DE102018123035B4 - Workpiece stop and method for workpiece handling - Google Patents

Abstract

The invention relates to a workpiece stop 1 for a workpiece handling device, comprising at least one stop finger 2 with at least one contact surface 3 for a workpiece, on which forces act in a force direction 4 during and after the workpiece is applied, the stop finger having: an immovable base part 5, a stop part 6 which is rotatably mounted on the base part between an end position and a position of maximum deflection, and at least one blocking element 7 which can be positioned on the base part in a blocking position in such a way that it blocks the stop part in the end position; wherein the base part has a first surface 8 which is oriented at an angle to the perpendicular to the direction of force, and the blocking element has a second surface 9 which is oriented in the blocking position at the same angle as the first surface, the second surface in the Blocking position of the blocking element rests against the first surface.

Description

The invention relates to a workpiece stop, a use of a workpiece stop, a workpiece handling device, a use of a workpiece handling device and a method for handling a workpiece.

Workpiece stops are used, for example, in workpiece processing machines such as bending machines or press brakes. 1a and 1b show schematic side views of a conventional bending machine 10 , in front of which an operator B. is in his working posture. The bending machine 10 has a stable machine body with a firm lower beam 13th holding a tool 14th is appropriate. A massive upper beam 12 with another tool 14th is movably attached to the machine body. Before machining, a workpiece, for example a sheet metal, is typically attached to one or more stop fingers 16 of a workpiece stop of the bending machine, e.g. a back stop.

The automation of machines is typically implemented by linking different system types. Using a bending machine as an example, a high degree of automation can be achieved by integrating a robot system. The robot system can be used to introduce and position a workpiece in the bending machine. For this purpose, robots and bending machines are typically treated as individual systems and linked to one another with defined interfaces, mechanical, digital and / or control technology. Such an interface are among others the stop fingers of a backgauge. The backgauge positions the movable stop fingers in space so that a sheet metal to be bent can be precisely positioned and / or fixed and then bent. While in manual operation, in which the operator rotates and moves the sheet metal himself, the person notices whether the sheet metal is correctly positioned, in automation a signal is required for this, e.g. is passed on to the robot system. In bending machines, a trigger for the signal is achieved by means of stop fingers, which are designed as so-called contact fingers. For this purpose, when the sheet metal comes into contact with the finger, at least part of the stop finger is pressed against a sensor so that the signal can be generated. The stop position of the stop finger, which indicates the desired or correct position of the sheet metal, can be adjusted together with the switching point of the sensor, for example mechanically. As a rule, relatively high forces act in this repetitive process, which means that the mechanical stress on all components of the stop finger is comparatively high. As a consequence, the switching point of the sensor in particular can shift in the direction of the action of the force or the sensor can be disturbed or destroyed. In this way, a fault can be generated for the entire system and / or the quality of the bent parts can be reduced.

In the WO 2015/019285 A1 A bending press for bending workpieces is disclosed, with a stop for positioning the workpiece within the bending press, the stop being movable relative to tools by means of a drive controlled by a control device. AT 519 203 A1 relates to a back stop for a bending machine, the back stop comprising a stop finger with a stop surface. AT 514 292 A1 discloses a stop device for a bending machine, comprising a stop unit with at least one stop finger with at least one stop surface.

The object of the invention is to provide devices and methods which promote the process reliability of a workpiece handling device and a workpiece handling method, in particular a workpiece processing machine and a workpiece processing method, and the quality of the workpieces handled or produced thereby.

This object is achieved by a workpiece stop according to claim 1, a workpiece handling device according to claim 14, a use of a workpiece handling device according to claim 16, and a method for handling a workpiece according to claim 17.

The embodiments according to the invention enable setting and securing of the stop position of workpiece stops, in particular of contact fingers of handling devices. In particular, a permanent fixation of a desired position of a workpiece in a workpiece handling device or a workpiece processing machine can be achieved when there is strong mechanical stress.

One embodiment relates to a workpiece stop for a workpiece handling device, comprising at least one stop finger with at least one contact surface for a workpiece, on which forces act in one direction of force during and after the workpiece is applied, the stop finger having: an immovable base part, a stop part that is attached to the Base part is rotatably mounted between an end position and a position of maximum deflection, and at least one blocking element which can be positioned on the base part in a blocking position in such a way that it blocks the stop part in the end position; where the Base part has a first surface which is oriented at an angle to the perpendicular to the direction of force, and the blocking element has a second surface which is oriented in the blocking position at the same angle as the first surface, the second surface in the blocking position of the blocking element the first surface.

In the blocking position, the blocking element rests with the second surface on the first surface of the immovable base part. Thus, in the blocking position, the second surface of the blocking element is also oriented at an angle to the perpendicular to the direction of force. Since the first and the second surface abut one another, a displacement of the blocking element when a force is applied can be avoided by means of a form fit and / or a force fit. Furthermore, when and / or after the workpiece is placed, the forces acting on the contact surface (s) of the stop finger can be effectively diverted into the base part of the stop finger. This applies not only to the contact surfaces for the workpiece, but also to stop surfaces / points of the rotatable stop part and of other parts of the stop finger, such as the blocking element. In this way, an undesired displacement of the blocking element, in particular in the direction of force, and thus a misalignment of the desired end position of the rotatable stop part, i.e. the stop position of the workpiece stop, and the desired end position of the adjacent workpiece can be avoided or reduced. The blocking element therefore enables a high level of process security by reliably blocking the movement of the stop part in the end position.

In embodiments, the angle of the first surface to the perpendicular to the direction of force can be 1 ° to 45 °, preferably 5 ° to 20 °, more preferably 10 °. A particularly effective force-dissipating effect of the blocking element can thus be achieved. Furthermore, a displacement of the blocking element when a force is applied can be reduced or avoided particularly effectively. In addition, the angle can be adapted to changed boundary conditions, e.g. to different shapes of the workpiece, be adaptable and / or adapted. In this way, the moving parts of the stop finger can be adjusted to the workpiece to be processed and particularly stable.

According to further embodiments, the stop part can have a first stop surface for the blocking element, which is oriented perpendicular to the direction of force in the end position, the blocking element can have a second stop surface for the stop part, which is oriented perpendicular to the direction of force in the blocking position, and the first stop surface can in the end position of the stop part and in the blocking position of the blocking element rest against the second stop surface. In this way, when the workpiece is placed, the movement of the stop part can be terminated safely and in the desired end position on the blocking element. As a result, a high process reliability of workpiece handling, in particular workpiece machining, can be achieved.

In other embodiments, the angle enclosed by the extensions of the first stop surface and the first surface can be greater in the end position of the stop part than in the position of maximum deflection. A particularly effective blocking of the movement of the stop part by the blocking element can thus be brought about.

According to further embodiments of the workpiece stop, a recess can be provided in the base part in which the blocking element can be positioned. Furthermore, the blocking element can be at least partially wedge-shaped. The wedge shape can in particular be formed by the second surface and the second stop surface of the blocking element. The first surface can be designed as a lateral surface of the recess. Furthermore, at least one element selected from the second surface and the second stop surface can be designed as a lateral surface of the blocking element. These configurations each enable a compact and space-saving combination of the base part and the blocking element.

