EP0914879B1 - Method and apparatus for automatic bending of metal sheets - Google Patents

Method and apparatus for automatic bending of metal sheets Download PDF

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Publication number
EP0914879B1
EP0914879B1 EP19980119190 EP98119190A EP0914879B1 EP 0914879 B1 EP0914879 B1 EP 0914879B1 EP 19980119190 EP19980119190 EP 19980119190 EP 98119190 A EP98119190 A EP 98119190A EP 0914879 B1 EP0914879 B1 EP 0914879B1
Authority
EP
European Patent Office
Prior art keywords
manipulator
bending
metal sheet
sheet
press
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
EP19980119190
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0914879A1 (en
Inventor
Paolo Franco Zanella
Salvatore Ingrasciotta
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.)
Antil SpA
Original Assignee
Antil SpA
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Publication of EP0914879A1 publication Critical patent/EP0914879A1/en
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Anticipated expiration legal-status Critical
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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
    • B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means

Definitions

  • the present invention relates to bending of metal sheets by a bending press having a reciprocable bending mould and more precisely it relates to a method and an apparatus for.
  • automatic bending of metal sheets according to the preambles of claims 1, 4 and 5 respectively having high versatility of use, particularly for the automatic bending of small metal sheets, whereby it is possible to perform a number of bends on a same sheet in extremely short spaces of time; dead times resulting on standard bending presses from the picking up operation of a metal sheet and releasing of the same after bending, are therefore eliminated.
  • Apparatuses for automatic bending of metal sheet material that is to say bending presses appropriately slaved by a robot, have been variously used and proposed in some prior documents, for example in US-A-4.594.870, EP-A-0 555 908 and EP-A-0 742 054.
  • All these automatic bending apparatuses generally involve the use of a single robot or automatic device to perform all the picking up operations of each sheet, bending and releasing of the same bent piece, carrying out all the bending operations during a working cycle, in a single phase by means of the single robot or manipulator.
  • EP-A-0 742 054 suggests the use of a Cartesian robot having several powered axes for slaving a bending press; by means of a particular calculation algorithm the gripping member of the robot is allowed to follow the sheet during bending movements, continuously controlling the position of gripping means as a function of the movement of a mould member of the same bending press, which is continuously detected by an appropriate sensor.
  • US-A-5,345,806 represents the closest prior art according to the independent claim 5; in US-A-5,345,806 use in made of two different manipulators having different levels of functionality. All bending operations are performed by the main manipulator; no separate and integrated bending operations are made possible by the main and auxiliary manipulators according to US-A-5,345,806.
  • the general object of the present invention is to provide an apparatus for automatic bending of metal sheets or more generally sheet material, which is suitable for fulfilling the needs referred above.
  • a further object of the present invention is to provide a method for automatic bending of sheet material by means of an apparatus which can be easily slaved to any type of press, such that the handling operations of the pieces can take place in masked conditions and without dead working times for the same press, in that the operations of picking up a sheet to be bent and of releasing the bent part can take place during the same bending cycle, with the press in operation.
  • the apparatus comprises first and second independent manipulators, for example anthropomorphic robots, which are movable along a linear path, each robot having an articulated arm and a picking up member defining a number of rotational axes and control means which allow each of the two manipulators to independently move along said travelling path parallel to the front side of a bending press and to follow the various movements of a metal sheet during the bending operations, sequentially performing the steps of the entire working cycle which is divided between and sequentially performed by the two manipulators.
  • first and second independent manipulators for example anthropomorphic robots, which are movable along a linear path, each robot having an articulated arm and a picking up member defining a number of rotational axes and control means which allow each of the two manipulators to independently move along said travelling path parallel to the front side of a bending press and to follow the various movements of a metal sheet during the bending operations, sequentially performing the steps of the entire working cycle which is divided between and sequentially performed by the two manipulators.
  • first and second independent manipulators
  • the time for picking up a sheet and for releasing a bent piece is substantially equal to the effective working cycle of sheets which are small in size
  • the time for picking up a sheet and for releasing a bent piece is substantially equal to the effective working cycle of the press, also in view of the fact that few bends only are normally made on sheets with small dimensions.
  • the cycle for bending a sheet is performed as a single operation divided between or sequentially performed by the two manipulators, so that when the first manipulator picks up a sheet and performs part of the bending cycle, for example the first two bends, the second manipulator releases the previously bent piece and puts itself in a stand-by conditions; then the first manipulator releases the partially bent sheet clamped into the moulds of the press, after which the second manipulator, intervenes to take it and complete the bending cycle.
