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1. 发明授权

US11667030B2 Machining station, workpiece holding system, and method of machining a workpiece 有权
公开(公告)号：US11667030B2
公开(公告)日：2023-06-06
申请号：US17323520
申请日：2021-05-18
申请人： FIVES LINÉ MACHINES INC.
发明人： Louis Jetté , Raymond Chabot
IPC分类号： B25J9/00 , B25J15/06 , B23Q1/54 , G05B19/418 , B23Q1/58 , B23Q1/03 , B25J11/00 , B25J9/16 , B23Q1/00 , B23Q11/08
CPC分类号： B25J9/0084 , B23Q1/035 , B23Q1/5462 , B23Q1/58 , B25J9/0009 , B25J9/0069 , B25J9/1682 , B25J11/005 , B25J11/0055 , B25J15/0616 , B25J15/0683 , G05B19/41825 , B23Q1/0045 , B23Q11/0891 , G05B2219/39105 , G05B2219/39156 , G05B2219/39157 , G05B2219/45145 , Y02P90/02
摘要： The machining station can include a table; at least three robots each having a multi-axis mover secured to the table, and a gripper opposite the table, the robots being interspaced from one another on the table; and a controller. The controller controls the robots to hold a workpiece in a coordinated manner. The computer numerical command (CNC) machine-tool system machines the workpiece while the workpiece is held by the robots. The workpiece can be moved into and out from the machining station with a trolley which slidingly engages a trolley path formed within the table.

2. 发明申请

US20150105900A1 NUMERICAL CONTROLLER PROVIDED WITH OPERATION SETTING SCREEN 审中-公开
标题翻译：数字控制器提供操作设置画面
公开(公告)号：US20150105900A1
公开(公告)日：2015-04-16
申请号：US14508130
申请日：2014-10-07
申请人： FANUC CORPORATION
发明人： Susumu MAKI
IPC分类号： G05B19/4097
CPC分类号： G05B19/4097 , G05B19/40938 , G05B19/41825 , G05B2219/34348 , G05B2219/36163 , G05B2219/39105 , G05B2219/39143 , G05B2219/49372 , Y02P90/087 , Y02P90/265
摘要： A numerical controller for controlling a machine tool is provided with a screen for operation check such that an upper limit value of the speed, on/off functions such as machine lock, enabling or disenabling of M-, S-, and T-codes, etc., can be set in a plurality of patterns, depending on check contents (or levels) on the screen.
摘要翻译：具有用于控制机床的数值控制器具有用于操作检查的屏幕，使得速度的上限值，诸如机器锁定的开/关功能，使能或禁止M-，S-和T-代码，等等，可以根据屏幕上的检查内容（或级别）设置为多种模式。

3. 发明申请

US20140352381A1 SERVO PRESS LINE OPERATION METHOD AND SERVO PRESS LINE OPERATION CONTROL DEVICE 有权
标题翻译：伺服压线机操作方法和伺服压线机操作控制装置
公开(公告)号：US20140352381A1
公开(公告)日：2014-12-04
申请号：US14290649
申请日：2014-05-29
申请人： AIDA ENGINEERING, LTD.
发明人： Satoshi SUZUKI
IPC分类号： B21D43/02 , B21K27/06 , B21D55/00
CPC分类号： B21D43/025 , B21D43/05 , B21D55/00 , B21K27/06 , B30B15/285 , G05B19/41815 , G05B2219/24208 , G05B2219/34397 , G05B2219/34452 , G05B2219/39105 , G05B2219/45142 , Y02P90/08 , Y02P90/087
摘要： A servo press line operation method operates a servo press line in which a servo press and a servo transfer device are disposed in a workpiece transfer direction. The servo press line operation method includes causing a transfer controller to receive a master signal that causes the servo transfer device to make a motion in synchronization with the servo press, the transfer controller controlling a motor of the servo transfer device using a motor instruction, causing the transfer controller to determine whether or not an abnormality in the master signal has occurred, and causing the transfer controller to generate the motor instruction based on a stop signal that stops the motor of the servo transfer device, instead of the master signal, when the transfer controller has determined that an abnormality in the master signal has occurred.
摘要翻译：伺服压线操作方法操作伺服压力机和伺服传送装置沿工件传送方向设置的伺服压线。伺服压线操作方法包括使传送控制器接收使伺服传送装置与伺服压力同步的运动的主信号，传送控制器使用电动机指令来控制伺服传送装置的电动机，导致转移控制器，用于确定是否发生了主信号的异常，并且使传送控制器基于停止伺服传送装置的电动机而不是主信号的停止信号产生电动机指令，当传输控制器已经确定主信号中发生异常。

