EP0865333B1 - Procede d'usinage de pieces de tole - Google Patents

Procede d'usinage de pieces de tole Download PDF

Info

Publication number
EP0865333B1
EP0865333B1 EP97944875A EP97944875A EP0865333B1 EP 0865333 B1 EP0865333 B1 EP 0865333B1 EP 97944875 A EP97944875 A EP 97944875A EP 97944875 A EP97944875 A EP 97944875A EP 0865333 B1 EP0865333 B1 EP 0865333B1
Authority
EP
European Patent Office
Prior art keywords
bending
metal part
sheet
manipulator
sheet metal
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
EP97944875A
Other languages
German (de)
English (en)
Other versions
EP0865333A1 (fr
Inventor
Wolfgang Kutschker
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.)
Reinhardt Maschinenbau GmbH
Original Assignee
Reinhardt Maschinenbau 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 Reinhardt Maschinenbau GmbH filed Critical Reinhardt Maschinenbau GmbH
Publication of EP0865333A1 publication Critical patent/EP0865333A1/fr
Application granted granted Critical
Publication of EP0865333B1 publication Critical patent/EP0865333B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • 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

Definitions

  • the invention relates to a method for processing Sheet metal parts in a bending cell of a bending center, at which the sheet metal parts for bending successively from an insertion area are transported to the bending cell and by a first manipulator of a manipulator arrangement in a Accepted position and then at least for execution a bending process created on a bending edge every bent sheet metal part after the last one Bending process carried away from a bending end position will that during the bending process of each sheet metal part the next sheet metal part starting from the insertion area one arranged without overlap to the bending end position Transfer position supplied and in this to Access is positioned by the first manipulator, where the first manipulator takes over the next one Sheet metal part in the takeover position during the period, while the bent sheet metal part is in the final bending position leaves, begins.
  • JP-05 123766-A for processing sheet metal parts in a bending center is a sheet metal part from a first manipulator assumed a takeover position, bent in the bending center and then in a bending end position lying in the bending tool taken over by another manipulator and out the bending end position in the opposite direction to the transfer position removed. At the same time, this happens Takeover of the next sheet metal part by the first one Manipulator.
  • the invention is based, so far to perform known methods more optimally.
  • the advantage of the method according to the invention is there too see that with this the number of those with a bending center processed sheet metal parts per unit of time increased significantly can be, since the pro This means that the sheet metal part required for bending is short can be kept that the first manipulator the sheet metal part already in a takeover position adjacent to the bending end position takes over and the feeding of the sheet metal part to the takeover position can take place during the time during which another bending process with the preceding sheet metal part takes place, so that until the takeover of the sheet metal part by the first manipulator elapsing time the number of pro Time unit bent sheet metal parts no longer influenced.
  • the solution according to the invention is particularly favorable then when the first manipulator takes over the sheet metal part has finished when the bent sheet metal part Has left the end of bending position as there is no loss of time occurs in the next sheet metal part.
  • next part it is particularly expedient to proceed as efficiently as possible if the first manipulator at the latest after complete Leave the next sheet metal part at the bending end position moved out of the takeover position so that immediately after leaving the bending end position the next one Sheet metal part is already moved in the direction of the bending cell.
  • the sheet metal part is then preferably after last bending process in this orientation of the bending end position fed for removal and no longer rotated.
  • the sheet metal part moves in one plane and by one axis perpendicular to this plane rotates.
  • the sheet metal part in the takeover position regardless of the Position the position of the first bending line relative to the bending edge and the alignment of the two relative to each other only in the course of moving from the takeover position to Let the bending edge take place.
  • a particularly space-saving and convenient solution provides that the sheet metal part to be placed on the bending edge from the takeover position in a first direction transverse to Bending edge is moved because this solution enables the Path between the transfer position and the bending edge to keep it as short as possible.
  • the sheet metal part in the bending end position and the transfer position on the insertion table in front of the bending cell lies and thus also the sheet metal part after all Bending operations again on the same side of the Bending cell is handled, including the takeover position is, from which a takeover of the Sheet metal part through the first manipulator for the bending operations this sheet metal part takes place.
