DE10333394A1 - Method and device for forming a workpiece with automatic handling - Google Patents

Abstract

According to the invention DOLLAR A a) the workpiece is positioned in a predetermined or predetermined forming position in at least one working area of at least one forming machine between two associated tools, DOLLAR A b) moves the tools of the forming relative to each other during at least one forming step and the workpiece between the Formed tools, DOLLAR A c) held during each forming step, the workpiece of at least two handling devices in its forming position, DOLLAR A d) wherein the movements and positions of the handling devices of at least one control automatically and coordinated with each other controlled or regulated.

Description

The The invention relates to a method and apparatus for forming a workpiece.

To the industrial forging of workpieces are, in particular striking, Forming machines such as hammers, Crank presses and screw presses, in particular flywheel screw presses, known. Beating forming machines comprise a working area, in which two tools, generally rectilinear, relative to each other are movable. The workpiece is placed between the two tools and then by the impact force or impact energy when impacting the tools on the workpiece and thereby caused Forming energy is transformed.

According to VDI-Encyclopedia "Production Technology Process Engineering", publisher Prof. Dr. Hiersig, VDI-Verlag, 1995, pages 1107 to 1113 divided forging hammers in Schabottehämmer, these in turn divided into hammers and overhead hammers, and Counterblow hammers. A Schabottehammer comprises a Schabotte (or: a carrier, a Anvil) as relative to the workpiece fixed tool and a striker or in short bears as relative to the workpiece and to the Schabotte, usually vertical, moving tool. One Counter hammer has two against each other and each relative to Floor or hammer rack, vertical or horizontal, moving beat Bears on. The drives for the Bears from blacksmith hammers are generally hydraulic or pneumatic. In the actual Forming or working process are the hammer frame and the hammer drives of a forge hammer relieved of the forming force, so that forging hammers are not overloadable. For screw presses is called the moving tool usually ram. Of the Pestle becomes moved rectilinearly to the stationary tool by a spindle. The drive of the spindle and thus the plunger via a Drive motor and / or a flywheel as energy storage (VDI dictionary supra)

The Forming pressure and the forming temperature depend on the material of which the workpiece is made, as well as the requirements to the dimensional accuracy and surface quality. malleable Materials are basically all malleable metals and metal alloys, and both ferrous Materials such as steels as well as non-ferrous metals, such as magnesium, aluminum, titanium, Copper, nickel and alloys thereof. The occurring during forging Temperatures can in a so-called cold forming in the range of room temperature, in a warm forging between 550 ° C and 750 ° C and in a so-called Hot forming above 900 ° C. The forming temperature is usually also placed in a temperature range in which the required for forming Formability or flowability the material is present as well as recovery and recrystallization processes take place in the material can and also unwanted Phase transformations are avoided.

It is according to VDI-Lexikon "Production Technology Process technology", Publisher Prof. Dr. med. Hiersig, VDI publishing house, 1995, pages 848 and 849 and 1214, known for the automated handling of workpieces Pressing or forging Handling equipment such as manipulators and industrial robots having grippers for gripping and temporarily holding the workpieces and the workpieces insert or remove from the forging machine. manipulators are manually controlled moving devices usually with concrete process-specific controls or programming. Industrial robots are universally applicable motion machines with a sufficient number of degrees of freedom of movement realized by a corresponding number (5 to 6) of axes of motion, and a freely programmable controller for implementation practical any movement trajectories of the workpiece within that of the industrial robot retractable or accessible area.

One Problem with the use of such handling devices are the high impact forces a beating forming machine, the handling device during forming blow significantly burden and damage can, if the handling device at the stroke of the bear or pestle that workpiece holds.

To solve the problem of the reaction of the shock of the bear or plunger of the forming machine are in DE 42 20 796 A1 and DE 100 60 709 A1 Handling devices have been proposed, which can be made yielding during the impact for damping the transmitted from the workpiece impact impacts and vibrations towards the drive and which are made rigid during the transport of the workpiece.

Out DE 42 20 796 A1 a handling device for holding a forged part in the forging process is known, in which a chassis carries a gripper engagement via a collar, which has a forging part during the forging process gripping clamping pliers. The collar is hydraulically selectively in a yielding state and a rigid state brought.

Out DE 100 60 709 A1 is a trained as a manipulator or robot handling device for handling a forging during the forging process known with a grasping forceps and a grab arm carrying the gripper arm, which is connected via a resilient block piece of an elastically deformable material with an arm portion which can pivot by means of a first electric motor up and down and lift by means of a second electric motor and lower. These two movements of the arm area are synchronized by a control device. Due to the flexibility of the block piece, the front portion of the gripper with the gripper arm and the gripper tongs is pivotable relative to the rear portion with the arm portion and the drive motors in the block piece as a kind of hinge. Now, when the gripper sets a forging workpiece on a die of a forging hammer and the striker strikes the workpiece from above, vibrations or shocks generated thereby in the elastic block piece can be damped and trapped, so that the drives are relieved. To handle the workpiece before or after the actual Umformvoxgang in the forging hammer, the elastic block piece is bridged by means of a Starrstellstange which establishes a rigid connection between the gripper arm and the arm portion over the block piece away. The rigidity rod is fixed in parallel position of the front gripper arm and the rear arm area and detachable when the workpiece resting on the die of the forging hammer by lifting the rear arm portion.

Problematic in automated forging according to the prior art Workpieces that tend to kinking, especially elongated workpieces. Of the Man is also in due to his motor sensibility and his experience capable of kinking the workpiece while forging through the To balance or prevent handling, although he only the workpiece on one Side holds. The known handling devices allow no automated forging, in which a kinking of workpiece can be safely avoided.

Finally, poses it is another problem when handling the forgings that the forgings are due to manufacturing or machining tolerances in previous forming or forming steps partly considerable Deviations in shape may have, in particular to the ends which are gripped by the handling device. Therefore It can when gripping with the known automatic gripping devices to significant deviations of the position of the forging relative to the handling device and thus also come relative to the tool of the forming machine, which a high rejection and in extreme cases even damage to the Tools can result.

