EP0761334A1 - Tube bending machine - Google Patents

Tube bending machine Download PDF

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Publication number
EP0761334A1
EP0761334A1 EP96111430A EP96111430A EP0761334A1 EP 0761334 A1 EP0761334 A1 EP 0761334A1 EP 96111430 A EP96111430 A EP 96111430A EP 96111430 A EP96111430 A EP 96111430A EP 0761334 A1 EP0761334 A1 EP 0761334A1
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EP
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Prior art keywords
strand
piston
feed
bending machine
bending
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EP96111430A
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German (de)
French (fr)
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EP0761334B1 (en
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Rigobert Dipl.-Ing. Schwarze
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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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
    • B21D7/025—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member and pulling or pushing the ends of the work

Definitions

  • the invention relates to a strand bending machine and in particular to a pipe bending machine.
  • Strand bending machines which also include pipe bending machines, have a bending template against which the strand to be bent is pressed by a clamping jaw. By turning the bending template, the strand is pulled around the bending template and thus bent.
  • a tensioning device is used to hold the strand in which the strand is clamped.
  • This tensioning device is located on a transport trolley which is tracked via a feed drive during the bending process.
  • a rotary motor is normally used as the feed drive, which drives a rack connected to the transport carriage via a drive pinion. The feed drive serves essentially only to position the strand with respect to the bending template and to hold and track the strand during the bending process.
  • the invention has for its object to provide a strand bending machine which is able to carry out the pressure bending with high quality and little technical effort.
  • the feed device for the transport carriage carrying the tensioning device consists of at least one piston-cylinder unit, the pressure of which can be regulated in order to apply a predetermined feed force.
  • the feed force can either be kept constant or changed according to a specific program.
  • the feed device thus supports the bending process in such a way that it pushes strand material into the bend as a pressing device with a high power reserve.
  • the force control can either take place in the sense of keeping the feed force constant or depending on the feed position of the transport carriage or depending on the angle of rotation of the bending template.
  • the tensioning device can be moved close to the bending template while the slide rail is moved to the side.
  • the function of the slide rail is then immediately perceived by the tensioning device. Since the clamping device is pushed forward with a controlled feed force, such a short end section (without a slide rail) is also bent with a controlled feed force.
  • a displacement sensor for determining the actual position of the transport carriage is also provided, and position control of the transport carriage is possible with the aid of this displacement sensor.
  • a position control takes place, for example, when the bending tools (bending template and clamping jaw) are open in order to bring the tube which is inserted into the clamping device into the position suitable for bending, or the tube or the strand within a bending sequence for producing the to position the next arc.
  • the control loop works as a position controller with a subordinate force limitation.
  • the feed force can be determined from the piston geometry.
  • the feed rate is derived from the displacement sensor.
  • the pipe bending machine has a machine bed 10 on which a transport carriage 11 can be moved horizontally along a guide 12 in the longitudinal direction.
  • the transport carriage 11 carries a clamping device 13 for clamping the pipe 14 to be bent.
  • the clamping device 13 can be rotated about its axis in a controlled manner by a rotary drive 13a in order to bring the pipe 14 into the correct rotational position for the bending process.
  • the trolley 11 can in addition to its movement can also be adjusted horizontally along the guide 12 in the transverse direction of the tube 14 and moved in the vertical direction.
  • the tube 14 is laterally applied to the bending template 15, which is rotatable about a vertical axis, by moving the feed carriage 11.
  • the bending template 15 has a bending groove 16 on its circumference, which receives approximately half the circumference of the tube 14.
  • a swivel arm 17 is mounted coaxially with the bending template 15 and carries a clamping jaw 18 which is pressed against the bending template 15 by a piston-cylinder unit 19.
  • the clamping jaw 18 also contains a bending groove for receiving the other half of the tube circumference.
  • the clamping jaw 18 is first pressed against the bending template 15 and then the bending template 15 and swivel arm 17 are rotated or swiveled together about their axis, the tube being pulled around the bending template.
