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1. 发明公开

CN106003027A 机械臂运动路径的设置方法和系统有权
公开(公告)号：CN106003027A
公开(公告)日：2016-10-12
申请号：CN201610394196.6
申请日：2016-06-03
申请人：广州视源电子科技股份有限公司
发明人：陈亮
IPC分类号： B25J9/16
CPC分类号： B25J9/02 , B25J9/04 , B25J9/1664 , G05B2219/40501
摘要：本发明涉及一种机械臂运动路径的设置方法和系统，其中方法包括：根据障碍物的位置分布信息确定机械臂转动的圆环形安全区域；确定机械臂端部的起始位置和终点位置，根据所述起始位置和终点位置分别确定械臂端部在所述圆环形安全区域内的转动起点和转动终点；计算机械臂端部从起始位置运动到所述转动起点的第一运动路径以及机械臂端部从所述转动终点运动到终点位置的第二运动路径；根据第一运动路径、第二运动路径和转动路径设置所述机械臂运动路径；其中，所述转动路径为机械臂端部从转动起点弧形转动到转动终点之间的路径。该方案提高了路径设置的效率，而且路径的中间点固定为两个，也便于算法实现。

2. 发明授权

US5969973A Intelligent system for generating and executing a sheet metal bending plan 失效
标题翻译：用于生成和执行钣金弯曲计划的智能系统
公开(公告)号：US5969973A
公开(公告)日：1999-10-19
申请号：US386369
申请日：1995-02-09
申请人： David Alan Bourne , Duane Thomas Williams , Kyoung Hung Kim , Sivaraj Sivarama Krishnan , Kensuke Hazama
发明人： David Alan Bourne , Duane Thomas Williams , Kyoung Hung Kim , Sivaraj Sivarama Krishnan , Kensuke Hazama
IPC分类号： B21D5/01 , B21D5/02 , B25J9/16 , G05B19/4069 , G05B19/4097 , G05B19/418 , G06F17/50 , G06F19/00
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： An intelligent sheet metal bending system is disclosed, having a cooperative generative planning system. A planning module interacts with several expert modules to develop a bending plan. The planning module utilizes a state-space search algorithm. Computerized methods are provided for selecting a robot gripper and a repo gripper, and for determining the optimal placement of such grippers as they are holding a workpiece being formed by the bending apparatus. Computerized methods are provided for selecting tooling to be used by the bending apparatus, and for determining a tooling stage layout. An operations planning method is provided which allows the bending apparatus to be set up concurrently while time-consuming calculations, such as motion planning, are performed. An additional method or system is provided for positioning tooling stages by using a backgage guide member which guides placement of a tooling stage along the die rail of the bending apparatus. A method is provided for learning motion control offset values, and for eliminating the need for superfluous sensor-based control operations once the motion control offset values are known. The planning system may be used for facilitating functions such as design and assembly system, which may perform designing, costing, scheduling and/or manufacture and assembly.
摘要翻译：公开了一种具有协同生成规划系统的智能钣金弯曲系统。规划模块与几个专家模块交互制定弯曲计划。规划模块利用状态空间搜索算法。提供了用于选择机器人夹持器和回收夹持器的计算机化方法，并且用于确定这些夹持器在保持由弯曲装置形成的工件时的最佳布置。提供了用于选择要由弯曲装置使用的工具以及用于确定加工台布局的计算机化方法。提供了一种操作规划方法，其允许同时设置弯曲装置，同时执行诸如运动规划等耗时的计算。提供了一种额外的方法或系统，用于通过使用引导工具台沿着弯曲设备的模具轨道的放置的引导构件定位工具台。提供了一种用于学习运动控制偏移值的方法，并且一旦知道运动控制偏移值就不需要多余的基于传感器的控制操作。规划系统可用于促进诸如设计和组装系统的功能，其可以执行设计，成本核算，调度和/或制造和组装。