The Position of the workpiece in the tool of the forming machine could now be detected for example by an image recognition and the handling device accordingly be controlled to a deviation of the position of the workpiece relative to correct the tool from a target position. This is right complex and functioning systems are not yet available for practical use Available.

by virtue of The problems mentioned have in practice an automation the handling of workpieces in forging processes with hitting forming machines not yet can prevail decisively. Rather, in practice, the workpiece is still manual by a human held with a gripping tool in the forging hammer, as appropriate trained people the right handling of the workpiece when hitting of the bear master with the impact tool.

Of the Invention is now the object of the above problems in the prior art at least partially reduce or completely to avoid.

These Task is according to the invention solved by a method having the features of claim 1 and a Device with the features of claim 40.

• a) Positionieren des Werkstücks in eine vorgegebene oder vorgebbare Umformlage in wenigstens einen Arbeitsbereich einer, insbesondere schlagenden, Umformmaschine zwischen zwei Werkzeugen der Umformmaschine (Positionierschritt),
• b) Bewegung der Werkzeuge der Umformmaschine relativ aufeinander zu und Umformen des Werkstücks zwischen den Werkzeugen während wenigstens eines Umformschrittes,
• c) Festhalten des Werkstücks in seiner Umformlage durch wenigstens zwei Handhabungsgeräte während jedes Umformschrittes, und somit auch während des Auftreffens des oder der Werkzeuge auf dem Werkstück,
• d) automatisches und aufeinander abgestimmtes Steuern oder Regeln der Bewegungen und Positionen der wenigstens zwei Handhabungsgeräte durch wenigstens eine Kontrolleinrichtung.

The method according to claim 1 is suitable for forming, in particular forging, at least one workpiece and determines and comprises the following method steps:

• a) positioning of the workpiece in a predetermined or predefinable forming position in at least one working area of a, in particular beating, forming machine between two tools of the forming machine (positioning step),
• b) moving the tools of the forming machine relative to each other and forming the workpiece between the tools during at least one forming step,
• c) holding the workpiece in its forming position by at least two handling devices during each forming step, and thus also during the impingement of the tool or tools on the workpiece,
• d) automatic and coordinated control or regulation of the movements and positions of the at least two handling devices by at least one control device.

• a) wenigstens eine, insbesondere schlagende, Umformmaschine mit wenigstens zwei relativ zueinander bewegbaren Werkzeugen zum Um formen eines Werkstücks in einer vorgegebene oder vorgebbaxen Umformlage während wenigstens eines Umformschrittes,
• b) wenigstens zwei Handhabungsgeräte zum Festhalten des Werkstücks in der Umformlage während des Umformschrittes,
• c) wenigstens eine Kontrolleinrichtung zum Steuern oder Regeln der Bewegungen und Positionen der Handhabungsgeräte.

The apparatus according to claim 40 is for forming at least one workpiece and in particular for use in a method according to the invention or for carrying out a method according to the invention suitable and intended and comprises

• a) at least one, in particular beating, forming machine with at least two relatively movable tools for forming a workpiece in a predetermined or vorgebbaxen forming position during at least one forming step,
• b) at least two handling devices for holding the workpiece in the forming position during the forming step,
• c) at least one control device for controlling or regulating the movements and positions of the handling devices.

The Movement of the tools in the forming machine relative to each other to include, of course both the case that only one of the two tools relative to the ground or machine frame or other external frame of reference moves and the other stays stationary to that external system, for example, in a Oberdruckhammer or a monkey or a screw press, as well as the case that both tools move relative to the external reference system, for example at a Counterblow hammer. The forming position of the workpiece refers to its absolute and adjustable geometrical position in space with respect to a external coordinate system. A change in the forming position is that is, generally translational and / or rotatoxic changes in position or movements together, i. the workpiece can be moved and / or to be turned around. The working area of the forming machine (s) is the Area between the tools in which the actual reshaping takes place. It can also several work areas can be formed between two tools, which defines for example by different engravings in a die could be. When controlling the handling equipment is running? Movement according to one predetermined or predefinable movement or movement profile or a corresponding stored control program (no feedback "open-loop-control"), while the Rules the movements of the handling devices detected metrologically and adapted to predetermined target movements (reference variables of the movement) or regulated (feedback, "closed-loop-control"). that at least during the forming step itself no human intervention or holding the workpiece more is required, but this automated by the handling equipment (or: Movement machine) under control of the control device takes place. Tailored to each other are the movements or positions of the handling equipment to accurately locate the workpiece to be able to handle in particular to the impact of the forming machine in the forming position to be able to fix. So there is a kinematic coupling between the two handling devices provided when handling the workpiece while its transformation.

The Invention is based on the consideration that workpiece at least during the impingement of the tool (s), in particular striking tools (s), the forming machine at the forming step at least two places each with a handling device to hold on or hold.

This has first the advantage that the workpiece when striking the tool or the) fixed in two places is and thus safer from a jump or slipping in the tools can be saved.

One Another advantage is that a bending of a longer workpiece on a Side can be prevented because the handling equipment the workpiece on both Fix pages and stabilize them during forming.

One particular advantage of the invention is the possibility of compensation a deviation of the position of the workpiece relative to the tools due to a corresponding deviation of the shape of a workpiece in one Area in which attacks a first of the handling equipment. This will be done by the workpiece by means of the second handling device in a second area gripped and held. The workpiece gets through the action according to the invention between the two handling devices in a kind of middle layer brought while it when gripping with only a handling device as in the handling devices shifted or twisted due to the tolerances in the prior art becomes. When a manual handling of the workpiece by a human is this problem of prefabrication tolerances not relevant because of Man a deviation of the position of the workpiece easily corrected and the workpiece inserts correctly. An automatic correction of the position of the workpiece by the use of an automatic image recognition to determine the Position of the workpiece is thus in accordance with the invention not mandatory. In the invention, deviations become, so to speak mechanically corrected by the two handling devices through the workpiece the fixation or grasping in two places in the desired position force, if necessary under a corresponding deformation of the Workpiece.

Advantageous embodiments and further developments of the method and the apparatus for forming a workpiece according to the invention will become apparent from those of claim 1 and claim 40th each dependent claims.