In the workpiece stop of embodiments, the at least one contact surface can comprise at least one element selected from a contact surface and a support surface, in particular for the workpiece in each case. Furthermore, the direction of force can run in the contact direction of the workpiece or perpendicular to the contact direction of the workpiece. For example, the attachment direction can run in a horizontal plane or at an angle to a horizontal plane. In addition, at least one contact surface can be provided on the stop part and / or at least one contact surface can be provided on the base part.

According to further embodiments, the blocking element can be designed to be adjustable parallel to the first surface. In this way, the position of the blocking element and / or the desired end position of the stop part and / or the end position of the adjacent workpiece can be adjusted, in particular any combination thereof. In addition, the adjustment path of the adjustable blocking element can be adapted to changed boundary conditions, e.g. a changed shape and / or size of the workpiece, be adaptable and / or adapted.

In the workpiece stop of embodiments, the blocking element can be designed to be adjustable along a linear adjustment path which is aligned parallel to the first surface of the base part. The base part can have a third surface which is aligned parallel to the direction of force. The blocking element can have a fourth surface which is aligned parallel to the direction of force. In this case, in the position of the blocking element, the fourth surface can rest against the third surface at one end of the adjustment path. As a result of these configurations, the third surface of the base part can define one end of the adjustment path for the blocking element and increase the safety when the workpiece is placed, in particular when the stop part is subjected to high mechanical stress.

The blocking element can have a pretensioning element which is designed and / or positioned in such a way that it provides a restoring force which acts on the stop part in its end position. The pretensioning element can ensure that the stop part is moved out of its end position again when the workpiece is detached. This increases the reliability of the stop finger and the setting of the desired end position of the workpiece.

In embodiments, the workpiece stop can comprise at least one sensor, at least one of the sensors being assigned to the at least one stop finger. The sensor can be designed in such a way that it determines the end position of the stop part when the workpiece comes into contact with the stop finger. In this way, a signal can be generated which, when a workpiece is being handled, the setting of the desired end position, e.g. the correct machining position of the workpiece. Due to the design of the workpiece stop, it can be avoided that the switching point of the sensor is shifted in the direction of the action of force or the sensor is disturbed or destroyed.

The at least one stop finger can have a lower part and an upper part and a middle part arranged between them, and the upper part and / or the lower part can be rotatably mounted relative to the middle part. The base part can form the middle part of the stop finger and the stop part can form the lower part and / or the upper part of the stop finger. This makes it easier to position the workpiece on the stop finger.

Another embodiment relates to a use of the workpiece stop according to one of the preceding embodiments for displaying a processing position of a workpiece in a workpiece processing machine, in particular a bending and / or folding press. As a result, the aforementioned advantages can be achieved when setting and / or monitoring the machining position of the workpiece, in particular setting and securing the stop position of the workpiece stop, as well as permanent determination of a desired position of a workpiece in a workpiece handling device or a workpiece processing machine in the event of heavy mechanical stress.

Furthermore, one embodiment specifies a workpiece handling device, in particular a workpiece processing machine, in particular a bending and / or folding press, including a workpiece stop according to one of the preceding embodiments. The workpiece handling device can furthermore contain a robot unit, in particular a robot unit connected in a data-conducting manner to the sensor of the workpiece stop of embodiments.

Another embodiment of the invention defines a use of a workpiece handling device, in particular a workpiece processing machine, according to the above embodiment for bending and / or edging a workpiece.

One embodiment of the invention provides a method for handling a workpiece, in particular for processing a workpiece in a workpiece processing machine, including a step of contacting a workpiece with a workpiece stop according to one of the preceding embodiments. The advantageous effects mentioned for the workpiece stop of embodiments can be achieved in the method.

The method can include a step of adjusting a handling position of the workpiece, in particular a correct machining position of the workpiece, in which the blocking element is adjusted parallel to the first surface. This enables the workpiece stop, in particular the end position of the stop part and / or the desired handling position and / or the desired machining position of the workpiece, to be adapted to changed boundary conditions, such as different shapes and / or sizes of the workpiece.

In the following detailed description, non-restrictive exemplary embodiments with their features and further advantages are discussed with reference to the drawing.

Figure list

• 1a and 1b show schematic side views of a conventional bending machine 10 ;
• 2 shows schematically a workpiece stop 1 an example of embodiments of the invention in plan view;
• 3a to 3d show schematic and partially perspective views and a cross-sectional view of a workpiece stop 20th another example; and
• 3e to 3g show schematic views of the example of the workpiece stop 20th the 3a to 3d from underneath.

Detailed description of the invention

In the following description with reference to the figures, the same reference symbols denote the same elements. In general, only the differences between the individual embodiments and examples are described.

Some embodiments or examples of the workpiece stop are described below in connection with a workpiece processing machine or a workpiece processing method. The workpiece stop of embodiments can, however, also be used in other devices and methods in which workpieces are handled. In some embodiments and examples, the end position of the stop part is used to set a correct machining position of the workpiece, but it can also be used to adjust, display and / or monitor any desired position of the workpiece.

The term “workpiece” and any combination of words containing this term encompass and / or relate within the scope of the invention not only to a workpiece to be handled and / or processed, but also to any other object to be handled. In embodiments, the term “controller” can mean a controller of a device for displaying a position of a workpiece, in particular for displaying or monitoring a position, e.g. a machining position, a workpiece, and / or a control of a workpiece handling device or workpiece processing machine.

One embodiment relates to a workpiece stop for a workpiece handling device, comprising at least one stop finger with at least one contact surface for a workpiece, on which forces act in one direction of force during and after the workpiece is placed, the stop finger having: an immovable base part, a stop part that is attached to the Base part is rotatably mounted between an end position and a position of maximum deflection, and at least one blocking element which can be positioned on the base part in a blocking position in such a way that it blocks the stop part in the end position; wherein the base part has a first surface which is oriented at an angle to the perpendicular to the direction of force, and the blocking element has a second surface which is oriented at the same angle as the first surface in the blocking position, the second surface in the blocking position of the Blocking element rests against the first surface. At least one of the contact surfaces for the workpiece can be provided on the stop part.

In the blocking position, the blocking element rests with the second surface on the first surface of the immovable base part. Thus, in the blocking position, the second surface of the blocking element is also oriented at an angle to the perpendicular to the direction of force. Since the first and the second surface abut one another, a displacement of the blocking element when a force is applied can be avoided by means of a form fit and / or a force fit. Furthermore, when and / or after the workpiece is placed, the forces acting on the contact surface (s) of the stop finger can be effectively diverted into the base part of the stop finger. This applies not only to the contact surfaces, for example the contact surfaces of the stop part with the workpiece, but also to stop surfaces / points of the rotatable stop part and of other parts of the stop finger, such as the blocking element or a sensor. In this way, an undesired displacement of the blocking element, in particular in the direction of force, and thus a misalignment of the desired end position of the rotatable stop part and the desired end position of the adjacent workpiece can be avoided or reduced. The blocking element therefore enables high process reliability by blocking the movement of the stop part in the end position. In particular, damage to the stop finger and the workpiece stop can be avoided or reduced.