  • This side edge is preferably the long side edge of the sheet metal part, so that the sheet metal part is in the bending end position over the smallest possible distance across the bending edge extends.
  • the bending end position and the takeover position are advantageous arranged to each other.
  • the Sheet metal part in the bending end position parallel to the sheet metal part in the transfer position is aligned so that the sheet metal parts in the bending end position and the takeover position on the one hand without overlap, on the other hand, as space-saving as possible next to each other can lie.
  • the parallel alignment of the sheet metal parts in the bending end position and the takeover position requires only one parallel alignment of the edges thereof relative to each other. Because of this, it is particularly advantageous and saves space when the sheet metal parts are in the bending end position and the takeover position is aligned identically to each other, that is, for example, longitudinal axes of the same parallel to each other.
  • the cheapest solution provides that the sheet metal part in the End of bending position essentially immediately next to the sheet metal part is in the takeover position, with a safety margin can exist.
  • the sheet metal part is preferably removed in a removal device running approximately parallel to the bending edge, in order to save space as much as possible method.
  • the position coordinates of the sheet metal part can be measured relative to the bending edge during its transportation between the insertion area and the bending edge.
  • the position coordinates of the Sheet metal part before the first takeover Manipulator can be measured so that the number of too bending sheet metal parts per time determining processes not hindered by the registration of the position coordinates become.
  • a particularly cheap solution therefore provides that the Sheet metal part is measured in the insertion area.
  • the measurement of the sheet metal part in the insertion area could in that the sheet metal part from the second manipulator gripped and moved past position sensors. Even more advantageous it is, however, if the position coordinates of the sheet metal part before handling it by the second manipulator be measured.
  • Measuring the position coordinates in the loading area could thereby, for example, by separately provided measuring devices respectively.
  • One particularly in terms of construction Execution cheap solution provides that the position coordinates of the sheet metal part by means of one moved by the second manipulator Measuring device to be measured.
  • the object of the invention is also one Bending center comprising a bending cell and a loading device with an insertion table to accommodate an insert Sheet metal part and with a manipulator arrangement, with which the sheet metal part of an insertion area of the insertion table transportable to a bending edge of the bending cell is solved according to the invention in that the manipulator arrangement has a second manipulator with which the Sheet metal part from the loading area to a transfer position is feasible that with the first Manipulator moves the sheet metal part from the takeover position to Execution of the bending processes can be brought into the bending cell and after completing the bending processes out of the bending cell into one arranged without overlap with the takeover position Bending end position can be brought from which one Removal device removes the sheet metal part, and that a controller is provided which the bending cell first manipulator and the second manipulator controls the second manipulator during the bending process feeds a sheet metal part to the transfer position in the bending cell and positioned for access by the first manipulator, and that the first manipulator in the next sheet
  • An embodiment shown in Fig. 1 bending center according to the invention comprises a whole with 10 designated bending cell and a whole designated 12 Feeding device with which a sheet metal part 14, as in Fig. 2 illustrates the bending cell 10, in particular one symbolized by the dash-dotted bending edge 16
  • Bending device in an insertion position defined in this way can be fed, for example, that a bending of the edge areas 18a to d of the sheet metal part 14 along the required and bending lines defined by a shape of the sheet metal part 14 20a to d takes place.
  • This is the insertion position, for example defined for the sheet metal part 14 so that all Bending lines 20a to d of the sheet metal part 14 are exactly congruent be positioned with the bending edge 16 of the bending cell 10 can.
  • the loading device 12 comprises an insertion table 22 on which the sheet metal part 14 manually or by a further feed device in an insertion area of the insert table 22 can be placed, with a rough positioning of the sheet metal part 14 in a gripping area manipulator arrangement, designated as a whole by 30, comprising a first manipulator 32 and a second Manipulator 34 is sufficient.
