EP0542610A1 - Workpiece-supporting device for a bending machine - Google Patents

Workpiece-supporting device for a bending machine Download PDF

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Publication number
EP0542610A1
EP0542610A1 EP92403015A EP92403015A EP0542610A1 EP 0542610 A1 EP0542610 A1 EP 0542610A1 EP 92403015 A EP92403015 A EP 92403015A EP 92403015 A EP92403015 A EP 92403015A EP 0542610 A1 EP0542610 A1 EP 0542610A1
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EP
European Patent Office
Prior art keywords
support
sheet
press
movement
rotation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP92403015A
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German (de)
French (fr)
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EP0542610B1 (en
Inventor
Michel Capelle
Jean Paul Henri Treillet
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Amada Europe SA
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Amada Europe SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/14—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by turning devices, e.g. turn-tables
    • B21D43/145—Turnover devices, i.e. by turning about a substantially horizontal axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices

Definitions

  • the subject of the present invention is an apparatus accompanying the sheet during folding on a press brake.
  • the sheet is pinched between an elongated punch called a counter-vee, fixed to the upper apron and a matrix of the same length in shape. of vee fixed to the lower apron.
  • the bringing together of these two tools causes a bending of the sheet between the two edges of the vee then a permanent deformation which constitutes the fold to be produced according to the desired angle.
  • the device which is the subject of the present invention is a sheet metal guide comprising a pivoting support actuated by one or more articulated systems, each of them consisting of at least two levers and two links forming with the support, at least two deformable parallelograms with like a pantograph; characterized in that the fixed points of articulation of the two levers on the one hand and the points of articulation of the two links on the other hand form two straight lines which meet on the axis of rotation of the sheet around the die edge.
  • the support rotation control is obtained by a “master-slave” type servo between the movable press deck and the support, having the effect of minimizing the error in accompanying the sheet during bending.
  • the output signal from the servo device acts indifferently on a linear cylinder without defined orientation or on a rotary motor.
  • the sheet being made integral with the support, the latter is connected to the articulated system by an elastic connection in order to follow the slight sliding of the sheet during folding.
  • Figure 1 shows in front and side views, a press brake during folding and the formation of the counter-fold on a large sheet.
  • Figure 2 is a schematic enlargement of the folding area
  • Figure 3 is a side view of the front of the press equipped with the sheet metal guide according to the invention.
  • FIG. 4 is the block diagram of an electronic control system of the "master-slave" type adapted to the attendant.
  • Figure 5 is a top view of a sheet metal guide consisting of two mechanically synchronized arms.
  • FIG. 6 represents the two independent arms each slaved as a "master-slave" to the nearest press cylinder.
  • Figure 7 is a top view of a sheet metal support tray.
  • Figure 8 shows a detail of the articulation of an actuating rod on the support.
  • the press brake consists essentially of a frame (1), an upper deck carrying a punch (2) and a lower deck carrying a die (3) generally in the form of vee.
  • One of the two aprons is movable, which brings the tools closer together and the sheet metal (5) folds together, as shown in FIGS. 2 and 3. If the sheet has a large dimension in front of the press and is not not supported, it flexes and forms during folding a counter-fold (26) resulting from the "whiplash" caused by its acceleration at the start of folding and the moment created by its weight.
  • the operating principle of the guide as described in Figure 3 is similar to that of the pantograph.
  • the fixed points (7) and (8) integral with the frame (20) of the device are aligned with the edge of the die (4); around these fixed points can pivot two levers (9) and (10), the lever (9) has two points of articulation (11) and (12); the lever (10) has a point of articulation (13) and a light (14).
  • a link (15) connecting the articulation points (11) and (13) is articulated at (16) on the support (6) while a second link (17) connects the point (12) of the lever (9) at a second articulation point (18) of the support (6).
  • Points (16) and (18) are aligned with the edge of the matrix (4) .
  • the two parallelograms formed by the points (7), (8) (13a), (11a) on the one hand and (11a), (12a) (18a), (16a) on the other hand can deform to take the respective positions (7), (8), (13b), (11b) and (11b), (12b), (18b), (16b) so that the points (18b), (16b) integral with the support (6) always remain aligned with the vee edge and at constant distance from this edge when the levers (9) and (10) are rotated by any angle ⁇ .
  • the rotation of the lever (9), therefore of the lever (10) which remains parallel to it, is obtained by a jack (19) articulated in (4) and the rod of which is connected in ( 11) to the lever (9) and to the link (15).
  • This jack can be hydraulic, as shown in the figure, electric or pneumatic. In all cases, it is controlled by a power member, not shown but which, in the example described, comprises a hydraulic distributor delivering to the jack an oil flow proportional to an electrical set point; this being determined by the servo system so that the angle ⁇ of rotation of the support (6) is constantly equal to the angle ⁇ of rotation of the sheet at the same time during folding.
  • the guide is electrically connected to the press, which has either original or in addition an incremental measurement rule (21) whose cursor (22) indicates the position and the speed of the movable platform. (23) .At the same time, the guide is equipped with an incremental ruler (24) whose dimension is related to the angular movement of the lever (10). This ruler (24) has a cursor (25) guided on the ruler and controlled by the lever (10) using a sliding connection represented by the light (14).
  • the rule (24) is mounted on the frame (20) in position perpendicular to the lever (10) when it is We can see that the displacement of the cursor from (25a) to (25b) is proportional to that of the cursor (22) of the press since it measures the penetration of the punch in the matrix and that, geometrically, the triangle formed by points (25a), (25b), (8) is similar to that formed by the top of the punch, in s initial (27a) and final (27b) positions and the matrix edge (4) shown in FIG. 2.
  • the consistency of the values read from the two sensors is purely mechanical
  • the servo principle is described in the diagram in FIG. 4.
  • the adapters (44) and (45) process the signals complemented by the sliders (22) and (25) in order to obtain, on an output, a counting signal. positive if the cursor moves in the fold direction and, on another output, a negative count signal if the cursor moves in the opposite direction.
  • the frequency-voltage converter (46) outputs a setpoint voltage proportional to the counting frequency of the adapter (44), positive if the counting is positive and negative otherwise.
  • the member for preselecting the folding vee (47) outputs a division ratio corresponding to the matrix chosen from an interface of the coding wheel type or the like.
  • the division block (48) receives the counting signals from the adapter (45) and outputs a quantity of pulses proportional to the division ratio of the preselection member (47).
  • the counting signals coming from the adapter (44) and the division block (48) are transmitted to the block (49) which outputs a signed digital value representative of the chase error of the attendant relative to the movable platform.
  • the converter (50) transforms this digital value into analog voltage.
  • the setpoint voltages leaving the converter (46) and the converter (50) enter a PID block (51) (proportional, integral and differential) to generate, in output, a control signal from the power unit.
  • the sheet metal guide can take various forms and three examples of embodiment are given in FIGS. 5, 6 and 7.
  • each articulated system has its own support arm (32), (33), the arms can be separated according to the width of the sheet; they can therefore slide along the apron (34) of the press and find a place in the extension of this apron when not in use.
  • Their drive can be independent or common, for example by means of a splined shaft (35).
  • the two support arms are independent and each arm is slaved to the movement of the part of the deck located opposite it; in practice, the arm (32) is slaved to the jack (28) and the arm (33 ) to the cylinder (29); each control being assigned a coefficient proportional to the distance between the axis of the linear sensor of the press managing this cylinder and the axis of the linear sensor of the corresponding arm.
  • This arrangement makes it possible to accompany the sheet even when the fold is changing from one end to the other, as a result of a different adjustment of the two cylinders .
  • the support is a plate (36) driven by at least two articulated systems.
  • the device is made integral with the lower apron at precise horizontal and vertical distances depending on the width and height of the die. Most often, it can be moved along the lower apron of the press, as in Figure 3 using rollers (39a), (39b) rolling on a rail (30). Each arm will then have a locking system. The distance adjustment and the locking system are not shown in the figure . In order not to inadvertently slide on the support during folding, the sheet is held on it, for example using suction cups (40) or any other means such as electromagnets or clamps.
  • the device therefore comprises, according to FIG. 8, a possibility of longitudinal sliding between the support (6) and the connecting pins (16) and (18).
  • the yokes (41) on which are articulated the links (15), (17) are slidably mounted on the plate (6) and are connected to the latter by means of elastic elements such as the springs (42) and held by screws (43 ) .
  • this solution is given by way of example, and that the device can be adapted to the sliding of the sheet in another way such as for example a sliding mounting of the holding members on the plate.
  • the principle of the sheet metal guide according to the present invention can be used on all types of press brakes with upper or lower movable deck. Due to its simple servo-control, it can be installed on rustic press brakes having no no digital control.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Braking Arrangements (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