The kinematic coupling of the handling devices can be accomplished mechanically be, but preferably electronically or control or control technology over a Coupling of the control implemented by their drive systems.

• – Lüften des Werkstücks unmittelbar nach dem Umformstoß oder -schlag
• – Umsetzen des Werkstücks von einem Arbeitsbereich einer Umformmaschine zu einem nächsten oder einer Gravur eines Werkzeugs zu einer nächsten oder von einer Umformlage zu einer nächsten
• – Drehen oder Schwenken des Werkstücks, insbesondere zur Änderung einer Umformlage
• – Umgreifen am Werkstück zur Berücksichtigung von dessen Gestaltänderung nach einem Umformschritt
• – Aufnehmen des Werkstücks von einer Bereitstellungseinrichtung
• – Transport des Werkstücks zur Umformmaschine oder von der Umformmaschine weg, insbesondere zu einer Ablage

In addition to holding the workpiece during forming, the handling devices can also perform further manipulations, in particular one or more of the following operations:

• - Ventilation of the workpiece immediately after the forming impact or impact
• - converting the workpiece from one working area of a forming machine to a next or an engraving of a tool to a next or from one forming position to another
• - Turning or pivoting of the workpiece, in particular for changing a forming position
• - Embrace the workpiece to account for the change in shape after a forming step
• - Receiving the workpiece from a supply device
• - Transport of the workpiece to the forming machine or away from the forming machine, in particular to a tray

In an advantageous embodiment are at least at a part of the manipulations of the workpiece through two handling devices the two handling devices synchronously and / or along substantially constantly spaced apart ones Trajectories and / or at substantially the same speed emotional

The Control device controls or regulates the two handling devices, in particular their respective drive means, in an execution form according to a master-slave control principle, one serving as a slave handling device follows a master handling device in the movements.

In an alternative preferred embodiment controls the control device the two handling devices, in particular their respective drive means, independently of one another, it to each matched control processes.

in the Generally drives every handling device or its point of attack on the workpiece during a movement and / or Handling of the workpiece along a pre-determined trajectory with a given Speed history and / or successive stored following trajectory points at regular intervals.

The associated Trajectory of the handling device or its point of application on the workpiece is preferably in advance but can also be calculated or simulated.

In a particular embodiment becomes (only) the trajectory of one of the at least two handling devices or its point of attack on the workpiece taught and the trajectory of at least one further handling device or its point of attack on the workpiece becomes from the trained trajectory of the first handling device in advance calculated and stored or calculated in real time.

At the Learning the trajectory of a handling device or its point of attack on the workpiece is generally the associated one Trajectory, travels and be at regular intervals the trajectory points sequentially recorded and stored. Of the Velocity profile during training is preferably predetermined accordingly later Speed course in the process. At any speed while learning can be the actual Speed course during operation also considered later and new trajectory points are calculated and stored. The handling device or its point of attack on the workpiece during movement and / or Handling of the workpiece follows in each case when learning, possibly after speed correction, stored trajectory points at the same intervals and in the same order as when learning.

at Handling on the forming machine, the two handling devices are preferably at opposite Pages of the working area or tools of the molding machine. Furthermore, can the handling equipment preferably also moved to a parking position to the or to make the working area (s) of the forming machine (s) accessible

• a) wenigstens eine Greifeinrichtung mit wenigstens zwei relativ zueinander bewegbaren Greifelementen zum Greifen des Werkstücks,
• b) wenigstens eine Trägereinrichtung, an der die Greifeinrichtung befestigt oder befestigbar ist und
• c) wenigstens eine Transporteinrichtung zum Transportieren der Trägereinrichtung mit der Greifeinrichtung

auf.In an advantageous embodiment of the device has each handling device

• a) at least one gripping device with at least two gripping elements movable relative to one another for gripping the workpiece,
• b) at least one carrier device to which the gripping device is attached or attachable and
• c) at least one transport device for transporting the carrier device with the gripping device

on.

The device is now preferably developed by providing a flexible connection at least partially shock or vibration, which are transmitted during the forming process from the workpiece in the forming machine to the handling device, absorbed and thus protects the transport device from these mechanical loads and that a rigid connection or position of carrier device and transport device in a rigid state, however, is used when handling the workpiece during transport or during rotation or pivoting before or after forming steps.

A preferred application of the invention is with a forging hammer or a screw press as a forming machine.

The Invention will be explained below with reference to exemplary embodiments. there is referred to the drawing, in whose

1 a device with two handling devices when gripping a workpiece in a side view,

2 the device according to 1 in which the two handling devices hold the workpiece placed in a forming machine, in a side view,

3 a cross section through one of the handling devices according to 1 in the sectional plane designated III-III and

4 a cut according to 3 with pivoted gripping device or actuating device,

5 the device according to 1 or 2 in which the two handling devices ventilate the workpiece located in the forming machine after the forming stroke, in a side view,

6 a device for forming a workpiece with two handling devices, which handle the workpiece along predetermined trajectories, in a schematic perspective view,

7 a device for forming a workpiece with two handling devices in a handling of the workpiece in a plan view and

8th a device for forming a workpiece with two located in parking position handling equipment in a plan view
are each shown schematically. Corresponding sizes and parts are in the 1 to 8th provided with corresponding reference numerals.