  • the second manipulator 34 serves, as shown in FIGS. 1 and 2, for transporting the sheet metal part 14 in an X direction away from the insertion table 22 into an action area 36 of the first Manipulator 32.
  • the first manipulator 32 transports to gripping the sheet metal part 14 the same in a Y direction, which is preferably perpendicular to the X direction, and also rotates the sheet metal part 14 about an axis of rotation D, which perpendicular to one through the X direction and the Y direction spanned plane, with the sheet metal part 14 in the plane spanned by the X direction and the Y direction extends.
  • Both manipulators are controlled by an as Whole control designated 38, in which also the form of the sheet metal part 14 and the bending lines 20a to 20d and the Coordinates of the bending edge 16 of the bending cell 10 are stored are.
  • the second manipulator 34 comprises, as shown in FIG. 3, a manipulator carriage 42, which on two to each other parallel linear guides that extend in the X direction 44 and 46 is guided and for example by means of a threaded spindle 48, driven by a spindle drive 50, NC-controlled via the controller 38 along the X direction is positionable.
  • the linear guides 44 and 46 with the manipulator carriage 42 are on a long side 52 of the loading device 12 and thus also along the insertion table 22 traversable.
  • the Manipulator carriage 42 On its side facing the insertion table 22, the Manipulator carriage 42 has several gripper tongs 54a to c which the sheet metal part 14 arranged in the insertion area in one facing the manipulator carriage 42 and approximately along the X-direction extending edge area 56 is.
  • the sheet metal part 14 is essentially on a surface 58 of the feed table 22, but not extends to the edge region 56. Rather, the edge area 56 supported by a brush field 60, which a allows unhindered access to the gripper tongs 54a to c.
  • a comprising a transmitting element 62 and a receiving element 64
  • Sensor 66 held which for example after Principle of a light barrier works.
  • the sending element 62 on a first finger 68 and the receiving element 64 on a second finger 70 one as a whole with 72 designated sensor fork held, which in turn on a arranged on the manipulator carriage 42 arranged linear guide 74 and by the linear guide 74 in a direction T which runs parallel to the Y direction, is movable.
  • the Positioning of the sensor fork 72 takes place via a Threaded spindle 76 and a spindle drive assigned to it 78 which is also NC controlled positioning of sensor 66 in the T direction, controlled by the Control 38, allows.
  • the sensor fork 72 lies so that when moving the same in the T direction to the sheet metal part 14 to the second finger 70 the same overlaps a top of the sheet metal part 14 and the first fingers 68 of the same an underside of the sheet metal part 14 engages around to 66 edge layers in the edge area by means of the sensor 56 to capture.
  • the edge layers are preferred in the area of previously cut into the sheet metal part 14 Notches 80b and 80c are detected, in which the first Manipulator 32 and the second manipulator 34 facing Notch 80c has an edge 82 extending transversely to the Y direction and an edge 84 transverse to the X direction and in Area of the notch facing away from the first manipulator 32 80b only the edge 86 running transverse to the Y direction be recorded.
  • the position of the sheet metal part 14 on the insertion table 22 is exact can be determined and in particular is exact for the control 38 can be determined by the distance in the X direction the sheet metal part 14 with the second manipulator 34 in the direction of the first Manipulator 32 must be moved to ensure that this grips the sheet metal part 14 in a position which the Relative position of the bending lines 20b and 20d relative to Defines axis of rotation D exactly.
  • the rough positioning of the sheet metal part 14 on the insertion table 22 in the X direction by transporting the sheet metal part 14 by means of the second Manipulator 34 in the X direction in an exact positioning corrected for the X direction.
  • the first manipulator 32 two extending parallel to each other in the Y direction
  • Linear guides namely an upper linear guide 90 and one lower linear guide 92
  • everyone is the Carriage via a threaded spindle 98 or 100 in the Y direction positionable.
  • the two threaded spindles 98 and 100 can be driven via a common spindle drive 102, so that the movement of the carriage 94 and 96 in the Y direction also in the form of an NC-controlled axis he follows.
  • the two carriages 94 and 96 are on opposite sides Sides of a movement plane 104 of the to be handled Sheet metal part 14 arranged, wherein for gripping the sheet metal part 14 a gripper bell 106 is arranged on the upper guide carriage 94 which is in a direction 108 perpendicular to the plane of movement 104 is movable by means of a clamping cylinder 110.
  • a gripper plate 112 is provided, which is approximately in the plane with a plate surface 114 104 extends and is thus able to the sheet metal part 14 to support an underside 116.