In embodiments, forces can act in one or more force directions during and after the workpiece is applied. Furthermore, the end position of the stop part can correspond to a machining position, in particular a correct machining position, of the workpiece. Since the rotatable stop part is blocked in the end position, the at least one stop finger can be at least partially orientable to indicate a predetermined position of the workpiece. The display for, in particular simultaneous, monitoring of a contact of the workpiece with the Workpiece stop and a position, in particular a correct machining position, of the workpiece. The fact that the stop finger can be partially aligned enables not only the contact of the workpiece with the stop finger, but also a position of the workpiece to be determined when the workpiece is placed. Because the spatial alignment of the stop part when the workpiece is placed on it also makes the spatial alignment of the workpiece recognizable. In addition, the workpiece stop of embodiments can be part of a back stop, for example a workpiece processing machine, or it can be designed as a back stop.

In embodiments, the blocking element can be adjustable, for example designed as an adjustable wedge. In this way, the end position of the stop part can be adjusted. In some examples, the machining position of the workpiece to be set and / or displayed can also be adjusted in this way.

The angle of the first surface to the perpendicular to the direction of force can be 1 ° to 45 °, preferably 5 ° to 20 °, more preferably 10 °. In addition, the stop part can have a first stop surface for the blocking element, which is oriented perpendicular to the direction of force in the end position, the blocking element can have a second stop surface for the stop part, which is oriented perpendicular to the direction of force in the blocking position, and / or the first stop surface can in the end position of the stop part and in the blocking position of the blocking element rest against the second stop surface. The angle enclosed by the extensions of the first stop surface and the first surface in the end position of the stop part, that is to say in its blocked position, can be greater than in the position of maximum deflection. In the end position of the stop part, this promotes that a displacement of the blocking element when a force is applied can be avoided by means of a form fit and / or force fit.

In embodiments, a recess can be provided in the base part in which the blocking element can be positioned. According to examples, the first surface can be designed as a lateral surface of the recess. Furthermore, at least one element selected from the second surface and the second stop surface can be designed as a lateral surface of the blocking element. Thus, the blocking element can be at least partially wedge-shaped or designed as a wedge, for example the second stop surface can be arranged opposite the second surface. Alternatively, the blocking element can have a wedge-shaped section or at least one wedge-shaped section. Furthermore, the shapes of the recess and the blocking element can at least partially correspond.

In examples, the at least one contact surface can comprise at least one element selected from a contact surface and a contact surface. The contact surface can be designed as a contact surface and / or support surface for the workpiece. At least one contact surface can be provided on the stop part. At least one support surface can be provided on the base part. Furthermore, the direction of force can run in the contact direction of the workpiece or perpendicular to the contact direction of the workpiece. Forces can also act in several directions of force, e.g. a first direction of force can run in the contact direction, and a second direction of force can be oriented perpendicular to the contact direction. For example, the workpiece can be placed against the workpiece stop, the workpiece coming to rest on a contact surface of the stop finger and on a contact surface of the base part. Forces can be applied in the contact direction as well as in the contact direction, i.e. act perpendicular to the installation direction. In addition, in embodiments, the attachment direction can run in a horizontal plane or at an angle to a horizontal plane. For example, a flat workpiece, such as a sheet metal, can be placed horizontally on the workpiece stop. The support surface of the base part of the stop finger can also run horizontally. In other examples, a sheet metal can be placed against a workpiece stop at an angle to the horizontal, the support surface of which of the base part extends at the same angle to the horizontal.

In further embodiments, the blocking element can be designed to be adjustable parallel to the first surface. In particular, the blocking element can be designed to be adjustable along a linear adjustment path which is aligned parallel to the first surface of the base part. This means that the blocking element can be releasably positionable on the base part, so that it can be attached to the base part in different positions. In this way, the blocking element can be designed to be adjustable. This enables the stop position of the workpiece stop, in particular the end position of the stop part, and / or the desired or correct machining position of the workpiece to be adjustable.

In particular examples, the blocking element can be designed to be adjustable along a linear adjustment path that is oriented parallel to the first surface of the base part, the base part can have a third surface that is oriented parallel to the direction of force, and the blocking element can have a fourth surface that is parallel is aligned with the direction of force, the fourth Surface in the position of the blocking element in which it is provided at one end of the adjustment path, rests against the third surface. In this way, when the force is exerted, any displacement of the blocking element along the first surface on the third surface of the base part can be stopped. For example, the first and the third surface of the base part can correspond to two lateral surfaces of the recess that meet at an angle. Furthermore, the second and the fourth surface can correspond to two lateral surfaces of the blocking element that meet one another. The shape of the recess can thus at least partially correspond to the shape of the blocking element, in particular in examples in which the blocking element is at least partially wedge-shaped.

In some embodiments of the workpiece stop, the blocking element has a pretensioning element which is designed and / or positioned in such a way that it provides a restoring force which acts on the stop part in its end position. The blocking element can, for example, be a spring or compression spring which is provided on the second stop surface or in a recess in the second stop surface. For example, the restoring force can be 10 to 50 N, preferably 20 to 40 N, particularly preferably 30 N. The restoring force can be adapted to changed boundary conditions, e.g. to be adaptable to a changed material of the stop part. In these embodiments, after the workpiece has been removed from the workpiece stop, the stop part can be reliably moved from the end position, e.g. to the position of maximum deflection. With the pretensioning element it can thus be ensured that the stop part is moved out of its end position again when the workpiece is detached. This increases the reliability of a determination of a position, e.g. a correct machining position of the workpiece through the workpiece stop, in particular if this is provided with a sensor.

In embodiments, the workpiece stop can comprise at least one sensor. At least one of the sensors can be assigned to the at least one stop finger. The sensor can be designed in such a way that it detects the contact of the workpiece with the stop part in its end position. In this way, the sensor can determine the contact of the workpiece with the stop finger and / or an alignment of the stop part corresponding to the correct machining position of the workpiece. For example, the sensor can comprise a switch, in particular a mechanical switch, which is switched to its end position upon contact with the stop part. Alternatively, the sensor can be implemented in that the blocking element closes a circuit when it comes into contact with the stop part in its end position. In addition, a signal can be triggered and / or generated with the aid of the sensor, which signal indicates that the end position of the stop part and / or the correct machining position of the workpiece has been reached. For this purpose, the sensor can be connected to a signal output device and / or control in a wireless or wired manner to conduct data.

A signal can be generated with the aid of the sensor, in particular when an application procedure for positioning a workpiece is automated. When the workpiece comes into contact with the stop finger, the stop part can be pressed against the sensor or against the blocking element so that the signal is generated. Due to the design of the workpiece stop according to embodiments, a displacement of the blocking element due to the forces acting during application can be avoided. In particular, the switching point of the sensor is not shifted or is shifted only slightly in the direction of the force. Furthermore, it is avoided that the sensor is disturbed or destroyed by the force.

In the workpiece stop of embodiments, the at least one stop finger can have a lower part and an upper part and a middle part arranged between them, and the upper part and / or the lower part can be mounted rotatably relative to the middle part, the base part forming the middle part of the stop finger and the stop part forming the lower part and / or forms the upper part of the stop finger. For example, the lower part can be designed together with the upper part as a stop part, the upper part being rotated together with the lower part when a workpiece comes into contact with the upper part.

Further exemplary configurations of the stop finger with upper part, lower part and middle part are explained below.