4. 发明授权

US07813830B2 Method and an apparatus for performing a program controlled process on a component 有权
标题翻译：用于对部件执行程序控制过程的方法和装置
公开(公告)号：US07813830B2
公开(公告)日：2010-10-12
申请号：US11994341
申请日：2006-01-26
申请人： Mark Derren Summers , Roger Holden , Brett Jason Green
发明人： Mark Derren Summers , Roger Holden , Brett Jason Green
IPC分类号： G06F19/00 , G05B19/418 , G06K1/18
CPC分类号： G05B19/4015 , G05B19/41825 , G05B2219/37611 , G05B2219/39105 , G05B2219/39109 , G05B2219/40607 , G05B2219/50151 , Y02P90/087
摘要： A drilling machine drills at a multiplicity of target locations on a component. Two robots, calibrated with calibration data, move the component in a 6-D coordinate system. A metrology system ascertains the position of the component relative to the drilling machine. The movement of the robots is effected by commands generated by off-line programming. The component is moved relative to the drilling machine to a target position, ready for drilling, by a closed-loop process in which the differences in position between the expected position (the target position) and the actual position (as viewed by the metrology system) are corrected.
摘要翻译：钻机在组件上的多个目标位置上钻孔。两个使用校准数据校准的机器人，将组件移动到6-D坐标系中。测量系统确定组件相对于钻孔机的位置。机器人的运动是通过离线编程产生的命令来实现的。通过闭环过程将组件相对于钻孔机移动到目标位置，准备进行钻孔，其中预期位置（目标位置）和实际位置之间的位置差（如度量系统所观察到的））被修正。

5. 发明申请

US20100000424A1 SERVO PRESS LINE OPERATION METHOD AND SERVO PRESS LINE OPERATION CONTROL DEVICE 有权
标题翻译：伺服压线机操作方法和伺服压线机操作控制装置
公开(公告)号：US20100000424A1
公开(公告)日：2010-01-07
申请号：US12497773
申请日：2009-07-06
申请人： Sotoyuki Kaneko
发明人： Sotoyuki Kaneko
IPC分类号： B30B13/00 , B30B15/30
CPC分类号： B30B15/148 , B21D43/05 , B30B15/146 , G05B19/41815 , G05B2219/39105 , G05B2219/39143 , G05B2219/45142 , Y02P90/08 , Y02P90/087
摘要： A servo press line operation control device includes a normal press operation control section, a normal transfer operation control section, an upward movement step delay determination section, a downstream-side transfer step delay correction control section, an upstream-side transfer step delay determination section, a slide downward movement step delay correction control section, and the like. The servo press line operation control device performs a normal press operation that adjusts a slide position to a target slide position based on slide motion information, performs a normal transfer operation that adjusts a transfer position to a target transfer position based on transfer motion information, performs a correction that delays a transfer step of a downstream-side servo transfer device as compared with the normal transfer operation when a slide upward movement step is in a delayed state, and performs a correction that delays a slide downward movement step of a servo press as compared with the normal press operation when an upstream-side transfer step is in the delayed state.
摘要翻译：伺服压线运行控制装置包括正常按压操作控制部分，正常转移操作控制部分，向上移动步长延迟确定部分，下游侧传送步延迟校正控制部分，上游侧传送步延迟确定部分，滑动向下移动步进延迟校正控制部分等。伺服压线操作控制装置执行基于滑动运动信息调整到目标滑动位置的滑动位置的正常按压操作，执行基于传送运动信息调整到目标传送位置的传送位置的正常传送操作，执行当滑动向上移动步骤处于延迟状态时，与正常转移操作相比延迟下游侧伺服传送装置的传送步骤的校正，并且执行将伺服压印机的滑动向下移动步骤延迟的校正作为与上游侧传送步骤处于延迟状态时的正常按压操作相比较。

6. 发明申请

US20060161291A1 Injection molding system data management method 有权
标题翻译：注塑系统数据管理方法
公开(公告)号：US20060161291A1
公开(公告)日：2006-07-20
申请号：US11325507
申请日：2006-01-05
申请人： Yoshitaka Ikeda , Tetsuya Kosaka
发明人： Yoshitaka Ikeda , Tetsuya Kosaka
IPC分类号： B29C45/00
CPC分类号： B29C45/766 , B29C45/7626 , B29C2045/7633 , B29C2945/76498 , B29C2945/76505 , B29C2945/76568 , B29C2945/76595 , B29C2945/76846 , B29C2945/76859 , B29C2945/76913 , B29C2945/76949 , G05B19/41825 , G05B2219/39105 , Y02P90/087
摘要： A controller of an injection molding machine and a controller of a molded-product removing robot are connected to each other via communication means. When a molding condition save command is entered from the controller of the injection molding machine, a folder with a management number is created on a memory card, and molding conditions stored in the controller of the injection molding machine are saved in the folder. A teaching program and/or setting data stored in the robot controller is read via the communication means and saved in the same folder. When a molding condition read command is entered, data is read from a specified folder, molding conditions are set in the controller of the injection molding machine, and a teaching program etc. are set in the robot controller via the communication means.
摘要翻译：注塑机的控制器和成型产品去除机器人的控制器经由通信装置相互连接。当从注射成型机的控制器输入成型条件保存命令时，在存储卡上创建具有管理编号的文件夹，并且将存储在注射成型机的控制器中的成型条件保存在文件夹中。通过通信装置读取存储在机器人控制器中的教学程序和/或设置数据，并保存在同一文件夹中。当输入成型条件读取命令时，从指定的文件夹读取数据，在注射成型机的控制器中设置成型条件，并且通过通信装置在机器人控制器中设置教学程序等。