  • the sheet metal part between the gripper plate 112 and the gripper bell 106 can be clamped in that the gripper bell 106 by the Clamping cylinder 110 on an upper side 118 of the sheet metal part 14 suppressed.
  • narrow rectangular strips can also be used.
  • Both the gripper plate 112 and the gripper bell 106 are on the respective carriage 96 and 94 around the common axis of rotation D rotatably supported, the gripper plate 112 is rotatable by a rotary drive 120.
  • the Rotary drive 120 is numerical by controller 38 controllable, and thus the axis of rotation D represents an NC-controlled Axis of rotation.
  • the bending cell 10 comprises a conventional bending device with a lower beam 122, one relative to this movable upper beam 124 and a bending beam 126, which is pivotable about a pivot axis 128 to for example on the sheet metal part 14 outside the bending lines 20a to d lying edge region 18b. there the bending edge 16 of the bending cell 10 by clamping tools the lower cheek 122 and the upper cheek 124.
  • NC controlled Movement of the two in the Y direction and rotation around the axis D can be an exact positioning of the Carry out sheet metal part in the Y direction relative to the bending edge 16 and a possible rotation of the for the sheet metal part 14th provided bending lines 20 relative to the bending edge 16 of the Correct the bending cell 10 so that the sheet metal part 14 with the provided bending lines 20 exactly at the bending edge 16 of the Bending cell 10 can be positioned.
  • the determination of the position coordinates is carried out of the sheet metal part 14 on the insertion table 22 in resting position of the same, the position being transverse to the X direction already running edge 84 can be determined exactly, by what distance the sheet metal part 14 from the second manipulator 34 is to be moved to a takeover position 130 (FIG. 6) with the position of the sheet metal part 14 corrected in the X direction a takeover by the first manipulator 32 in the takeover position 130 to enable.
  • the subsequent movements of the first manipulator 32 consist of the input to the controller 38 Shape of the sheet metal part 14 by rotating the same the axis D and moving the bending lines 20d in the Y direction opposite narrow side and then the bend lines 20a and 20c of the long side also for performing the Bending operation with the bending edge 16 of the bending cell in To bring cover.
  • the removal of the sheet metal part 14 from the bending end position 132 takes place by means of a removal device 134 which for example two conveyor belts arranged at a distance from one another 136 and 138 has only one surface 58 of the insertion table 22 survive when the sheet metal part 14 and 140 in a removal direction is to be removed, with the removal direction 140 runs parallel to the X direction and also the long ones Sides of the sheet metal part 14 also approximately parallel to the X direction.
  • a removal device 134 for example two conveyor belts arranged at a distance from one another 136 and 138 has only one surface 58 of the insertion table 22 survive when the sheet metal part 14 and 140 in a removal direction is to be removed, with the removal direction 140 runs parallel to the X direction and also the long ones Sides of the sheet metal part 14 also approximately parallel to the X direction.
  • the bending end position 132 of the sheet metal part 14 also lies the loading table 22 so that it is in the transfer position 130 does not overlap, but a sheet metal part in the End of bending position 132 at a short distance in the Y direction is arranged to a sheet metal part in takeover position 130.
  • Such an arrangement of the bending end position 132 and the Takeover position 130 makes it possible, as in FIG Part II shown in relation to part I, one on the insertion table 22 already placed sheet metal part 14 to be measured and feed position 130, where feeding to takeover position 130 at a time which rotated the sheet metal part 14 designated as part I. was that its bending line 20c parallel to the bending edge 16 runs so that the for bending the edge region 18c required period can be used during the same by means of the second manipulator 34 the sheet metal part 14 to position in the takeover position 130.
  • This Time period for positioning the part II next sheet metal part 14 in the takeover position 130 can also extend into the period which is required to rework the part I now finished bending the edge region 18c out of the bending cell 10 move out and in the bending end position 132 to position.
  • the sheet metal part 14 After positioning the sheet metal part 14 in the bending end position 132 the sheet metal part 14 is released for Removal of the same with the removal device 134 and this period is used to start with the first Manipulator 32 to part II in the takeover position 130 grip so that - as also shown in Fig. 5 - immediately when part I reaches the bending end position 132 the first manipulator 32 has already left part II moved in the Y direction while rotating around the axis D, as the next step, the bending line 20b of part II the bending edge 16 to create.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Polishing Bodies And Polishing Tools (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Laminated Bodies (AREA)