Metal-sheet-following device for a bending press, including a pivoting support (6) actuated by one or more articulated systems, each of them being constituted by at least two levers (9),(10) and two links (15),(17) forming, together with the support, at least two parallelograms which can be deformed in the manner of a pantograph. The fixed articulation points (7),(8) of the two levers on the one hand, and the articulation points (16),(18) of the links on the support on the other hand, are aligned with the point which is coincident with the axis of rotation of the metal sheet about the die edge. Rotational actuation of the assembly follows the movement of the moving table of the press by means of a control mechanism of the "master-slave" type which has the effect of minimising the following error in the metal sheet which is being bent. The metal sheet (5) is rendered integral with the support (6) but the latter may slide slightly in relation to its articulation points so as to follow the sliding of the metal sheet during the bending. The support may either be a plate or a set of arms, the spacing of which may be adjusted. The arms may be integral or independent. <IMAGE>

Description

La présente invention a pour objet un appareil accompagnant la tôle pendant le pliage sur presse plieuse.Lors de cette opération,la tôle est pincée entre un poinçon de forme allongée appelé contre-vé,fixé au tablier supérieur et une matrice de même longueur en forme de vé fixée au tablier inférieur.Le rapprochement de ces deux outils provoque une flexion de la tôle entre les deux bords du vé puis une déformation permanente qui constitue le pli à réaliser suivant l'angle voulu.The subject of the present invention is an apparatus accompanying the sheet during folding on a press brake. During this operation, the sheet is pinched between an elongated punch called a counter-vee, fixed to the upper apron and a matrix of the same length in shape. of vee fixed to the lower apron. The bringing together of these two tools causes a bending of the sheet between the two edges of the vee then a permanent deformation which constitutes the fold to be produced according to the desired angle.

