EP0873207B1 - Bearbeitungsmaschine - Google Patents

Bearbeitungsmaschine Download PDF

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Publication number
EP0873207B1
EP0873207B1 EP97944876A EP97944876A EP0873207B1 EP 0873207 B1 EP0873207 B1 EP 0873207B1 EP 97944876 A EP97944876 A EP 97944876A EP 97944876 A EP97944876 A EP 97944876A EP 0873207 B1 EP0873207 B1 EP 0873207B1
Authority
EP
European Patent Office
Prior art keywords
bending
processing machine
workpiece
station
gripper
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
EP97944876A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0873207A1 (de
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
Priority claimed from DE19641402A external-priority patent/DE19641402A1/de
Application filed by Reinhardt Maschinenbau GmbH filed Critical Reinhardt Maschinenbau GmbH
Publication of EP0873207A1 publication Critical patent/EP0873207A1/de
Application granted granted Critical
Publication of EP0873207B1 publication Critical patent/EP0873207B1/de
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
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
    • B21D5/042—With a rotational movement of the bending blade

Definitions

  • the invention relates to a processing machine for workpieces from flat material, in particular sheet metal parts, according to the preamble of claim 1.
  • the bending machine according to the invention which is defined in claim 1, provides that the workpiece with the gripper successively in several in the longitudinal direction arranged workstations can be positioned.
  • This solution has the great advantage that for processing the Workpiece now not only one designed as a bending station Workstation is available, but more Workstations, in which the most varied Edits are feasible. Examples for such different edits would be next to that Bend any kind of deforming machining, but also punching, cutting or labeling or machining operations.
  • each bending station has its own bending beam tool, this own Bending beam tool on the common to all bending stations Bending beam sits.
  • each bending station has its own upper beam tool and / or one has its own under beam tool, but all on the common lower or upper cheek for all bending stations sit.
  • the defined orientation of the workpiece in the insertion station could be done in many different ways. For example, it would be possible to place the workpiece in the loading station to measure. A particularly inexpensive solution however, provides that the workpiece in the loading station can be positioned exactly by the stop elements provided in it is.
  • a particularly expedient alignment of the workpiece is this is possible if this is in the insertion station on a Table can be placed and positioned on it in a defined manner.
  • the positioning device can be used in many different ways Way be trained.
  • the positioning device to realize the movement in one of the directions one longitudinal guide extending parallel to a longitudinal direction on which a longitudinal slide carrying the gripper is held.
  • a positioning device can be a movement in a simple manner of the gripper in the longitudinal direction, in particular then when the gripper is movable in the longitudinal direction to be realized over long distances.
  • the adjustment of the gripper perpendicular to the bending plane can be realized in many different ways. For example, it would be conceivable to position the gripper relative to the Longitudinal slide with a suitable height adjustment device to position in the height direction. Is even more advantageous it, however, in particular an exact and stable positioning to get the gripper when the longitudinal guide by means of a height adjustment device in the height direction is adjustable. That means that the height adjustment of the Gripper not between the longitudinal slide and the gripper takes place, but the entire longitudinal guide adjustable in height is arranged. This also has the advantage of the height adjustment with the least frequency is not required the dynamics of the movement of the gripper in the longitudinal and transverse directions, transverse to the bending line, impaired, so that these movements can be carried out very quickly are.
  • the height adjustment device is preferably designed such that that they have a parallel guide held on a machine frame for the longitudinal guide, so that the longitudinal guide as a whole in the height direction towards each other parallel positions is movable.
  • a transverse guide with one along this movable cross slide is arranged so that the cross slide then in turn carries the gripper.