As indicated above, the at least one stop finger can have a lower part and an upper part and a middle part arranged between them. The upper part and / or the lower part can be rotatably mounted relative to the middle part. The upper part and / or the lower part can be rotatably mounted, for example, by an angle of 0.1 ° to 5 °, preferably 0.5 ° to 2 °, particularly preferably 1.0 ° to 1.5 °. The middle part can be immobile. The middle part can therefore be designed to be stationary, while the lower part and / or the upper part can be rotatable relative to the middle part. The middle part can thus define the optimal machining position of the workpiece. Furthermore, the middle part can serve as a particularly stable support, since it is immobile. The upper part and the lower part can be connected to one another, in particular firmly connected to one another. On in this way, the upper part and the lower part can be moved together with respect to the central part. The upper part and the lower part can be connected to one another via at least one connecting element. The upper part and the lower part can be connected to one another by at least one passage opening in the middle part. In particular, the upper part and the lower part can be connected to one another through at least one passage opening in the middle part.

For example, the upper part and the lower part can be connected to one another via at least one connecting element which runs through at least one passage opening in the central part and is provided or mounted therein to be movable and / or rotatable. In embodiments, several connecting elements and several through openings can be provided. For example, a first connecting element can be rotatably mounted in a first through opening of the central part and a second connecting element can be provided movably in a second through opening of the central part. As a result, the first connecting element enables the upper and lower parts to be rotated by an angle of rotation with respect to the central part, while the second connecting element provides a range for the angle of rotation, e.g. can define a maximum angle of rotation or the position of maximum deflection of the stop part. The connecting elements and the associated through openings can be provided at several, in particular spaced apart, positions of the stop finger. The at least one connecting element can be designed as a connecting pin or as part of the upper and / or lower part,

At least one element selected from the upper part, middle part and lower part can have a recess, in particular a lateral recess, for receiving and / or fixing a corner of the workpiece. This promotes the fixation of the workpiece. The lower part and the middle part can at least partially have an identical contour, in particular an identical contour of the recess and / or the contact surfaces for the workpiece. The recess of the upper part can have a contour that differs from the contour of the middle and / or lower part. In particular, the recess of the upper part can be larger than that of the middle and / or lower part. Furthermore, the upper, middle and / or lower part can be designed essentially or partially in the shape of a horseshoe or a hook, in particular in the area of the respective recess.

In some embodiments the middle part has a recess as mentioned above so that after a workpiece has been positioned, e.g. a sheet, on the lower part the workpiece during the actual machining process, e.g. Bending process, can pivot upwards. With the recesses in the lower part and / or upper part, it can also be avoided that a force is exerted directly on the bearing of the upper and / or lower part when a workpiece is placed, and / or the recesses can cause a rotation or rotation of the upper part. and / or bring about the lower part on contact with the workpiece.

The upper part can be smaller than the central part and, in the end position, can be offset from the central part. The middle part protruding in comparison to the upper part can serve as a support for a workpiece resting against the upper part. The middle part can contain a support surface for the workpiece. A bending of the workpiece placed against the workpiece stop, e.g. of a sheet metal.

At least one element selected from the upper part and the lower part can have one or more of the contact surfaces. The movable upper and lower parts can therefore serve as contact elements individually or together with their contact surfaces.

The middle part can be provided with a friction-reducing coating, in particular with a DLC (“Diamond-Like-Carbon”) coating. At least the support surface for the workpiece and / or the surfaces of the middle part that are in contact with the upper and / or lower part can have the friction coefficient-reducing coating. The friction coefficient-reducing coating of the middle part enables the smooth movement of the upper and lower part in relation to the middle part and an effortless positioning of the workpiece. At the same time, the coating protects the middle part from damage. The DLC coating can be, for example, an amorphous carbon layer with a layer thickness of 1 to 10 µm, a hardness of 20 to 30 GPa, applied with PACVD (Plasma-Assisted Chemical Vapor Deposition) or with PVD (Physical Vapor Deposition). , Middle and / or lower part can be set back at least partially in the workpiece application direction and / or can at least partially have a bevel and / or a rounding on the edges. In this way, damage on contact with the workpiece can be avoided. For example, the upper, middle and / or lower part can be set back from one another. In embodiments, recessed means that the relevant upper, middle and / or lower part is 0.5 to 3 mm shorter in the application direction than one of the other adjacent parts. Furthermore, the upper, middle and / or lower part can be attached to edges of the support surface and / or the contact surfaces and / or the surfaces on which the workpiece can rest on / in contact during operation, at least partially have a bevel in the range from 0.5 × 5 ° to 4x60 ° and / or a rounding in the workpiece application direction.

In particular, the lower part can be set back at least partially in the area of a possible direct force application on its mounting in the workpiece application direction with respect to the central part. If the lower part is set back with respect to the middle part, no workpiece can be placed in the set-back area of the lower part and thus no direct force can be exerted on the mounting of the lower part.

In addition, the middle part can be set back at least partially in the area of one or more contact surfaces of the lower part in relation to the latter in the workpiece contact direction. The lower part can thus be somewhat raised in the area of the lateral contact surface (s) compared to the central part. In addition, the lower part can be provided with a bevel towards the middle part, e.g. of 1 × 30 °. With both measures alone or in combination, the lower part and the mounting of the upper part and / or lower part can be protected against a workpiece sliding down. This can cause a workpiece that slides down to slip past the middle part and the bevel and does not rest on the lower part due to the bevel, but rather comes to rest on the lower part and / or presses the lower part against the sensor. In addition, the lower part can be set back at least partially in the area outside one or more contact surfaces with respect to the central part and thus protected against incorrect positioning.

Due to the aforementioned configurations of the stop finger, individually or in combination, damage to the stop finger and the workpiece stop can be avoided or reduced. Through the above-mentioned configurations, e.g. the shapes or coatings of the middle, upper and / or lower part can be damaged in particular by external forces, e.g. in the event of improper positioning of the workpiece. At the same time, the shape of the upper, middle and / or lower part can be optimally adapted to the range of workpieces to be processed, e.g. to the bending spectrum of the workpiece processing machine, and enable unrestricted positioning and processing. Furthermore, the middle part can protect the movable upper and lower parts, because improperly placed or falling workpieces can prevent the positioning of the stop finger or the positioning of the upper and lower parts by means of e.g. a roller bearing, do not damage it.

The workpiece stop according to one of the preceding embodiments can be used to display, in particular to monitor, a processing position of a workpiece in a workpiece processing machine, in particular a bending and / or press brake.

One embodiment relates to a workpiece handling device, in particular a workpiece processing machine, in particular a bending and / or press brake, including a workpiece stop according to one of the embodiments of the invention. The workpiece handling device can furthermore contain a robot unit, in particular a robot unit connected in a data-conducting manner to the workpiece stop and / or to the sensor of the workpiece stop. The workpiece handling device, in particular the workpiece processing machine, can be used for bending and / or edging a workpiece. The workpiece handling device can also be used with or in a workpiece processing machine for bending and / or edging a workpiece. Furthermore, the workpiece stop can be provided in a device for monitoring a machining position of a workpiece.