Pendant cette opération,si le pli à réaliser se situe près d'un des bords de la tôle,laissant sa plus grande partie devant la presse,cette partie pivote dans l'espace environnant avec une accélérétion brutale pour atteindre une vitesse angulaire qui est d'autant plus grande que le vé est petit.Dans ces conditions,le moment créé par le poids de la tôle dont le centre de gravité est éloigné de la ligne d'appui constituée par le bord,de vé,provoque une flexion de cette tôle et une déformation permanente appelée contre-pli,si la tôle est fine. Pour pallier cet inconvénient,on doit accompagner la tôle dans son débattement ce qui nécessite l'action de deux opérateurs se tenant de chaque côté de la tôle et tentant de suivre son mouvement.Mais la synchronisation des bras des opérateurs avec le mouvement de la tôle est difficile et très fatigante,voire dangereuse.During this operation, if the fold to be produced is located near one of the edges of the sheet, leaving most of it in front of the press, this part pivots in the surrounding space with sudden acceleration to reach an angular speed which is d '' as large as the vee is small. Under these conditions, the moment created by the weight of the sheet metal whose center of gravity is far from the support line formed by the edge, of vé, causes a bending of this sheet metal and a permanent deformation called a fold, if the sheet is thin. To overcome this drawback, we must support the sheet in its movement which requires the action of two operators standing on each side of the sheet and trying to follow its movement. But the synchronization of the arms of the operators with the movement of the sheet is difficult and very tiring, even dangerous.

Des appareils de divers types ont été réalisés en vue d'apporter une solution au problème mais ceux-ci ne donnent pas entière satisfaction car ils sont,soit complexes,comme l'appareil décrit dans le brevet U.S. 3.455.440 soit approximatifs donc peu fidèles.Apparatuses of various types have been produced with a view to providing a solution to the problem, but these are not entirely satisfactory since they are either complex, as the apparatus described in US Pat. No. 3,455,440, approximate and therefore not very faithful. .

La difficulté rencontrée dans la recherche d'une solution efficace provient du fait qu'il faut faire tourner le support de tôle autour d'un axe qui se confond avec l'axe de rotation de la tôle autour du bord de matrice et qu'il est impossible de matérialiser cet axe.The difficulty encountered in the search for an effective solution stems from the fact that it is necessary to rotate the sheet support around an axis which coincides with the axis of rotation of the sheet around the die edge and that it is impossible to materialize this axis.

L'appareil objet de la présente invention est un accompagnateur de tôle comportant un support pivotant actionné par un ou plusieurs systèmes articulés,chacun d'eux étant constitué par au moins deux leviers et deux biellettes formant avec le support,au moins deux parallèlogrammes déformables à la manière d'un pantographe;caractérisé en ce que les points fixes d'articulation des deux leviers d'une part et les points d'articulation des deux biellettes d'autre part forment deux droites qui se rencontrent sur l'axe de rotation de la tôle autour du bord de matrice.The device which is the subject of the present invention is a sheet metal guide comprising a pivoting support actuated by one or more articulated systems, each of them consisting of at least two levers and two links forming with the support, at least two deformable parallelograms with like a pantograph; characterized in that the fixed points of articulation of the two levers on the one hand and the points of articulation of the two links on the other hand form two straight lines which meet on the axis of rotation of the sheet around the die edge.

La commande de rotation du support est obtenue par un asservissement du type "maître-esclave"entre le tablier mobile de la presse et le support,ayant pour effet de minimiser l'erreur d'accompagnement de la tôle en cours de pliage.The support rotation control is obtained by a “master-slave” type servo between the movable press deck and the support, having the effect of minimizing the error in accompanying the sheet during bending.

Cette erreur d'accompagnement résulte de la comparaison entre la valeur donnée par un capteur linéaire lié au tablier mobile de la presse et celle donnée par un autre capteur linéaire indiquant le mouvement du système d'accompagnement.This accompanying error results from the comparison between the value given by a linear sensor linked to the movable platform of the press and that given by another linear sensor indicating the movement of the accompanying system.

La cohérence des valeurs linéaires lues sur les deux capteurs est obtenue automatiquement.The consistency of the linear values read from the two sensors is obtained automatically.

Le signal de sortie du dispositif d'asservissement agit indifféremment sur un vérin linéaire sans orientation définie ou sur un moteur rotatif.The output signal from the servo device acts indifferently on a linear cylinder without defined orientation or on a rotary motor.

Plusieurs systèmes articulés peuvent être placés à une certaine distance l'un de'l'autre,chaque système étant muni de son propre support et chaque support étant asservi au mouvement de la partie du tablier mobile qui est située en face de lui.Several articulated systems can be placed at a certain distance from each other, each system being provided with its own support and each support being slaved to the movement of the part of the movable platform which is located opposite it.

La tôle étant rendue solidaire du support,celui-ci est relié au système articulé par une liaison élastique afin de suivre le léger glissement de la tôle pendant le pliage.The sheet being made integral with the support, the latter is connected to the articulated system by an elastic connection in order to follow the slight sliding of the sheet during folding.

