Abstract: A transmission coupling for manipulator head includes a support body (50) connected to the manipulator head (4), an intermediate transmission member (76) slidable on the support body (50) along a first line (C), and an attachment member (28) slidable on the intermediate member (76) along a second line (B) perpendicular to the first line. The attachment member can pivot relative to the support body (50) about at least two mutually-perpendicular axes substantially parallel to the plane defined by the first and second lines. The present invention also relates to a rapid attachment device for an interchangeable tool for a manipulator head (104) include a base body (106) connected to the manipulator head and a generating device for providing a force for retaining the tool (102).

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 device for supporting slabs during the phases of punching and in general operations of plastic deformation has a plurality of jacks (6) placed under the slab in a position corresponding to at least a substantial portion of the surface of the slab during all the operations being carried out on the slab. These jacks are normally placed in contact with the lower surface of the slab and are capable of lowering for the purpose of avoiding interference with the portions of the slabs which have already been plastically deformed.

Abstract: A punch press provided with a tool magazine in which a plurality of tool mounting gondolas are supported movably in a vertical loop by and between two endless chains arranged vertically around sprocket wheels. Each gondola is supported at its supporting points which differ from each other at least in height, whereby the gondola is moved around in the loop without overturn when the sprocket wheels are rotated by a motor. Each of the gondolas stays at a manually tool changing location of the magazine where a table is provided for changing a number of tool assemblies in the magazine. The table has at least one guide which is positioned at two different heights, and along the guide tool assemblies or an upper and a lower die holders are drawn out of the gondola horizontally and placed in desired positions for replacement.

Abstract: In order to insert a punch into a punch mounting hole formed in a turret by a robot hand, the present method includes the following steps: (a) grasping the punch above the upper turret by a robot hand, and horizontally moving the punch to a position above a mounting hole formed in the upper turret; (b) moving the punch downwardly by the robot hand; (c) detecting whether the lower end of the punch is in contact with the wall of the mounting hole (d) detecting the height of the lower end of the punch when the lower end of the punch comes in contact with the wall of the mounting hole; (e) comparing the detected height of the lower end with a predetermined height; and (f) further moving the punch downwardly if the detected height is smaller than the predetermined height. In the preferred embodiment, if the insertion in accordance with the previous steps fails, the punch is moved upwardly and the center of the mounting hole is re-calculated on the basis of the data by a three-point search method.

Abstract: The machine includes a U-shaped pincer (12) with a pair of arms (14, 16) which carry a V-sectioned linear punch (P) and a V-sectioned linear die (D) respectively. The punch (P) is fixed and the die (D) is movable. The U-shaped pincer (12) is mounted so that it can rotate both about a bending axis (V) coincident with the edge of the punch (P) and about a horizontal pivoting axis O which intersects the bending axis (V). A clamp (10) is adapted to grip an upper edge of a piece (W) of sheet metal so that a region thereof to be bent lies in a vertical suspension plane (B) lying between the arms (14, 16) of the U-shaped pincer (12) and containing the bending axis (V). The U-shaped pincer (12) and the clamp (10) are capable of relative movement both in a vertical direction (Z) and in a horizontal direction (X) perpendicular to the horizontal pivoting axis (O).

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: Disclosed is a punch pressing machine requiring no turret, having punch units and die units as die sets, the number of which is not inferior to a turret punch pressing machine, and exhibiting a working accuracy superior to the turret punch pressing machine. A plurality of punch units and die units are disposed in two or more lines on a mounting plate member. A hammer member confronting the respective punch and die units is positioned in X-and-Y axis directions, whereby a workpiece can undergo necessary punch press working.

Abstract: A grooving machine efficiently and speedily forms different kinds of grooves on the surface of a plate work (W). The grooving machine comprises a work table (11) on which the work (W) is fixed, a frame (7), an X-axis slider (17) disposed above the work table (11) and horizontally movably supported by the frame (7), a Z-axis slider (19) vertically movably supported by the X-axis slider (17), a tool holder base (75) supported by the Z-axis slider (19), and different kinds of cutting tools (97A to 97C) attached to the tool holder base (75), for grooving the surface of the work (W). Any one of these cutting tools (97A to 97C) is indexed to a cutting position where the work (W) is grooved. The tool holder base (75) has a cutting liquid supply portion (109) for supplying cutting liquid to a cutting zone where the indexed cutting tool cuts the work (W), and a cutting liquid suction portion (111) for sucking and removing excessive cutting liquid.

Abstract: A force isolating machine tool. The invention is directed to a machine tool divided into two separate cooperating structures, a first frame structure for supporting and guiding a pair of tools to provide precision of movement and a second frame structure for transmitting reaction forces. The first and second frame structures are pivotally connected along the axis along which the tools move.