A further embodiment relates to a method for handling a workpiece, in particular for processing a workpiece in a workpiece processing machine, including a step of contacting a workpiece with a workpiece stop according to one of the embodiments. The method can further include a step of adjusting a handling position of the workpiece, in particular a correct machining position of the workpiece, in which the blocking element is adjusted parallel to the first surface of the base part. The method can further include at least one step selected from: contacting the workpiece with at least one of the at least partially alignable stop fingers of the workpiece stop and aligning the at least partially alignable stop finger, in particular the stop part, according to a handling position, in particular a correct processing position, of the workpiece.

As explained above, one embodiment relates to a workpiece stop for a workpiece handling device, in particular for a workpiece processing machine, with at least one stop finger with at least one contact surface for a workpiece. The at least one stop finger can be at least partially rotatable, in particular its stop part, to display and / or monitor a contact of the workpiece with the workpiece stop and a position, in particular a correct processing position, of the workpiece in the Workpiece handling device. The display and / or monitoring of the contact of the workpiece with the workpiece stop and the display and / or monitoring of a position, in particular a correct processing position, of the workpiece in the workpiece handling device can take place one after the other or simultaneously. By using at least one stop finger, the workpiece can be positioned in two directions in a desired position, in particular in the correct machining position. When using at least two stop fingers, it can also be achieved that the workpiece can be flexibly fixed with the handling device or within the processing machine, depending on the desired position.

The workpiece stop can be a back stop, e.g. a workpiece handling device or a workpiece processing machine, or be part of a back gauge. Furthermore, the workpiece stop can contain more than one stop finger. At least one of the stop fingers can be designed as a mirror image of at least one other of the stop fingers.

As already stated above, the stop part can be rotatably mounted in an end position. The stop part can be mounted rotatably through an angle of 0.1 ° to 5 °, preferably 0.5 ° to 2 °, particularly preferably 1.0 ° to 1.5 °, from its position of maximum deflection into its end position.

In a further embodiment, a device for monitoring a processing position of a workpiece in a workpiece processing machine, in particular a bending and / or press brake, is provided. The device for monitoring a machining position of a workpiece can include a workpiece stop according to one of the embodiments. The device for monitoring a processing position of a workpiece can further comprise a signal output device, the signal output device being designed to output a signal triggered by the sensor of the workpiece stop in a processing position, in particular one of the correct processing position, of the workpiece.

Examples

2 shows schematically a workpiece stop as an example of embodiments 1 in plan view. The workpiece stop 1 has a stop finger 2 on. The stop finger 2 has a contact surface 3 for a workpiece on which forces in one direction of force when the workpiece is applied 4th (Arrow) act. The stop finger 2 includes an immovable base 5 and a stop part 6th , the one between an end position and a position of maximum deflection, for example around a pivot point D. (shown as a circle), is rotatably mounted. In 2 the stop part is shown in the position of maximum deflection. The stop finger 2 has a blocking element 7th that is in the in 2 The arrangement shown is provided in a blocking position in which there is the stop part 6th blocked after a clockwise rotation in the end position of the stop part. The base part 5 has a first face 8th , e.g. a projection, which in the example of the 2 oriented perpendicular to the plane of the drawing and therefore in 2 is recognizable as a line. Further is the first surface 8th at an angle to the perpendicular to the direction of force 4th oriented. The blocking element 7th has a second face 9 which in the blocking position at the same angle as the first surface 8th is aligned. The second surface is in the blocking position 9 of the blocking element on the first surface 8th of the base part 5 at. Therefore, by means of a form fit and / or a force fit, a displacement of the blocking element when a force is applied, in particular when a force is applied in the direction of force 4th , be avoided.

In operation, for example, a sheet metal is used as the workpiece with the workpiece stop 1 contacted. The sheet is in one direction of contact with the contact surface 3 of the stop part 6th created. In the present example is the stop finger 2 aligned horizontally and the installation direction runs in a horizontal plane, ie the flat sheet is horizontal to the stop finger 2 created. The forces that occur horizontally when it is applied essentially act in the direction of force 4th . By placing the sheet metal, the stop part becomes 6th clockwise around the pivot point D. rotated until the stop part 6th in its end position, by the blocking element 7th is blocked. In the blocking position of the blocking element 7th is the second face 9 of the blocking element 7th on the first face 8th of the base part 5 at. The blocking element is therefore displaced by means of a form fit and / or force fit 7th avoided when applying the sheet. In alternative examples, the stop finger 2 and be aligned at an angle to the horizontal plane.

3a to 3d show as a further example of embodiments a workpiece stop 20th with schematic and partially perspective views and a cross-sectional view. In this example, the workpiece stop includes 20th a stop finger 22nd . 3a and 3b set the stop finger 22nd on a bracket 23 attached. 3a presents the workpiece stop 20th in a side perspective from above. 3b shows the workpiece stop 20th in a bottom perspective that compared to 3a rotated by 180 °. 3c represents the free end of the Stop finger 22nd in a plan view from above, while 3d a side cross-sectional view along the line AA of FIG 3c in the direction of the arrows 35 shows. 3e to 3g show the stop finger 22nd in its holder 23 each in a view from below. Show it 3e and 3f the stop part of the stop finger 22nd in its position of maximum deflection, and 3g shows the stop part of the stop finger 22nd in its final position. When creating a workpiece, means in one direction of force 46 forces acting on the stop part moved into its end position. In this example, the end position of the stop part is used to set a correct machining position for the workpiece.

The stop finger 22nd owns a top 24 , a middle part 26th and a base 28 . The middle part 26th forms the base part of the stop finger 22nd . The top 24 and the lower part 28 together form the stop part of the stop finger 22nd .

The middle part 26th is on the bracket 23 attached and has a free end on which the upper part 24 and the lower part 28 are arranged. The free end of the middle section 26th has a flat top and a flat bottom, which are connected by a contoured side surface. The top 24 and the lower part 28 each have a flat top and a flat bottom, which are each connected to one another by a circumferential, contoured side surface. The lower part 28 , the free end of the middle section 26th and the top 24 are arranged one above the other. The middle part 26th is immobile as the base part, while the top part 24 and the lower part 28 opposite the middle part 26th are movable. The top 24 and the lower part 28 are firmly connected to one another and can be rotated around an axis of rotation by an angle of up to 1.2 ° by means of a roller bearing. 3a to 3c show the top and bottom 24 and 28 after a rotation to the end position, which corresponds to the correct machining position of the workpiece.

The top 24 and the lower part 28 have lateral contact surfaces 29 as contact surfaces for the workpiece, on which the workpiece can be placed during positioning, such as from 3a and 3b can be seen. In 3c are the top 24 in its final position, the middle part 26th and two protruding contact surfaces 29 of the lower part 28 recognizable in its end position.

The top, middle and bottom parts 24 , 26th and 28 each have a side recess 31 , 32 , or. 33 which is used to hold a corner of the workpiece to be positioned and / or to fix it. The side surfaces of the lower and middle part 24 , 26th have in the area of the contact surfaces 29 and the recesses 33 and 32 an identical contour. The top 24 is smaller than the middle part 26th and forms in the end position opposite the middle part 26th an offset. So can the top of the middle part 26th as a support surface 38 serve for the workpiece when it is attached to the top part 24 is created. The recess 31 of the top 24 has such a contour of the side surface that the recess 31 is larger than the recesses 32 , 33 of the middle and lower part 26th , 28 .