D'autres caractéristiques et avantages de l'accompagnateur de tôle conforme à l'invention apparaîtront encore à travers la description qui suit d'un exemple de réalisation donné à titre indicatif et non limitatif en référence aux dessins annexés sur lesquels:Other characteristics and advantages of the sheet metal guide in accordance with the invention will become more apparent from the following description of an exemplary embodiment given by way of non-limiting example with reference to the appended drawings in which:

La figure 1 représente en vues de face et de profil,une presse-plieuse en cours de pliage et la formation du contre-pli sur une tôle de grand format.Figure 1 shows in front and side views, a press brake during folding and the formation of the counter-fold on a large sheet.

La figure 2 est un agrandissement schématisé de la zone de pliageFigure 2 is a schematic enlargement of the folding area

La figure 3 est un vue de profil de l'avant de la presse équipée de l'accompagnateur de tôle suivant l'invention.Figure 3 is a side view of the front of the press equipped with the sheet metal guide according to the invention.

La figure 4 est le schéma-bloc d'un asservissement électronique du type"maître-esclave"adapté à l'accompagnateur.FIG. 4 is the block diagram of an electronic control system of the "master-slave" type adapted to the attendant.

La figure 5 est une vue de dessus d'un accompagnateur de tôle constitué de deux bras synchronisés mécaniquement.Figure 5 is a top view of a sheet metal guide consisting of two mechanically synchronized arms.

La figure 6 représente les deux bras indépendants asservis chacun en "maître-esclave" au vérin de presse le plus proche..FIG. 6 represents the two independent arms each slaved as a "master-slave" to the nearest press cylinder.

La figure 7 est une vue de dessus d'un accompagnateur de tôle en forme de plateau.Figure 7 is a top view of a sheet metal support tray.

La figure 8 représente un détail de l'articulation d'une biellette d'actionnement sur le support.Figure 8 shows a detail of the articulation of an actuating rod on the support.

Comme représentée sur la figure 1 la presse-plieuse se compose essentiellement d'un bâti (1),d'un tablier supérieur portant un poinçon (2) et d'un tablier inférieur portant une matrice (3) généralement en forme de vé.L'un des deux tabliers est mobile ce qui provoque le rapprochement des outils et le pliage de la tôle (5) entre eux,comme représenté sur les figures 2 et 3.Si la tôle a une grande dimension devant la presse et n'est pas soutenue,elle fléchit et forme pendant le pliage un contre-pli (26) résultant du"coup de fouet"provoqué par son accélération au début du pliage et le moment créé par son poids.As shown in Figure 1 the press brake consists essentially of a frame (1), an upper deck carrying a punch (2) and a lower deck carrying a die (3) generally in the form of vee. One of the two aprons is movable, which brings the tools closer together and the sheet metal (5) folds together, as shown in FIGS. 2 and 3. If the sheet has a large dimension in front of the press and is not not supported, it flexes and forms during folding a counter-fold (26) resulting from the "whiplash" caused by its acceleration at the start of folding and the moment created by its weight.

Le principe de fonctionnement de l'accompagnateur tel que décrit sur la figure 3 s'apparente à celui du pantographe.Les points fixes (7) et (8) solidaires du bâti (20) de l'appareil sont alignés avec le bord de matrice (4); autour de ces points fixes peuvent pivoter deux leviers (9) et (10),le levier (9) possède deux points d'articulation (11) et (12);le levier (10) possède un point d'articulation (13) et une lumière (14).Une biellette (15) reliant les points d'articulation (11) et (13) s'articule en (16) sur le support (6) tandis qu'une seconde biellette (17) relie le point (12) du levier (9) à un second point d'articulation (18) du support (6).Les points (16) et (18) sont alignés avec le bord de matrice (4).Les deux parallèlogrammes formés par les points(7),(8) (13a),(11a) d'une part et (11a),(12a) (18a),(16a) d'autre part peuvent se déformer pour prendre les positions respectives (7),(8),(13b),(11b) et (11b),(12b),(18b),(16b) de sorte que les points (18b),(16b) solidaires du support (6) restent toujours alignés avec le bord de vé et à distance constante de ce bord quand on fait tourner les leviers (9) et (10) d'un angle α quelconque.The operating principle of the guide as described in Figure 3 is similar to that of the pantograph. The fixed points (7) and (8) integral with the frame (20) of the device are aligned with the edge of the die (4); around these fixed points can pivot two levers (9) and (10), the lever (9) has two points of articulation (11) and (12); the lever (10) has a point of articulation (13) and a light (14). A link (15) connecting the articulation points (11) and (13) is articulated at (16) on the support (6) while a second link (17) connects the point (12) of the lever (9) at a second articulation point (18) of the support (6). Points (16) and (18) are aligned with the edge of the matrix (4) .The two parallelograms formed by the points (7), (8) (13a), (11a) on the one hand and (11a), (12a) (18a), (16a) on the other hand can deform to take the respective positions (7), (8), (13b), (11b) and (11b), (12b), (18b), (16b) so that the points (18b), (16b) integral with the support (6) always remain aligned with the vee edge and at constant distance from this edge when the levers (9) and (10) are rotated by any angle α.