  • the slide rail 20 which is also provided with a bending groove 21, serves to support the unbent pipe section during the bending process. This slide rail moves together with the tube 14, while this is pulled towards the bending template 15 during the bending process.
  • All control processes of the pipe bending machine are numerically controlled by the control device 22 and coordinated with one another. This applies not only to the movement sequence of tube bending, but also to the setting up of the positions of the transport carriage 11, Bending tools and the rotation and actuation of the jig 13.
  • the feed device 23 for advancing the transport carriage 11 consists of a piston-cylinder unit 24 with a hydraulic cylinder 25 which is supported at its rear end and from which the piston rod 26 is extended.
  • the piston-cylinder unit 24 is guided on transverse rails 27 on the machine bed 10 and can be moved by a drive (not shown).
  • the guide 12 is firmly connected to the cylinder 25.
  • the front end of the piston rod 26 is fixedly connected to the transport carriage 11, so that the transport carriage 11 is displaced along the guide 12 in accordance with the respective extension length of the piston rod 26.
  • length markings 28 are attached to the guide, which are recognized by a position sensor 29 attached to the transport carriage 11. This position sensor determines the respective longitudinal position of the transport carriage 11 along the guide 12.
  • the position transmitter 30 is shown in FIG. 2, which determines the rotational position of the bending template and outputs the corresponding angle of rotation ⁇ .
  • the bending template 15 is rotated by a hydraulic drive device 31 comprising two piston-cylinder units operated in opposite directions via a chain drive (not shown).
  • the feed cylinder 25 contains a piston 32 which is connected to the piston rod 26.
  • the room of the Feed cylinder 25 is divided by piston 32 into working chamber 25a and return stroke chamber 25b.
  • the working chamber 25a is connected to a line 40 and the return stroke chamber 25b to a line 41.
  • the lines 40 are connected to a control valve 42, which can assume three different positions A, B and C.
  • the valve 42 connects the lines 40 and 41 to a switching valve 43, which is connected to a pump 44 and a sump 45 and can be switched between an open position and a blocking position.
  • the position B of the valve 42 is used for the rapid feed and the position C for the return stroke of the piston 32.
  • a pressure transducer 46 is connected to line 40 and generates a current signal which corresponds to the hydraulic pressure in line 40.
  • a pressure converter 47 is connected, which generates a current signal which corresponds to the hydraulic pressure in line 41.
  • the outputs of the two pressure transducers 46 and 47 are connected to a controller 48 which supplies the control signal for the differential valve 42 to the control line 48a.
  • the controller 48 calculates the actual value Fi of the feed force acting on the transport carriage 11 from the pressures in the chambers 25a and 25b and the sizes of the two piston surfaces A1 and A2.
  • the controller 48 is also connected to a setpoint generator 49, which supplies a setpoint Fs of the feed force to the controller 48.
  • This target value Fs of the feed force varies, for example, as a function of the angle of rotation ⁇ of the bending template 10, which is supplied by the position transmitter 30.
  • the setpoint generator 49 contains several curves that indicate the setpoint Fs of the pressing force as a function of the angle of rotation ⁇ of the bending template 10. The desired curve can be selected on the setpoint generator.
  • the setpoint generator 49 supplies, depending on ⁇ , the associated setpoint Fs from which the actual value Fi is subtracted.
  • This controller which is, for example, a PID controller, supplies a control signal to the controlled system via the control line 48a, which here consists of the differential valve 42 and the piston-cylinder unit 24.
  • the pressure P1 in line 40 and the pressure P2 in line 41 are fed to the respective transducers 46 and 47, respectively.
  • the output signal of the converter 46 is with multiplied by a value corresponding to the area A1 of the piston 38.
  • the output signal of the converter 47 is multiplied by a value which corresponds to the size of the area A2 of the piston 38.
  • Each of these products is a measure of one of the two forces acting in opposite directions on the piston 38.
  • the two products are subtracted from each other so that the actual value Fi of the feed force is created. This actual value is subtracted from the target value Fs in order to form the control signal for the control units 48a.
  • the controller 48 also receives the position signal of the position transmitter 29, which determines the position of the transport carriage 11.
  • the controller 48 can be set to a "position control" operating mode in which it adjusts the position of the transport carriage 11 to a predetermined target value. This is the case, for example, when the bending tools are open when the tube is to be positioned on the bending template 15 in order to carry out a bending process. Then, when the bending tools are closed, the controller 48 is switched to the "force control" mode, in which the pressure in the working chamber 25a of the feed cylinder is controlled such that the feed force is made equal to the desired value.