3d FIG. 13 shows a side cross-sectional view along the line AA of FIG 3c in the direction of the arrows 35 . In this example, these are the top 24 and the lower part 28 via a connecting pin 30th firmly connected to each other and by means of an inside a through opening 221 of the middle part 26th intended rolling bearing 37 rotatable. The connecting pin 30th and the through hole 221 have in planes perpendicular to the in 3d Cross-sectional plane shown in each case circular cross-sections. In the through opening 221 of the middle part 26th is the ring-shaped roller bearing 37 brought in. The top 24 contains a circular through hole 223 corresponding to the position of the through opening 221 of the middle part. The lower part 28 has a circular opening 224 which also corresponds to the position of the through opening 221 of the middle part. The connecting pin 30th is form-fitting in the through openings 223 and 224 of the upper and lower part as well as in the roller bearing 37 brought in. This creates a firm connection between the upper part 24 and the lower part 28 with simultaneous rotation around the central axis of the connecting pin 30th by means of the roller bearing 37 inside the through opening 221 of the middle part 26th . The connecting pin 30th may in alternative examples be part of a screw connection that the upper part 24 and the lower part 28 connects.

As 3b and 3e to 3g as bottom views show is the stop finger 22nd on the lower part 28 with a sensor 36 Mistake. The sensor 36 includes in the present example a mechanical switch that is in the end position of the lower part 28 is closed and is opened again when released from the end position. So can the sensor 36 the contact of the workpiece with the stop finger 22nd and determine an orientation of the lower part corresponding to the correct machining position of the workpiece. In addition, a signal can be triggered and / or generated with the aid of the sensor, which signal indicates that the end position of the lower part has been reached and thus the correct machining position of the workpiece.

On the underside of the middle part 26th is a blocking element 34 of the stop finger 22nd provided as out 3b and 3e to 3g evident. The blocking element 34 is at least partially wedge-shaped in the present example, and is therefore referred to below as a wedge. The wedge 34 is mounted in a blocking position in the present example so that it prevents the rotation of the lower part 28 and thus also of the top 24 blocked in the end position.

As 3b and 3e to 3g show, the middle part has a recess as a base part on its underside 42 in which the wedge 34 is provided. The recess 42 has a side surface 44 as the first surface of the base of the stop finger 22nd . The side surface 44 is at an angle of approx. 10 ° to the perpendicular to the direction of force 46 aligned. The wedge 34 has a side face 48 as the second surface of the blocking element of the stop finger 22nd on. In the shown blocking position of the wedge 34 is the side surface 48 at the same angle as the side face 44 the recess 42 aligned, and the side face 48 lies on the side surface 44 at. Thus, by means of a form fit and / or a force fit, a displacement of the wedge can be achieved 34 in the direction of force 46 as well as along the side surface 44 the recess can be avoided. Furthermore, during and / or after the workpiece is placed on the wedge 34 and the contact surface (s) 29 of the stop finger 22nd forces acting effectively in the middle part 26th of the stop finger. This does not only apply to forces acting on the contact surfaces 29 act for the workpiece, but also for forces on the stop surfaces / points of the rotatable lower and upper part and from other parts of the stop finger, such as the sensor 36 . In this way, undesired displacement of the wedge, in particular in the direction of force, and thus misalignment of the desired end position of the rotatable lower and upper part and the desired end position of the adjacent workpiece can be avoided or reduced. The wedge 34 therefore enables a high level of process reliability by blocking the movement of the lower and upper parts in the end position. In particular, damage to the stop finger and the workpiece stop can be avoided or reduced. The switching point of the sensor is also not shifted or is shifted only slightly in the direction of the force. Furthermore, it is avoided that the sensor is disturbed or destroyed by the force.

How out 3e to 3g can be seen, has the wedge 34 in the present example an elongated hole 54 that is in the blocking position of the wedge 34 parallel to the lateral surface 44 the recess runs. The wedge 34 is at the bottom of the middle part 26th by means of two in the elongated hole 54 imported screws 56 attached. As the screws 56 after moving the wedge 34 along the surface 44 at different points of the elongated hole 54 can be screwed, different positions of the wedge 34 along a linear adjustment path parallel to the side surface 44 will be realized. The wedge 34 is therefore parallel to the lateral surface 44 the recess adjustable. Depending on the workpiece to be machined, the correct machining position can be achieved by positioning the wedge accordingly 34 and adjusting the end position of the lower part 28 adjusted. For example, the wedge is adjusted once when setting up a workpiece processing machine. The correct position of the workpiece for the machining process can then be achieved by positioning the entire finger over the machine axes of the workpiece machining center.

The elongated hole 54 forms a linear adjustment path for the wedge 34 , the adjustment path parallel to the surface 44 the recess is aligned. The recess 42 of the middle part has a lateral surface in this example 58 that are parallel to the direction of force 46 is aligned. The wedge 34 has a side face 60 on, which is also parallel to the direction of force 46 is aligned, which is especially in 3g is recognizable. The area 60 would be in the position of the wedge in which it is provided at one end of the adjustment path on the surface 58 the recess 42 issue. In this way, the wedge can move if there is a strong force 34 along the surface 44 the recess 42 on their surface 58 being stopped.

The lower part 28 that along with the top 24 forms the stop part, has a first stop surface on the side 50 for the wedge 34 , which in the end position is perpendicular to the direction of force 46 is aligned, such as from 3f can be seen. The wedge 34 has a second stop surface on the side 52 for the lower part 28 which in the blocking position perpendicular to the direction of force 46 is aligned. The first stop surface 50 lies in the end position of the lower part 28 and in the blocking position of the blocking element on the second stop surface 52 at. In this way, when the workpiece is placed, the movement of the lower and upper parts 24 , 28 be terminated safely and in the desired end position on the blocking element.

As the extensions of the side face 48 of the wedge 34 and the second stop surface 52 of the wedge 34 enclose an angle of approx. 10 ° is the wedge 34 at least partially wedge-shaped.

The one from the extensions of the first stop surface 50 of the lower part and the first surface, ie in the present example the side surface 44 the recess, included angles in the end position of the lower part 28 is greater than in its position of maximum deflection. This provides an orientation for the side surface 44 the recess for the rotary movement of the lower part 28 achieved, with which a particularly effective blocking of the movement of the lower part 28 through the wedge 34 causes can be. The position of maximum deflection of the lower part 28 (and top 24 ) can, as explained above, by means of a second connecting element (not shown) between the upper and lower part, which is provided movably in a second through opening (not shown) of the middle part, and defined by the extent of the mobility of the second connecting element in the second through opening will.

As 3f represents by means of an outbreak is in a recess 39 of the wedge 34 in the area of the contact surface with the lower part 28 , ie in the area of the second stop surface 52 , a feather 40 provided as a biasing element. The feather 40 acts on the lower part 28 and thus also the top 24 in their end position with a pre-tension of approx. 30 N, in order to remove the lower and upper parts during operation after the workpiece has been detached 28 and 24 to rotate out of its end position by means of a restoring force. In an alternative example in which the stop finger 22nd on the bracket 23 is attached with a sloping inclination to the horizontal, gravity can be used instead of the prestressing element to unscrew from the end position.