  • the first manipulator has already picked up a new metal sheet to start a new bending cycle.
  • the other one picks up a new sheet to be bent or discharges an already bent piece.
  • the advantage of the present invention therefore resided in the fact that it makes possible to mask into the working cycle of the press the handling steps for picking up and releasing the pieces, thanks to the alternating and combined use of the two manipulators, co-related to the working cycle of the bending press.
  • the apparatus according to the invention is totally independent of the type of machine to be used for bending, which can be either of manual or automatic type, in this way achieving high working flexibility.
  • the first manipulator picks up a metal sheet and makes the first half of the bends.
  • the first manipulator similarly to what has been referred previously, releases the partially bent piece clamped between the moulds of the press in order to pick up a new sheet, while the second manipulator takes the previous sheet which is already partially bent, clamped between the two moulds of the press.
  • the completion of bending of the previous sheet by the second manipulator can therefore take place simultaneously to the start of the bending for the new sheet by the first manipulator.
  • the two manipulators perform the same bending operations, simultaneously on two different sheets in different working positions of the same press.
  • the apparatus substantially comprises a bending press 10 as well as a robotised device 11 for picking up and manipulating the metal sheets which are to be bent according to a programmed bending scheme.
  • the bending press 10 can be of any conventional type, for example it can consist of a hydraulic press having a frame structure 12 for supporting a lower mould member 13 and respectively an upper mould member 14 vertically reciprocable in respect to the fixed mould member 13, for example by means of a pair of hydraulic cylinders 15.
  • the press 10 is of the type comprising an upper movable mould member; however it may also be of the type having a lower movable mould member, or with both mould members which are moving relatively one in relation to the other.
  • Reference 16 in Figure 3 denotes a front sensor for the positioning of a metal sheet between the mould members of the press, which together with side sensors supply control signals indicative of the presence and correct positioning of the metal sheet between the mould members 13 and 14. In this way a control signal is provided for the starting of each bending operation, as explained hereinbelow.
  • Reference 17 in Figure 3 finally denotes a signal generator, of the linear and absolute type, directly or indirectly interlocked to the movable mould member 14 to supply reference signals indicative of the positions reached by the same movable mould member 14 during its forward movement towards the lower mould member 13, to allow a correct performance of each bending operation of a sheet.
  • the robotised device 11 for picking up and manipulating metal sheets to be bent in a bending press substantially comprises a base frame 18 for supporting a first manipulator or robotised arm 19, as well as a second manipulator 20, the twin or wholly identical to the previous one.
  • the manipulators 19 and 20 can slide or move parallel to the front side of the bending press 10, on a pair of tracks or guides 21 which parallely extend above the longitudinal sides of the support base 18.
  • the support base 18 is also provided with pivotable or castor wheels 22 which allow its movement and correct positioning in relation to the press 10.
  • a bridge frame 23 extends upwards from the base 18 to support an electronic equipment for controlling the two manipulators 19 and 20, whose operation is slaved to the press 10 in the manner described hereinunder.
  • Each manipulator for example the manipulator 19, comprises in turn a base body 24 provided with wheels or runners 25 moving along the guides 21.
  • the lateral movement of each manipulator 19 and 20 can be achieved by any suitable drive means, for example of the hydraulic, pneumatic or electric type.
  • an electric motor 26 is provided for a pair of cogged wheels 27, each of which engages with a cogged belt 28 stretched between two cross members 29 at the ends of the support base 18.
  • Each manipulator 19 and 20 also comprises a articulated arm 30 provided with a gripping member 31 which can be moved on four polar rotational axes. More particularly the articulated arm 30 comprises a first arm portion 30A capable of rotating around a horizontal axis 32 parallel to the guides 21, under the control of a first drive motor 33.
  • the articulated arm 30 also comprises a second arm portion 30B capable of rotating around a second horizontal axis 34, parallel to the previous one, under the control of a second drive motor 35.
  • the gripping member 31 is provided with two drive motors 31' and 31" to rotate on two axes orthogonal one to the other, of which one is parallel to the axes 32-34 and the other one longitudinal to the same gripping member 31.
  • the various motors for driving the two manipulators are also fitted with respective encoders or signal generators for providing reference signals which at all times give information on the exact position in space of the gripping member 31.
  • reference 36 in Figure 2 denotes the position for loading or picking up of the metal sheets to be bent, while 37 denotes the unloading or releasing position for the bent pieces.
  • the working area of the two manipulators 19 and 20 can be any one along and on both sides of the support base 18 in that physically the articulated arm 30 of each manipulator can pick up and release the metal sheets alongside the press 10, or it can use a zone to the rear of the base 18 by simple rotation in a vertical plane of the articulated arm.
  • the manipulators 19 and 20 can therefore work easily both on the front side and on the rear one, according to the space available.