3. 发明申请

WO01078951A1 SEMI-OPTIMAL PATH FINDING IN A WHOLLY UNKNOWN ENVIRONMENT 审中-公开
标题翻译： SEMI优化路径在一个完整的未知环境中寻找
公开(公告)号：WO01078951A1
公开(公告)日：2001-10-25
申请号：PCT/JP2000/002427
申请日：2000-04-13
IPC分类号： G05D1/02 , B25J9/16
CPC分类号： G05D1/0221 , G05B2219/31005 , G05B2219/40473 , G05B2219/40499 , G05B2219/40501 , G05D2201/0207 , Y02P90/285
摘要： A mobile robot, which is guided by a new learning algorithm is presented. The first task for the robot is searching a path like a human being. That is, finding a semi-optimal path to a given goal in a wholly unknown, unpredictable and partly, dynamic large-scale environment. Therefore, it demands high technique of environment modeling through learning. Because the robot should realize its missions within the framework of the task knowledge, there appears a new phenomenon and a Dead Corner theory: genetic algorithm and reinforcement learning algorithm are the basis for the presented theory. Powerful methods are described in the mathematics tool of MDP models. The essential method of the sub-goal method is similar with the Sub-goal method of Options over MDP theory and has been successfully proved. The presented theory is a refined theory of A Learning Classifier System theory. Most of the theory has been proved in a visualization platform of an animation simulator.
摘要翻译：介绍了一种由新的学习算法引导的移动机器人。机器人的第一个任务是搜索人类的路径。也就是说，在一个完全未知的，不可预测的，部分动态的大规模环境中找到一个给定目标的半最佳路径。因此，通过学习需要高度的环境建模技术。由于机器人在任务知识框架下实现其任务，出现了一种新现象和死角理论：遗传算法和强化学习算法是提出的理论的基础。在MDP模型的数学工具中描述了强大的方法。子目标法的基本方法与选项超过MDP理论的子目标方法相似，已经成功证明。所提出的理论是A学习分类器系统理论的精细理论。大多数理论已经在动画模拟器的可视化平台中被证明。

4. 发明公开

EP1684140A2 Bending apparatus comprising a control means 失效
标题翻译： Biegevorrichtung mit Steuermittel undzugehörigesVerfahren
公开(公告)号：EP1684140A2
公开(公告)日：2006-07-26
申请号：EP06009075.0
申请日：1995-11-09
申请人： AMADA COMPANY, Ltd. , U.S. AMADA LTD.
发明人： Bourne, David Alan , Williams, Duane Thomas , Kim, Kyoung Hung , Krishnan, Sivaraj Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： The present invention refers to a bending apparatus comprising a control means being configured for selecting a workpiece holding gripper, wherein means for reading information from a geometry-determined library are used, undesired grippers are excluded and a gripper is selected to be used in response of its geometrical data.
摘要翻译：本发明涉及一种弯曲装置，其包括控制装置，该控制装置被配置为选择工件保持夹持器，其中使用用于从几何确定的库读取信息的装置，排除不期望的夹持器，并且选择使用夹具以响应于其几何数据。