In operation, for example, a sheet metal is used as the workpiece with the workpiece stop 20th contacted. The sheet metal is against the stop finger 22nd created in one direction. In the present example is the stop finger 22nd , ie its upper, middle and lower parts, oriented horizontally, and the upper part is arranged over the middle part, which in turn is arranged over the lower part. The installation direction runs in a horizontal plane, ie the flat sheet is horizontal to the stop finger 22nd created. The forces that occur horizontally when it is applied essentially act in the direction of force 46 . In alternative examples, the stop finger 22nd and be aligned at an angle to the horizontal plane.

In a first application procedure of the present example, the sheet metal is applied to the contact surfaces 29 of the top 24 created in one of the in 3a end position shown is rotated clockwise by 1.2 °. The sheet comes on the support surface 38 of the middle part 26th to lie. By sliding the sheet towards the bracket 23 , becomes the top 24 and thus also the lower part 28 turned counterclockwise to the end position. The switch of the in 3b and 3e to 3g shown sensor 36 is closed and the correct end position of the workpiece on the stop 20th detected.

In a modification of the first application procedure, a sheet metal is used instead of the contact surfaces 29 of the top 24 to the contact surfaces 29 of the lower part 28 created. By sliding the sheet towards the bracket 23 , becomes the lower part 28 and with it the top 24 turned counterclockwise to the end position. The switch of the in 3b and 3e to 3g shown sensor 36 will be closed. Because the lower part 28 is larger than the top 24 , the correct processing position of a sheet with smaller dimensions can be determined in this modification than in the first creation procedure.

In a second application procedure of the present example, when the workpiece is applied to the stop finger 22nd the left rear corner of the sheet metal into the recess 31 of the upper part introduced. An additional, mirror-inverted configured stop finger is used to fix the sheet 22nd (not shown) used, which is positioned according to the dimensions of the sheet to be machined. The right rear corner of the sheet goes into the recess 31 of the mirror-inverted stop finger. By sliding the sheet towards the brackets 23 , are the respective tops 24 and bottoms 28 the stop finger 22nd rotated into the respective end positions. The sheet comes on the support surfaces 38 the middle parts 26th to lie. The switches of the sensors 36 will be closed. This not only determines the correct end position of the workpiece at the stops, but also fixes the sheet metal in all directions.

In a modification of the second lay-on procedure, the corners of the sheet are placed in the recesses 33 of the tops 24 into the recesses 33 of the lower parts 28 of the stop finger 22nd and the mirror-inverted stop finger 22nd brought in. By sliding the sheet towards the brackets 23 , become the respective subparts 28 the stop finger rotated into the respective end positions and the switches of the sensors 36 closed. Because the recesses 33 of the lower parts 28 are smaller than the recesses 31 of the tops 24 , In this modification, a sheet with smaller dimensions can be brought into its correct processing position and fixed there than in the second application procedure.

According to further examples, the sensor (s) is / are 36 connected to a signal output device or controller and triggers / triggers a signal in the first application procedure after actuating the sensor, in this case after closing the switch of the sensor. In other examples, in the second application procedure described above, the signal is only triggered and / or generated when both sensors of the two workpiece stops are actuated, in this case their switches are closed, and both corners of the sheet metal are fixed. In this way, the correct processing position and / or the correct fixing of the Sheet metal detected, for example, in a workpiece processing machine, and displayed.

The generation of the signal that the sheet metal is placed on the stop finger (s) 22nd indicates, the sensor (s) 36 realized and transferred to the control, e.g. a workpiece processing machine. The pulse required for this is generated by rotating the upper and lower part, which causes the sensor 36 is operated. The movement generated ends at the wedge 34 , ie at a mechanical stop so that the sensor 36 can neither be misaligned nor damaged. The position of the wedge 34 however, itself is adjustable along the adjustment path in order to be able to precisely adjust the stop position of the workpiece stop and thus, for example, the desired position of the workpiece. The wedge 34 is therefore screwed in the present example to the middle part of the stop finger and in the recess 42 embedded.

This enables the wedge to be adjusted 34 inside the recess 42 of the middle part and at an angle to the contact edge of the sheet metal or the direction of impact or force 46 . So the wedge lies 34 firmly on the surface 44 the recess of the middle part 26th on and a displacement of the wedge due to the action of force when placing a sheet is avoided. Impacts are diverted into the stop finger. The angle of the face 44 to the perpendicular to the direction of force 46 in the present example is approx. 10 °, the effect of the wedge is correspondingly large. The angle and adjustment path can be adapted to changed boundary conditions.

The upper and lower part of the finger are thus rotatably mounted and, triggered by the application of the sheet, are rotated about their pivot point and the lower part is on the stop surface 52 of the wedge. The exact stop position is determined by the wedge 34 inside the recess 42 set. In addition, the wedge 34 the stop position to the geometry of a handling device or a workpiece processing machine in which the workpiece stop 20th is intended to be adjusted. After that the sensor 36 set to the stop position so that the signal is also generated at this position. So that the upper and lower part 24 , 28 Turn back to the starting position and the sensor 36 is thus inactive, is in the wedge 34 additionally the spring 40 let in. In the present example, the spring rests in the wedge and can only move in the opposite direction to the direction of force 46 expand. Thus, after the sheet metal has been placed over the pivot point, ie in the present case the rotatable connecting pin, the upper and lower parts become 30th in rolling bearings 37 , turned back to the inoperative position. The spring force in the present example is approx. 30N and is large enough to be able to overcome the frictional force. The spring force can also be adapted to changed boundary conditions.

The stop finger (s) 22nd of the workpiece stop 20th of the aforementioned example can be provided in a workpiece processing machine, for example a bending or folding machine.

In a workpiece processing machine, an exemplary method of embodiments for processing, for example bending or folding, a sheet metal can be carried out as the workpiece. In this case, according to one of the application procedures described above, the sheet metal with the stop finger (s) 22 of the workpiece stop 20th the example of 3a to 3g contacted. In a further example of the method, the wedge is used to adjust the correct machining position of the sheet metal 34 parallel to the lateral surface 44 the recess adjusted. This is where the screws 56 after moving the wedge 34 along the surface 44 into a position that corresponds to the desired end position of the lower and upper part 28 and 24 and thus corresponds to the desired machining position of the sheet in the elongated hole 54 screwed in. The screws can be used for readjustment 56 only loosened the wedge 34 moved and the screws 56 in the desired position of the wedge 34 in the elongated hole 54 be screwed in.

In the process of these examples, due to the design of the workpiece stop 20th a displacement of the wedge 34 can be avoided by the forces acting during application. This is due to the fact that in the blocking position the side surface 48 of the wedge 34 at the same angle as the side face 44 the recess 42 aligned, and the side face 48 on the side surface 44 is applied. Thus, by means of a form fit and / or a force fit, a displacement of the wedge can be achieved 34 in the direction of force 46 as well as along the side surface 44 the recess can be avoided. Furthermore, damage to the stop finger 22nd and the workpiece stop 20th avoided or reduced. It can also be avoided that the switching point of the sensor 36 shifted in the direction of the application of force or the sensor is disturbed or destroyed.

Furthermore, in further embodiments of the method, the same functions, application procedures and / or operating modes of the workpiece stop and the workpiece processing machine of the embodiments and examples described above can be implemented and executed individually or in any combination.