There are a first handling device with 2 and a second handling device with 2 ' designated. Each of the handling devices 2 and 2 ' can be designed as a manipulator or robot. In the in 1 to 5 illustrated embodiments are the two handling devices 2 and 2 ' formed substantially identical and each comprise a gripping device (or: gripping tongs) 3 respectively. 3 ' , a carrier wave 4 respectively. 4 ' , a support device (or: starter device) 5 respectively. 5 ' , a storage part 6 respectively. 6 ' , a flexible element 7 respectively. 7 ' , a rotary actuator (or: rotary drive) 8th respectively. 8th' , a joint 9 respectively. 9 ' , an actuating device 11 respectively. 11 ' and a transport device 16 respectively. 16 ' ,

Each gripping device 3 respectively. 3 ' includes two each one associated gripping jaw (or: gripping element, jaw) 30 respectively. 31 respectively. 30 ' and 31 ' having gripping levers 32 and 33 respectively. 32 ' and 33 ' on, by means of the actuator 11 respectively. 11 ' to each other about a pivot axis E and E 'in a pivot bearing 34 respectively. 34 ' are pivotable for opening and closing the gripping device 3 respectively. 3 ' , The actuating device 11 respectively. 11 ' attacks in an attack camp 35 respectively. 35 ' on the gripping lever 33 respectively. 33 ' and is in a pivot bearing 14 respectively. 14 ' about a pivot axis D and D 'pivotally mounted on a holding part 61 respectively. 61 ' of the storage part 6 respectively. 6 ' stored

The gripping lever 32 respectively. 32 ' the gripping device 3 respectively. 3 ' is about the carrier wave 4 respectively. 4 ' with an intermediate part 60 respectively. 60 ' of the storage part 6 respectively. 6 ' coaxially connected along an axis M. Between the intermediate part 60 respectively. 60 ' and with the joint 9 respectively. 9 ' along a second axis N connected pivot drive 8th respectively. 8th' is the flexible element 7 respectively. 7 ' arranged, that and over each a flange 67 and 87 respectively. 67 ' and 87 ' with the intermediate part 60 respectively. 60 ' and the rotary actuator 8th respectively. 8th' is connected and made of an elastic material, preferably an elastomer.

In the flexible element 7 respectively. 7 ' are now the front unit of the handling device 2 respectively. 2 ' namely the gripping device 3 respectively. 3 ' , the carrier wave 4 respectively. 4 ' and the bearing part 6 respectively. 6 ' and the actuator 11 respectively. 11 ' , on the one hand, and the rear unit of the handling device 2 respectively. 2 ' namely, the rotary actuator 8th respectively. 8th' and the joint 9 respectively. 9 ' as well as the transport device 16 respectively. 16 ' , And thus also their axes M and N to each other pivotable.

3 and 4 show in a sectional view through the lifting cylinder of the actuator 11 and the carrier wave 4 and the support device 50 of the handling device 2 according to 1 an embodiment of a pivoting movement.

3 shows a vertical position, in which a central axis B of the support member 50 the support device 5 and a center axis C of the actuator 11 and the storage part 6 coincide, the actuator 11 in the direction of gravity 6 seen above the intermediate part 60 of the storage part 6 is arranged.

In 4 is now the front unit of the handling device 2 pivoted or rotated by a pivot angle β to the right in a clockwise direction. The carrier wave 4 rotates about the axis of rotation R in their support bearing 54 the support device 5 , The central axis C of the front unit, in particular of the bearing part 6 and the actuator 11 , and thus also the gripping device 3 are now about the pivot angle β with respect to the center axis B of the support means 5 pivoted. This allows a workpiece 10 to turn the corresponding swivel angle β.

The support device 5 respectively. 5 ' the handling equipment 2 and 2 ' according to 1 and 2 includes a longitudinal connecting rod 53 respectively. 53 ' , at which a transversely extending first fastening part 51 respectively. 51 ' for connecting the connecting rod 53 respectively. 53 ' with the rotary actuator 8th respectively. 8th' and further behind a transversely extending second fastening part 52 respectively. 52 ' for connecting the connecting rod 53 respectively. 53 ' with the joint 9 respectively. 9 ' and in the front area a transverse to the connecting rod 53 respectively. 53 ' upwardly projecting support member 50 respectively. 50 ' for fixing or supporting the carrier shaft 4 respectively. 4 ' are arranged. The support part 50 respectively. 50 ' has an incision as a support bearing (or: a shaft seat) 54 respectively. 54 ' for the carrier wave 4 respectively. 4 ' on (see 3 and 4 ).

Im in 1 state shown are the handling devices 2 and 2 ' from both sides onto a workpiece 10 respectively. 10 ' moved in the direction of the arrows shown, wherein the axes M and N coaxial with each other and horizontally, that is perpendicular to the gravitational force G, and wherein the flexible element 7 respectively. 7 ' is essentially undeformed. The connecting rod 53 respectively. 53 ' now runs parallel to the axes M and N and the support part 50 respectively. 50 ' supports the carrier shaft 4 respectively. 4 ' and thus the gripping device connected to it 3 respectively. 3 ' in his support camp 54 respectively. 54 ' from. The support device 5 respectively. 5 ' So provides a mechanical bridge over the flexible element 7 respectively. 7 ' and thus eliminated in the position according to 1 the flexibility of the handling device 2 respectively. 2 ' in the flexible element 7 respectively. 7 ' at least in the spatial direction of gravity G and in the downward lateral directions between the gravity G and the horizontal direction. The rigid connection is made solely by the weight of the parts of the handling device 2 respectively. 2 ' maintained. The gripping devices 3 and 3 ' stand in their vertical positions and are open.

Upon reaching the workpiece 10 become the gripping devices 3 and 3 ' closed and thus the workpiece 10 at its ends 10A and 10B taken and by the transport facilities 16 and 16 ' transported to a forming machine and placed there in the forming position for forming on a tool. It is about the support device 5 respectively. 5 ' the handling device 2 respectively. 2 ' kept in a rigid state.

2 shows the workpiece 10 in the mounted state on the lower tool or die 12 a blacksmith's hammer. By lifting the rear units of the handling equipment 2 and 2 ' , ie tilting the central axis N or N 'of rotary actuator 8th respectively. 8th' and joint 9 respectively. 9 ' by the angle of inclination α with respect to the central axis M or M 'of the front unit about the flexible element 7 respectively. 7 ' , becomes the support device 5 respectively. 5 ' out of engagement with the carrier shaft 4 respectively. 4 ' brought, as the support device 5 respectively. 5 ' with the rotary actuator 8th respectively. 8th' and the joint 9 respectively. 9 ' along the axis N and N 'remains aligned and thus the support member 50 respectively. 50 ' enough of the carrier wave 4 respectively. 4 ' away. In the tilting movement about the angle α or α 'serves the die 12 over the workpiece 10 as an abutment.