Abstract

The machine has a pipe clamping device (13) on a carriage (11), which is moved by an advance unit (23). The unit consists of at least one hydraulic piston-cylinder-unit (24). Its pressure is regulatable for application of a predetermined force. The machine also has a position transmitter to detect the actual position of the carriage. The advance unit operation is switched between power regulation and position regulation. During position regulation, the pressure acting on the piston-cylinder-unit is limited.

Description

Die Erfindung betrifft eine Strangbiegemaschine und insbesondere eine Rohrbiegemaschine.The invention relates to a strand bending machine and in particular to a pipe bending machine.

Strangbiegemaschinen, zu denen auch Rohrbiegemaschinen gehören, haben eine Biegeschablone, gegen die der zu biegende Strang von einer Spannbacke gedrückt wird. Durch Drehen der Biegeschablone wird der Strang um die Biegeschablone herumgezogen und somit gebogen. Zum Festhalten des Stranges dient eine Spannvorrichtung, in die der Strang eingespannt wird. Diese Spannvorrichtung befindet sich auf einem Transportwagen, der während des Biegevorganges über einen Vorschubantrieb nachgeführt wird. Als Vorschubantrieb wird normalerweise ein Rotationsmotor benutzt, der über ein Antriebsritzel eine mit dem Transportwagen verbundene Zahnstange antreibt. Der Vorschubantrieb dient hierbei im wesentlichen nur der Positionierung des Stranges in bezug auf die Biegeschablone und dem Festhalten und Nachführen des Stranges während des Biegevorganges.Strand bending machines, which also include pipe bending machines, have a bending template against which the strand to be bent is pressed by a clamping jaw. By turning the bending template, the strand is pulled around the bending template and thus bent. A tensioning device is used to hold the strand in which the strand is clamped. This tensioning device is located on a transport trolley which is tracked via a feed drive during the bending process. A rotary motor is normally used as the feed drive, which drives a rack connected to the transport carriage via a drive pinion. The feed drive serves essentially only to position the strand with respect to the bending template and to hold and track the strand during the bending process.

Es ist zweckmäßig, den Strang während des Biegevorganges nachzudrücken. Herkömmliche Biegemaschinen bringen eine solche Nachdrückkraft über die Gleitschiene auf, die den ungebogenen Strangabschnitt seitlich abstützt, indem diese Gleitschiene in Vorschubrichtung des Stranges angetrieben ist. Hierbei hängt die auf den Strang zu übertragende Kraft von der Reibung zwischen der Strangoberfläche und der Gleitschiene ab. Ist die Gleitschiene zur Erhöhung der Griffigkeit mit einer Profilierung versehen, so beschädigt diese Profilierung die Strangoberfläche. Es ist auch bekannt, an der Gleitschiene ein zusätzliches Spannelement anzubringen, mit dem der Strang an der Gleitschiene festgespannt wird. Ein solches Spannelement, das stets am hinteren Ende der Gleitschiene angebracht ist, erhöht die Restspannlänge für das Biegen des letzten Bogens.It is advisable to press on the strand during the bending process. Conventional bending machines exert such a pressing force on the slide rail, which laterally supports the unbent strand section by driving this slide rail in the direction of advance of the strand. The force to be transferred to the strand depends on the friction between the surface of the strand and the slide rail. If the slide rail is profiled to increase its grip, this profiling will damage the strand surface. It is also known to attach an additional tensioning element to the slide rail, with which the strand is clamped to the slide rail. Such a tensioning element, which is always attached to the rear end of the slide rail, increases the remaining tensioning length for bending the last sheet.

Der Erfindung liegt die Aufgabe zugrunde, eine Strangbiegemaschine zu schaffen, die imstande ist, das Druckbiegen mit hoher Qualität und geringem technischem Aufwand durchzuführen.The invention has for its object to provide a strand bending machine which is able to carry out the pressure bending with high quality and little technical effort.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß mit den im Patentanspruch 1 angegebenen Merkmalen.This object is achieved according to the invention with the features specified in claim 1.

Nach der Erfindung besteht die Vorschubeinrichtung für den die Spannvorrichtung tragenden Transportwagen aus mindestens einer Kolben-Zylinder-Einheit, deren Druck zur Aufbringung einer vorbestimmten Vorschubkraft regelbar ist. Somit kann die Vorschubkraft durch Regelung des Druckes der Kolben-Zylinder-Einheit über den gesamten Vorschubweg entweder konstantgehalten oder nach einem bestimmten Programm verändert werden. Die Vorschubeinrichtung unterstützt also den Biegevorgang derart, daß sie als Nachdrückeinrichtung mit hoher Kraftreserve Strangmaterial in die Biegung hineinschiebt. Die Kraftregelung kann entweder im Sinne einer Konstanthaltung der Vorschubkraft erfolgen oder in Abhängigkeit von der Vorschubposition des Transportwagens oder in Abhängigkeit vom Drehwinkel der Biegeschablone.According to the invention, the feed device for the transport carriage carrying the tensioning device consists of at least one piston-cylinder unit, the pressure of which can be regulated in order to apply a predetermined feed force. Thus, by regulating the pressure of the piston-cylinder unit over the entire feed path, the feed force can either be kept constant or changed according to a specific program. The feed device thus supports the bending process in such a way that it pushes strand material into the bend as a pressing device with a high power reserve. The force control can either take place in the sense of keeping the feed force constant or depending on the feed position of the transport carriage or depending on the angle of rotation of the bending template.

Bei der Herstellung des letzten Bogens des Stranges kann die Spannvorrichtung bis nahe an die Biegeschablone herangefahren werden, während die Gleitschiene an die Seite gefahren ist. Die Funktion der Gleitschiene wird dann von der Spannvorrichtung unmittelbar wahrgenommen. Da die Spannvorrichtung mit geregelter Vorschubkraft vorgedrückt wird, wird auch ein solcher kurzer Endabschnitt (ohne Gleitschiene) mit geregelter Vorschubkraft gebogen.During the production of the last curve of the strand, the tensioning device can be moved close to the bending template while the slide rail is moved to the side. The function of the slide rail is then immediately perceived by the tensioning device. Since the clamping device is pushed forward with a controlled feed force, such a short end section (without a slide rail) is also bent with a controlled feed force.

