EP0849014B1 - Méthode de contrôle d' un dispositif de transfert pour le transport intermittent de pieces - Google Patents

Méthode de contrôle d' un dispositif de transfert pour le transport intermittent de pieces Download PDF

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Publication number
EP0849014B1
EP0849014B1 EP97121900A EP97121900A EP0849014B1 EP 0849014 B1 EP0849014 B1 EP 0849014B1 EP 97121900 A EP97121900 A EP 97121900A EP 97121900 A EP97121900 A EP 97121900A EP 0849014 B1 EP0849014 B1 EP 0849014B1
Authority
EP
European Patent Office
Prior art keywords
transfer
transfer rail
control device
operating mode
drive
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.)
Expired - Lifetime
Application number
EP97121900A
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German (de)
English (en)
Other versions
EP0849014A1 (fr
Inventor
Peter Dr.-Ing. Klemm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
L Schuler GmbH
Original Assignee
L Schuler GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by L Schuler GmbH filed Critical L Schuler GmbH
Publication of EP0849014A1 publication Critical patent/EP0849014A1/fr
Application granted granted Critical
Publication of EP0849014B1 publication Critical patent/EP0849014B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B21D43/055—Devices comprising a pair of longitudinally and laterally movable parallel transfer bars

Definitions

  • the invention relates to a method for switching a transfer device in Emergency operating mode with the features of the preamble of claim 1.
  • multi-station presses for example body presses or the like Transfer devices with which workpieces are transported from stage to stage become.
  • transfer devices usually have two parallel ones Transfer rails, between which spaced crossbars with Holding means, such as, for example, suction spiders or the like, are held.
  • Holding means such as, for example, suction spiders or the like.
  • the Workpiece transport takes place through a combined lifting, feeding and Lowering movement of the transfer rails (two-axis transfer).
  • crossbeams In addition to the lifting, lowering and feed movements, crossbeams also perform one Cross movement off (three-axis transfer with vertical movement for lifting / lowering, Longitudinal movement to perform a transfer step and cross movement to open and close).
  • a three-axis transfer is already known in which as drives for the movements in the three movement axes Linear motors are provided.
  • the linear motors are controlled separately, with the linear motors one Transport rail synchronous to the linear motors of the other transport rail as well as press synchronized become.
  • the transfer device which can be designed as a two or three-axis transfer can, has at least one, preferably two mutually parallel transfer rails on, in at least one axial direction, for example in the "open / close" direction, the means towards and away from each other, actuated by means of direct electric drives become.
  • the respective transfer rail becomes parallel in the transverse direction of several acting electric direct drives driven with their respective output attack the transfer rail.
  • the direct drives are spaced apart and over distributed the length of the transfer rail e.g. are three or more direct drives for each Axis provided.
  • the control device provided for actuation controls the one axis associated direct drives to match, so that the transfer rail on their entire length performs the specified movement uniformly.
  • the Control device sensor signals, for example via the current position of the transfer rail, see above that position control can be obtained.
  • the control device has in addition to its regular Operating mode in which it causes the transfer rail (s), preferably in the specified cycle along one programmable or otherwise adjustable transfer curve to move to an emergency mode in which they at least one of the connected and to be operated synchronously
  • Direct drives are essentially force-free switches free of forces.
  • Such an error can exist, for example, if an assigned to the linear actuator in question Position sensor emits an invalid signal. Becomes recognized this, the assigned direct drive becomes very quickly switched off. This prevents that he works against the other direct drives and the Blocked or blocked movement of the transfer rail. If a single drive fails, the motion sequence can continued until a safe state is reached become.
  • the communication system (bus, star, ring) between central control and intelligent drives is designed so that if one individual fails Drive remains operational.
  • the control device controls the remaining direct drives in the Emergency mode continues, however, so that the movement of the Transfer rail is continued at least until the Holding means led out of the workstations are. Because of the quick release of power from the This can be done with the direct drive affected by the accident remaining linear motors with sufficient speed done, which are designed for this.
  • the transfer rail is in an axis of several, preferably more than three direct drives is the loss of performance in the event of failure and after activating a direct drive, low that the transfer rail is removed from the danger area can be.
  • the direct drives in the emergency operating mode also for a short time with excessive power operate. This is particularly the case if the Operation of the transfer device is not over a few cycles away but only continues until the transfer rails and / or the holding means in in a safe position.
  • the direct drives assigned to an axis point preferably uniform performance, so that emergency operation in the event of failure of any direct drive leads to tolerable conditions.
  • the direct drives are preferably efficient dimensioned so that if a direct drive fails the full required total output or at least provide sufficient performance.