Claims (28)

  1. Procédé pour l'usinage de pièces de tôle (14) dans une cellule de cintrage (10) d'un centre de cintrage, dans lequel les pièces de tôle (14) sont transportées l'une après l'autre à des fins de cintrage d'une zone de chargement (22) vers une cellule de cintrage (10) et sont prises en charge par un premier manipulateur (32) d'un dispositif de manipulation dans une position de prise en charge (130) et ensuite placées contre un bord de cintrage (16) pour l'exécution d'au moins un processus de cintrage, chaque pièce de tôle (14) cintrée finie étant évacuée après le dernier processus de cintrage d'une position terminale de cintrage (132), et pendant le processus de cintrage de chacune des pièces de tôle (14), la pièce de tôle (14) suivante est amenée en provenance de la zone de chargement (22) dans une position de prise en charge (130) disposée sans chevauchement par rapport à la position terminale de cintrage (132) et est positionnée dans celle-ci pour être saisie par le premier manipulateur (32), le premier manipulateur (32) commençant à prendre en charge la pièce de tôle (14) suivante dans la position de prise en charge (130) pendant la période durant laquelle la pièce de tôle (14) cintrée finie quitte la position terminale de cintrage (132),
    caractérisé en ce que chaque pièce de tôle (14) cintrée finie est positionnée après le dernier processus de cintrage dans une position terminale de cintrage (132) disposée sur un côté de la cellule de cintrage (10) orienté vers la position de prise en charge (130).
  2. Procédé selon la revendication 1, caractérisé en ce que le premier manipulateur (32) a terminé la prise en charge de la pièce de tôle (14) quand la pièce de tôle (14) cintrée finie a quitté la position terminale de cintrage (132).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le premier manipulateur (32) sort, au plus tard après l'évacuation complète de la position terminale de cintrage (132), la pièce de tôle suivante (14) de la position de prise en charge (130).
  4. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) n'est amenée dans la position de prise en charge (130) que pendant le dernier processus de cintrage.
  5. Procédé selon une des revendications précédentes, caractérisé en ce que le premier manipulateur (32) déplace la pièce de tôle (14) concernée vers la cellule de cintrage (10) de telle manière que, lorsqu'elle atteint la cellule de cintrage (10), la mise en place d'une première ligne de cintrage de celle-ci contre le bord de cintrage (16) ait lieu.
  6. Procédé selon la revendication 5, caractérisé en ce que le premier manipulateur (32) déplace la pièce de tôle (14) dans un plan et la fait pivoter autour d'un axe (D) qui est perpendiculaire à ce plan.
  7. Procédé selon une des revendications précédentes, caractérisé en ce que pour la mise en place contre le bord de cintrage (16), la pièce de tôle (14) est déplacée de la position de prise en charge (130) dans une première direction (Y) transversale au bord de cintrage (16).
  8. Procédé selon la revendication 7, caractérisé en ce que la pièce de tôle (14) est amenée dans la position de prise en charge (130) dans une deuxième direction (X) s'étendant transversalement à la première direction (Y).
  9. Procédé selon la revendication 8, caractérisé en ce que la deuxième direction (X) s'étend à peu près en parallèle avec la ligne de cintrage.
  10. Procédé selon une des revendications précédentes, caractérisé en ce que la position terminale de cintrage (132) et la position de prise en charge (130) sont disposées sur le même côté devant la cellule de cintrage (10).
  11. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) et dans la position de prise en charge (130) se trouve sur la table de chargement (22) disposée devant la cellule de cintrage (10).
  12. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) est disposée dans la position terminale de cintrage (132) de telle manière qu'elle puisse être transportée dans la direction d'évacuation (140) en passant sans collision devant la cellule de cintrage (10).
  13. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) est disposée à proximité du bord de cintrage (16).
  14. Procédé selon la revendication 12 ou 13, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) s'étend avec un bord latéral essentiellement parallèle au bord de cintrage (16).
  15. Procédé selon la revendication 14, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) s'étend avec un long bord latéral parallèle au bord de cintrage (16).
  16. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) est orientée parallèlement à la pièce de tôle (14) dans la position de prise en charge (130).