Now the striking tool beats 13 on - not shown - Beater of the forging hammer in the direction of impact A on the workpiece 10 , The impact movement creates significant impact and vibration loads that are generated by the workpiece 10 on the handling equipment 2 and 2 ' be transmitted. The elastic elements 7 and 7 ' However, now decouple these shocks or vibration largely from the transport device 16 respectively. 16 ' and the rotary actuator 8th respectively. 8th' so that these drive devices are protected from overloading.

Depending on the workpiece 10 and the desired forming process, however, may be required in many forming processes, the workpiece 10 before laying on the die 12 to turn, in particular one through the workpiece 10 extending axis of rotation, for example, its longitudinal axis. For such a rotary or pivoting movement, the gripping devices 3 and 3 ' with the gripped workpiece 10 in the supported state, ie when engaged in the carrier shaft 4 located support device 5 to the desired pivot angle β pivoted in the same direction of rotation and at the same rotational or angular speed to the workpiece without torsion in its desired order to turn position. For this purpose, a rotary movement of an output shaft in the drive housing 80 respectively. 80 ' of the rotary actuator 8th respectively. 8th' arranged drive motor, possibly via a transmission, via the drive flange 87 respectively. 87 ' and the flexible element 7 respectively. 7 ' on the connecting flange 65 respectively. 65 ' transferred, in turn, the intermediate part 60 respectively. 60 ' , the carrier wave 4 respectively. 4 ' and the gripping device 3 respectively. 3 ' rotates. Such pivotal movements occur, for example, during bending of a workpiece in a first forging or forging step and subsequent flat forming or forging. The rotatability of the gripping devices 3 and 3 ' may be omitted if rotation is not desired.

5 shows, starting from 2 , the situation shortly after hitting the impact tool 13 on the workpiece 10 and the surrounding areas of the tool 12 , The impact tool 13 is by the recoil and possibly by a drive back in one of the tool 12 directed upward movement in a return direction RH. It will be the workpiece now 10 from the tool 12 lifted or lifted by a distance d. This release movement of the two handling devices 2 and 2 ' and the workpiece held by them 10 thus follows the upwardly moving impact tool 13 in the same direction as the return direction RH. The handling devices 2 and 2 ' usually remain in the flexible position, as in 5 shown. During or after this release movement, scale material will be removed from the lower tool 12 blown out by means of a blower. Ventilation also shortens the contact time of the workpiece 10 with the lower tool or die 12 ,

After the venting process, either the workpiece can now 10 again on the tool 12 or on another die or another engraving of the tool 12 be applied and again with the impact tool 13 be transformed. But it can also be completed the forming process and the workpiece 10 from the in 5 illustrated ventilated position of the two handling devices 2 and 2 ' from the work area of the forming machine between the two tools 12 and 13 moved out and transported to a storage device.

6 shows an embodiment of a handling of a workpiece 10 with two handling devices 2 and 2 ' , starting from picking up at a supply device 41 to hang up on a tool 12 a beating forming machine. The trajectories or trajectories of the two handling devices 2 and 2 ' are denoted by S and S ', the directions of movement are indicated by arrows.

The two handling devices 2 and 2 ' are each started at a time t0 from a parking or home position S (t0) and S '(t0) and move on the workpiece 10 on the provisioning device 41 to. At a time ti reach the handling devices 2 and 2 ' each the ends 10A and 10B of the workpiece 10 at the respective positions S (ti) and S '(ti). Now grab the gripping devices 3 and 3 ' the respective end 10A respectively. 10B of the workpiece 10 and the handling equipment 2 and 2 ' now transport the workpiece 10 along the trajectories S and S '. The two trajectories S and S 'run parallel to each other and the handling devices 2 and 2 ' are moved synchronously. This will make the workpiece 10 essentially only translational and not rotationally moved. At any given time tj, the difference vector Δ = S '(tj) -S (tj) is always the same. Towards the end of the trajectories S and S 'lead the handling devices 2 and 2 ' the workpiece 10 in the work area between the tools 12 and 13 the beating forming machine and move the workpiece 10 down to a predetermined forming position on the tool 12 in an end position S (tn) for the handling device 2 and S '(tn) for the handling device 2 ' at an end time tn on opposite sides of the workspace or tool 12 the forming machine. The broken line drawn workpiece 10 is now in the forming position on the tool 12 on and can be reshaped.

During forming, the handling devices, which are also shown in dashed lines, hold 2 and 2 ' again the ends 10A and 10B of the workpiece 10 firmly. After forming the workpiece 10 by impact or impact of the impact tool 13 on the workpiece 10 can now as in 5 an air movement through the handling devices 2 and 2 ' respectively. Furthermore, the workpiece 10 additionally or alternatively implemented be transported away from an engraving of the tool in another or by the forming machine to a storage or discharge device.

The tools 12 and 13 are usually shaping tools, so-called dies with customized according to the desired shape of the workpiece engraving. The handling devices generally hold the workpiece 10 during the entire forging cycle and perform all necessary for the forging process handling movements together and synchronously. As handling movements are, inter alia, air movements within an engraving and Umsetzbewegungen of the feeder in the first engraving of the die, Umsetzbewegungen between engravings of Gesenkes and Umsetzbewegungen of engraving the Gesenkes in a discharge device.

Furthermore, workpieces are preferably also forged whose ends, on which the handling devices hold the workpiece during handling, are not symmetrical to the workpiece axis. These workpieces are stretched in previous steps, wherein it happens that the ends of the workpiece are formed asymmetrically. Because of that the workpiece 10 at both ends 10A and 10B by a respective handling device 2 and 2 ' is taken, the workpiece becomes 10 automatically aligned so that the workpiece 10 in the correct position in its forming position in the engraving or the tool 12 is inserted.

