (1983-01-01), Makino
patent: 4455857 (1984-06-01), Salvagnini
patent: 4495588 (1985-01-01), Nio et al.
patent: 4501135 (1985-02-01), Chivens et al.
patent: 4509357 (1985-04-01), Zbornik
patent: 4517653 (1985-05-01), Tsuchihashi et al.
patent: 4571694 (1986-02-01), Inaba et al.
patent: 4602345 (1986-07-01), Yokoyama
patent: 4613943 (1986-09-01), Miyake et al.
patent: 4640113 (1987-02-01), Dieperink et al.
patent: 4658625 (1987-04-01), Koyama et al.
patent: 4706491 (1987-11-01), Sartioro
patent: 4745812 (1988-05-01), Amazeen et al.
patent: 4802357 (1989-02-01), Jones
patent: 4942767 (1990-07-01), Haritondis et al.
patent: 4947666 (1990-08-01), Hametner et al.
patent: 4962654 (1990-10-01), Zbornik
patent: 4979385 (1990-12-01), LaFrasse et al.
patent: 4991422 (1991-02-01), Sartorio
patent: 5005394 (1991-04-01), Sartorio et al.
patent: 5007264 (1991-04-01), Haack
patent: 5009098 (1991-04-01), Van Merksteijn
patent: 5012661 (1991-05-01), Catti et al.
patent: 5031441 (1991-07-01), Jones
patent: 5036694 (1991-08-01), Farney et al.
patent: 5042287 (1991-08-01), Sartorio
patent: 5058406 (1991-10-01), Sartorio et al.
patent: 5081763 (1992-01-01), Jones
patent: 5088181 (1992-02-01), Jeppson
patent: 5092645 (1992-03-01), Okada
patent: 5146670 (1992-09-01), Jones
patent: 5182936 (1993-02-01), Sartorio
patent: 5187958 (1993-02-01), Prunotto et al.
patent: 5307282 (1994-04-01), Conradson et al.
patent: 5329597 (1994-07-01), Kouno et al.
Bourne, David A., "Intelligent Manufacturing Workstations," which apeared in Knowledge-Based Automation of Processes, Session at the 1992 ASME Winter Annual Meeting, Nov. 1992.
Craig, John J. Introduction to Robotics Mechanics and Control, Second Edition, Addison-Wesley Publishing Co., Reading, MA (1989).
Patent Abstracts of Japan, vol. 017, No. 126, Mar. 17, 1993, & JP-A-04 309 414.
Patent Abstracts of Japan, vol. 015, No. 298, Jul. 29, 1991, & JP-A-03 110 022.
Patent Abstracts of Japan, vol. 015, No. 298, Jul. 29, 1991, & JP-A-03 110 018.
Patent Abstracts of Japan, vol. 018, No. 239, May 9, 1994 & JP-A-06 031 345.
Patent Abstracts of Japan, vol. 015, No. 325, Aug. 19, 1991, & JP-A-03 124 318.
Ichikawa et al., Y., "A Heuristic Planner And An Executive For Mobile Robor Control", IEEE Transactions on Systems Man and Cybernetics, vol. SMC-15, No. 4, pp. 558-563, New York, U.S.A. (Jul./Aug. 1985).
Zussman et al., E., "A Planning Approach For Robot-Assisted Multiple-Bent Profile Handling", Robotics and Computer-Integrated Manufacturing, vol. 11, No. 1, pp. 35-40, Kidlington, Oxford, GB (Mar. 1994).
Huang et al., H., "Time-Optical Control For A Robotic Contour Following Problem", IEEE Journal of Robotics and Automation, vol. 4, No. 2, pp. 140-149, New York, U.S.A. (Apr. 1988).
Hoermann, K., "A Cartesian Approach To Findpath For Industrial Robots", Nato ASI Series, vol. F29, pp. 425-450, Springler-Verlag Berlin Heidelberg, DE (1987).
Fink et al., B., "Schnelle-Bahnplanung Fuer Indsutrieroboter Mit Veraenderlichem Arbeitsraum", Automatisierungstechnik-AT, vol. 39, No. 6, pp. 197-200, 201-204, Munich, DE (Jun. 1991).
Shaffer et al., C.A., "A Real-Time Robot Arm Collision Avoidance System", IEEE Transactions on Robotics and Automation, vol. 8, No. 2, pp. 149-160, New York, U.S.A. (Apr. 1992).
Lee et al., C.T. "A Divide-And-Conquer Approach With Heuristics Of Motion Planning For A Cartesian Manipulator", IEEE Transactions on Systems, Man and Cybernetics, vol. 22, No. 5, pp. 929-944, New York U.S.A. (Sep./Oct. 1992).
O'Donnell et al., P.A., "Deadlock-Free and Collision-Free Coordination Of Two Robot Manipulators", Proceedings of the 1989 IEEE International Conference on Robotics and Automation, vol. 1, pp. 484-489, Scottsdale, AZ (May 1989).
Weule et al., V.H., "Rechnerintergrierte Fertigung Von Abkantteilen", V.A.I.-Zeitschrift, vol. 130, No. 9 pp. 101-106, Dusseldorf, W. Germany (Sep. 1988).
Reissner, V.J., "Innovationsschub BEI Rechnerintegrierten Umformsystemen", Technische Rundschau, vol. 85 No. 5, pp. 20-25, Bern, CH (Feb. 5, 1993).
Geiger et al., M., "Inferenzmaschine Fuer Ein Biegestadienplanuungssystem", Zwf Cim Zeitschrift Fur Wirtschaftliche Fertigung und Automatisierung, vo. 87, No. 5, pp. 261-264, Munich, DE (May 1992).
Database Dialog, Information Access Co., File 621, Access No. 0134529, Communigraphics Inc: "LVD Introduces New CNC/DNC/CAD/CAM Control System For Press Brakes At IMTS'86", & New Product Announcements, No. 0134529, Plainville, CT, U.S.A. (Jul. 1996).
Bourne David Alan
Hazama Kensuke
Moore, Jr. Richard M.
Murray Anne Marie
Sturges, Jr. Robert H.
Amada America, Inc.
Amada Company Ltd.
Jones David
LandOfFree
Methods and apparatuses for backgaging and sensor-based control does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Methods and apparatuses for backgaging and sensor-based control , we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Methods and apparatuses for backgaging and sensor-based control will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2189609