  17. Procédé selon la revendication 16, caractérisé en ce que la pièce de tôle (14) dans la position terminale de cintrage (132) se trouve essentiellement directement à côté de la pièce de tôle (14) dans la position de prise en charge (130).
  18. Procédé selon une des revendications précédentes, caractérisé en ce que la pièce de tôle (14) est éloignée de la position terminale de cintrage (132) au moyen d'un dispositif d'évacuation (134) distinct du premier manipulateur (32).
  19. Procédé selon la revendication 18, caractérisé en ce que la pièce de tôle est évacuée dans une direction d'évacuation (140) s'étendant à peu près en parallèle avec le bord de cintrage (16).
  20. Procédé selon une des revendications précédentes, caractérisé en ce que pour l'amenée de la pièce de tôle (14) dans la position de prise en charge (130), un deuxième manipulateur (34) saisissant la pièce de tôle (14) dans la zone de chargement et distinct du premier manipulateur (32) est prévu.
  21. Procédé selon une des revendications précédentes, caractérisé en ce que les coordonnées de la position de la pièce de tôle (14) sont déterminées par rapport au bord de cintrage (16) et qu'en raison des coordonnées de position mesurées, le déplacement de la pièce de tôle (14) entre la zone de chargement et le bord de cintrage (16) a lieu de telle manière que la pièce de tôle (14) est amenée dans une position d'introduction définie par rapport au bord de cintrage (16) de la cellule de cintrage (10) pour le processus de cintrage.
  22. Procédé selon la revendication 21, caractérisé en ce que les coordonnées de la position de la pièce de tôle (14) sont mesurées avant la prise en charge de celle-ci par le premier manipulateur (32).
  23. Procédé selon la revendication 21 ou 22, caractérisé en ce que les coordonnées de la position de la pièce de tôle (14) sont déterminées avant un déplacement de celle-ci dans la position de prise en charge (130).
  24. Procédé selon la revendication 23, caractérisé en ce que la pièce de tôle (14) est mesurée dans la zone de chargement.
  25. Procédé selon une des revendications 21 à 24, caractérisé en ce que les coordonnées de la position de la pièce de tôle (14) sont mesurées avant le maniement de celle-ci par le deuxième manipulateur (34).
  26. Procédé selon une la revendication 25, caractérisé en ce que les coordonnées de la position de la pièce de tôle (14) sont mesurées au moyen d'un dispositif de mesure (62, 64) déplacé par le deuxième manipulateur (34).
  27. Centre de cintrage comprenant une cellule de cintrage (10) et un dispositif de chargement (12) avec une table de chargement (22) pour recevoir une pièce de tôle (14) à charger, avec un dispositif de manipulation (32,34) au moyen duquel la pièce de tôle (14) peut être transportée d'une zone de chargement de la table de chargement (22) vers un bord de cintrage (16) de la cellule de cintrage (10), caractérisé en ce que le dispositif de manipulation présente un deuxième manipulateur (34) avec lequel la pièce de tôle (14) peut être amenée de la zone de chargement vers une position de prise en charge (130), en ce que la pièce de tôle (14) peut être amenée au moyen du premier manipulateur (32) de la position de prise en charge (130) dans la cellule de cintrage (10) pour l'exécution des processus de cintrage et peut être amenée après la fin des processus de cintrage de la cellule de cintrage (10) dans une position terminale de cintrage ne présentant pas de chevauchement avec la position de prise en charge (130), de laquelle un dispositif d'évacuation (134) évacue la pièce de tôle (14), et en ce qu'il est prévu une commande (38) qui commande la cellule de cintrage (10), le premier manipulateur (32) et le deuxième manipulateur (34) de telle manière que le deuxième manipulateur (34) amène pendant le processus de cintrage dans la cellule de cintrage (10) une pièce de tôle dans la position de prise en charge (130) et la positionne pour être saisie par le premier manipulateur, et en ce que le premier manipulateur (32) prend en charge la pièce de tôle (14) suivante dans la position de prise en charge (130) pendant que le dispositif d'évacuation (134) évacue la pièce de tôle (14) cintrée finie de la position terminale de cintrage (132).
  28. Centre de cintrage selon la revendication 27, caractérisé en ce que la commande (38) fonctionne selon une des revendications 2 à 26.
EP97944875A 1996-09-26 1997-09-12 Procede d'usinage de pieces de tole Expired - Lifetime EP0865333B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19639589A DE19639589A1 (de) 1996-09-26 1996-09-26 Verfahren zum Bearbeiten von Blechteilen
DE19639589 1996-09-26
PCT/EP1997/004996 WO1998013155A1 (fr) 1996-09-26 1997-09-12 Procede d'usinage de pieces de tole

