Abstract: 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.

Abstract: A bending press comprises an upper frame (6); a blank holding device (103) mounted on the upper frame, for holding a sheet panel on a member opposed to the blank holding device, the blank holding device including a central member (1), two extremity members (4,4'), and a plurality of additional members (3,3') disposed between the extremity members (4, 4') and the central member (1); a storehouse mounted on an upper section of the upper frame, for storing a plurality of central members, the storehouse including: an elongated carriage (141) supported on an upper section of the upper frame (6) so as to be movable in the lateral direction of the bending press, the elongated carriage extending in the lateral direction and being provided with a plurality of first vertical guides (151) arranged along a longitudinal axis of the elongated carriage, each of the first vertical guides being adapted to engage one of the central members so as to guide the same in the vertical direction, and a support surface (153) provided

Abstract: A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position.

Abstract: A press brake for bending a sheet-shaped work between an upper tool and a lower die and a method of bending the work are provided. In the method, at first, bending angles at plural positions of the work are measured by a trial bending. Next, based on the bending angles obtained, an engagement positional relation between the upper tool and the lower die is corrected to achieve accurate bending of the work at a target bending angle in order to carry out the method, the press brake includes a control unit for calculating a D value of a distance from a bottom of the lower die to a tip of the upper tool.

Abstract: A fingerpad force sensor system is disclosed which is useful for detecting process variations during manufacturing processes in which a plurality of force sensors are applied to the gripper of a robot in order to monitor shear forces applied to the workpiece held by the robot during, for example, sheet-metal bending manufacturing processes. Each sensor is encapsulated in rubber pads which are secured to the gripper of the robot such that they monitor the status of the workpiece during all phases of automated bending: material acquisition, material handling, machine loading and unloading.

Abstract: A computerized method/system is provided for planning motion of a robot within a free space confined by obstacles, from an initial position to a goal position. In executing the method/system, a plan is generated so that the robot can hold and maneuver a workpiece throughout a sequence of bending operations to be performed by a bending apparatus. A plurality of proposed movements to be made by the robot are proposed for an mth movement within a sequence of movements, and at least a portion of the robot and the obstacles that confine the free space are modeled. A determination is made as to whether a collision will occur between the robot and an obstacle for each proposed movement, and a plan is generated including the sequence of movements by choosing for each movement in the sequence of movements, a proposed movement that will not result in a collision and that will bring the robot closer to the goal position.

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.

Abstract: The mechanical hand (16) comprises, on one hand, a zone (46) for the support and sliding of a panel or slab (SP) in a horizontal working plane (WP) and, on the other hand, a handling gripper (36) which can move horizontally along and across the whole range of said supporting and sliding zone (46). The gripper (36) has a lower jaw (40) located below the working plane (WP). The support and sliding zone (46) is defined by retractable members consisting of an array of vertically moving pillars (48) with each of which are associated positive control means for causing them to perform selectively a travel independently of that of the other pillars between a raised position in which one of its upper support and sliding surfaces is in the working plane (WP), and a lowered position in which the surface is at a level which is lower than that of the lower jaw (40) of the gripper (36).

Abstract: A bandsaw machine which has a sawhead assembly in which a flexible endless bandsaw blade is trained around a pair of bandsaw blade wheels to cut a workpiece, with the blade being guided by a guide arm, includes a guide member on the guide arm, for holding the bandsaw blade in a vertical orientation by pushing the bandsaw blade from both sides. A rolling member is mounted on the sawhead assembly and is free to push a side surface of the bandsaw blade with a predetermined force so as to prevent vibration of the blade.

Abstract: A shearing machine for shearing a plate workpiece includes a frame; a ram having an upper cutting blade and being mounted on the frame in a vertically movable manner; a worktable being fixedly mounted on the frame and having a lower cutting blade to define an opening between the upper cutting blade and the lower cutting blade so that the plate workpiece to be sheared may be fed from the front side of the upper blades into the opening with a portion of the plate workpiece extending to the rear side of the opening; a conveyor being mounted on the frame for supporting the portion of the plate workpiece and for conveying the sheared portion of the plate workpiece to the rear side of the shearing machine, the conveyor being vertically movable in response to the vertical movement of the ram; and a drive shaft means having an eccentric member for driving both the ram and the conveyor reciprocably up and down so that the conveyor descends before, or simultaneously with, the actual cutting into the workpiece by the up

Abstract: A storage system for rods including a conveyor device and a crane system. The conveyor device is for feeding a working machine such as a cutting-off machine, and in particular for supplying and discharging rods to and from at least one roller path for feeding the rods into the working machine. The conveyor device includes a receiver device arranged at both sides of the roller path for conveying rods between a handling device of a stock of rods and the roller path, each receiver device having at least one receiver arm which is independently movable substantially vertically. The crane system includes a load crossbeam movable in the vertical direction for transporting a bar material, and load take-up device provided on the load crossbeam. The load crossbeam is subdivided into subcrossbeams which are movable individually.