The joint and synchronous driving of the two handling devices 2 and 2 ' is via an electrical coupling between the two handling devices 2 and 2 ' achieved, wherein the coupling is achieved via the master-slave operation of electric drives or by the simultaneous start of independently operating drives. The start signal for the individual handling steps is supplied by a control device which controls the flow between the beating forming machine and the two handling devices 2 and 2 ' controls. This control device can additionally carry out the complete signal exchange. In general, the control device operates by means of at least one digital processor, in particular a microprocessor or a digital signal processor, and corresponding memory in which the sequence programs, control algorithms and data for the movements are stored. For a master-slave operation known per se master-slave control units can be used. For independently operating drives, the same distances and speeds as well as error feedback and error responses between the independent drives are provided in order to ensure an exact and in case of failure safe operation.

In a typical forging cycle, a workpiece is fed by means of a feeder or providing device. Then grab both handling devices 2 and 2 ' the workpiece 10 and put the workpiece 10 together and synchronously in an engraving of the die of the beating die-forming machine. Now, the beating die-forming machine is triggered at a variable time during or at the end of the handling movement and after triggering the further handling of the workpiece is initiated at a variable time during or at the end of the impact movement. This further handling is again common and synchronous by both handling devices 2 and 2 ' and may be an air movement of the workpiece in the same engraving, a common and synchronous conversion of the workpiece in a further engraving or the common and synchronous conversion of the workpiece in a storage device for the finished formed workpiece.

Is the workpiece 10 designed so that the first handling and forging steps can be carried out with only one handling device NEN, so engages the second handling device 2 ' at a later time of the forging cycle also the workpiece 10 and both handling devices 2 and 2 ' Forge together and synchronously as described above. The partial reacting or forging with only one handling device is particularly useful when more than two handling devices are used, since this or the other handling devices already pick up a new workpiece and possibly even forge if the other two handling devices forge the previous forging finished or insert into a discharge device. By this design with at least three handling devices shorter cycle times can be realized.

7 shows another embodiment of an apparatus for handling a workpiece during a forging process. This device again comprises two handling devices 2 and 2 ' with respective gripping devices 3 and 3 ' , which are shown schematized as industrial robots. The two handling devices 2 and 2 ' take a workpiece 10 from a provisioning device 41 , For example, a feed conveyor or other automated feeder and set the workpiece in a first engraving 17 a tool 12 a beating die-forming machine. The counter tool or impact tool of this die-forming machine is not shown and would be in the illustrated plan above the plane of the drawing. During or at the end of the handling movement or transfer movement of the providing device 41 in the first engraving 17 of the tool 12 the striking tool of the forming machine is triggered. After the shock release, a new process for the further handling of the workpiece 10 initiated at a time during or at the end of the striking movement of the striking tool. First, until the impact and during the impact of the impact tool, the workpiece 10 in its forming position on the engraving 17 from the two handling devices 2 and 2 ' fixed and held at both ends. After hitting and releasing the impact tool from the workpiece 10 becomes the workpiece 10 from the two handling devices 2 and 2 ' handled jointly and synchronously according to the deposited further handling routine. First, the workpiece 10 aired, as based on 5 already explained, and then either again in the first engraving 17 edited or in the second engraving 18 of the tool 12 implemented. After the implementation of the workpiece 10 in the second engraving 18 Again takes a forming step with triggering of the forming machine and the impact tool at a variable time during or at the end of the handling movement between the first engraving 17 and the second engraving 18 , After the strike is triggered again the further common synchronous handling of the workpiece 10 initiated at an adjustable time during or at the end of the impact movement. It can now work together and synchronously the workpiece from the two handling devices 2 and 2 ' be aired in the second engraving 18 and possibly back into the engraving 18 be inserted for a repeated processing or the workpiece 10 can immediately into the storage facility 42 for the finished formed workpiece 10 be implemented.

8th shows a park or rest position of the two handling devices 2 and 2 ' in a device according to 7 , In the parking position of the handling equipment is an access to the tools 12 and 13 the forming machine for tool change, for post-processing or for a manual test operation of the beating forming machine possible.

The movement of the handling devices 2 and 2 ' and thus the handling movements for the workpiece 10 are usually taught. For this purpose, in a learning process, the workpiece 10 with the two handling devices 2 and 2 ' guided along the intended trajectory and possibly rotational movements and the individual points in space or the corresponding movement parameters in the movement system of the handling devices 2 and 2 ' are stored at regular intervals, typically 16 ms. In the embodiment of 6 For example, the trajectors S and S 'of the handling equipment 2 and 2 ' each in the form of discrete data sets, each belonging to a point on the trajectories, starting from the track points S (t0) and S '(t0) via S (ti) and S' (ti), S (tj) and S '(tj) up to the end point S (tn) or S' (tn). In the later process, the movement is guided along the stored trajectories S and S '.

If during the learning process, the real speed curve is already set was, so can the during the learning process, spatial points S (tm) and S '(tm) detected for 0 ≤ m ≤ n immediately by stepping down the times t0 to tn in the given Time intervals Δt = tm + 1 - tm of 16 ms, for example. If the speed course during the learning process not the real later speed course corresponds, the track points stored during the learning process become still by a corresponding transformation or illustration in the for the later Process scheduled train points converted. This kind of learning Robot movement is known per se and therefore does not require one more detailed descriptions.

Instead of guiding a reference workpiece during the teaching process with both handling devices 2 and 2 ' because of the coordinated and usually synchronous movement of the handling equipment 2 and 2 ' even just the movement of one of the handling devices 2 or 2 ' be learned and the movement of the other handling device 2 ' respectively. 2 adapted to the movement of the taught handling device.

This can be achieved in particular by a master-slave operation, in particular, the second, non-trained handling device gradually follows the movements of the taught handling device.

Alternatively, for the parts of the handling movements in which the two handling devices 2 and 2 ' be moved synchronously and together, for example, as in the embodiment according to 6 , only a handling device, such as the handling device 2 , are taught and the associated movement trajectory S or, more generally, the associated movement sequence, which can be composed of translational and rotational movements, are stored and then by a simple translation mapping on the translation vector Δ according to 6 the trajectory S 'of the second handling device 2 ' be calculated. Thus, the handling devices 2 and 2 ' however, are hardware-independent drive systems and control systems, but are electrically or electronically coupled by the mismatched control programs and operations that enable the synchronous movements. This embodiment has the advantage over a master-slave operation that no following error between the two handling devices 2 and 2 ' by the successive succession as in the master-slave operation more arises, but the two handling devices 2 and 2 ' at each time tm are located on synchronous or parallel track points.