Publications (2)

Publication Number Publication Date
EP0865333A1 EP0865333A1 (fr) 1998-09-23
EP0865333B1 true EP0865333B1 (fr) 2002-04-17

Family

ID=7806980

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97944875A Expired - Lifetime EP0865333B1 (fr) 1996-09-26 1997-09-12 Procede d'usinage de pieces de tole

Country Status (8)

Country Link
EP (1) EP0865333B1 (fr)
JP (1) JP2000503908A (fr)
AT (1) ATE216293T1 (fr)
DE (2) DE19639589A1 (fr)
DK (1) DK0865333T3 (fr)
ES (1) ES2175470T3 (fr)
PT (1) PT865333E (fr)
WO (1) WO1998013155A1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1219110B (it) * 1988-03-15 1990-05-03 Prima Ind Spa Dispositivo manipolatore di pezzi di lamiera per una pressa piegatrice e procedimento per la fabbricazione di pezzi profilati di lamiera mediante piegatura alla pressa
JPH05123766A (ja) * 1991-11-06 1993-05-21 Amada Co Ltd 板材折曲げ加工装置における板材搬出入装置
DE4309949C2 (de) * 1993-03-26 1996-03-14 Haar Maschbau Alfons Tafelanlage- und Vorschubsystem für Pressen

Also Published As

Publication number Publication date
JP2000503908A (ja) 2000-04-04
ATE216293T1 (de) 2002-05-15
DE19639589A1 (de) 1998-04-09
WO1998013155A1 (fr) 1998-04-02
PT865333E (pt) 2002-09-30
DK0865333T3 (da) 2002-08-05
EP0865333A1 (fr) 1998-09-23
ES2175470T3 (es) 2002-11-16
DE59707052D1 (de) 2002-05-23