  • the transfer rail of the transfer device according to the invention is preferably particularly rigid, to ensure that even if a Direct drive no elastic bends occur, leading to a collision between transfer rail and Tool.
  • the bending stiffness, for example, in Lateral direction is increased so far that the natural frequency a mounting rail section, which extends from one worker over a fancy to that next working direct drive extends, is larger than the lowest excitation frequency resulting from the lateral movement in the emergency mode results.
  • the movement of the transfer rail can be in the emergency mode deviate from the motion curve that the Transfer rail runs during normal operation.
  • the movement curve during emergency operation be determined that the fastest possible exit from the Workstations is made possible. This may happen with a pure lateral movement of the transfer rail can be achieved.
  • too attempted during emergency operation which during regular operation passing curve at least within a predetermined Tolerance to follow.
  • the direct drives are preferably electrical Linear motors, but also hydraulic or others electrically controllable direct drives are used can.
  • the Direct drives or the control device can Monitor device for the detection of error states be provided.
  • the monitor device can be part of the Control device or formed separately from this and is used in the event of a system failure direct drive that can no longer be controlled correctly and the emergency mode with the other direct drives initiate.
  • a further increase in operational security will by using a redundant communication system between the central control and the intelligent Drives reached. Reliability is further increased through redundant execution of the central Control.
  • the control device preferably contains separate ones Control units, each assigned to a direct drive are.
  • the control units subordinate to a central unit communicate with each other and with the Central unit via a data transmission system, the one Can have ring structure or bus structure. To avoid of subsequent failures of larger system parts failed transmission sections switched to inactive become. You can also use the entire system or parts of which can be designed redundantly by stand-by units be provided, the operation in the event of a fault take.
  • a multi-station press 1 is schematic indicated, the several in the direction of T in succession arranged press stations 2, 3, 4 and possibly has further press stations, not shown.
  • the Workstations 3, 4 assigned plungers 6, 7 only indicated in dashed lines, with tappet guides, Ram drives and press frames for simplification are omitted.
  • the press frame is just through stands 8, 9 shown by way of example and in section, 10 indicated.
  • Press station for transporting workpieces from the press station Press station in which tools 12, 13, 14 are arranged are a three-axis transfer device 15.
  • the Workpiece transport may take place between the press stations 2, 3, 4 arranged intermediate shelves 17, 18, 19.
  • the transfer device 15 has two along the Passage direction T extending, parallel to each other Transfer rails 21, 22, the holding means 23 for Carrying and storing the workpieces.
  • the transfer rails 21, 22 are with respect to a vertical longitudinal median plane the multi-station press 1 inclusive their drives are mirror-symmetrical to each other. The following description of the transfer rail 21 applies therefore correspondingly for the transfer rail 22.
  • the transfer rail 21 is in the direction of T as well as in the vertical direction V and on the center of the multi-station press 1 to and from this, that is in Transverse direction Q, movably mounted.
  • the transfer rail 21 in the longitudinal direction (clock direction T) is used for a longitudinal slide guide.
  • This will formed by a longitudinal beam 25 on which the transfer rail 21 is mounted for longitudinal displacement.
  • the transfer rail 21 in the longitudinal direction serve electrical Linear motors between the side members 25 and the transfer rail 21 act and as direct drives are trained. Over the length of the side member 25 can be distributed over several linear motors. In principle are also controlled or regulated hydraulic drives possible.
  • position control position-sensing Sensors are provided which determine the relative position of the Characteristic transfer rail 21 with respect to the longitudinal beam 25 Give signal.
  • the longitudinal beam 25 is of several, in the longitudinal direction spaced-apart cross slides 26, 27 worn, the output of linear motors 28, 29 for form the transverse direction Q.
  • the linear motors 28, 29 are provided with sensors, not shown, a Issue position signal.
  • the Linear motors 28, 29 each on lifting units 31, 32 kept, also by means of electric linear motors or other direct drives can be operated.
  • the transfer device is used to improve clarity 15 separately illustrated in FIG. 2, wherein deviating from the transfer device described above on the longitudinal member 25, which is divided several times here not a continuous transfer rail, but individual ones Carriage units 33 are mounted for longitudinal displacement, each with its own linear drive are driven. Each carriage unit 33 registers Holding means 23.
  • the linear motor 28 is illustrated. He has a primary part serving as an output 281 and a secondary part 282 formed as a stator, the in corresponding grooves of the ferromagnetic stator Short circuit conductor 283 contains. In grooves of the ferromagnetic Primary part 281 embedded windings phase-shifted (U, V, W; U ', V', W '). If necessary can instead of such a single comb motor also a double comb motor, a solenoid motor or a Synchronous motor with permanent magnetic excitation is used become.
  • the advantage of the asynchronous motor is in the fact that it is particularly easy to switch off leaves.
