| 摘要 |
PURPOSE: To prevent the clamp position of a work with a robot hand from being changed before and after bending. CONSTITUTION: In a bending following controlling method of a robot hand for a bending device to clamp one end part of a work to be bent with a V- bending die, the robot hand is turned and displaced making the coordinate positions (Yc, Zc) obtained from the next equations (I), (II) as the center point. Yc=(V/4) (1+cosθ)/(cosθ)}-1/2 (2/tanθ)-(3θ/2)}t...(I). Zc=(V/4)tanθ-1/2 1/tan(θ/2)} (2/tanθ)-(3θ/2)}t...(II). Here, the original point position of Y axial coordinate is made as the center position of V-groove width direction of the V bending die, the original point position of the Z axial coordinate is made as the position of upper face height of the V bending die,θ(radial angle) is made as the following angle, V is made as the width dimension of V groove of the V bending die, and t is made as the thickness of the work.
|