Bei einer bevorzugten Ausführungsform der Erfindung ist außerdem ein Weggeber zur Ermittlung der Ist-Position des Transportwagens vorgesehen und mit Hilfe dieses Weggebers ist eine Positionsregelung des Transportwagens möglich. Eine solche Positionsregelung erfolgt beispielsweise, wenn die Biegewerkzeuge (Biegeschablone und Spannbacke) geöffnet sind, um das Rohr, das in die Spannvorrichtung eingesetzt ist, in die zum Biegen geeignete Position zu bringen, oder das Rohr bzw. den Strang innerhalb einer Biegesequenz zur Herstellung des nächsten Bogens zu positionieren. Hierbei arbeitet der Regelkreis als Positionsregler mit unterlagerter Kraftbegrenzung.In a preferred embodiment of the invention, a displacement sensor for determining the actual position of the transport carriage is also provided, and position control of the transport carriage is possible with the aid of this displacement sensor. Such a position control takes place, for example, when the bending tools (bending template and clamping jaw) are open in order to bring the tube which is inserted into the clamping device into the position suitable for bending, or the tube or the strand within a bending sequence for producing the to position the next arc. The control loop works as a position controller with a subordinate force limitation.

Sind die Biegewerkzeuge geschlossen, erfolgt dagegen eine Kraftregelung, bei der der Ist-Wert der Vorschubkraft, einem (konstanten oder zeitlich veränderbaren) Soll-Wert nachgeführt wird.If the bending tools are closed, on the other hand, there is a force control in which the actual value of the feed force is tracked to a (constant or time-variable) target value.

Mit Hilfe von Druckwandlern in der Zuleitung und Ableitung der Kolben-Zylinder-Einheit können die Drücke zu beiden Seiten des Kolbens gemessen werden. Anhand der Kolbengeometrie kann daraus die Vorschubkraft ermittelt werden. Die Vorschubgeschwindigkeit wird von dem Wegaufnehmer abgeleitet.With the help of pressure transducers in the supply and discharge lines of the piston-cylinder unit, the pressures on both sides of the piston can be measured. The feed force can be determined from the piston geometry. The feed rate is derived from the displacement sensor.

Im folgenden wird unter Bezugnahme auf die Zeichnungen ein Ausführungsbeispiel der Erfindung anhand einer Rohrbiegemaschine näher erläutert.In the following, an embodiment of the invention is explained in more detail with reference to the drawings using a pipe bending machine.

Es zeigen:

Fig. 1
eine generelle perspektivische Darstellung der Rohrbiegemaschine und
Fig. 2
einen vertikalen Längsschnitt der Rohrbiegemaschine von Fig. 1.
Show it:
Fig. 1
a general perspective view of the pipe bending machine and
Fig. 2
a vertical longitudinal section of the pipe bending machine of Fig. 1st

Die Rohrbiegemaschine weist ein Maschinenbett 10 auf, auf dem ein Transportwagen 11 entlang einer Führung 12 in Längsrichtung horizontal verfahrbar ist. Der Transportwagen 11 trägt eine Spannvorrichtung 13 zum Einspannen des zu biegenden Rohres 14. Die Spannvorrichtung 13 kann durch einen Drehantrieb 13a gesteuert um ihre Achse gedreht werden, um das Rohr 14 für den Biegevorgang in die richtige Drehstellung zu bringen. Der Transportwagen 11 kann zusätzlich zu seiner Bewegung entlang der Führung 12 auch in Querrichtung des Rohres 14 horizontal eingestellt sowie in Höhenrichtung bewegt werden.The pipe bending machine has a machine bed 10 on which a transport carriage 11 can be moved horizontally along a guide 12 in the longitudinal direction. The transport carriage 11 carries a clamping device 13 for clamping the pipe 14 to be bent. The clamping device 13 can be rotated about its axis in a controlled manner by a rotary drive 13a in order to bring the pipe 14 into the correct rotational position for the bending process. The trolley 11 can in addition to its movement can also be adjusted horizontally along the guide 12 in the transverse direction of the tube 14 and moved in the vertical direction.