For the handling devices 2 and 2 ' in addition to the basis of the 1 to 4 described embodiments, other manipulators or industrial robots are used, preferably a good damping of the movement joints and other movement mechanisms is provided to relieve the drives of the recoil and the vibrations when hitting the impact tool of the forming machine. For example, the handling GE mentioned above according to DE 42 20 796 A1 or DE 100 60 709 A1 be used.

In addition to the described handling movements additionally or alternatively, further handling movements by the handling devices 2 and 2 ' with or without workpiece 10 be provided.

The distance between the gripping devices, for example the distance vector Δ in 6 , is usually dependent on the length or along this distance measured dimension of the workpiece and remains constant during the synchronous common handling usually.

But it can also be a volume or shape change of the workpiece after the forming process, in particular an elongation of the workpiece, taken into account by the handling equipment 2 and 2 ' change their points of attack on the workpiece, for example, on the outside of an elongation of the workpiece. For this purpose, in particular the gripping pressure of the gripping devices 3 and 3 ' be reduced and - without letting go or de gripping devices 3 and 3 ' to open - can the gripping devices 3 and 3 ' the handling equipment 2 and 2 ' along the workpiece 10 Furthermore, the movement trajectories of the two handling devices can also deviate from one another in an adapted manner, for example in an offset or a correction, for example if the workpieces have different burrs or other different shape at the engagement areas.

In a further embodiment Is it possible, Instead of a learning process and an industrial robot with a targeted within a range of space reachable by him to use controllable motion history, so where the transformation description in his three-dimensional coordinate system any movement within the room area, without having to travel through the movement beforehand to have. This can be done in particular in the context of a 3-D simulation respectively.

The workpiece can also be rotated about an axis of rotation, in particular with the aid of the 1 to 4 described embodiments of the handling devices. Furthermore, of course, rotational movements or shares of rotational movements to transport the workpiece 10 possible, for example, to get through narrow areas on the transport route.

The error communication about the in 7 and 8th shown control device makes it possible to interrupt the process in an impermissible deviation of the handling devices of the prescribed trajectory at a certain time, especially to stop the handling equipment.

2, 2 '

handling device

3, 3 '

gripper

4, 4 '

carrier wave

5, 5 '

support means

6 6 '

bearing part

7, 7 '

flexible element

9 9 '

rotary drive

9 9 '

joint

10

workpiece

11 11 '

actuator

12

joint

13

impact tool

14 14 '

pivot bearing

15 15 '

lifting cylinder

16 16 '

transport means

17 18

engraving

30 31, 30 ', 31'

jaw

32 33, 32 ', 33'

gripping levers

34 34 '

pivot bearing

35, 35 '

Angreiflager

41

Providing device

42

Bin Setup

43

control device

50, 50 '

supporting part

51 52, 51 ', 52'

attachment portion

53 53 '

connecting rod

54 54 '

support bearings

60 60 '

intermediate part

61, 61 '

holding part

65, 65 '

connecting flange

80 80 '

drive housing

87, 87 '

drive flange

M

front axis

N

rear axis

A

impact direction

B C

axis

D e

swivel axis

F

swivel axis

G

gravity

R

axis of rotation

Claims (47)