Dans l'exemple de la figure (3) la rotation du levier (9),donc du levier (10) qui lui reste parallèle,est obtenue par un vérin (19) articulé en (4) et dont la tige est reliée en (11) au levier (9) et à la biellette (15).Ce vérin peut être hydraulique ,comme représenté sur la figure,électrique ou pneumatique.Dans tous les cas,il est commandé par un organe de puissance,non représenté mais qui,dans l'exemple décrit,comprend un distributeur hydraulique délivrant au vérin un débit d'huile proportionnel à une consigne èlectrique;celle-ci étant déterminée par le système d'asservissement afin que l'angle α de rotation du support (6) soit constamment égal à l'angle α de rotation de la tôle au même instant pendant le pliage.In the example of FIG. (3) the rotation of the lever (9), therefore of the lever (10) which remains parallel to it, is obtained by a jack (19) articulated in (4) and the rod of which is connected in ( 11) to the lever (9) and to the link (15). This jack can be hydraulic, as shown in the figure, electric or pneumatic. In all cases, it is controlled by a power member, not shown but which, in the example described, comprises a hydraulic distributor delivering to the jack an oil flow proportional to an electrical set point; this being determined by the servo system so that the angle α of rotation of the support (6) is constantly equal to the angle α of rotation of the sheet at the same time during folding.

A cet effet,l'accompagnateur est relié électriquement à la presse.Celle-ci possède,soit d'origine,soit en adjonction une règle incrémentale de mesure (21) dont le curseur (22) indique la position et la vitesse du tablier mobile (23).Parallèlement,l'accompagnateur est équipé d'une règle incrémentale (24) dont la dimension est en rapport avec le débattement angulaire du levier (10).Cette règle (24) possède un curseur (25) guidé sur la règle et commandé par le levier (10) à l'aide d'une liaison coulissante représentée par la lumière (14).La règle (24) est montée sur le bâti (20) en position perpendiculaire au levier (10) lorsqu'il est au repos.On voit alors que le déplacement du curseur de (25a) à (25b) est proportionnel à celui du curseur (22) de la presse puisque celui-ci mesure la pénétration du poinçon dans la matrice et que ,géométriquement,le triangle formé par les points (25a),(25b),(8) est semblable à celui formé par le sommet du poinçon,dans ses positions initiale (27a) et finale (27b) et le bord de matrice (4) représentés sur la figure 2.Ainsi,dans cet exemple de réalisation,la cohérence des valeurs lues sur les deux capteurs est purement mécanique,For this purpose, the guide is electrically connected to the press, which has either original or in addition an incremental measurement rule (21) whose cursor (22) indicates the position and the speed of the movable platform. (23) .At the same time, the guide is equipped with an incremental ruler (24) whose dimension is related to the angular movement of the lever (10). This ruler (24) has a cursor (25) guided on the ruler and controlled by the lever (10) using a sliding connection represented by the light (14). The rule (24) is mounted on the frame (20) in position perpendicular to the lever (10) when it is We can see that the displacement of the cursor from (25a) to (25b) is proportional to that of the cursor (22) of the press since it measures the penetration of the punch in the matrix and that, geometrically, the triangle formed by points (25a), (25b), (8) is similar to that formed by the top of the punch, in s initial (27a) and final (27b) positions and the matrix edge (4) shown in FIG. 2. Thus, in this embodiment, the consistency of the values read from the two sensors is purely mechanical,

Le principe d'asservissement est décrit sur le schéma de la figure 4.Les adaptateurs (44) et (45) traitent les signaux complémentés des curseurs (22) et (25) afin d'obtenir,sur une sortie,un signal de comptage positif si le curseur se déplace dans le sens du pliage et,sur une autre sortie,un signal de comptage négatif si le curseur se déplace en sens inverse.The servo principle is described in the diagram in FIG. 4. The adapters (44) and (45) process the signals complemented by the sliders (22) and (25) in order to obtain, on an output, a counting signal. positive if the cursor moves in the fold direction and, on another output, a negative count signal if the cursor moves in the opposite direction.

Le convertisseur fréquence-tension (46) sort une tension de consigne proportionnelle à la fréquence de comptage de l'adaptateur (44),positive si le comptage est positif et négative dans le cas contraire.The frequency-voltage converter (46) outputs a setpoint voltage proportional to the counting frequency of the adapter (44), positive if the counting is positive and negative otherwise.

L'organe de présélection du vé de pliage (47) sort un rapport de division correspondant à la matrice choisie à partir d'un interface du type roue codeuse ou autre.The member for preselecting the folding vee (47) outputs a division ratio corresponding to the matrix chosen from an interface of the coding wheel type or the like.

Le bloc de division (48) reçoit les signaux de comptage de l'adapteur (45) et sort une quantité d'impulsions proportionnelle au rapport de division de l'organe de présélection (47).The division block (48) receives the counting signals from the adapter (45) and outputs a quantity of pulses proportional to the division ratio of the preselection member (47).

Les signaux de comptage venant de l'adaptateur (44) et du bloc de division (48) sont transmis au bloc (49) qui sort une valeur numérique signée représentative de l'erreur de poursuite de l'accompagnateur par rapport au tablier mobile.The counting signals coming from the adapter (44) and the division block (48) are transmitted to the block (49) which outputs a signed digital value representative of the chase error of the attendant relative to the movable platform.

