Operating method for a working area comprising a robot enslaved to a bending press for working metal sheets
First Claim
1. An operating method for a working area comprising a robot enslaved to a bending press for working metal sheets, said metal sheets being fed by a feeding unit, said feeding unit, robot and bending press having prefixed geometric positions in space, said robot being provided with an arm and with a grasping member capable of moving a metal sheet and being operatively connected to a control unit, characterized in that (I) said robot is anthropomorphous and (ii), for a given metal sheet to be bent on at least one side,a) fixed input data are detected that comprise said geometric positions in space, without resorting to CAD techniques;
- b) variable input data are selected which are formed bythickness of said metal sheet,height, angle and direction of each bend,length and orientation of each bend,position of a bending tool,without resorting to CAD techniques;
c) the above mentioned data are processed in a processing unit by an algorithm to automatically generate cycles of feeding, bending and unloading of said metal sheet; and
d) said cycles are transferred to said control unit of said robot so as to drive said robot and bending press to start an automatic complete productive working cycle of a finished bent metal sheet starting from said metal sheet to be bent.
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Accused Products
Abstract
An operating method for a working area comprising an anthropomorphous robot enslaved to a bending press for working a metal sheet comprises a) detecting fixed input data formed by geometric positions in space of the robot, of the press and at least of one feeding unit, b) the definition of variable input data formed by thickness of the metal sheet, height, angle and direction of each bend, length and orientation of each bend, position of a bending tool, c) processing the above-mentioned data in a processing unit by an algorithm based on the solutions of the inverse kinematics in order to automatically generate cycles of feeding, bending and unloading of said metal sheet and d) the transfer of the cycles to a control unit of the robot so as to drive the bending press to start a complete productive working cycle of a finished metal sheet starting from the metal sheet to be bent.
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Citations
39 Claims
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1. An operating method for a working area comprising a robot enslaved to a bending press for working metal sheets, said metal sheets being fed by a feeding unit, said feeding unit, robot and bending press having prefixed geometric positions in space, said robot being provided with an arm and with a grasping member capable of moving a metal sheet and being operatively connected to a control unit, characterized in that (I) said robot is anthropomorphous and (ii), for a given metal sheet to be bent on at least one side,
a) fixed input data are detected that comprise said geometric positions in space, without resorting to CAD techniques; -
b) variable input data are selected which are formed by thickness of said metal sheet, height, angle and direction of each bend, length and orientation of each bend, position of a bending tool, without resorting to CAD techniques; c) the above mentioned data are processed in a processing unit by an algorithm to automatically generate cycles of feeding, bending and unloading of said metal sheet; and d) said cycles are transferred to said control unit of said robot so as to drive said robot and bending press to start an automatic complete productive working cycle of a finished bent metal sheet starting from said metal sheet to be bent. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A robot enslaved to a bending press for working metal sheets, said metal sheets being fed by a feeding unit, said feeding unit, robot and bending press having prefixed geometric positions in space, said robot being provided with an arm and with a grasping member capable of moving a metal sheet and being operatively connected to a control unit, characterized in that (i) said robot is anthropomorphous and (ii) said control unit is capable of operating according to an operating method wherein, for a given metal sheet to be bent on at least one side,
a) fixed input data are detected that comprise said geometric positions in space, without resorting to CAD techniques; -
b) variable input data arc selected which are formed by thickness of said metal sheet, height, angle and direction of each bend, length and orientation of each bend, position of a bending tool, without resorting to CAD techniques; c) the above mentioned data are processed in a processing unit by an algorithm in order to automatically generate cycles of feeding, bending and unloading of said metal sheet; and d) said cycles are transferred to said control unit of said robot so as to drive said robot and bending press to start an automatic complete productive working cycle of a finished bent metal sheet starting from said metal sheet to be bent. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
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39. A computer software program product embodied in a memory and comprising instructions executed by a processor for controlling a working area comprising a robot enslaved to a bending press for working metal sheets, said metal sheets being fed by a feeding unit, said feeding unit, robot and bending press having prefixed geometric positions in space, said robot being provided with an arm and with a grasping member capable of moving a metal sheet and being operatively connected to a control unit, characterized in that (I) said robot is anthropomorphous and (ii), for a given metal sheet to be bent on at least one side, wherein upon execution the program performs the steps of:
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a) detecting fixed input comprising geometric positions in space, without resorting to CAD techniques; b) selecting variable input data which are formed by thickness of said metal sheet, height, angle and direction of each bend, length and orientation of each bend, position of a bending tool, without resorting to CAD techniques; c) processing the above-mentioned data to generate automatically cycles of feeding, bending, and unloading of sheet metal; and d) transferring said cycle;
to said control unit of said robot so as to drive said robot and bending press to start an automatic complete productive working cycle of a finished bent metal sheet starting from said metal sheet to be bent.
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Specification