5. 发明公开

EP1657607A2 Computerized system for generating and executing a sheet metal bending plan and computer 失效
标题翻译： Biegevorrichtung mit einer Steuereinrichtung
公开(公告)号：EP1657607A2
公开(公告)日：2006-05-17
申请号：EP06002177.1
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David, Alan , Williams, Duane, Thomas , Kim, Kyoung, Hung , Krishnan, Sivaraj, Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： In order to present a computerized system for generating and executing a sheet metal bend plan, that allows evaluation of a bending operation more effectively, a system for generating a plan is disclosed, which comprises a system for generating a plan which comprises a sequence of operations to be performed by a bending apparatus for bending workpieces comprising sheets of malleable material, the bending apparatus having a gripper for gripping a workpiece while performing a bend, said sequence of operations comprising a set of N bends for forming a finished workpiece from a stock sheet of malleable material, said system comprising: proposing means for proposing, for an mth operation within the sequence of operations, a plurality of proposed operations including a plurality of proposed bends to be performed by said apparatus; subplan means for providing a proposed subplan that accompanies each proposed bend; and generating means for generating a plan including a sequence of bends from a first bend through an Nth bend, by choosing each bend in the sequence of operations based upon the proposed bends and the proposed subplan that accompanies each proposed bend, wherein the system further comprises estimating means for estimating a cost to be associated with each proposed bend. Moreover, a respective computer is disclosed..
摘要翻译：为了呈现用于生成和执行钣金弯曲计划的计算机化系统，其允许更有效地评估弯曲操作，公开了一种用于生成计划的系统，其包括用于生成包括一系列操作的计划的系统由用于弯曲包括可延展材料片的工件的弯曲装置执行的弯曲装置具有用于在执行弯曲的同时夹持工件的夹持器，所述操作操作包括一组用于从坯料板形成成品工件的N个弯头所述系统包括：为所述操作序列内的第m次操作提出多个提出的操作的提出装置，所述多个提出的操作包括由所述设备执行的多个所提出的弯曲; 子计划用于提供伴随每个拟议弯道的拟议子计划; 以及生成装置，用于通过基于所提出的弯曲和伴随每个提出的弯曲的所提出的子计划选择操作序列中的每个弯曲来产生包括从第一弯曲到第N弯的一系列弯曲的平面图，其中该系统还包括用于估计与每个提出的弯曲相关联的成本的估计装置。此外，公开了相应的计算机

6. 发明授权

EP1657607B1 Bending apparatus comprising a control means 失效
标题翻译：与控制装置弯曲装置
公开(公告)号：EP1657607B1
公开(公告)日：2009-05-13
申请号：EP06002177.1
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David, Alan , Williams, Duane, Thomas , Kim, Kyoung, Hung , Krishnan, Sivaraj, Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265

7. 发明公开

EP1684140A3 Bending apparatus comprising a control means 失效
标题翻译：与弯曲控制装置装置
公开(公告)号：EP1684140A3
公开(公告)日：2007-03-07
申请号：EP06009075.0
申请日：1995-11-09
申请人： AMADA COMPANY, Ltd. , U.S. AMADA LTD.
发明人： Bourne, David Alan , Williams, Duane Thomas , Kim, Kyoung Hung , Krishnan, Sivaraj Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097 , B21D5/00
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： The present invention refers to a bending apparatus comprising a control means being configured for selecting a workpiece holding gripper, wherein means for reading information from a geometry-determined library are used, undesired grippers are excluded and a gripper is selected to be used in response of its geometrical data.

8. 发明公开

EP1657607A3 Computerized system for generating and executing a sheet metal bending plan and computer 失效
标题翻译：用于生成和执行一个金属片弯曲计划和计算机中的计算机为基础的系统
公开(公告)号：EP1657607A3
公开(公告)日：2007-03-07
申请号：EP06002177.1
申请日：1995-11-09
申请人： AMADA COMPANY, LIMITED , U.S. AMADA LTD.
发明人： Bourne, David, Alan , Williams, Duane, Thomas , Kim, Kyoung, Hung , Krishnan, Sivaraj, Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： In order to present a computerized system for generating and executing a sheet metal bend plan, that allows evaluation of a bending operation more effectively, a system for generating a plan is disclosed, which comprises a system for generating a plan which comprises a sequence of operations to be performed by a bending apparatus for bending workpieces comprising sheets of malleable material, the bending apparatus having a gripper for gripping a workpiece while performing a bend, said sequence of operations comprising a set of N bends for forming a finished workpiece from a stock sheet of malleable material, said system comprising: proposing means for proposing, for an mth operation within the sequence of operations, a plurality of proposed operations including a plurality of proposed bends to be performed by said apparatus; subplan means for providing a proposed subplan that accompanies each proposed bend; and generating means for generating a plan including a sequence of bends from a first bend through an Nth bend, by choosing each bend in the sequence of operations based upon the proposed bends and the proposed subplan that accompanies each proposed bend, wherein the system further comprises estimating means for estimating a cost to be associated with each proposed bend. Moreover, a respective computer is disclosed..