Method for forming at least one workpiece, in which a) the workpiece ( 10 ) in a predetermined or predefinable forming position in at least one working area of at least one forming machine between two associated tools ( 12 . 13 ), b) during at least one forming step, the tools of the forming machine relative to each other to be moved and the workpiece between the tools is formed, c) during each forming step, the workpiece of at least two handling devices ( 2 . 2 ' ) is held in its forming position, d) wherein the movements and positions of the handling devices of at least one control device ( 43 ) are controlled and regulated automatically and coordinated with each other. The method of claim 1, wherein the workpiece is in at least two forming steps is formed. The method of claim 2, wherein the workpiece is in at least two forming steps in the same work area and / or the same Forming is transformed. A method according to claim 2 or claim 3, wherein the workpiece in at least two forming steps in different work areas one or more forming machine (s) and / or in different Forming layers is formed. The method of claim 4, wherein the workpiece between two successive forming steps of at least one handling device of a Workspace to the next Working area or moved from one forming position to the next forming position and is positioned in this forming position. A method according to claim 4 or 5, wherein the workpiece is between a forming position and a next Forming, preferably by a running through the workpiece Rotary axis, is rotated, in particular by a rotation angle of about 90 °. Method according to one or more of the preceding Claims, in front of each workpiece the forming step or the first forming step of at least one handling device from a provisioning device to the first work area the forming machine (s) is transported. Method according to one or more of the preceding Claims, with each workpiece after the forming step or after the last forming step of at least a handling device from the working area or the last working area of the forming machine (s) is transported to a storage device. Method according to one or more of the preceding Claims, where the workpiece from at least two handling devices in the or each forming position or at least one of the forming layers is positioned. The method of claim 9, wherein the workpiece is the same two handling devices both positioned in the forming position and during the at least one Forming step is recorded. A method according to claim 9 or claim 10 in a appended on claim 7, wherein the workpiece from the same two handling devices both from the providing device to the first work area the forming machine (s) transported as well as in the respective forming position is positioned. Method according to one of claims 9 to 11 in a relationship on claim 8, wherein the workpiece from the same two handling devices both positioned in the or the last forming position as well as of the Work area or the last work area of the forming machine (s) is transported to a storage device. Method according to one of claims 9 to 12 in a relationship to one of the claims 4 to 6, in which the workpiece von densel ben two handling devices in each of the forming layers positioned as well as held in each of the forming layers as well is moved between the forming layers. Method according to one or more of the preceding Claims, where the workpiece is in its forming position in or on one of the tools of the forming machine lies or in its forming position in or on the tool or is hung up. Method according to one or more of the preceding Claims, in which the at least two handling devices after the impact of the tools and / or during a relative movement of the tools away from each other the workpiece of the or ventilate the tools or take off. Method according to one or more of the preceding Claims, in which the handling equipment the workpiece while keep its handling and movement taken. Method according to one or more of the preceding Claims, where the workpiece, at least while each Umformschrittes, on opposite sides or ends each of a handling device is held. Method according to one or more of the preceding claims, wherein during a movement and / or handling of the workpiece by at least two handling devices, the handling devices or their points of attack on the workpiece along substantially constantly spaced trajectories S (t0) are moved. Method according to one or more of the preceding Claims, during that a movement and / or handling of the workpiece by at least two handling devices, the handling devices or their points of attack on the workpiece be moved synchronously to each other. Method according to one or more of the preceding Claims, during that a movement of the workpiece by at least two handling devices, the handling devices or their Attack points on the workpiece be moved at substantially the same speed. Method according to one or more of the preceding Claims, in which at a handling of the workpiece by at least two handling devices, the handling devices, the workpiece substantially record or release synchronously. Method according to one or more of the preceding Claims, in which the handling equipment in each case at least one drive device, each with at least having an electric drive motor. Method according to one or more of the preceding Claims, in which for movement and / or handling of the workpiece through at least two handling devices the control device, the two handling devices, in particular their respective drive devices, according to a master-slave control principle controls, serving as a slave handling device as a Master serving handling device in the movements follows. Method according to one or more of the preceding Claims, in which for movement and / or handling of the workpiece through at least two handling devices the control device, the two handling devices, in particular their respective drive means, independently triggers. Method according to one or more of the preceding Claims, in which each handling device or its point of attack on the workpiece during a movement and / or Handling of the workpiece a previously determined trajectory with a predetermined velocity profile follows. Method according to one or more of the preceding Claims, in which the handling device or its point of attack on the workpiece during movement and / or Handling of the workpiece stored successive trajectory points at regular intervals. Method according to one or more of the preceding Claims, at the for at least one handling device for each movement and / or handling of the workpiece by this handling device, the associated trajectory of the handling device or whose point of attack on the workpiece is learned in advance or has been. The method of claim 27, wherein the trajectory one of the at least two handling devices or its point of application taught in at the workpiece becomes or became and the trajectory of the at least one further Handling device or its point of attack on the workpiece from the learned trajectory of the first handling device by calculation is determined or was. The method of claim 27 or claim 28, wherein for learning the trajectory of a handling device or its point of attack on the workpiece the associated Trajectory is traversed with a given speed profile or was and at regular intervals the Trajectory points are sequentially recorded and stored or were. The method of claim 27 or claim 28, wherein for learning the trajectory of a handling device or its point of attack on the workpiece the associated Trajectory is traversed or was and at regular intervals the Trajectory points are sequentially recorded and stored or were and from these trajectory points and from a given later Speed course new trajectory points are calculated. The method of claim 29 or claim 30, wherein the handling device or its point of attack on the workpiece during movement and / or Handling of the workpiece the trajectory points stored in the same during learning intervals and in the same order as when learning. The method of claim 26, 29, 30 or 31, wherein which the regular intervals between 1 ms and 50 ms, in particular 16 ms. Method according to one or more of the preceding claims, in which the manipulations and / or movements of the handling devices are calculated directly in a three-dimensional coordinate system and / or by a simu lation or the like can be created and stored. Method according to one or more of the preceding Claims, in the least two handling devices of at least one common Drive device with at least one electric drive motor be powered and controlled by the control device by driving be driven the common drive device. Method according to one or more of the preceding Claims, checking in safety steps, whether that or the handling equipment) their predetermined by the control device movement and / or Adhere to position and in case of an impermissible deviation, the movement of the handling equipment is stopped. Method according to one or more of the preceding Claims, in the forming tools of the forming machine forming dies be provided for bound forming of the workpiece or are. Method according to one or more of the preceding Claims, in which as a forming machine a beating forming machine, in particular a forging hammer or a screw press, or a crank press is or will be provided. Method according to one or more of the preceding Claims, in which the handling equipment be moved to a parking position or moved to the or the working areas) of the forming machine (s). Method according to one or more of the preceding Claims, in which the at least two handling devices at least during a forming step on opposite sides of the work area of the forming machine be arranged or positioned or are. Device for forming at least one workpiece, in particular for use in a method according to any one of claims 1 to 39 or to carry A method according to any one of claims 1 to 39, comprising a) at least one forming machine with at least two relative to each other movable tools for forming a workpiece in a given or predefinable forming position during at least one forming step, b) at least two handling devices for holding of the workpiece in the forming position during the forming step, c) at least one control device for Controlling or regulating the movements and positions of the handling devices. Apparatus according to claim 40, wherein the two handling devices at least while holding the workpiece while the forming step on opposite sides of the work area the forming machine are arranged. Apparatus according to claim 40 or claim 41, wherein of each handling device a) at least one gripping device with at least two relative to each other movable gripping elements for gripping the workpiece, b) at least one Carrier device, where the gripping device is attached or fastened and c) at least one transport device for transporting the carrier device with the gripping device comprises. Apparatus according to claim 42, wherein the support means and the transport device in a flexible state with each other are flexibly connected and in a rigid state, at least in a spatial direction and / or in each rotational position of the gripping device and / or the one or more gripping elements, substantially with each other are rigidly connected or are mutually rigid. Apparatus according to claim 42 or claim 43, wherein of each handling device at least one rotary drive for rotating the gripping device about an axis of rotation extending through the gripping device and / or for rotating at least one of the gripping elements about one through the Gripping element extending axis of rotation comprises. Device according to one of claims 42 to 44, in which the support means and the transport device over at least one connecting element are connected to each other, the in the flexible state is flexible and in the rigid state is rigid. Device according to one of claims 42 to 45, in which the support means and the transport device over at least one flexible element are connected together and in the flexible state only over the flexible element are connected and in the rigid state over at least a support device by bridging the flexible element substantially against each other or against each other supported are. Apparatus according to claim 45 or 46, wherein at least a rotary drive for rotating the gripping device on the the gripping device and the carrier device opposite side of the connecting element or the flexible element is arranged.