Das Rohr 14 wird durch Bewegen des Vorschubwagens 11 seitlich an die Biegeschablone 15 angelegt, die um eine vertikale Achse drehbar ist. Die Biegeschablone 15 weist an ihrem Umfang eine Biegerille 16 auf, die etwa den halben Umfang des Rohres 14 aufnimmt. Koaxial mit der Biegeschablone 15 ist ein Schwenkarm 17 gelagert, der eine Spannbacke 18 trägt, welche von einer Kolben-Zylinder-Einheit 19 gegen die Biegeschablone 15 gedrückt wird. Auch die Spannbacke 18 enthält eine Biegerille zur Aufnahme der anderen Hälfte des Rohrumfangs. Beim Biegevorgang wird zunächst die Spannbacke 18 gegen die Biegeschablone 15 gedrückt und dann werden Biegeschablone 15 und Schwenkarm 17 gemeinsam um ihre Achse gedreht bzw. geschwenkt, wobei das Rohr um die Biegeschablone herumgezogen wird.The tube 14 is laterally applied to the bending template 15, which is rotatable about a vertical axis, by moving the feed carriage 11. The bending template 15 has a bending groove 16 on its circumference, which receives approximately half the circumference of the tube 14. A swivel arm 17 is mounted coaxially with the bending template 15 and carries a clamping jaw 18 which is pressed against the bending template 15 by a piston-cylinder unit 19. The clamping jaw 18 also contains a bending groove for receiving the other half of the tube circumference. During the bending process, the clamping jaw 18 is first pressed against the bending template 15 and then the bending template 15 and swivel arm 17 are rotated or swiveled together about their axis, the tube being pulled around the bending template.

Zur Abstützung des ungebogenen Rohrabschnitts während des Biegevorganges dient die Gleitschiene 20, die ebenfalls mit einer Biegerille 21 versehen ist. Diese Gleitschiene bewegt sich zusammen mit dem Rohr 14, während dieses beim Biegevorgang in Richtung auf die Biegeschablone 15 nachgezogen wird.The slide rail 20, which is also provided with a bending groove 21, serves to support the unbent pipe section during the bending process. This slide rail moves together with the tube 14, while this is pulled towards the bending template 15 during the bending process.

Sämtliche Steuervorgänge der Rohrbiegemaschine werden von der Steuereinrichtung 22 numerisch gesteuert und miteinander koordiniert. Dies gilt nicht nur für den Bewegungsablauf des Rohrbiegens, sondern auch für das Einrichten der Positionen des Transportwagens 11, der Biegewerkzeuge und die Drehung und Betätigung der Spannvorrichtung 13.All control processes of the pipe bending machine are numerically controlled by the control device 22 and coordinated with one another. This applies not only to the movement sequence of tube bending, but also to the setting up of the positions of the transport carriage 11, Bending tools and the rotation and actuation of the jig 13.

Die Vorschubeinrichtung 23 zum Vorschieben des Transportwagens 11 besteht aus einer Kolben-Zylinder-Einheit 24 mit einem hydraulischen Zylinder 25, der an seinem rückwärtigen Ende abgestützt ist und aus dem die Kolbenstange 26 ausgefahren wird. Die Kolben-Zylinder-Einheit 24 ist auf Querschienen 27 auf dem Maschinenbett 10 geführt und von einem (nicht dargestellten) Antrieb verfahrbar. Mit dem Zylinder 25 ist die Führung 12 fest verbunden. Das vordere Ende der Kolbenstange 26 ist mit dem Transportwagen 11 fest verbunden, so daß der Transportwagen 11 entsprechend der jeweiligen Ausfahrlänge der Kolbenstange 26 entlang der Führung 12 verschoben wird.The feed device 23 for advancing the transport carriage 11 consists of a piston-cylinder unit 24 with a hydraulic cylinder 25 which is supported at its rear end and from which the piston rod 26 is extended. The piston-cylinder unit 24 is guided on transverse rails 27 on the machine bed 10 and can be moved by a drive (not shown). The guide 12 is firmly connected to the cylinder 25. The front end of the piston rod 26 is fixedly connected to the transport carriage 11, so that the transport carriage 11 is displaced along the guide 12 in accordance with the respective extension length of the piston rod 26.

Gemäß Fig. 2 sind an der Führung 12 Längenmarkierungen 28 angebracht, die von einem am Transportwagen 11 befestigten Positionssensor 29 erkannt werden. Dieser Positionssensor ermittelt die jeweilige Längsposition des Transportwagens 11 entlang der Führung 12.According to FIG. 2, length markings 28 are attached to the guide, which are recognized by a position sensor 29 attached to the transport carriage 11. This position sensor determines the respective longitudinal position of the transport carriage 11 along the guide 12.

Ferner ist in Fig. 2 der Positionsgeber 30 dargestellt, der die Drehposition der Biegeschablone ermittelt und den entsprechenden Drehwinkel α ausgibt. Die Biegeschablone 15 wird von einer hydraulischen Antriebseinrichtung 31 aus zwei gegenläufig betriebenen Kolben-Zylinder-Einheiten über einen (nicht dargestellten) Kettentrieb gedreht.Furthermore, the position transmitter 30 is shown in FIG. 2, which determines the rotational position of the bending template and outputs the corresponding angle of rotation α. The bending template 15 is rotated by a hydraulic drive device 31 comprising two piston-cylinder units operated in opposite directions via a chain drive (not shown).

