A control program is automatically generated to allow a shorter overall operation time of an automated manufacturing machine. An action chart includes subperiods assigned with element actions of actuators to describe the operation of the automated manufacturing machine. Program elements for the element actions are combined in an order of the subperiods to generate the control program. The action chart includes a parallel processing portion including subperiods and their parallel subperiods. Each parallel subperiod in the parallel processing portion is assigned with an element action of a predetermined selected actuator. Each subperiod in the parallel processing portion is assigned with an element action of another actuator. In the parallel processing portion, the control program is generated by combining, in an order of the parallel subperiods, the program elements for the parallel subperiods and combining, in an order of the subperiods, the program elements for the subperiods.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
2.
Control program generation apparatus, control program generation method, and program
A control program is automatically created using an action chart that is easy to create for an automated manufacturing machine with a complex operation. A subchart is pre-created for a set of consecutive subperiods of multiple subperiods included in an action chart. The action chart includes a subchart representation in a subperiod for identifying the subchart to represent the set of consecutive subperiods corresponding to the subchart. The action chart and the subchart are read together. Program elements for element actions in the subperiods on the action chart are combined together. For the subperiod with the subchart representation on the action chart, program elements for element actions assigned to the consecutive subperiods on the subchart are combined together in an order of the consecutive subperiods on the subchart. The control program is thus generated.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
A stored control program includes subperiods into which an operation period from a start to an end of an operation of an automated manufacturing machine is divided. Each subperiod is assigned with an actuator to act and action information about the actuator. The subperiods are sequentially selected one by one as a control target, and feedback control is performed on an action of the actuator assigned to the selected subperiod. This reduces the number of actuators controlled at the same time for controlling the operation of an automated manufacturing machine including many actuators. The control program can thus be executed promptly with an operation control apparatus having ordinary processing capability.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
4.
Control program generation apparatus, control program generation method, and program
An action chart describing an operation of an automated manufacturing machine includes subperiods into which an operation period from a start to an end of the operation of the automated manufacturing machine is divided. The action chart includes element actions included in the operation of the automated manufacturing machine. The element actions on the action chart are assigned to the subperiods and each include an action identifier including qualitative information about the element action, and a numerical table or numerical parameters. The action chart is read. The action identifiers on the action chart are converted into program elements stored in a manner associated with the action identifiers. A numerical value in the numerical table or the numerical parameters is set for each program element. The program elements are combined together in an order of the subperiods on the action chart.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
5.
CONTROL PROGRAM GENERATION APPARATUS, CONTROL PROGRAM GENERATION METHOD, AND PROGRAM
Element actions of actuators incorporated in an automated manufacturing machine are stored in a manner associated with program elements to perform the element actions. An action chart is used to describe an operation of the automated manufacturing machine. The action chart includes subperiods into which an operation period from a start to an end of the operation of the automated manufacturing machine is divided. The action chart includes the element actions included in the operation of the automated manufacturing machine. The element actions are assigned to the subperiods. The action chart describing the operation of the automated manufacturing machine is read. The element actions on the action chart are converted into the program elements. The program elements are combined together in an order of the subperiods on the action chart. This allows automatic generation of a control program for controlling the operation of the automated manufacturing machine.
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
6.
Control program generation apparatus, control program generation method, and program
Element actions of actuators incorporated in an automated manufacturing machine are stored in a manner associated with program elements to perform the element actions. An action chart is used to describe an operation of the automated manufacturing machine, with one element action having an end linked to a start of another element action using a logical operation. The action chart describing the operation of the automated manufacturing machine is read. The element actions on the action chart are converted into the program elements. The program elements are combined together in accordance with the action chart. This allows automatic generation of a control program for controlling the operation of the automated manufacturing machine.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
7.
OPERATION CONTROL DEVICE, OPERATION CONTROL METHOD, AND PROGRAM
In the present invention, an operation period from the start to the end of operation of an automatic manufacturing machine (10, 20, 30) is divided into a plurality of partial periods, and a control program in which actuators operated in the respective partial periods and details of the operations of the actuators are assigned is stored. Then, the partial periods for a control target are selected one by one in a sequential manner, and feedback control is performed on the operations of the actuators respectively assigned to the partial periods. Accordingly, even when control is performed on the operations of the automatic manufacturing machine to which a large number of the actuators are mounted, the number of the actuators to be controlled at the same time is reduced. Therefore, it is not necessary to prepare an operation control device (120) having high processing capacity and it is possible to execute the control program quickly and easily.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
B23Q 15/00 - Commande automatique ou régulation du mouvement d'avance, de la vitesse de coupe ou de la position tant de l'outil que de la pièce
G05B 19/18 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique
G05B 19/4097 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de données de conception pour commander des machines à commande numérique [CN], p. ex. conception et fabrication assistées par ordinateur CFAO
8.