Embodiments of the invention can also be used for the automation of workpiece processing machines by linking different System types are used, for example using a robot unit. A robot unit and the workpiece processing machine of embodiments can each be treated as a single system and linked to one another with interfaces, mechanical, digital and / or control technology (e.g. via a network or a bus system), in particular via a controller. A computer program can be used for this purpose. The stop finger (s) of the workpiece stop of embodiments can serve as an interface. In addition, the sensor of the workpiece stop of embodiments can be used to output a signal to the robot unit for displaying the position of the workpiece, in particular the correct machining position. Embodiments of the invention therefore relate to a combination of a robot unit and a workpiece stop and / or a workpiece processing machine of embodiments.

The robot unit can in particular be controlled on the basis of signals from the sensor of the workpiece stop. For this purpose, the sensor can be connected to the robot unit in a wireless or wired manner for data transmission, e.g. via a controller. The robot unit can be used to position the workpiece in the workpiece processing machine. A further degree of automation can thus advantageously be achieved.

Embodiments of the invention thus relate to a workpiece handling device, including a workpiece stop and / or a workpiece processing machine according to one of the preceding embodiments, and a robot unit, in particular a robot unit connected to the sensor of the workpiece stop of embodiments in a data-conducting manner.

Finally, it should be pointed out that the description of the invention and the exemplary embodiments are in principle not to be understood as restrictive with regard to a specific physical implementation of the invention. All features explained and shown in connection with individual embodiments of the invention can be provided in different combinations in objects according to the invention in order to simultaneously realize their advantageous effects.

The scope of protection of the present invention is given by the claims and is not restricted by the features explained in the description or shown in the figures.

It is particularly obvious to a person skilled in the art that the invention can be used not only for handling and / or machining workpieces, but also for other handling and production methods.

List of reference symbols

1

Workpiece stop

2

Stop finger

3

Contact surface

4th

Direction of force

5

Base part

6th

Stop part

7th

Blocking element

8th

First face

9

Second face

D.

pivot point

10

Bending machine

12

Upper cheek

13

Lower cheek

14th

Tools

16

Stop finger

17th

control panel

18th

Foot pedals

B.

operator

20th

Workpiece stop

22nd

Stop finger

23

bracket

24

Top

26th

Middle part

28

Lower part

29

Contact surfaces

30th

Connecting pin

31

Recess of the upper part

32

Cut-out in the middle part

33

Recess of the lower part

34

wedge

35

Arrows

36

sensor

37

roller bearing

38

Support surface

39

Recess of the wedge

40

feather

42

Recess on the underside of the middle part

44

lateral surface of the recess 42 of the middle part (first surface)

46

Direction of force

48

lateral surface of the wedge (second surface)

50

first stop surface of the lower part

52

second stop surface of the wedge

54

Long hole

56

screw

58

Area of the recess

60

Surface of the wedge

221

Through opening

223

Through opening

224

Through opening

Claims (18)

Workpiece stop (1; 20) for a workpiece handling device, including at least one stop finger (2; 22) with at least one contact surface (3; 29) for a workpiece, on which forces in a force direction (4; 46) during and after the workpiece is applied act, the stop finger having: an immovable base part (5; 26), a stop part (6; 24, 28) which is rotatably mounted on the base part between an end position and a position of maximum deflection, and at least one blocking element (7; 34) which can be positioned on the base part in a blocking position in such a way that it blocks the stop part in the end position; wherein the base part has a first surface (8; 44) which is oriented at an angle to the normal to the direction of force, and the blocking element has a second surface (9; 48) which is oriented at the same angle as the first surface in the blocking position wherein the second surface rests against the first surface in the blocking position of the blocking element. Workpiece stop (1; 20) Claim 1 , wherein the angle of the first surface to the perpendicular to the direction of force is 1 ° to 45 °, preferably 5 ° to 20 °, more preferably 10 °. Workpiece stop (1; 20) Claim 1 or 2 , wherein the stop part has a first stop surface (50) for the blocking element, which is oriented perpendicular to the direction of force in the end position, the blocking element has a second stop surface (52) for the stop part, which is oriented perpendicular to the direction of force in the blocking position, and first stop surface rests against the second stop surface in the end position of the stop part and in the blocking position of the blocking element. Workpiece stop (1; 20) Claim 3 , the angle enclosed by the extensions of the first stop surface (50) and the first surface (44) being greater in the end position of the stop part than in the position of maximum deflection. Workpiece stop (1; 20) according to one of the preceding claims, a recess (42) in which the blocking element can be positioned is provided in the base part; and / or wherein the blocking element (34) is at least partially wedge-shaped. Workpiece stop (1; 20) according to one of the preceding claims, wherein the first surface is designed as a lateral surface of the recess; and / or wherein at least one element selected from the second surface and the second stop surface is designed as a lateral surface of the blocking element Workpiece stop (1; 20) according to one of the preceding claims, wherein the at least one contact surface comprises at least one element selected from a contact surface (3; 29) and a contact surface (38); and / or wherein the direction of force runs in the contact direction of the workpiece or perpendicular to the contact direction of the workpiece. Workpiece stop (1; 20) Claim 7 , the direction of attachment running in a horizontal plane or at an angle to a horizontal plane; and / or wherein at least one contact surface is provided on the stop part; and / or wherein at least one support surface is provided on the base part. Workpiece stop (1; 20) according to one of the preceding claims, wherein the blocking element is designed to be adjustable parallel to the first surface. Workpiece stop (1; 20) according to one of the preceding claims, wherein the blocking element is designed to be adjustable along a linear adjustment path which is oriented parallel to the first surface of the base part, the base part has a third surface (58) which is oriented parallel to the direction of force, and the blocking element has a fourth surface (60) which is aligned parallel to the direction of force, wherein the fourth surface rests against the third surface in the position of the blocking element at one end of the adjustment path. Workpiece stop (1; 20) according to one of the preceding claims, wherein the blocking element has a prestressing element (40) which is designed and / or positioned in such a way that it provides a restoring force acting on the stop part in its end position. Workpiece stop (1; 20) according to one of the preceding claims, further comprising at least one sensor (36), at least one of the sensors being assigned to the at least one stop finger, and wherein the sensor is designed such that it detects the contact of the workpiece with the stop part in its end position. Workpiece stop (1; 20) according to one of the preceding claims, wherein the at least one stop finger has a lower part (28) and an upper part (24) and a central part (26) arranged between them, and the upper part and / or the lower part are rotatably mounted relative to the central part, and the base part forms the middle part of the stop finger and the stop part forms the lower part (28) and / or the upper part (24) of the stop finger. Workpiece handling device, in particular workpiece processing machine, in particular bending and / or folding press, comprising a workpiece stop (1; 20) according to one of the Claims 1 to 13th . Workpiece handling device according to Claim 14 , Containing a robot unit, in particular one with the sensor of the workpiece stop (1; 20) according to one of the Claims 12 to 13th data-conducting connected robot unit. Use of a workpiece handling device, in particular a workpiece processing machine, according to Claim 14 or 15th for bending and / or folding a workpiece. Method for handling a workpiece, in particular for processing a workpiece in a workpiece processing machine, including a step of contacting a workpiece with a workpiece stop (1; 20) according to one of the Claims 1 to 13th . Procedure according to Claim 17 , further comprising a step of adjusting a handling position of the workpiece, in particular a correct machining position of the workpiece, in which the blocking element (34) is adjusted parallel to the first surface (44).

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