Der Vorschubzylinder 25 enthält einen Kolben 32, der mit der Kolbenstange 26 verbunden ist. Der Raum des Vorschubzylinders 25 wird von dem Kolben 32 unterteilt in die Arbeitskammer 25a und die Rückhubkammer 25b. Die Arbeitskammer 25a ist mit einer Leitung 40 und die Rückhubkammer 25b mit einer Leitung 41 verbunden.The feed cylinder 25 contains a piston 32 which is connected to the piston rod 26. The room of the Feed cylinder 25 is divided by piston 32 into working chamber 25a and return stroke chamber 25b. The working chamber 25a is connected to a line 40 and the return stroke chamber 25b to a line 41.

Die Leitungen 40 sind mit einem Regelventil 42 verbunden, das drei unterschiedliche Stellungen A, B und C einnehmen kann. In der dargestellten Stellung A verbindet das Ventil 42 die Leitungen 40 und 41 mit einem Schaltventil 43, das mit einer Pumpe 44 und einem Sumpf 45 verbunden ist und zwischen einer Durchlaßstellung und einer Sperrstellung umgeschaltet werden kann. Die Stellung B des Ventils 42 dient für den schnellen Vorschub und die Stellung C für den Rückhub des Kolbens 32.The lines 40 are connected to a control valve 42, which can assume three different positions A, B and C. In the position A shown, the valve 42 connects the lines 40 and 41 to a switching valve 43, which is connected to a pump 44 and a sump 45 and can be switched between an open position and a blocking position. The position B of the valve 42 is used for the rapid feed and the position C for the return stroke of the piston 32.

In der Stellung A des Regelventils 42 werden die Durchlässe zu den Leitungen 40 und 41 proportional zu dem Signal einer Steuerleitung 48a verändert. Wenn das Signal der Steuerleitung 48a klein ist, sind der zur Leitung 40 führende Drosselquerschnitt und der mit der Leitung 41 verbundene Drosselquerschnitt ebenfalls klein. Je größer das Signal der Steuerleitung 48a ist, um so größer wird der mit der Leitung 40 verbundene Drosselquerschnitt und um so größer wird der mit der Leitung 41 verbundene Drosselquerschnitt. Die Drosselquerschnitte in Zulauf und Ablauf sind stets gleich. Die Drücke zu beiden Seiten des Kolbens werden gegenläufig zueinander verändert.In position A of the control valve 42, the passages to the lines 40 and 41 are changed in proportion to the signal of a control line 48a. If the signal of the control line 48a is small, the throttle cross section leading to the line 40 and the throttle cross section connected to the line 41 are also small. The larger the signal of the control line 48a, the larger the throttle cross section connected to line 40 and the larger the throttle cross section connected to line 41. The throttle cross sections in the inlet and outlet are always the same. The pressures on both sides of the piston are changed in opposite directions to each other.

An die Leitung 40 ist ein Druckwandler 46 angeschlossen, der ein Stromsignal erzeugt, welches dem hydraulischen Druck in der Leitung 40 entspricht. An die Leitung 41 ist ein Druckwandler 47 angeschlossen, der ein Stromsignal erzeugt, das dem hydraulischen Druck in der Leitung 41 entspricht. Die Ausgänge der beiden Druckwandler 46 und 47 sind mit einem Regler 48 verbunden, der an die Steuerleitung 48a das Steuersignal für das Differentialventil 42 liefert. Der Regler 48 berechnet aus den Drücken in den Kammern 25a und 25b und den Größen der beiden Kolbenflächen A1 und A2 den Istwert Fi der Vorschubkraft, die auf den Transportwagen 11 einwirkt.A pressure transducer 46 is connected to line 40 and generates a current signal which corresponds to the hydraulic pressure in line 40. To the management 41, a pressure converter 47 is connected, which generates a current signal which corresponds to the hydraulic pressure in line 41. The outputs of the two pressure transducers 46 and 47 are connected to a controller 48 which supplies the control signal for the differential valve 42 to the control line 48a. The controller 48 calculates the actual value Fi of the feed force acting on the transport carriage 11 from the pressures in the chambers 25a and 25b and the sizes of the two piston surfaces A1 and A2.

Der Regler 48 ist ferner mit einem Sollwert-Generator 49 verbunden, welcher einen Sollwert Fs der Vorschubkraft an den Regler 48 liefert. Dieser Sollwert Fs der Vorschubkraft variiert beispielsweise in Abhängigkeit von dem Drehwinkel α der Biegeschablone 10, der vom Positionsgeber 30 geliefert wird.The controller 48 is also connected to a setpoint generator 49, which supplies a setpoint Fs of the feed force to the controller 48. This target value Fs of the feed force varies, for example, as a function of the angle of rotation α of the bending template 10, which is supplied by the position transmitter 30.

