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1. 发明授权

EP0458976B1 DEVICE FOR CONTROL OF A ROBOT MANIPULATOR FOR A METAL SHEET BENDING INSTALLATION 失效
标题翻译：控制装置一个机器人金属板弯曲
公开(公告)号：EP0458976B1
公开(公告)日：1996-09-18
申请号：EP91900324.4
申请日：1990-12-18
申请人： AMADA COMPANY LIMITED
发明人： PRUNOTTO, Gianpaolo , PRADA, Marco
IPC分类号： B25J9/16 , G05B19/409
CPC分类号： B21D43/105 , B21D5/004 , B21D5/0281 , G05B19/4083 , G05B19/409 , G05B19/425 , G05B2219/34325 , G05B2219/36046 , G05B2219/36159 , G05B2219/45143
摘要： To perform a simple and rapid preparation of control program, the control device for a robot manipulator for a sheet metal bending installation is provided with a first key means for inputting a command signal for actuating a first actuator means that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key means for inputting a command signal for actuating a second actuator that is adapted to move another movable element of the metal sheet bending installation through a changeable distance or amount. Further, to increase the working speed of the sequence of control signals for the metal sheet bending installation, the control device is provided with means for detecting a plurality of command signals for subsequently actuating a plurality of actuators and for subsequently moving an element or elements of the installation, and means for associating the plurality of command signals to produce an associated single command signal for actuating subsequently the plurality of the second actuator without any stops between the actions thereof.

2. 发明公开

EP1927911A2 Machining apparatus 有权
标题翻译： Bearbeitungsvorrichtung
公开(公告)号：EP1927911A2
公开(公告)日：2008-06-04
申请号：EP07121647.7
申请日：2007-11-27
申请人： JTEKT CORPORATION
发明人： YONEZU, Toshihiro , SUGIURA, Hiroaki , OSAKI, Yoshitaro
IPC分类号： G05B19/416
CPC分类号： G05B19/4166 , B24B5/42 , G05B2219/33131 , G05B2219/34325 , G05B2219/45161 , Y10T82/10 , Y10T82/19 , Y10T408/47 , Y10T408/545 , Y10T409/10 , Y10T409/303808 , Y10T409/305712 , Y10T409/307392 , Y10T409/30868
摘要： A machining apparatus, in which a plurality of user set programs ixx relation to one axis is written and the amount of the infeed motion of the grinding wheel is increased to restrain the change of the load of the grinding wheel, improves a machining accuracy and achieve a longer life of the grinding wheel,
When the grinding wheel 30 cut arc portions 11A, 11C, U having its diameter of which is gradually sxnall according to a position apart from the shoulder, the numerical controller 40 controls a rotation of the workpiece 10 around said C-axis, a motion of a grinding wheel 30 relative to the workpiece 10 along an X-axis and Z-axis to trace an arc profile of the arc portion 11A, 11C, U of the extending portion, and an infeed motion of the grinding wheel 30 to the workpiece 10 along the X-axis to increase gradually an amount of the infeed motion of the grinding wheel 30 to the workpiece I along the X-axis in order to griutd the extending portion to the arc profile and in order to increase gradually a grinding load of the grinding wheel 30.
摘要翻译：写入多个用户设定程序ixx与一个轴关系的加工装置，并且增加砂轮的进给动作量以抑制砂轮的载荷变化，提高加工精度并实现砂轮的寿命更长，当砂轮30切割其直径根据与肩部分离的位置逐渐减小的弧形部分11A，11C，U时，数值控制器40控制工件10的旋转周围所述C轴，砂轮30相对于工件10沿X轴和Z轴的运动，以跟踪延伸部分的弧形部分11A，11C，U的弧形轮廓，以及进给运动砂轮30沿着X轴移动到工件10，以逐渐增加砂轮30沿着X轴向工件I的进给量，以便将延伸部分向弧形轮廓并按顺序增加 e逐渐磨削砂轮30的研磨载荷。

3. 发明授权

EP1927911B1 Machining apparatus 有权
公开(公告)号：EP1927911B1
公开(公告)日：2011-07-06
申请号：EP07121647.7
申请日：2007-11-27
申请人： JTEKT CORPORATION
发明人： YONEZU, Toshihiro , SUGIURA, Hiroaki , OSAKI, Yoshitaro
IPC分类号： G05B19/416
CPC分类号： G05B19/4166 , B24B5/42 , G05B2219/33131 , G05B2219/34325 , G05B2219/45161 , Y10T82/10 , Y10T82/19 , Y10T408/47 , Y10T408/545 , Y10T409/10 , Y10T409/303808 , Y10T409/305712 , Y10T409/307392 , Y10T409/30868