  • control device 36 the press controller 37 is subordinate.
  • the control device 36 has one Central unit 38 to which via an optical fiber ring line 39 control units 41, 42, 43, 44 and 45 as well as other control units, not shown are.
  • the optical fiber ring line 39 is used for data exchange between the central unit 38 and the control units 41 to 45.
  • Each control unit 41 to 45 controls an electric linear motor 28, 29, for position feedback, each with a linear position measuring unit 46, 47 is provided.
  • a monitor unit M On the control units 41 to 45 and / or on the Central unit 38 is a monitor unit M in each case trained the correct functioning of each Unit of the connected linear drive (28, 29) and connected sensors (46, 47) are monitored.
  • the Monitor unit M can also be part of control units 41 to 45 or the central unit 38. E.g. can the Monitor function from the control unit or from one Program section to be provided, which becomes a program the control or central unit 41 to 35, 38 belongs.
  • control units 41 to 45 and the central unit 38 influence the Monitor units M the operation of the control device 36 Not.
  • the control units 41 to 45 received from the Central processing unit 38 via the optical fiber ring line 39 control signals for positioning the transfer rail 21.
  • the control units 41 to 45 set this Control commands and regulate the respectively connected Linear motors so that the specified movement is achieved becomes.
  • Figures 6 and 6A illustrate relative to FIG a press revolution angular ranges in which the transfer device 15 completed movements must and their timings. More than a half Angular range 51 taking eccentric shaft revolution indicates the downward stroke of the press ram e.g. in a drawing stage or in another press stage. The remaining angular range 52 characterizes the Return stroke of the ram. The control is on this movement the linear drives synchronized.
  • the transfer rails 21, 22 guide a feed stroke in an angular range 53 out of a workpiece in the open tool leads. The transfer rails begin before the feed stroke ends 21, 22 in the angular range 54.
  • the transfer rails 21, 22 begin in the Angular range 55 to move away from each other to release the closing tool.
  • the stamp is moved further downwards, begins during the Opening movement (angular range 55) of the transfer rails 21, 22 whose return stroke 66 at an angular position of about 110 °.
  • the return stroke 66 Tranferschienen 21, 22, these begin with themselves opening tool in an angular range 57 again close to grasp the workpiece and open Raise die in area 58 and in the next cycle continue to convey in the angular range 53.
  • the angular range proves to be particularly critical 55, in which the opening transfer rails the Must have left the working area of the ram while the tool closes. If this does not succeed, can the press ram because of the relatively large flywheels do not stop abruptly, so that there is a collision between the tool and the transfer rails 21, 22 or the holding means 23 comes.
  • the safe or collision-free position P can on the movement curve can be achieved, which otherwise also with proper Operation is going through.
  • the definition of different Curves KN for emergency operation, on which a collision-free Position P faster or with less effort is achievable is possible. With the emergency operation achieved that only a small security angle between the removal of the holding means 23 from the Tool and closing the tool required is. Then the working speed of the press increase.
  • the Transfer rail 21 has such a lateral rigidity on that they are relative at the occurring large accelerations in the direction of the Q axis deflects significantly. In addition, it has a stiffness reserve on, which prevents the transfer rail 21 in the event of failure of a linear motor, e.g. the Linear motor 29, due to the now larger distance between the active linear motors 28 and 29a at the side Accelerate bends elastically, as at 61 indicated.
  • the increased rigidity of the transfer rail 21 thus enables that in the event of a linear motor failure its driving force from the neighboring linear motors 28, 29a and the other linear motors and is introduced into the transfer rail 21.
  • the control device takes a similar emergency operation 36 in the event of failure of parts of the optical fiber ring line 39 a, with appropriate interpretation of the information transmission system only for failure one or fewer drive units.
  • the Linear motors that remain active go into emergency operation over and pose during the particularly critical opening phase (55 in Fig. 6) collision-free operation for sure.
  • Fig. 7 is a modified, as a two-axis transfer trained transfer device 15 'illustrates in which the transfer rails 21, 22 only in the direction of passage T and in the vertical direction V are movable.
  • the transfer rails 21, 22 For driving in the direction of travel T and as a lifting unit for Lifting and lowering in the vertical direction serve electrical purposes Linear drives, as in principle and as an example in Fig. 3 illustrates.
  • suction spiders 63 With such a two-axis transfer device 15 'it depends on the holding means 23 (suction spiders 63) in the event of an error when closing the To bring the tool out of it in time.
  • a controller 36 for direct electric drives 28, 29 of a transfer device 15 contains at least one Monitor device M, the malfunction of a direct drive 28, 29 the control device 36 in an emergency operating mode toggles.
  • the switches in the emergency mode Control device 36 to those affected by the error Linear drive is powerless and controls the remaining ones Direct drives preferably with full or slightly excessive Performance so that there is no collision between the forming tool and the transfer device 15 after which the press is preferably shut down becomes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Control Of Linear Motors (AREA)