Le convertisseur (50) transforme cette valeur numérique en tension analogique.Ainsi,les tensions de consigne sortant du convertisseur (46) et du convertisseur (50) entrent dans un bloc P.I.D.(51) (proportionnel,intégral et différentiel) pour générer,en sortie,un signal de commande de l'organe de puissance.The converter (50) transforms this digital value into analog voltage. Thus, the setpoint voltages leaving the converter (46) and the converter (50) enter a PID block (51) (proportional, integral and differential) to generate, in output, a control signal from the power unit.

L'accompagnateur de tôle peut se présenter sous diverses formes et trois exemples de réalisation sont donnés sur les figures 5,6 et 7.The sheet metal guide can take various forms and three examples of embodiment are given in FIGS. 5, 6 and 7.

Sur la figure 5,chaque système articulé possède son propre bras-support (32),(33),les bras peuvent être écartés selon la largeur de la tôle;ils peuvent à cet effet coulisser le long du tablier (34) de la presse et trouver une place dans le prolongement de ce tablier lorsqu'ils ne sont pas utilisés. Leur entrainement peut être indépendant ou commun,par exemple au moyen d'un arbre cannelé (35).In FIG. 5, each articulated system has its own support arm (32), (33), the arms can be separated according to the width of the sheet; they can therefore slide along the apron (34) of the press and find a place in the extension of this apron when not in use. Their drive can be independent or common, for example by means of a splined shaft (35).

Sur la figure 6,les deux bras-supports sont indépendants et chaque bras est asservi au mouvement de la partie du tablier située en face de lui;en pratique,le bras (32)est asservi au vérin (28) et le bras (33)au vérin (29);chaque asservissement étant affecté d'un coefficient proportionnel à la distance entre l'axe du capteur linéaire de la presse gérant ce vérin et l'axe du capteur linéaire du bras correspondant.Cette disposition permet d'accompagner la tôle même lorsque le pli est évolutif d'une extrémité à l'autre,par suite d'un réglage différent des deux vérins.In FIG. 6, the two support arms are independent and each arm is slaved to the movement of the part of the deck located opposite it; in practice, the arm (32) is slaved to the jack (28) and the arm (33 ) to the cylinder (29); each control being assigned a coefficient proportional to the distance between the axis of the linear sensor of the press managing this cylinder and the axis of the linear sensor of the corresponding arm. This arrangement makes it possible to accompany the sheet even when the fold is changing from one end to the other, as a result of a different adjustment of the two cylinders .

Sur la figure 7,le support est un plateau (36) entraîné par au moins deux systèmes articulés.In FIG. 7, the support is a plate (36) driven by at least two articulated systems.

Dans tous les cas,l'appareil est rendu solidaire du tablier inférieur à des distances horizontale et verticale précises dépendant de la largeur et de la hauteur de matrice.Le plus souvent,il pourra être déplacé le long du tablier inférieur de la presse ,comme sur la figure 3 à l'aide de galets (39a),(39b) roulant sur un rail (30).Chaque bras comportera alors un système de blocage.Le réglage des distances et le système de blocage ne sont pas représentés sur la figure.
Afin de ne pas glisser malencontreusement sur le support pendant le pliage la tôle est maintenue sur lui par exemple à l'aide de ventouses (40) ou de tout autre moyen tel qu'electro-aimants ou pinces.In all cases, the device is made integral with the lower apron at precise horizontal and vertical distances depending on the width and height of the die. Most often, it can be moved along the lower apron of the press, as in Figure 3 using rollers (39a), (39b) rolling on a rail (30). Each arm will then have a locking system. The distance adjustment and the locking system are not shown in the figure .
In order not to inadvertently slide on the support during folding, the sheet is held on it, for example using suction cups (40) or any other means such as electromagnets or clamps.

Pendant le pliage,la tôle pivote autour du bord de matrice (4) mais l'on constate sur la figure (2) qu'elle glisse sur ce bord puisque le segment (4)-(27b) est plus long que le segment (4)-(27a).L'appareil comporte donc,selon la figure 8 une possibilité de glissement longitudinal entre le support (6) et les axes de liaison (16) et (18).A cet effet les chapes (41) sur lesquelles sont articulées les biellettes (15),(17) sont montées coulissantes sur le plateau (6) et sont reliées à celui-ci par l'intermédiaire d'éléments élastiques tels que les ressorts (42) et maintenues par des vis (43).IL est évident que cette solution est donnée à titre d'exemple,et que l'appareil peut être adapté au glissement de la tôle d'une autre manière comme par exemple un montage coulissant des organes de maintien sur le plateau.During folding, the sheet pivots around the edge of the die (4) but we can see in figure (2) that it slides on this edge since the segment (4) - (27b) is longer than the segment ( 4) - (27a). The device therefore comprises, according to FIG. 8, a possibility of longitudinal sliding between the support (6) and the connecting pins (16) and (18). For this purpose the yokes (41) on which are articulated the links (15), (17) are slidably mounted on the plate (6) and are connected to the latter by means of elastic elements such as the springs (42) and held by screws (43 ) .It is obvious that this solution is given by way of example, and that the device can be adapted to the sliding of the sheet in another way such as for example a sliding mounting of the holding members on the plate.