4. 发明公开

EP1927911A3 Machining apparatus 有权
标题翻译：加工设备
公开(公告)号：EP1927911A3
公开(公告)日：2009-11-11
申请号：EP07121647.7
申请日：2007-11-27
申请人： JTEKT CORPORATION
发明人： YONEZU, Toshihiro , SUGIURA, Hiroaki , OSAKI, Yoshitaro
IPC分类号： G05B19/416
CPC分类号： G05B19/4166 , B24B5/42 , G05B2219/33131 , G05B2219/34325 , G05B2219/45161 , Y10T82/10 , Y10T82/19 , Y10T408/47 , Y10T408/545 , Y10T409/10 , Y10T409/303808 , Y10T409/305712 , Y10T409/307392 , Y10T409/30868
摘要： A machining apparatus, in which a plurality of user set programs ixx relation to one axis is written and the amount of the infeed motion of the grinding wheel is increased to restrain the change of the load of the grinding wheel, improves a machining accuracy and achieve a longer life of the grinding wheel,
When the grinding wheel 30 cut arc portions 11A, 11C, U having its diameter of which is gradually sxnall according to a position apart from the shoulder, the numerical controller 40 controls a rotation of the workpiece 10 around said C-axis, a motion of a grinding wheel 30 relative to the workpiece 10 along an X-axis and Z-axis to trace an arc profile of the arc portion 11A, 11C, U of the extending portion, and an infeed motion of the grinding wheel 30 to the workpiece 10 along the X-axis to increase gradually an amount of the infeed motion of the grinding wheel 30 to the workpiece I along the X-axis in order to griutd the extending portion to the arc profile and in order to increase gradually a grinding load of the grinding wheel 30.
摘要翻译：一种加工设备，其中写入与一个轴相关的多个用户设定程序ixx，并增加砂轮的进给运动量以限制砂轮的负载变化，提高加工精度并实现砂轮的寿命更长，当砂轮30根据离开肩部的位置切削其直径逐渐缩小的弧形部分11A，11C，U时，数控装置40控制工件10的周围的旋转所述C轴表示研磨轮30相对于工件10沿X轴和Z轴的运动以追踪延伸部分的弧形部分11A，11C，U的弧形轮廓，以及进给运动砂轮30沿着X轴向工件10移动以逐渐增加砂轮30沿着X轴向工件I的进给运动的量以便将延伸部分夹紧到弧形轮廓并且按顺序增加逐渐磨削砂轮30的磨削载荷。

5. 发明公开

EP0458976A1 DEVICE FOR CONTROL OF A ROBOT MANIPULATOR FOR A METAL SHEET BENDING INSTALLATION 失效
标题翻译：控制装置一个机器人的金属板弯曲性。
公开(公告)号：EP0458976A1
公开(公告)日：1991-12-04
申请号：EP91900324.0
申请日：1990-12-18
申请人： AMADA COMPANY LIMITED
发明人： PRUNOTTO, Gianpaolo , PRADA, Marco
IPC分类号： B21D5 , B21D43 , B25J9 , B25J13 , G05B19
CPC分类号： B21D43/105 , B21D5/004 , B21D5/0281 , G05B19/4083 , G05B19/409 , G05B19/425 , G05B2219/34325 , G05B2219/36046 , G05B2219/36159 , G05B2219/45143
摘要： Afin de préparer simplement et rapidement un programme de commande, le dispositif de commande d'un manipulateur robotique pour une installation de pliage de feuilles ou plaques de métal est muni d'une première touche de commande permettant l'introduction d'un signal de commande destiné à actionner un premier actuateur qui est apte à déplacer un élément amovible de ladite installation sur une distance constante, ainsi que d'une deuxième touche de commande permettant l'introduction d'un signal de commande destiné à actionner un deuxième actuateur qui est apte à déplacer un autre élément amovible de ladite installation sur une distance variable. Par ailleurs, afin d'augmenter la vitesse de marche de la séquence de signaux de commande destinés à ladite installation, le dispositif de commande est muni d'un dispositif détecteur d'une pluralité de signaux de commande afin qu'il puisse ensuite actionner une pluralité d'actuateurs et déplacer un ou plusieurs éléments de ladite installation, ainsi que d'un dispositif destiné à associer la pluralité de signaux de commande afin de produire un seul signal de commande qui permet l'actionnement du deuxième actuateur sans aucun arrêt entre les opérations de celui-ci.

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