EP1342514A2 - Device for detecting a ring bending angle, and method of regulating a bending machine - Google Patents

Device for detecting a ring bending angle, and method of regulating a bending machine Download PDF

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Publication number
EP1342514A2
EP1342514A2 EP03004720A EP03004720A EP1342514A2 EP 1342514 A2 EP1342514 A2 EP 1342514A2 EP 03004720 A EP03004720 A EP 03004720A EP 03004720 A EP03004720 A EP 03004720A EP 1342514 A2 EP1342514 A2 EP 1342514A2
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EP
European Patent Office
Prior art keywords
bending
angle
measuring
bent part
machine
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Granted
Application number
EP03004720A
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German (de)
French (fr)
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EP1342514B1 (en
EP1342514A3 (en
Inventor
Heinrich Rapp
Eberhard Rapp
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RASI MASCHINENBAU GMBH
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RASI MASCHINENBAU und -HANDELS GmbH
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Priority claimed from DE20203583U external-priority patent/DE20203583U1/en
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Publication of EP1342514A2 publication Critical patent/EP1342514A2/en
Publication of EP1342514A3 publication Critical patent/EP1342514A3/en
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Publication of EP1342514B1 publication Critical patent/EP1342514B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die

Definitions

  • the invention relates to a device for detecting a ring bending angle, in particular a bending angle, of a workpiece which can be transported in a feed direction, in particular a bent part, which in a bending machine is subjected to the action of a bending direction which is different from the feed direction acting bending tool is subjected, and a method for controlling a bending machine.
  • the known methods for detecting a directional angle disadvantageously only allow the bending radius to be determined after a certain rolling distance, which, depending on the bending geometry and the roller arrangement of the bending machine, can be up to 600 mm long. If the material behavior of the workpiece to be bent is unknown, there is a risk that the workpiece was bent with the wrong bending radius after this rolling section required to determine the bending radius and has already (prematurely) reached the desired bending angle, or that only a small rolling section remains detection of the bending radius can be bent with the correct radius. A precise bending of workpieces with unknown material behavior is therefore not possible with the known methods in a disadvantageous manner right away.
  • Another disadvantage of the known methods is that no or only a limited reaction to disturbances during the bending process is possible.
  • the device has at least one angle measuring device, which is arranged in the feed direction of the bent part after the bending tool of the bending machine, that the at least one angle measuring device has a transducer which has a measuring element which can be brought into a measuring system on the bent part is that the at least one angle measuring device can be pivoted about an axis which is essentially orthogonal to the bending plane of the bent part, and that a measuring signal generated by the angle measuring device or devices located in the measuring system on the bent part can be conducted to a control / evaluation device of the bending machine.
  • the measures according to the invention advantageously create a device for detecting the bending angle of the workpiece, in particular the bent part, which is characterized in that the bending angle can be detected continuously, quasi-continuously or at certain intervals in a simple manner during the bending process is.
  • the device according to the invention thus advantageously allows an in-process measurement of the bending angle, which ensures that deviations in the bending angle of the bent part from a predetermined target value are detected directly and the bending process can be corrected accordingly.
  • the device according to the invention can advantageously be used as a measuring device for simple and direct detection of the relative and absolute angle of two straight lines of the workpiece relative to one another which lie on the same plane, the measurement of the directional angle of a straight line within the measuring range of the angle measuring device the one to be measured Straight lines can be made easily and quickly.
  • Another advantage here is that the angle between the two straight lines can still be measured even if the position and the direction of the two straight lines or the angle between these two straight lines changes. This allows in particular the controlled in-process measurement during bending, measurement of pre-bent parts that have one or more bends, the angle measurement of straight lines that are connected by a U-shaped structure, and the controlled re-bending and / or bending of the aforementioned structures.
  • Another advantage of the device according to the invention is that when the at least one angle measuring device is calibrated, the straight lines to be measured can lie anywhere within the measuring range.
  • Another advantage of the device according to the invention is that it is easy to use, since no complicated zero adjustments have to be carried out in the device according to the invention. Rather, it is only necessary to detect the bending angle of the bent part in an advantageous manner that before the bending process the two sensors of the two bending devices are brought into contact with the straight, i.e. not bent, bent part and the then present position of the two sensors as the zero Position is set.