Abstract: A precision bending press for relatively short pieces of sheet metal includes a pair of tool-holder beams one of which is movable towards the other in order to follow a working path in the general common plane of the beams. The movable beam is subdivided, at least virtually, into a number n of segments and is controlled by a plurality of actuators of a number at least equal to n+1. The actuators are connected to a reaction structure stressed by the overall forming force created by the actuators. The actuators are controlled by means of a processing unit which receives signals indicative of the relative punch--die position generated by position transducers supported by an auxiliary structure which is not affected substantially by the deformations of the reaction structure caused by the bending force. The reaction structure comprises a single pair of lateral uprights connected to one another by a connecting beam and by the fixed tool-holder beam.

Abstract: A device is provided for measuring an angle between two intersecting surfaces of a work. The device includes a light emitting device for inducing a light pattern on the surfaces of the work, a camera for picking up the pattern, and an image processor for processing the picture of the pattern and obtaining the angle of the work.

Abstract: A bandsaw machine which has a sawhead assembly in which a flexible endless bandsaw blade is trained around a pair of bandsaw blade wheels to cut a workpiece, with the blade being guided by a guide arm, includes a guide member on the guide arm, for holding the bandsaw blade in a vertical orientation by pushing the bandsaw blade from both sides. A rolling member is mounted on the sawhead assembly and is free to push a side surface of the bandsaw blade with a predetermined force so as to prevent vibration of the blade.

Abstract: A bandsaw machine which has a sawhead assembly in which a flexible endless bandsaw blade is trained around a pair of bandsaw blade wheels to cut a workpiece, with the blade being guided by a guide arm, includes a guide member on the guide arm, for holding the bandsaw blade in a vertical orientation by pushing the bandsaw blade from both sides. A rolling member is mounted on the sawhead assembly and is free to push a side surface of the bandsaw blade with a predetermined force so as to prevent vibration of the blade.

Abstract: A method and a device for protecting against a press overload is disclosed whereby, when an excessive pressure which exceeds a specified hydraulic pressure is transmitted to a pressure chamber of a press cylinder, this excessive pressure activates the punching of a shear plate by a shear piston and the excessive pressure is released by the shear piston.

Abstract: A shearing machine for shearing a plate workpiece includes a frame; a ram having an upper cutting blade and being mounted on the frame in a vertically movable manner; a worktable being fixedly mounted on the frame and having a lower cutting blade to define an opening between the upper cutting blade and the lower cutting blade so that the plate workpiece to be sheared may be fed from the front side of the upper blades into the opening with a portion of the plate workpiece extending to the rear side of the opening; a conveyor being mounted on the frame for supporting the portion of the plate workpiece and for conveying the sheared portion of the plate workpiece to the rear side of the shearing machine, the conveyor being vertically movable in response to the vertical movement of the ram; and a drive shaft means having an eccentric member for driving both the ram and the conveyor reciprocalby up and down so that the conveyor descends before, or simultaneously with, the actual cutting into the workpiece by the up

Abstract: A turret punch press wherein the upper and lower turrets are rotated, and the upper die positioned in the processing position is struck by a piston rod (striker element) of a striker device mounted on the lower end of a ram when the ram is lowered by means of a crank shaft (mechanical vertically moving means). The piston rod can be freely moved vertically by a hydraulic cylinder so that the amount of the stroke of the striker element with respect to the upper die is the sum of the amount of the stroke of the ram and the amount of the stroke of the piston rod in the hydraulic cylinder itself. Accordingly, the upper die and the lower die come into contact and the processing occurs only when the ram and the piston rod are both at bottom dead center.

Abstract: A disc support 23 is provided under a lower turret 21 to support the lower turret 21 against the impact thereto. The disc support 23 includes a movable block comprising a through-hole 77 through which scraps are discharged and a press cylinder 79 to push up a lower tool 19 for forming. In a punching operation, the through-hole 77 is arranged in the working area and scraps are discharged from the through hole 77. In a forming operation, the press cylinder 79 is arranged in the working area and pushes up the lower tool 19 to project above a pass line for a workpiece. Since the lower tool 19 is positioned below the pass line, the workpiece W cannot be damaged. Further, the workpiece W is not obstructed by the lower tool 19 when the workpiece W is positioned in the working area and the turrets are rotated, thus forming is properly performed.

Abstract: To eliminate defects such as burr, rollover, sags, scar, etc. from cut-off surfaces of a workpiece in a turret punch press, for instance, a novel height-different punch formed with a lower front edge, an upper rear edge, and an intermediate edge extending between the two edges is used for the punch press. While feeding the workpiece on a horizontal plane in a predetermined direction, the punch is struck by a striker at a first stroke so that the lower front edge thereof cuts off the workpiece partially in cooperation with a die; at the succeeding strokes so that the intermediate edge thereof cuts off the workpiece mincingly and curls refuse within a recess of the die; and at the last stroke so that the upper rear edge thereof cuts curled refuse away from the workpiece to complete a multistroke punching operation.