Similar Documents

Publication Publication Date Title
DE69420616T2 (de) Aufnahme- und Fördereinheit für Stapel von Zuschnitten
DE19621658C2 (de) Bearbeitungsmaschine für plattenförmige Werkstücke, insbesondere zur Erzeugung von gebogenen Rändern an Blechteilen
EP4041501B1 (fr) Procédé pour transporter et/ou manipuler des pièces
EP0705655B1 (fr) Machine comportant des dispositifs de rotation pouvant coulisser relativement l'un par rapport à l'autre
DE102015103653A1 (de) Automationsfähiges Spannmittelsystem
EP0865331B1 (fr) Centre de cintrage
EP0873207B1 (fr) Machine a usiner
DE3023539A1 (de) Drehmaschine
DE3428992C1 (de) Einrichtung zum selbsttätigen Beschicken von mehreren Arbeitsstationen, bspw. Werkzeugmaschinen, mit Werkstücken
EP0865333B1 (fr) Procede d'usinage de pieces de tole
DE69619115T2 (de) Verfahren zum zuvorkommen von interferenz für industrierobotor
EP0345595A2 (fr) Dispositif d'échange d'outils pour centre d'usinage à commande numérique
DE3149779C2 (de) Zu- und Abführeinrichtung einer Frontdrehmaschine
DE102007036886B3 (de) Vorrichtung zum Handhaben von Montageteilen, insbesondere Möbelbeschlägen
DE3719337A1 (de) Greifer fuer einen roboter
DE4316338C2 (de) Halte- und Transportvorrichtung für insbesondere flächige Werkstücke
EP0608275A1 (fr) Chaine de fabrication pour l'usinage de pieces
EP0807487A2 (fr) Dispositif pour transporter, serrer et souder par faisceau laser au moins deux platines de tÔle
AT526774B1 (de) Pult zur Ablage eines Werkstücks aus Blech
CH634501A5 (en) Loading apparatus for a processing machine
DE19641402A1 (de) Bearbeitungsmaschine
AT387348B (de) Werkstueckgreifer fuer eine blechbearbeitungsmaschine
DE3408439C2 (de) Vorrichtung zum Stanzen von Werkstücken für den Stahlbau, den Anlagenbau und dgl.
DE102010052303B4 (de) Verfahren und Einrichtung zur überlappenden Bearbeitung flächiger Gegenstände
EP0302962B1 (fr) Embobineur

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19980624

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FI FR GB IT LI NL PT SE

17Q First examination report despatched

Effective date: 20000927

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

REG Reference to a national code

Ref country code: GB

Ref legal event code: IF02

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE DK ES FI FR GB IT LI NL PT SE

REF Corresponds to:

Ref document number: 216293

Country of ref document: AT

Date of ref document: 20020515

Kind code of ref document: T

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REF Corresponds to:

Ref document number: 59707052

Country of ref document: DE

Date of ref document: 20020523

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: KIRKER & CIE SA

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20020711

ET Fr: translation filed
REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20020716

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2175470

Country of ref document: ES

Kind code of ref document: T3

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20030120

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: PT

Payment date: 20080716

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20080715

Year of fee payment: 12

REG Reference to a national code

Ref country code: PT

Ref legal event code: MM4A

Free format text: LAPSE DUE TO NON-PAYMENT OF FEES

Effective date: 20100312

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100312

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20090912

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20090912

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 59707052

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20150909

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20150911

Year of fee payment: 19

Ref country code: SE

Payment date: 20150911

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DK

Payment date: 20150910

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20150909

Year of fee payment: 19

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20160914

Year of fee payment: 20

Ref country code: IT

Payment date: 20160921

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20160816

Year of fee payment: 20

Ref country code: AT

Payment date: 20160826

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20160811

Year of fee payment: 20

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20161026

Year of fee payment: 20

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160930

REG Reference to a national code

Ref country code: DK

Ref legal event code: EBP

Effective date: 20160930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160913

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160912

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20161001

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161001

REG Reference to a national code

Ref country code: DE

Ref legal event code: R071

Ref document number: 59707052

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK07

Ref document number: 216293

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170912

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20160930

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20160930

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20180508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20170913