Abstract: 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 for inputting a command signal for actuating a first actuator that is adapted to move a movable element of the metal sheet bending installation through a constant distance or amount, and a second key 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.

Abstract: A method for cutting and separating from a piece of sheet metal a product, comprising a first step for contouring the product while leaving a small joint such as a connecting web or micro-joint which connects the product to the sheet metal, a second step for forming a protrusion on or adjacent to the small joint by lancing, embossing, or semi-shearing, and a third step for pressing the protrusion in order to shear the small joint.

Abstract: An electric welding robot (1) is disclosed. The robot comprises a projecting arm (9) movable horizontally and vertically (X, Z) and a first and a second rotating arms (19, 22) rotatable about vertical axis (E, F). The arms (9, 19, 22) are articulated with one another, and the second rotating arm (22) carries a welding electrode (29). The movement of the arms (9, 19, 22) are controlled by means (5, 8, 20, 23) to position the electrode (29) at desired positions and in desired directions for carrying out welding easily in any direction. The said means include second means (23) for rotating the second arm (22) forcibly about the axis (F) when necessary and automatically and mechanically clockwise about the axis (F) through an equal angle (.alpha.) when the first arm (19) is rotated forcibly by the first means (20) anti-clockwise about the axis (E) through an angle (.alpha.).

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 tool changing apparatus for changing the punches and dies on a turret punch press is disclosed, wherein a carriage device provided with a upper rotatable disk on which a plurality of punches in removably supported, and a lower rotatable disk on which a die holders supporting a plurality of dies is removably supported, is positioned at the side of the turret punch press. A punch mounting/dismounting device is further provided for dismounting a punch from and mounting a punch on the upper rotatable disk and for dismounting a punch from and mounting a punch on an upper turret disk on the turret punch press. The punch mounting/dismounting device is adapted to transport the punch between the upper rotatable disk and the upper turret disk. A die mounting/dismounting device is yet further provided for moving the die holder back and forth between a lower turret disk on the turret punch press, and the lower rotatable disk.

Abstract: An air powered milling tool supported in the upper turret of a turret punch press is cycled simultaneously with a hydraulically- or mechanically-powered punch press ram in a multiple-stage cycle to perform a milling operation on a sheet material workpiece retained between the upper and lower turrets of the punch press. The air-powered tool, which includes a punch head in coaxial alignment with a guide sleeve, drives an end mill which is contained within and is coaxially extendible through the guide sleeve toward the workpiece to perform a machining operation thereon. Hold-down bearings disposed at the end of the guide sleeve engage with the workpiece at a local region thereof. A spring-biased lifter disposed in the upper turret is engagable with the guide sleeve. In operation, the punch press striker impacts the punch head of the milling tool, urging the milling tool and air motor in the direction of the sheet material.

Abstract: A bending press is equipped with a movable lower platen actuated by at least three hydraulic jacks, two of which are placed at the lateral ends of the movable platen and at least one of which is placed at the center along the axis of the platen. The hydraulic circuit is associated with a device for detecting the presence of any tilting torque on the movable platen, and with a comparator and computer system connected to the detection device. The jacks are connected to a common directional distributor via pressure control units controlled by the comparator and computer system. This system is capable of producing a continuous reduction in pressure exerted on the jack located on the side opposite to the direction of the tilting torque and possibly also on the jack located at the center so as to produce a torque in opposition to the tilting torque.

Abstract: A method and apparatus for laser cutting of multiple stacked metal worksheets is disclosed wherein the tendency of the sheets to separate during the cutting operation is restrained. In one embodiment the laser head is pressed downwardly against the stacked worksheets which are supported on a ball-transfer work table. In other embodiments where it is not possible to press the laser head against the stacked worksheets because of the construction of the work table, the worksheets are coated with a viscous fluid so as to increase surface tension effects and thereby generate adhesive forces between adjacent sheets sufficient to resist the pressure of cutting assist gases which would otherwise cause separation of the sheets.

Abstract: A one-armed handling device having a single pick-up member designed to secure a metal sheet coplanar to a pick-up plane through the aforementioned pick-up member; which member is supported on a head so as to turn about two perpendicular axes by virtue of a first element designed to turn about a first axis perpendicular to the pick-up plane, and to which the pick-up member is secured directly, and a second element designed to turn about a second axis parallel with the pick-up plane and supporting the first element; the aforementioned head, in turn, being designed to travel along three cartesian axes, by means of an arm, with no variation in the position of the second axis (FIG. 1).

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.