  • the gripper itself could be of various types and Be trained. For example, it would be conceivable that Train gripper as suction gripper, which on the workpiece on one side sucking attacks. But it would also be conceivable form the gripper as a magnetic gripper, which also on the workpiece on one side under the influence of magnetic Attacks forces, which however presupposes that the Workpiece is made of a material that is magnetic Magnet attraction.
  • a particularly universal and also the workpiece is safe gripping solution provides that the gripper with the workpiece spanning this on a top and a bottom Gripper elements engages.
  • Such a mechanical and non-positive gripping of the workpiece is universal for any type of workpiece can be used and also leaves the safest non-positive fixation of the workpiece.
  • the gripper could be designed so that it, for example as a gripper, the workpiece in one Edge area engages.
  • it is particularly advantageous, in particular to grip and hold the workpiece securely can, if the gripper has an approximately C-shaped gripper bracket has, on which the gripper elements are held.
  • the C-shaped gripper bracket is preferably designed such that that with the gripper elements gripping the workpiece in a central area of the same can take place.
  • Such gripping of the workpiece in a central The area has the great advantage that when bending different Edge areas the reshaping of the edge areas without Influence on the central area in which gripping takes place, and thus no influence on the gripping of the workpiece Has.
  • the Gripper elements rotatable relative to the gripper bracket are arranged so that the gripper bar itself none Rotation must be subjected, but the workpiece simply can be rotated in that the gripper elements themselves are rotatable relative to the gripper bar.
  • FIG. 1 An embodiment shown as a whole in FIG. 1 a processing machine according to the invention, for example designed as a bending machine, comprises an insertion station 10, Workstations 12a and 12b, which are only exemplary for a number of depending on the type of processing Work stations are standing, and a removal station 14.
  • a sheet metal part to be bent from the loading station 10 into the work stations 12a and 12b and the removal station 14 of the processing machine to transport it is with one as a whole provided with 18 designated manipulator device, the can be controlled by means of a machine control 20.
  • this Manipulator device 18 becomes the sheet metal part 16 in the insertion station 10 added, and so to the workstations 12a and 12b transports that there a bending of edge areas 22a, 22b, 22c, 22d and 22e along bending lines 24a, 24b, 24c, 24d and 24e can be done.
  • the manipulator device 18 comprises, as in FIG. 2 shown, a manipulator frame designated as a whole by 30, relative to which a longitudinal guide 32 in the direction a height direction Z by means of a height adjustment device 34 is held adjustable in height.
  • the height adjustment device 34 comprises several parallel guides 36, which one Base 38 of the longitudinal guide 32 parallel to the height direction Z to lead.
  • the height adjustment device 34 includes still lifting devices 40, for example in the form of Hydraulic cylinders with which the base 38 is defined in the Height direction Z is movable.
  • the longitudinal guide 32 in turn comprises two parallel to each other longitudinal guideways 42, which also run parallel to a longitudinal direction Y, the Longitudinal direction Y preferably runs in the horizontal direction, while the height direction Z is preferably vertical Direction runs.
  • the longitudinal guideways 42 there is one as a whole with 44 designated longitudinal slide in the longitudinal direction Y movable stored. It is preferred to drive the longitudinal slide 44 a threaded spindle 46 is provided, the spindle nut 48 is firmly connected to the longitudinal slide and which over a spindle drive driven by the machine control 20 50 controlled can be driven.
  • Transverse guideways 52 On the longitudinal slide 44 are two parallel to each other Transverse guideways 52 arranged on which a Cross slide 54 in a transverse direction X transverse to the longitudinal direction Y is movable.
  • This cross slide 54 is also preferred by means of a threaded spindle 56, the spindle nut 58 sits firmly on the cross slide 54, in the transverse direction X adjustable and by a cross spindle drive 60 from the Machine control 20 controllable.
  • Gripper On the cross slide 54 sits one designated as a whole by 62 Gripper, which is an upper gripper element 64 and a comprises lower gripper element 66, for example the upper gripper element 64 in a direction 68 to the lower Gripper element is movable to or away from this to the To grip sheet metal part 16.
  • the lower gripper element 66 is rotatable about an axis D, which runs parallel to direction 68. This is the lower gripper element 66 by means of a rotary drive 72 drivable.