Der Sollwert-Generator 49 enthält mehrere Kurven, die den Sollwert Fs der Andruckkraft in Abhängigkeit vom Drehwinkel α der Biegeschablone 10 angeben. An dem Sollwert-Generator kann die jeweils gewünschte Kurve ausgewählt werden. Der Sollwert-Generator 49 liefert in Abhängigkeit von α den jeweils zugehörigen Sollwert Fs, von dem der Istwert Fi subtrahiert wird. Dieser Regler, der beispielsweise ein PID-Regler ist, liefert über die Steuerleitung 48a ein Regelsignal an die Regelstrecke, die hier aus dem Differentialventil 42 und der Kolben-Zylinder-Einheit 24 besteht.The setpoint generator 49 contains several curves that indicate the setpoint Fs of the pressing force as a function of the angle of rotation α of the bending template 10. The desired curve can be selected on the setpoint generator. The setpoint generator 49 supplies, depending on α, the associated setpoint Fs from which the actual value Fi is subtracted. This controller, which is, for example, a PID controller, supplies a control signal to the controlled system via the control line 48a, which here consists of the differential valve 42 and the piston-cylinder unit 24.

Der Druck P1 in der Leitung 40 und der Druck P2 in der Leitung 41 werden dem jeweiligen Wandler 46 bzw. 47 zugeführt. Das Ausgangssignal des Wandlers 46 wird mit einem Wert multipliziert, der der Fläche A1 des Kolbens 38 entspricht. Das Ausgangssignal des Wandlers 47 wird mit einem Wert multipliziert, der der Größe der Fläche A2 des Kolbens 38 entspricht. Dadurch werden die Produkte P1 x A1 und P2 x A2 gebildet. Jedes dieser Produkte ist ein Maß für eine der beiden Kräfte, die gegensinnig zueinander auf den Kolben 38 einwirken. Die beiden Produkte werden voneinander subtrahiert, so daß der Istwert Fi der Vorschubkraft entsteht. Dieser Istwert wird von dem Sollwert Fs subtrahiert, um das Steuersignal für die Steuereinheiten 48a zu bilden.The pressure P1 in line 40 and the pressure P2 in line 41 are fed to the respective transducers 46 and 47, respectively. The output signal of the converter 46 is with multiplied by a value corresponding to the area A1 of the piston 38. The output signal of the converter 47 is multiplied by a value which corresponds to the size of the area A2 of the piston 38. This creates the products P1 x A1 and P2 x A2. Each of these products is a measure of one of the two forces acting in opposite directions on the piston 38. The two products are subtracted from each other so that the actual value Fi of the feed force is created. This actual value is subtracted from the target value Fs in order to form the control signal for the control units 48a.

Der Regler 48 empfängt ferner das Positionssignal des Positionsgebers 29, der die Position des Transportwagens 11 feststellt. Der Regler 48 kann in eine Betriebsart "Positionsregelung" versetzt werden, in der er die Position des Transportwagens 11 auf einen vorgegebenen Zielwert einstellt. Dies ist beispielsweise bei geöffneten Biegewerkzeugen der Fall, wenn das Rohr zur Durchführung eines Biegevorganges an der Biegeschablone 15 positioniert werden soll. Wenn dann die Biegewerkzeuge geschlossen sind, wird der Regler 48 auf die Betriebsart "Kraftregelung" umgeschaltet, in der der Druck in der Arbeitskammer 25a des Vorschubzylinders derart geregelt wird, daß die Vorschubkraft gleich dem Soll-Wert gemacht wird.The controller 48 also receives the position signal of the position transmitter 29, which determines the position of the transport carriage 11. The controller 48 can be set to a "position control" operating mode in which it adjusts the position of the transport carriage 11 to a predetermined target value. This is the case, for example, when the bending tools are open when the tube is to be positioned on the bending template 15 in order to carry out a bending process. Then, when the bending tools are closed, the controller 48 is switched to the "force control" mode, in which the pressure in the working chamber 25a of the feed cylinder is controlled such that the feed force is made equal to the desired value.