  • FIG. 4 of the accompanying drawings shows schematically the electronic device for the control and slaving of the two manipulators 19 and 20 to the bending press 10.
  • the electronic control device comprises a microprocessor 40 having a volatile memory, for example a RAM, wherein a program may be stored for controlling and slaving the two manipulators 19 and 20 to the movements of the movable mould member of the press 10, by means of the position signals supplied to the microprocessor 40 by the sensor 17 via a digital-analogic converter 41.
  • a program may be stored for controlling and slaving the two manipulators 19 and 20 to the movements of the movable mould member of the press 10, by means of the position signals supplied to the microprocessor 40 by the sensor 17 via a digital-analogic converter 41.
  • Program and calculation means are also provided comprising an appropriate algorithm or mathematical formula for computing the co-ordinates of the translation and rotational movements of the gripping member 31 of each manipulator, in accordance with the movement of the metal sheet during bending into the press.
  • the algorithm is stored in a permanent memory 42, for example an EPROM, connected to the microprocessor 40 via the bus 43.
  • reference 44 denotes a further programmable and erasable memory, for example an EEPROM wherein some variable calculation data are programmed and/or stored, such as for example the maximum width of the bending cavity of the mould member 13 and the zero point on the Z axis of the movable mould member 14, on the basis of which the microprocessor 40 will calculate the co-ordinates of movement of the gripping member 31 for the metal sheets to be bent. All this is known and explained in greater detail in the application EP-A-O 742 054 mentioned previously.
  • the apparatus comprises a bending press 10 and a robotised device 11 for picking up and manipulating metal sheets to be bent, which is slaved to the press itself.
  • the robotised device is formed by two independent manipulators or robots 19 and 20, between which the entire bending cycle of a sheet is divided so that the first manipulator 19 picks up a metal sheet 50 from a stack in the loading position 36 at one end of the support and guide structure 18, while the other manipulator 20 is at a standstill facing the press 10 in a waiting or stand-by condition ( Figure 5).
  • the first manipulator 19 Having completed the first bending steps for the sheet 50 by means of the first manipulator 19, the latter releases the partially bent sheet 50 which is left clamped between the closed mould members 13 and 14 of the press.
  • the second manipulator 20 moves towards the bent sheet clamped by the bending mould members and in the brief instant for clamping of the partially bent sheet by said second manipulator 20, the first manipulator 19 moves again to the left ( Figure 7) into the picking up position to pick up a new metal sheet 51, while the second manipulator 20, which was already ready, is slaved to the press 10 and moves its articulated arm towards the metal sheet 50, already partially bent, taking it with its gripping member in the correct position, after which the same manipulator 20 returns to the previous working position ( Figure 8) where it completes the cycle of bending of the sheet 50 as a function of the programmed work program.
  • the first manipulator 19 has already taken from the stack the new metal sheet 51 to be bent, in turn adopting a waiting or stand-by condition.
  • the manipulator 20 moves completely to the right in Figure 9, where it rotates at the rear its articulated arm 30 to release and deposit the bent metal sheet or piece 50 in the unloading zone 37.
  • the first manipulator 19 is slaved again to the press 10 in order to position the new metal sheet 51 between the mould members 13 and 14 of the press and to perform once again a first part of the working cycle, for the new sheet, while the previous finished piece is deposited by the second manipulator in the unloading zone 37.
  • the working cycle of the entire apparatus can thus be cyclically repeated and continue in the manner described above.
  • the great advantage of the apparatus and method according to the invention is therefore linked to the alternate use of the two manipulators 19 and 20 in sequentially performing two different parts of the bending cycle on a same metal sheet and in performing a picking up and a releasing of a metal sheet or bent piece by one of the two manipulators while the other one is working; this allows masking of the so-called handling steps of the sheets, that is to say the picking-up of a sheet to be bent, and the releasing and deposition of a bent piece, drastically reducing working times, in particular for small metal sheets.
  • the apparatus as described hitherto, can be used for bending both asymmetrical and symmetrical pieces.
  • the apparatus allows the two manipulators to be simultaneously used to conjointly perform the two separated parts of the bending cycle on separate sheets.
  • the first manipulator 19 picks up a metal sheet from the stack in the zone 36 and performs the first half of the bends on it. Subsequently, as in the previous bending cycle, the manipulator 19 releases the partially bent sheet clamped in the press in order to pick up a new sheet. In the meantime the second manipulator moves in the position, takes the first partially bent sheet still clamped between the mould members of the press and completes its bending. Given the symmetry of the piece to be made, this latter operation can take place simultaneously with the bending of the new metal sheet taken from the first manipulator.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
EP19980119190 1997-10-31 1998-10-12 Method and apparatus for automatic bending of metal sheets Expired - Lifetime EP0914879B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMI972453 1997-10-31
ITMI972453 IT1295906B1 (it) 1997-10-31 1997-10-31 Procedimento e apparecchiatura per la piegatura in automatico di lamiere in fogli