  • the lower gripper element 66 is in turn rotatable on one lower arm 74 of a C-shaped as a whole designated 76 trained gripper bracket held, being on the lower Arm 74 also the rotary drive 72 is arranged. Further the upper gripper element 64 is displaceable in the direction 68 on an upper arm 78 of the C-shaped gripper bar held and the upper arm 78 also carries the Gripper drive 70. To move the workpiece between the upper one Gripper element 64 and the lower gripper element 66 gripped also being able to turn around axis D is the upper one Gripper element 64 additionally rotatable about axis D. the upper arm 78 of the C-shaped gripper bracket 76.
  • the C-shaped gripper bracket 76 in turn sits on the cross slide 54 and extends with his arms 74 and 78 approximately parallel to the transverse direction X, with the arms 74 and 78 are rigidly connected to one another via a web 80, which on one of the gripper elements 64, 66 opposite Side of the arms 74 and 76 lies.
  • the longitudinal direction Y and the transverse direction are preferably located X parallel to a horizontal plane and the axis of rotation D stands perpendicular to this.
  • the gripper 62 is arranged that the gripper elements 64 and 66 of the loading station 10 and the work stations 12a and 12b and the removal station 14 are arranged facing, while the web 80 in Seen in the transverse direction X opposite the gripper elements 64 and 66 is arranged.
  • the height adjustment device 34 forms together with the Longitudinal guide 32, the longitudinal slide 44 and the cross slide 54 and the drives 50 and 60 one from the machine control 20 controllable positioning device 82 for the Gripper 62
  • the insertion station 10 in turn comprises, as also in Fig. 2 is shown, a base frame 90, which a Table 92 carries a table surface 94, on which still unprocessed sheet metal part 16u can be placed.
  • a base frame 90 which a Table 92 carries a table surface 94, on which still unprocessed sheet metal part 16u can be placed.
  • there are still stop elements 96a on the table 92, 96b and 96c are provided, against which the sheet metal part 16u the edge regions 22a and 22c can be applied and are therefore unique in terms of its position relative to the longitudinal direction Y and the transverse direction X can be positioned in a defined manner.
  • the table 92 is provided with a recess 100, which is defined by the stop elements 96a to c positioned sheet metal part 16 a creation of the lower gripper element 66 on an underside 102 of the sheet metal part in central area 98 allowed while the upper gripper element 64 simultaneously in the central area 98 on an upper side 104 of the sheet metal part 16 can be put on and thus the sheet metal part 16 can be clamped between the gripper elements 66 and 64, wherein in this case the gripper drive 70 the upper gripper element 64 in the direction of the lower gripper element 66 with a Clamping force applied.
  • the sheet metal part 16 is thus in the insertion station 10 in defined orientation relative to the longitudinal direction Y and transverse direction X can be picked up by the gripper 62.
  • both workstations 12a and 12b in one designated as a whole by 110 Bending cell arranged, which is a bending cell frame 112, on which one is designated as a whole by 114 Bending beam arranged pivotable about a pivot axis 116 , a swivel drive 118 being provided for this purpose.
  • bending beam 114 of the bending cell 110 sits one of the first bending beam tool assigned to the first work station 12a 120 and also at a distance from it a second one, bending beam tool associated with the second work station 12b 122 by a joint pivoting movement of the Bending beam 114 are movable about the pivot axis 116.
  • the bending cell 110 additionally comprises one in Fig. 3 exemplarily using the example of the second workstation
  • the lower beam 126 shown in FIG. 12b with a lower beam tool 128, which is firmly connected to the bending cell frame 112 and an upper beam 130 with an upper beam tool 132, which is relative to the lower beam 126 in a clamping direction 134 is movable.
  • the upper cheek 130 is over an arm 136 pivotable about an axis 138 on the bending cell frame 112 stored.
  • the lower cheek 126 and the upper cheek 130 nevertheless extend also through the area of the first work station 12a and also carry there for the bending operations to be carried out there required lower beam tools 128 and upper beam tools 132nd
  • the bending edge extends 140 preferably parallel to the longitudinal direction Y of the Manipulator device 18 and also, as in FIG. 3 shown, the lower beam tools 128 and the upper beam tools 132 arranged so that the workpiece 16 in tensioned state with its central region 98 in one Fix the bending plane 142 horizontally, which is parallel to the longitudinal direction Y and to the transverse direction X.