CONTROL PROGRAM GENERATION DEVICE, CONTROL PROGRAM GENERATION METHOD, AND PROGRAM
The basic operations of a plurality of actuators mounted in an automatic manufacturing machine (1), and program elements for realizing the basic operations, are associated and stored. In addition, the operations of the automatic manufacturing machine are described in an operation chart (200) in which the completion of the plurality of basic operations and the start of other basic operations are associated through logic operations. The operation chart in which the operations of the automatic manufacturing machine are described is read, basic operations in the operation chart are converted to program elements, and the program elements are joined according to the operation chart. This makes it possible to automatically generate a control program that controls the operations of the automatic manufacturing machine.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
G05B 19/18 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique
G05B 19/4097 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de données de conception pour commander des machines à commande numérique [CN], p. ex. conception et fabrication assistées par ordinateur CFAO
B23Q 15/00 - Commande automatique ou régulation du mouvement d'avance, de la vitesse de coupe ou de la position tant de l'outil que de la pièce
9.
CONTROL PROGRAM GENERATION DEVICE, CONTROL PROGRAM GENERATION METHOD, AND PROGRAM
According to the present invention, basic operations (206) of a plurality of actuators mounted in an automatic manufacturing machine (1), and program elements for realizing the basic operations, are correlated and stored. In addition, the operation of the automatic manufacturing machine is described using an operation chart (200) in which the operating period from when the automatic manufacturing machine commences operating until the machine stops operating is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is divided into a plurality of basic operations, and the basic operations are allocated to any of the plurality of partial periods. The operation chart in which the operation of the automatic manufacturing machine is described is read, the basic operations in the operation chart are converted to program elements, and the program elements are joined according to the order of the partial periods in the operation chart. This makes it possible to automatically generate a control program that controls the operation of the automatic manufacturing machine.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
G05B 19/18 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique
G05B 19/4097 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de données de conception pour commander des machines à commande numérique [CN], p. ex. conception et fabrication assistées par ordinateur CFAO
B23Q 15/00 - Commande automatique ou régulation du mouvement d'avance, de la vitesse de coupe ou de la position tant de l'outil que de la pièce
10.
CONTROL PROGRAM GENERATION DEVICE, CONTROL PROGRAM GENERATION METHOD, AND PROGRAM
In the present invention, by dividing an operation period from the start to the end of operation of an automatic manufacturing machine (1) into a plurality of partial periods, also dividing the operation of the automatic manufacturing machine into basic operations (206) of a plurality of actuators, and by assigning the basic operations to one of the partial periods, the operations of the automatic manufacturing machine are described in an operation chart (200). The basic operations on the operation chart are each described by using: an operation description (206a) in which operation is qualitatively described; and a numerical table (206b) or a plurality of numerical parameters (206c). Subsequently, the operation chart in which the operations of the automatic manufacturing machine are described is read, a plurality of the operation descriptions in the operation chart are converted to program elements stored in association with the operation descriptions, numerical values set to the numerical table or the plurality of numerical parameters are set to the program elements, and thereafter, the program elements are combined in accordance with the order of the partial periods in the operation chart.
G05B 19/05 - Automates à logique programmables, p. ex. simulant les interconnexions logiques de signaux d'après des diagrammes en échelle ou des organigrammes
B23Q 15/00 - Commande automatique ou régulation du mouvement d'avance, de la vitesse de coupe ou de la position tant de l'outil que de la pièce
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
G05B 19/18 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique
G05B 19/4093 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par la programmation de pièce, p. ex. introduction d'une information géométrique dérivée d'un dessin technique, combinaison de cette information avec l'information d'usinage et de matériau pour obtenir une information de commande, appelée programme de pièce, pour la machine à commande numérique [CN]
G05B 19/4097 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de données de conception pour commander des machines à commande numérique [CN], p. ex. conception et fabrication assistées par ordinateur CFAO
This brazing device is equipped with a heating unit configured to heat a brazing material, a detection unit configured to detect a change in the shape of the brazing material which accompanies melting of the brazing material, and a control unit configured to control the heating output by the heating unit. The detection unit has a light-projection unit configured to project a predetermined pattern on the surface of the brazing material by projecting a light, and an imaging unit constituted in such a manner as to image the pattern. The detection unit is configured to detect a change in the shape of the brazing material on the basis of the change in the shape of the pattern imaged by the imaging unit.
B23K 31/02 - Procédés relevant de la présente sous-classe, spécialement adaptés à des objets ou des buts particuliers, mais non couverts par un seul des groupes principaux relatifs au brasage ou au soudage
This bending machine is provided with a first track device and a second track device that are positioned in parallel so as to extend linearly in parallel to each other. A first base and a first robot can move on the first track device, and a second base and a second robot can move on the second track device. Each of the first robot and the second robot is an articulated robot. A first bending mechanism and a second bending mechanism, which grip a workpiece and perform bending work, are respectively positioned at one end of the first robot and one end of the second robot. A workpiece supply device, which supplies workpieces, is provided at a position on one end-side in the direction in which the first track device and the second track device extend, said position being a position that can be reached by at least one of the first bending mechanism and the second bending mechanism. The workpiece supply device is configured so as to supply workpieces such that the length direction of the workpieces is orthogonal to the direction in which the first track device and the second track device extend.