7. 发明授权

US06185480B2 Interference preventing method for industrial robots 失效
标题翻译：工业机器人防干扰方法
公开(公告)号：US06185480B2
公开(公告)日：2001-02-06
申请号：US08981081
申请日：1997-12-12
申请人： Toshiyuki Takahashi , Atsushi Nakajima , Yukimasa Shiomichi
发明人： Toshiyuki Takahashi , Atsushi Nakajima , Yukimasa Shiomichi
IPC分类号： G05B1904
CPC分类号： G05B19/4061 , B25J9/1674 , B25J9/1679 , G05B2219/39082 , G05B2219/39105 , G05B2219/40054 , G05B2219/42097 , G05B2219/43155 , G05B2219/43202 , G05B2219/45143 , G05B2219/49141 , G05B2219/50103 , Y02P90/087
摘要： An interference preventing method for industrial robots comprising a step (II) of reading a present position of the hand, a step (III) of computing the difference between the taught target position and the present position of the hand, a step (IV) of judging whether this difference is within a predetermined range or not, a step (V) of setting a moving speed of the hand to a predetermined normal speed when the difference is within the predetermined range, a step (VI) of setting the moving speed of the hand to a predetermined low speed when the difference is out of the predetermined range, and a step (VII) of moving the hand automatically to the target position at the set speed. When the hand is moved over a long distance in the case of which interference is liable to occur, the moving speed thereof is low; when the hand is moved over a short distance, the moving speed thereof is normal. Therefore, the hand can be stopped easily just before interference occurs, and the overall operation efficiency can be improved.
摘要翻译：一种用于工业机器人的防干扰方法，包括读取手的当前位置的步骤（II），计算教导的目标位置与手的当前位置之间的差异的步骤（III），步骤（IV）判断该差异是否在预定范围内;步骤（V），当差值在预定范围内时，将手的移动速度设定为预定的正常速度;步骤（VI），将步骤当所述差超出所述预定范围时，所述手到预定的低速;以及步骤（VII），其以设定的速度自动地将所述手自动移动到所述目标位置。在易于发生干涉的情况下手长移动时，其移动速度较慢; 当手短距离移动时，其移动速度正常。因此，可以在发生干扰之前容易地停止手，并且可以提高整体操作效率。

8. 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。

9. 发明申请

US20180272487A1 MACHINE TOOL SYSTEM AND CLAMPING METHOD 审中-公开
公开(公告)号：US20180272487A1
公开(公告)日：2018-09-27
申请号：US15933448
申请日：2018-03-23
申请人： FANUC CORPORATION
发明人： Rikizou Watanabe
IPC分类号： B23Q7/04 , B25J9/00 , B25J9/16 , B25J19/02 , B25J15/00 , B25J11/00
CPC分类号： B23Q7/047 , B23Q11/0891 , B23Q2220/002 , B25J9/0096 , B25J9/1612 , B25J9/1679 , B25J11/005 , B25J15/0038 , B25J19/02 , G05B2219/39105
摘要： A machine tool system includes: a machine tool for machining a workpiece set on a table using a tool attached to a spindle; and a robot for gripping the workpiece. The robot is installed on the table and performs a setting operation for setting the workpiece on the table and a clamping operation for clamping the workpiece.

10. 发明申请

US20180067467A1 MACHINING SYSTEM AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180067467A1
公开(公告)日：2018-03-08
申请号：US15657912
申请日：2017-07-24
申请人： Fanuc Corporation
发明人： Kiyotaka OKUZONO , Ryuji TAKIKAWA
IPC分类号： G05B19/402 , B25J11/00
CPC分类号： G05B19/402 , B23Q7/007 , B23Q7/04 , B25J11/005 , B25J11/0055 , G05B19/41825 , G05B2219/39105 , G05B2219/39145 , G05B2219/40243 , Y02P90/087
摘要： There is provided a machining system including: a machine tool that moves a table on which a plurality of works are fixed, in a two-dimensional manner, to machine the one work by driving a blade shaft in a direction orthogonal to a moving direction of the table; a robot that is disposed at a position accessible to the table of the machine tool to apply processing to the other one work fixed to the table; and a robot control unit that controls the robot so as to follow movement of the table on the basis of position information on the table.

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