  • the finally bent sheet metal part 16g is after execution all bending operations to the removal station 14 attachable. This includes two parallel to each other running conveyor belts 150, with which on this placed finished bent sheet metal part 16g in a removal direction 152 can be removed.
  • the Sheet metal part 16 in the processing machine according to the invention in that this with the edge regions 22a and 22c to the Stop elements 96a to c created and thereby in his Insertion position is clearly positioned.
  • the sheet metal part 16 is in the first work station 12a inserted that the bending line 24a congruent with the bending edge 140 of the bending cell 110 is arranged, the upper cheek for inserting the sheet metal part 130 raised opposite to the clamping direction 134 and after exact positioning of the sheet metal part 16 in the direction of Lower beam 126 is moved to the sheet metal part 16 between the Clamp lower beam tool 128 and upper beam tool 132.
  • the sheet metal part clamped in this way 16 still additionally held by the gripper 62.
  • the upper cheek 130 opposite to the clamping direction 134 so far upwards moves that by moving the sheet metal part 16 in the bending plane 142 in the X direction and simultaneously rotating around the Axis D, the edge area 22b inserted into the workstation 12a to perform bending along the bend line 24b. To do this, it is necessary to move the axis D through 180 ° rotate and by moving the workpiece 16 in the X direction Bend line 24b to coincide with the bending edge 140.
  • FIG. 4d is after bending up the edge area 22b a bending up of the edge area 22c is provided, where, as a comparison of FIGS. 4c and 4d shows, one Rotation of the sheet metal part 16 by 90 ° about the axis D and a simultaneous movement of the same in the X direction required is to cover the bending line 24c with the bending edge 140 bring to.
  • the upper cheek tool 120 is in the first work station 12a so that it is able to to engage between the raised edge regions 22a and 22b.
  • the upper beam tool 120 must be dimensioned so that this exactly between the raised edge regions 22a and 22b can intervene.
  • edge portion 22e is bent, which is narrower than the edge area 22d and, as shown in FIG. 4f, bending around a bend line 24e requires which runs parallel to the bending line 24d, but in the direction of Bending line 24c is arranged offset.
  • the entire sheet metal part 16 is shifted from the first work station 12a into the second work station 12b, as shown in Fig. 4e and Fig. 4f. In the simplest In this case, this is done only by moving the whole Gripper 62 in the longitudinal direction Y, for example without that Take sheet metal part 16 out of the bending cell 110.
  • the second bending beam tool is used to bend the edge region 22e 122 provided, which exactly on the width of the Edge region 22e, that is to say the length of the bending line 24e, is tuned so that no collision between the second bending beam tool 122 and the remaining areas of the Sheet metal part 16 takes place.
  • the edge region 22e upwards, in the direction of the upper cheek tool 132 bent, so there is again Position the bending beam 114 in that shown in FIG. 3 Bending starting position and pivoting the same in the direction of bending 144 in the same way as in Connection with the upward bending of the edge regions 22a to 22c described.
  • the gripper 62 is operated by the height adjustment device 34, which acts on the longitudinal guides 32, raised and after the gripper 62 is lifted, a process is carried out the same in the X direction such that the sheet metal part 16 the bending cell 110 moved away from the bending edge 140 becomes.
  • the finished bent sheet metal part 16g thus raised becomes this moved out of the second work station 12b and in the Removal station 14 filed and here on the two Conveyor belts 150 placed, which then the sheet metal part in Move removal direction 152.
  • the conveyor belts 150 preferably lie with their upper edge so that for placing the bent sheet metal part 16g on this a lowering of the same back to the level of the Bending plane 142 can take place.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Threshing Machine Elements (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
EP97944876A 1996-09-30 1997-09-12 Bearbeitungsmaschine Expired - Lifetime EP0873207B1 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE19640415 1996-09-30
DE19640415 1996-09-30
DE19641402A DE19641402A1 (de) 1996-09-30 1996-10-08 Bearbeitungsmaschine
DE19641402 1996-10-08
PCT/EP1997/004997 WO1998014288A1 (de) 1996-09-30 1997-09-12 Bearbeitungsmaschine