Claims (4)

  1. Procédé pour commuter, en régime de secours, un appareil de transfert (15) destiné au transport de pièces le long de plusieurs stations de travail, en particulier de stations de presse (2, 3, 4), qui comprend :
    au moins un rail de transfert (21) dont l'extension en longueur correspond sensiblement à une direction (T) dans laquelle les pièces doivent être transportées en cadence et qui est pourvue de dispositifs (23) destinés à recevoir et maintenir les pièces,
    plusieurs entraínements électriques directs (28, 29) dont les sorties sont reliées au rail de transfert (21) et qui entraínent le rail de transfert (21) avec une direction de force concordante de manière que les entraínements électriques directs (28, 29) forment un groupe d'entraínement pour une direction d'axe (Q) prédéterminée,
    un dispositif de commande (36) qui pilote les entraínements électriques directs (28, 29) appartenant au groupe d'entraínement sensiblement en concordance et qui prend un régime de secours en cas de danger résultant de la défaillance d'un entraínement direct (28, 29) ou de parties du dispositif de commande (36) associées à cet entraínement, caractérisé en ce que, dans le régime de secours, le dispositif de commande (36) commute sensiblement sur l'état libre de forces l'entraínement direct (28, 28a, 29 à 29d) du groupe d'entraínement affecté par la défaillance, et
       en ce que, dans le régime de secours, le dispositif de commande (36) continue à piloter les entraínements directs restants (28a, 29 à 29d) et éloigne le rail de transfert (21) et ses moyens de fixation (23) des stations de travail (2, 3,4).
  2. Procédé selon la revendication 1, caractérisé en ce que le dispositif de commande pilote les entraínements directs restants (28, 28a, 29 à 29d) dans le régime de secours de telle manière que le déplacement du rail de transfert (21) suive une courbe dans le temps parcourue dans le régime normal au moins par segments, dans les limites d'une tolérance prédéterminée.
  3. Procédé selon la revendication 1, caractérisé en ce qu'un dispositif contrôleur (M), destiné à la reconnaissance des défauts, surveille des signaux qui ont été émis par des capteurs (46, 47) et/ou des appareils appartenant au dispositif de commande.
  4. Procédé selon la revendication 1, caractérisé en ce que le dispositif de commande (36) met le rail de transfert (21) à l'arrêt dès que le rail de transfert (21) a atteint une position de sécurité dans le régime de secours.
EP97121900A 1996-12-18 1997-12-12 Méthode de contrôle d' un dispositif de transfert pour le transport intermittent de pieces Expired - Lifetime EP0849014B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19652709 1996-12-18
DE19652709A DE19652709A1 (de) 1996-12-18 1996-12-18 Transfervorrichtung zum taktweisen Werkstücktransport