B21D 7/024 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant
B21D 7/025 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant et triant ou poussant les extrémités du produit
B21D 43/00 - Dispositifs d'alimentation, de positionnement ou de stockage combinés à des appareils pour travailler ou traiter les tôles, les tubes ou les profilés, disposés dans ces appareils ou spécialement adaptés pour être utilisés en association avec ces appareilsAssociation de dispositifs de coupe avec ces appareils
B21D 43/12 - Avancement du matériau en fonction du mouvement de la matrice ou de l'outil au moyen d'un élément mécanique coopérant avec le matériau au moyen de chaînes ou de courroies
A control device, with respect to the present invention, measures the three-dimensional surface geometry of a workpiece on the basis of an image of the workpiece captured, with a specific optical pattern being projected thereon, by an image-capturing unit. The control device compares the measured three-dimensional surface geometry of the workpiece with reference geometry data representing the three-dimensional surface geometry of a satisfactory product corresponding to the workpiece. If the workpiece exhibits a three-dimensional surface geometry different from that of the satisfactory product, the recognized location is detected as a candidate molding defect location. The control device identifies, as molding defect locations, only those of the detected candidate molding defect locations at which the dimensions of the geometry are equal to or greater than an assessment reference value representing a reference for molding defect locations.
G01B 11/25 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes en projetant un motif, p. ex. des franges de moiré, sur l'objet
G01N 21/88 - Recherche de la présence de criques, de défauts ou de souillures
A bending device according to one aspect of the present invention includes a track device which linearly extends in a predetermined direction, first and second bases placed on the track device and movable on the track device, a first robot mounted on the first base, a second robot mounted on the second base, and a bending mechanism which is disposed at each end of the first and second robots and grips and bends the workpiece. The first robot is a multi-articulated robot including a joint rotatable around an axis vertical to the first base and a joint rotatable around an axis parallel to the axial direction of the workpiece. The second robot is a multi-articulated robot including a joint rotatable around an axis vertical to the second base and a joint rotatable around an axis parallel to the axial direction of the workpiece.
B21D 7/02 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante
B21D 43/00 - Dispositifs d'alimentation, de positionnement ou de stockage combinés à des appareils pour travailler ou traiter les tôles, les tubes ou les profilés, disposés dans ces appareils ou spécialement adaptés pour être utilisés en association avec ces appareilsAssociation de dispositifs de coupe avec ces appareils
B21D 7/024 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant
A bending device of one aspect of the present invention is provided with a track device extending in a straight line in a prescribed direction; a first base and a second base placed on the track device and capable of moving on the track device; a first robot mounted on the first base; a second robot mounted on the second base; and bending mechanisms for grasping and bending a workpiece, the mechanisms arranged at one end of each of the first robot and the second robot . The first robot is a polyarticular robot provided with a rotatable joint that rotates around a shaft vertical to the first base, and a rotatable joint that rotates around a shaft parallel to the axial direction of the workpiece. The second robot is a polyarticular robot provided with a rotatable joint that rotates around a shaft vertical to the second base, and a rotatable joint that rotates around a shaft parallel to the axial direction of the workpiece.
B21D 7/024 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant
This chuck unit for holding an elongate workpiece is provided with a gearbox comprising an input gear, an output gear and a casing, and a chuck mechanism. The input gear is connected to the leading end of a jointed arm, and the output gear is connected to an output shaft. The gear ratio of the output gear is adjusted such that the rotational speed of the output gear increases to greater than the rotational speed of the input gear. The casing is connected to a leading end rotating part, and houses the input gear and the output gear. Further, the chuck mechanism is connected to the output shaft so as to allow free rotation relative to the casing, and holds the workpiece.
B21D 7/024 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant
B25J 15/08 - Têtes de préhension avec des éléments en forme de doigts
This bending processing device is provided with a robot, a chuck mechanism, and multiple bending mechanisms. The multiple bending mechanisms are provided as separate bodies from the robot and the chuck mechanism, and are arranged within a space which can be reached by a workpiece held by the chuck mechanism.
B21D 7/024 - Cintrage des barres, profilés ou tubes sur un organe de formage fixeCintrage des barres, profilés ou tubes par utilisation d'un organe de formage ou d'une butée oscillante par un organe de formage oscillant
A measurement device comprising at least two irradiation means, at least two imaging means, and a measurement means. Each of the irradiation means irradiates such that part of an irradiation pattern in a measurement target overlaps with part of an irradiation pattern from another irradiation means. Each of the imaging means captures images via a specified wavelength-transmitting filter that allows light of the specified wavelength in the pair of irradiation means to pass through the irradiation area in the measurement target having an irradiation pattern projected thereupon by the specified wavelength light irradiated by the pair of irradiation means, and blocks light having a wavelength other than the specified wavelength.
G01B 11/25 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes en projetant un motif, p. ex. des franges de moiré, sur l'objet
G06T 1/00 - Traitement de données d'image, d'application générale
brevets