Le principe de l'accompagnateur de tôle selon la présente invention peut être utilisé sur tous les types de presses-plieuses à tablier mobile supérieur ou inférieur.Du fait de sa simplicité d'asservissement,il peut être installé sur des presses plieuses rustiques ne possédant pas de commande numérique.The principle of the sheet metal guide according to the present invention can be used on all types of press brakes with upper or lower movable deck. Due to its simple servo-control, it can be installed on rustic press brakes having no no digital control.

Claims (5)

Appareil accompagnateur de tôle pour presse-plieuse, comportant un support (6) qui pivote autour d'un axe parallèle à la matrice (3) pour soutenir la tôle (5) pendant l'opération de pliage,ce support étant actionné par un ou plusieurs systèmes articulés,chacun d'eux étant constitué par au moins deux leviers (9),(10) et au moins deux biellettes (15),(17) formant,avec le support,au moins deux parallèlogrammes déformables à la manière d'un pantographe;la commande de rotation de l'ensemble étant déterminée pour suivre la rotation de la tôle autour du bord de la matrice pendant le pliage;caractérisé en ce que: - Les points fixes d'articulation (7),(8) des leviers d'une part et les points d'articulation(16),(18) des biellettes sur le support d'autre part sont alignés avec le point qui se confond avec l'axe de rotation de la tôle autour du bord de matrice. - La commande de rotation du support est obtenue par un asservissement du type "maître-esclave"entre le tablier mobile de la presse et le support ayant pour effet de minimiser l'erreur d'accompagnement de la tôle en cours de pliage. Sheet metal accompanying apparatus for press brake, comprising a support (6) which pivots about an axis parallel to the die (3) to support the sheet (5) during the folding operation, this support being actuated by one or several articulated systems, each of them consisting of at least two levers (9), (10) and at least two links (15), (17) forming, with the support, at least two parallelograms deformable in the manner of a pantograph; the control of rotation of the assembly being determined to follow the rotation of the sheet around the edge of the matrix during folding; characterized in that: - The fixed points of articulation (7), (8) of the levers on the one hand and the points of articulation (16), (18) of the rods on the support on the other hand are aligned with the point which merges with the axis of rotation of the sheet around the die edge. - The support rotation control is obtained by a "master-slave" type servo between the movable press deck and the support having the effect of minimizing the accompanying error of the sheet during bending. Appareil accompagnateur de tôle suivant la revendication 1 caractérisé en'ce que : - L'erreur d'accompagnement est obtenue par comparaison entre la valeur donnée par un capteur linéaire (21),(22) lié au tablier mobile de la presse et celle donnée par un autre capteur linéaire (24),(25) indiquant le mouvement du système d'accompagnement. - La cohérence des valeurs linéaires lues sur les deux capteurs est obtenue automatiquement par la matérialisation du maintien de la similitude des triangles (8),(25a),(25b) de la fig.3 et (4),(27a),(27b) de la fig.2. Sheet metal accompanying apparatus according to claim 1 characterized in that: - The accompanying error is obtained by comparison between the value given by a linear sensor (21), (22) linked to the movable platform of the press and that given by another linear sensor (24), (25) indicating the movement of the support system. - The consistency of the linear values read on the two sensors is obtained automatically by the materialization of the maintenance of the similarity of the triangles (8), (25a), (25b) of fig. 3 and (4), (27a), ( 27b) of fig. 2. Appareil suivant l'une des revendications précédentes caractérisé en ce que le signal de sortie du dispositif d'asservissement agit indifféremment sur un vérin linéaire sans orientation définie ou sur un moteur rotatif.Apparatus according to one of the preceding claims, characterized in that the output signal from the servo device acts indifferently on a linear cylinder without defined orientation or on a rotary motor. Appareil suivant l'une des revendications précédentes,comportant deux bras indépendants,caractérisé en ce que le mouvement de chaque bras est asservi au mouvement de la partie du tablier mobile située en face de lui c'est à dire au mouvement du vérin situé du même côté que lui affecté d'un coefficient. de proportionnalité dépendant de la distance entre l'axe du capteur linéaire de la presse gérant ce vérin et le capteur linéaire du bras.Apparatus according to one of the preceding claims, comprising two independent arms, characterized in that the movement of each arm is controlled by the movement of the part of the movable apron situated opposite it, that is to say the movement of the jack situated in the same side that assigned him a coefficient. proportionality dependent on the distance between the axis of the linear sensor of the press managing this jack and the linear sensor of the arm. Appareil suivant l'une des revendications précédentes caractérisé en ce que le support est relié au système articulé par l'intermédiaire d'une liaison élastique de faible amplitude (41),(42),(43)orientée dans le sens du glissement de la tôle sur le bord de matrice.Apparatus according to one of the preceding claims, characterized in that the support is connected to the articulated system by means of an elastic connection of small amplitude (41), (42), (43) oriented in the direction of the sliding of the sheet metal on the die edge.
EP92403015A 1991-11-13 1992-11-09 Workpiece-supporting device for a bending machine Expired - Lifetime EP0542610B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9113952 1991-11-13
FR9113952A FR2683470B1 (en) 1991-11-13 1991-11-13 SHEET ACCOMPANIOR FOR PRESS BRAKE.