Publications (2)

Publication Number Publication Date
EP0873207A1 EP0873207A1 (de) 1998-10-28
EP0873207B1 true EP0873207B1 (de) 2002-03-27

Family

ID=26029985

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97944876A Expired - Lifetime EP0873207B1 (de) 1996-09-30 1997-09-12 Bearbeitungsmaschine

Country Status (8)

Country Link
US (1) US5964119A (ja)
EP (1) EP0873207B1 (ja)
JP (1) JP2000515816A (ja)
AT (1) ATE214984T1 (ja)
DK (1) DK0873207T3 (ja)
ES (1) ES2175471T3 (ja)
PT (1) PT873207E (ja)
WO (1) WO1998014288A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081125A (zh) * 2015-07-27 2015-11-25 广州科敏达工业机器人有限公司 独立式机械手

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020110857A1 (en) * 1996-07-31 2002-08-15 Spurlock Michael E. Bovine leptin protein, antisense and antibody
ITMI981668A1 (it) * 1998-07-21 2000-01-21 Salvagnini Italia Spa Macchina per la punzonatura e la piegatura di fogli di lamiera
JP3780745B2 (ja) * 1999-04-28 2006-05-31 日産自動車株式会社 ヘム加工方法およびヘム加工装置
US6065325A (en) * 1999-05-26 2000-05-23 Tsai; Sou-Jun Automatic stamping machine
FR2819436B1 (fr) * 2001-01-17 2003-04-18 Amada Europ Sa Accompagnateur de toles pour presse plieuse
DE102004048036A1 (de) 2004-09-28 2006-04-06 Ras Reinhardt Maschinenbau Gmbh Biegeeinrichtung
DE102006047109A1 (de) * 2006-09-27 2008-04-03 Ras Reinhardt Maschinenbau Gmbh Bearbeitungsmaschine
CN102120238B (zh) * 2011-03-02 2013-02-13 浙江博雷重型机床制造有限公司 数控冲孔机床
CN103100607A (zh) * 2011-11-11 2013-05-15 鸿富锦精密工业（深圳）有限公司 搬运装置及采用该搬运装置的冲压设备
CN105149469B (zh) * 2015-08-25 2017-03-22 安徽省科昌机械制造股份有限公司 一种厨房柜钣金件自动定位机及其定位工艺
CN105817541B (zh) * 2016-04-21 2017-08-01 安徽省科昌机械制造股份有限公司 一种钣金自动折弯铆合成型机
CN105750372B (zh) * 2016-04-28 2018-08-21 无锡市斯威克科技有限公司 光伏焊带高速折弯机
CN113333515B (zh) * 2021-07-05 2023-07-25 深圳市驭智装备技术有限公司 一种板材折弯加工方法
CN113843324A (zh) * 2021-09-08 2021-12-28 佛山市诺创智能设备有限公司 一种集装箱生产方法及生产线

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Publication number Priority date Publication date Assignee Title
IT1086365B (it) * 1977-09-19 1985-05-28 Salvagnini Transferica Spa Macchina per la produzione di pannelli di lamiera rettangolare con bordi piegati
FR2509204A1 (fr) * 1981-07-07 1983-01-14 Jouanel Sa Ets Y Plieuse automatique de toles
AT373174B (de) * 1982-06-23 1983-12-27 Voest Alpine Ag Vorrichtung zum zufuehren von blechtafeln zu einer biegemaschine
US5182936A (en) * 1988-01-29 1993-02-02 Amada Company, Limited Plate bending machine equipped with a plate clamping manipulator and a plate position detecting device
IT1237750B (it) * 1989-12-29 1993-06-15 Prima Ind Spa Procedimento di piegatura di una lamiera
DE4222741A1 (de) * 1991-09-30 1993-04-01 Horst Warneke Fertigungsstrasse zur herstellung einer stahlkassette fuer decken- und/oder wandkonstruktionen aus einer blechtafel
IT1274479B (it) * 1995-05-11 1997-07-17 Antil Srl Dispositivo di controllo programmabile, per l'asservimento di un manipolatore multiassi ad una pressa piegatrice

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081125A (zh) * 2015-07-27 2015-11-25 广州科敏达工业机器人有限公司 独立式机械手

Also Published As

Publication number Publication date
US5964119A (en) 1999-10-12
EP0873207A1 (de) 1998-10-28
ATE214984T1 (de) 2002-04-15
PT873207E (pt) 2002-09-30
WO1998014288A1 (de) 1998-04-09
JP2000515816A (ja) 2000-11-28
ES2175471T3 (es) 2002-11-16
DK0873207T3 (da) 2002-07-29

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