Publications (2)

Publication Number Publication Date
EP0914879A1 EP0914879A1 (en) 1999-05-12
EP0914879B1 true EP0914879B1 (en) 2004-05-12

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ID=11378140

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19980119190 Expired - Lifetime EP0914879B1 (en) 1997-10-31 1998-10-12 Method and apparatus for automatic bending of metal sheets

Country Status (4)

Country Link
EP (1) EP0914879B1 (it)
DE (1) DE69823773T2 (it)
ES (1) ES2218742T3 (it)
IT (1) IT1295906B1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012019220A1 (en) * 2010-08-13 2012-02-16 Paul Robert Mccleary A sheet support assembly

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1702727B1 (de) * 2002-05-13 2008-08-20 Trumpf Maschinen Austria GmbH & CO. KG. Fertigungseinrichtung mit einer Biegepresse, einer Handhabungsvorrichtung und einer Kalibriereinrichtung
US6938454B2 (en) 2002-05-13 2005-09-06 Trumpf Maschinen Austria Gmbh & Co. Kg. Production device, especially a bending press, and method for operating said production device
NL1028129C2 (nl) * 2005-01-26 2006-07-27 Safan Bv Werkwijze voor het buigen van plaatvormig materiaal en pers voor het buigen van plaatvormig materiaal.
DE102005060763A1 (de) * 2005-12-16 2007-06-21 Klingel, Hans, Dr. Ing. e.h. Biegemaschine
CN110167718B (zh) * 2016-12-27 2022-11-11 Abb瑞士股份公司 用于冲压线的钟摆式处理系统
AT522859B1 (de) * 2019-08-01 2021-12-15 Trumpf Maschinen Austria Gmbh & Co Kg Übergabeverfahren, dafür ausgebildetes Manipulationssystem sowie Biegeanlage
CN110586729B (zh) * 2019-09-18 2021-06-29 上海电机学院 一种长轴类复杂冲压件自动冲压装置
AT522991B1 (de) * 2019-10-10 2022-02-15 Trumpf Maschinen Austria Gmbh & Co Kg Verfahren zum Transport und/oder Handling von Bauteilen

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4594870A (en) * 1982-11-25 1986-06-17 Shin-Meiwa Industry Co., Ltd. Automatic bending apparatus
WO1991009695A1 (en) * 1989-12-29 1991-07-11 Amada Company, Limited A device for manipulating sheet metal pieces
BE1006784A3 (nl) * 1992-02-14 1994-12-06 Lvd Co Plooirobot.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012019220A1 (en) * 2010-08-13 2012-02-16 Paul Robert Mccleary A sheet support assembly

Also Published As

Publication number Publication date
ITMI972453A1 (it) 1999-05-01
DE69823773D1 (de) 2004-06-17
ES2218742T3 (es) 2004-11-16
DE69823773T2 (de) 2005-05-12
EP0914879A1 (en) 1999-05-12
IT1295906B1 (it) 1999-05-28

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