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EP0542610A1 true EP0542610A1 (en) 1993-05-19
EP0542610B1 EP0542610B1 (en) 1997-08-27

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AT (1) ATE157286T1 (en)
DE (1) DE69221824T2 (en)
DK (1) DK0542610T3 (en)
ES (1) ES2108740T3 (en)
FR (1) FR2683470B1 (en)

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EP1221348A1 (en) * 2001-01-08 2002-07-10 Amada Europe Workpiece-supporting device for a bending machine
FR2819436A1 (en) * 2001-01-17 2002-07-19 Amada Europ Sa ACCOMPANIOR OF SHEETS FOR BENDING PRESS
FR2850592A1 (en) * 2003-02-05 2004-08-06 Euratec Europ D Assistance Tec Deformable part handling device for folding post, has synchronizing unit for synchronizing displacement and orientation unit with deformation unit, and head linked to head support by angular joint
NL1027529C2 (en) * 2004-11-17 2006-05-18 Safan Bv Press for bending flat workpieces comprises a table that can be rotated about a pivot by a drive unit that moves the pivot vertically at one speed and moves the table vertically at twice the speed
CN102228918A (en) * 2011-06-17 2011-11-02 无锡金球机械有限公司 Follow-up tracking material-supporting device
CN105170819A (en) * 2015-09-28 2015-12-23 扬中中科维康智能科技有限公司 Large numerical control plate bending machine servo supporting system based on parallel mechanism
EP3056290A1 (en) * 2015-02-12 2016-08-17 Bogdan Kondracki A device for automating the process of bending workpieces of a metal sheet for a bending press
CN106132579A (en) * 2014-03-19 2016-11-16 特鲁普机械奥地利有限公司及两合公司 Bending auxiliary device for flanging press
WO2020047702A1 (en) * 2018-09-03 2020-03-12 江苏亚威机床股份有限公司 Floating folding material-supporting apparatus for bending machine
CN111167891A (en) * 2020-03-02 2020-05-19 爱克(苏州)机械有限公司 Servo material supporting mechanism with four-connecting-rod structure for numerical control bending machine

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EP3738688B1 (en) * 2019-05-15 2022-07-06 Nivora IP B.V. Device for supporting a metal sheet during bending in a press brake
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Publication number Priority date Publication date Assignee Title
EP1221348A1 (en) * 2001-01-08 2002-07-10 Amada Europe Workpiece-supporting device for a bending machine
FR2819202A1 (en) * 2001-01-08 2002-07-12 Amada Europ Sa ACCOMPANIOR OF SHEET ASSOCIATED WITH A FOLDING PRESS OF A SHEET
FR2819436A1 (en) * 2001-01-17 2002-07-19 Amada Europ Sa ACCOMPANIOR OF SHEETS FOR BENDING PRESS
EP1232811A1 (en) * 2001-01-17 2002-08-21 Amada Europe Workpiece-supporting device for a bending machine
US6634204B2 (en) 2001-01-17 2003-10-21 Amada Europe Sheet metal follower for a bending press
FR2850592A1 (en) * 2003-02-05 2004-08-06 Euratec Europ D Assistance Tec Deformable part handling device for folding post, has synchronizing unit for synchronizing displacement and orientation unit with deformation unit, and head linked to head support by angular joint
NL1027529C2 (en) * 2004-11-17 2006-05-18 Safan Bv Press for bending flat workpieces comprises a table that can be rotated about a pivot by a drive unit that moves the pivot vertically at one speed and moves the table vertically at twice the speed
CN102228918B (en) * 2011-06-17 2013-05-29 无锡金球机械有限公司 Follow-up tracking material-supporting device
CN102228918A (en) * 2011-06-17 2011-11-02 无锡金球机械有限公司 Follow-up tracking material-supporting device
CN106132579A (en) * 2014-03-19 2016-11-16 特鲁普机械奥地利有限公司及两合公司 Bending auxiliary device for flanging press
CN106132579B (en) * 2014-03-19 2018-11-02 特鲁普机械奥地利有限公司及两合公司 Bending auxiliary device for flanging press
US10363591B2 (en) 2014-03-19 2019-07-30 Trumpf Maschinen Austria Gmbh & Co. Kg. Bending aid for a press brake
EP3056290A1 (en) * 2015-02-12 2016-08-17 Bogdan Kondracki A device for automating the process of bending workpieces of a metal sheet for a bending press
CN105170819A (en) * 2015-09-28 2015-12-23 扬中中科维康智能科技有限公司 Large numerical control plate bending machine servo supporting system based on parallel mechanism
WO2020047702A1 (en) * 2018-09-03 2020-03-12 江苏亚威机床股份有限公司 Floating folding material-supporting apparatus for bending machine
CN111167891A (en) * 2020-03-02 2020-05-19 爱克(苏州)机械有限公司 Servo material supporting mechanism with four-connecting-rod structure for numerical control bending machine

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DE69221824D1 (en) 1997-10-02
DE69221824T2 (en) 1998-03-26
ES2108740T3 (en) 1998-01-01
FR2683470A1 (en) 1993-05-14
FR2683470B1 (en) 1994-07-08
DK0542610T3 (en) 1998-03-30
ATE157286T1 (en) 1997-09-15
EP0542610B1 (en) 1997-08-27

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