Claims (7)

Strangbiegemaschine mit einer den zu biegenden Strang haltenden Spannvorrichtung (13), einer drehend antreibbaren Biegeschablone (15), einer den Strang gegen die Biegeschablone (15) drückenden Spannbacke (18), und einem die Spannvorrichtung (13) tragenden, von einer Vorschubeinrichtung (23) angetriebenen Transportwagen (11), dadurch gekennzeichnet,
daß die Vorschubeinrichtung (23) aus mindestens einer hydraulischen Kolben-Zylinder-Einheit (24) besteht, deren Druck zur Aufbringung einer vorbestimmten Vorschubkraft regelbar ist.Strand bending machine with a tensioning device (13) holding the strand to be bent, a rotationally drivable bending template (15), a clamping jaw (18) pressing the strand against the bending template (15), and a transport carriage (11) carrying the tensioning device (13) and driven by a feed device (23), characterized,
that the feed device (23) consists of at least one hydraulic piston-cylinder unit (24), the pressure of which can be regulated in order to apply a predetermined feed force. Strangbiegemaschine nach Anspruch 1, dadurch gekennzeichnet, daß ein Positionsgeber (29) zur Ermittlung der Ist-Position des Transportwagens (11) vorgesehen ist, wobei die Ist-Position im Zuge einer Positionsregelung einer Soll-Position nachführbar ist, und daß die Betriebsart der Vorschubeinrichtung (23) zwischen Kraftregelung und Positionsregelung wählbar ist.Strand bending machine according to Claim 1, characterized in that a position transmitter (29) is provided for determining the actual position of the transport carriage (11), the actual position being able to be tracked to a desired position in the course of position control, and in that the operating mode of the feed device (23) between force control and position control can be selected. Strangbiegemaschine nach Anspruch 2, dadurch gekennzeichnet, daß bei der Positionsregelung eine Begrenzung des auf die Kolben-Zylinder-Einheit (24) wirkenden Druckes erfolgt.Strand bending machine according to claim 2, characterized in that the position control limits the pressure acting on the piston-cylinder unit (24). Strangbiegemaschine nach einem der Ansprüche 1-3, dadurch gekennzeichnet, daß eine Einrichtung (46,47,48) zur Erfassung des Ist-Wertes (Fi) der von der Kolben-Zylinder-Einheit (24) aufgebrachten Vorschubkraft vorgesehen ist, und daß ein Regler (48) den Ist-Wert (Fi) der Vorschubkraft entsprechend einem von einem Soll-Wert-Generator (49) gelieferten Soll-Wert (Fs) nachregelt.Strand bending machine according to one of Claims 1-3, characterized in that a device (46, 47, 48) is provided for detecting the actual value (Fi) of the feed force applied by the piston-cylinder unit (24), and in that a Regulator (48) adjusts the actual value (Fi) of the feed force in accordance with a target value (Fs) supplied by a target value generator (49). Strangbiegemaschine nach Anspruch 4, dadurch gekennzeichnet, daß der Soll-Wert-Generator (49) den Soll-Wert (Fs) in Abhängigkeit vom Drehwinkel (α) der Biegeschablone (15) oder in Abhängigkeit von der Vorschubposition des Transportwagens (11) festlegt.Strand bending machine according to claim 4, characterized in that the target value generator (49) determines the target value (Fs) as a function of the angle of rotation (α) of the bending template (15) or as a function of the feed position of the transport carriage (11). Strangbiegemaschine nach Anspruch 4, dadurch gekennzeichnet, daß die Einrichtung zur Erfassung des Ist-Wertes (Fi) der Vorschubkraft zwei Drucksensoren (46,47) aufweist, die die Drücke zu beiden Seiten des Kolbens (32) der Kolben-Zylinder-Einheit (24) erfassen.Strand bending machine according to Claim 4, characterized in that the device for detecting the actual value (Fi) of the feed force has two pressure sensors (46, 47) which measure the pressures on both sides of the piston (32) of the piston-cylinder unit (24 ) to capture. Strangbiegemaschine nach einem der Ansprüche 4-6, dadurch gekennzeichnet, daß der Regler (48) ein Regelventil (42) mit stetiger Drosselkennlinie steuert, welches die Drücke zu beiden Seiten des Kolbens (32) gegenläufig zueinander verändert.Strand bending machine according to one of claims 4-6, characterized in that the controller (48) controls a control valve (42) with a constant throttle characteristic which changes the pressures on both sides of the piston (32) in opposite directions to one another.
EP96111430A 1995-09-01 1996-07-16 Tube bending machine Expired - Lifetime EP0761334B1 (en)

Applications Claiming Priority (2)

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DE19532261A DE19532261A1 (en) 1995-09-01 1995-09-01 Strand bending machine
DE19532261 1995-09-01

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EP0761334B1 EP0761334B1 (en) 2000-10-18

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DE102023101205A1 (en) 2023-01-18 2024-01-04 Thyssenkrupp Ag Pipe bending machine

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DE102023101205A1 (en) 2023-01-18 2024-01-04 Thyssenkrupp Ag Pipe bending machine

Also Published As

Publication number Publication date
US5678441A (en) 1997-10-21
CA2184460C (en) 2007-08-07
EP0761334B1 (en) 2000-10-18
CA2184460A1 (en) 1997-03-02
DE19532261A1 (en) 1997-03-06
DE59606010D1 (en) 2000-11-23

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