9. 发明公开

EP1253496A1 System for generating and executing a sheetmetal bending plan 失效
标题翻译： Biegemaschine mit einer Steuerung zur Erstellung undAusführungeines Metallplattenbiegeplanes
公开(公告)号：EP1253496A1
公开(公告)日：2002-10-30
申请号：EP02002809.8
申请日：1995-11-09
申请人： Amada Company, Ltd. , U.S. AMADA LTD.
发明人： Bourne, David Alan , Williams, Duane Thomas , Kim, Kyoung Hung , Krishnan, Sivaraj Sivarama , Hazama, Kensuke, U.S. Amada, Ltd.
IPC分类号： G05B19/4097
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265
摘要： In order to present a system for generating a plan, that allows evaluation of a bending operation more effectively, a system for generating a plan is disclosed, which comprises a system for generating a plan which comprises a sequence of operations to be performed by a bending apparatus for bending workpieces comprising sheets of malleable material, the bending apparatus having a gripper for gripping a workpiece while performing a bend, said sequence of operations comprising a set of N bends for forming a finished workpiece from a stock sheet of malleable material, said system comprising: proposing means for proposing, for an mth operation within the sequence of operations, a plurality of proposed operations including a plurality of proposed bends to be performed by said apparatus; subplan means for providing a proposed subplan that accompanies each proposed bend; and generating means for generating a plan including a sequence of bends from a first bend through an Nth bend, by choosing each bend in the sequence of operations based upon the proposed bends and the proposed subplan that accompanies each proposed bend, wherein the system further comprises estimating means for estimating a cost to be associated with each proposed bend.
摘要翻译：为了呈现用于生成计划的系统，其允许更有效地评估弯曲操作，公开了一种用于生成计划的系统，其包括用于生成计划的系统，该系统包括要由弯曲执行的一系列操作用于弯曲包括可延展材料片的工件的装置，所述弯曲装置具有用于在执行弯曲的同时夹持工件的夹持器，所述操作顺序包括用于从可延展材料的原料板形成成品的一组N弯头，所述系统包括：提出用于针对所述操作序列内的第m个操作提出多个所提出的操作的装置，所述多个提出的操作包括由所述设备执行的多个所提出的弯曲; 子计划用于提供伴随每个拟议弯道的拟议子计划; 以及生成装置，用于通过基于所提出的弯曲和伴随每个提出的弯曲的所提出的子计划选择操作序列中的每个弯曲来产生包括从第一弯曲到第N弯的一系列弯曲的平面图，其中该系统还包括用于估计与每个提出的弯曲相关联的成本的估计装置。

10. 发明授权

EP1684140B1 Bending apparatus comprising a control means and corresponding method 失效
标题翻译：与控制装置和相关联的方法的弯曲设备
公开(公告)号：EP1684140B1
公开(公告)日：2009-04-29
申请号：EP06009075.0
申请日：1995-11-09
申请人： AMADA COMPANY, Ltd. , U.S. AMADA LTD.
发明人： Bourne, David Alan , Williams, Duane Thomas , Kim, Kyoung Hung , Krishnan, Sivaraj Sivarama , Hazama, Kensuke
IPC分类号： G05B19/4097 , B21D5/00
CPC分类号： B21D37/145 , B21D5/02 , B25J9/1666 , G05B19/4069 , G05B19/4097 , G05B19/41825 , G05B2219/31352 , G05B2219/33002 , G05B2219/35189 , G05B2219/35192 , G05B2219/36268 , G05B2219/36304 , G05B2219/39105 , G05B2219/40054 , G05B2219/40501 , G05B2219/45143 , G05B2219/49068 , Y02P90/087 , Y02P90/20 , Y02P90/265

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