Publications (2)

Publication Number Publication Date
EP0849014A1 EP0849014A1 (fr) 1998-06-24
EP0849014B1 true EP0849014B1 (fr) 2001-03-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP97121900A Expired - Lifetime EP0849014B1 (fr) 1996-12-18 1997-12-12 Méthode de contrôle d' un dispositif de transfert pour le transport intermittent de pieces

Country Status (4)

Country Link
US (1) US6176365B1 (fr)
EP (1) EP0849014B1 (fr)
DE (2) DE19652709A1 (fr)
ES (1) ES2156333T3 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
DE102015122796A1 (de) * 2015-12-23 2017-06-29 Benteler Automobiltechnik Gmbh Warmformlinie zur Herstellung warmumgeformter und pressgehärteter Stahlblechprodukte sowie Verfahren zu dessen Betreibung

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DE19831623A1 (de) * 1998-07-15 2000-01-20 Mueller Weingarten Maschf Verfahren zur Steuerung des Antriebs einer Großteilstufenpresse und Vorrichtung zur Durchführung des Verfahrens
DE19932706C2 (de) * 1999-07-15 2002-04-25 Joern Hattesohl Vorrichtung zum Bearbeiten von Werkstücken
DE10157328A1 (de) * 2001-11-23 2003-06-12 Schuler Pressen Gmbh & Co Vorrichtung zum Transport von Werkstücken innerhalb einer Mehrstufenpresse
DE10202348B4 (de) * 2002-01-23 2009-01-02 Müller Weingarten AG Entnahmeeinrichtung zum Transport von Formteilen
US7036350B2 (en) * 2002-09-04 2006-05-02 Schuler Pressen Gmbh & Co. Arrangement for production of cut out and/or unformed workpieces
DE102004005046B4 (de) * 2004-01-30 2008-01-24 Müller Weingarten AG Transportvorrichtung für Werkstücke in Pressen
JP5844838B2 (ja) * 2013-05-30 2016-01-20 アイダエンジニアリング株式会社 サーボプレスラインの運転方法および運転制御装置
ES2688046T3 (es) * 2016-04-22 2018-10-30 Siemens Aktiengesellschaft Procedimiento, accionamiento lineal e instalación
SE542025C2 (en) * 2018-06-21 2020-02-11 Gestamp Hardtech Ab Process and apparatus for cooling hot components

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015122796A1 (de) * 2015-12-23 2017-06-29 Benteler Automobiltechnik Gmbh Warmformlinie zur Herstellung warmumgeformter und pressgehärteter Stahlblechprodukte sowie Verfahren zu dessen Betreibung
US10954577B2 (en) 2015-12-23 2021-03-23 Benteler Automobiltechnik Gmbh Hot-forming line for manufacturing hot-formed and press-hardened steel-sheet products, and method for operating said hot-forming line

Also Published As

Publication number Publication date
DE19652709A1 (de) 1998-06-25
EP0849014A1 (fr) 1998-06-24
DE59703136D1 (de) 2001-04-19
ES2156333T3 (es) 2001-06-16
US6176365B1 (en) 2001-01-23

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