  • Another advantage of the device according to the invention is that it is suitable for in-process measurement of bending angles for almost any bending radii.
  • the device according to the invention is therefore characterized by its high flexibility.
  • An advantageous development of the invention provides that at least one of the angle measuring devices is arranged on a measuring arm.
  • Such a measure has the advantage that the angle measuring devices have slightly different curvatures of the bent part in a simple manner can be tracked in order to keep the transducers of the angle measuring devices in contact with the bent part.
  • a further advantageous development of the invention provides that the measuring arm is designed as an articulated parallelogram, the first end of which is preferably attached to the bending machine and the second end of which carries an angle measuring device.
  • Such a measure has the advantage that a particularly suitable guide element for the angle measuring device is thereby formed in a simple manner.
  • Another advantage of this measure is that the function of the bending machine, in particular a three- or four-roll bending machine, is not restricted by the device according to the invention or the device according to the invention in a measuring process is not restricted in its measuring range by the structure of the bending machine is.
  • At least one angle measuring device is rotatably arranged on the bending machine.
  • Such a configuration is used, in particular, for use as an angle-measuring device on the inlet side, in front of the bending tool of the bending machine, since in this region the bent part still has its straight, non-curved course.
  • the transducer of the angle measuring device is designed as a rotary encoder, on the axis of which the measuring element is arranged.
  • Such a measure has the advantage that an adequately accurate measuring system of the transducer on the bent part can be reached in a simple manner.
  • a further advantageous development of the invention provides that the measuring element arranged on the axis of rotation of the rotary encoder has a gripper unit by means of which the measuring element can be fixed on the bent part.
  • Such one Measure has the advantage that a good measuring system of the measuring element on the bent part can be achieved in a simple manner.
  • the method according to the invention for controlling a bending machine having a bending tool, in which the bending part is subjected to the action of a bending tool acting in a bending direction that is different from a feed direction of the bent part provides according to the invention that a control and evaluation device of the bending machine provides a predetermined one Bending angle and a predetermined bending radius of the bent part required processing of the bent part in its feed direction is determined and the bending tool of the bending machine is adjusted in its bending direction in accordance with this target processing that the bent part is advanced in the feed direction by a bending distance and is bent by the bending tool of the bending machine that the bending distance of the bending part is detected and the difference in the bending angle at the beginning and at the end of this bending distance is determined by a device for detecting a bending angle, that from the ver Ratio of the bending distance and the difference in the bending angle an actual processing is determined that the control and evaluation device compares the target processing with the actual processing and from this comparison a
  • the method according to the invention is particularly suitable for the device according to the invention for detecting a direction angle, in particular a bending angle.
  • a bending machine 1 which has a bending tool 2, which in the case shown here consists of three bending rollers 2a-2c.
  • the bending tool 2 serves to bend a bending part B in one bending direction.
  • the bending rollers 2a-2c furthermore cause the bending part B to be fed in a feed direction which - as can be seen from FIG. 1 - is different from the bending direction of the bending tool 2.
  • One for bending the bent part B (See Figure 2) serving bending machine 1 is known per se and therefore need not be described in more detail.
  • Two angle measuring devices 10a and 10b are now arranged on the bending machine 1. For reasons of clarity, only the second angle measuring device 10b arranged on the outlet side is shown in FIG.
  • the first angle measuring device 10a on the inlet side assuming the direction of advance of the bent part B from left to right, is constructed in accordance with the second angle measuring device 10b.
  • Each of the two angle measuring devices 10a, 10b of the first exemplary embodiment thus has a measuring sensor 11, which is arranged on a measuring arm 12, which is articulated at its first end 12 'to the bending machine 1 and carries the measuring sensor 11 at its second end 12 "
  • the measuring arm 12 is designed as an articulated parallelogram 13. This has the advantage of the particularly simple mechanical design of the measuring arm 12.
  • Each transducer 11 has - in the case shown here - a rotary encoder 14 which has an axis A which is essentially orthogonal to the bending plane of the bent part B.
  • a measuring element 15 is arranged on the axis A.
  • the measuring element 15 has a gripper unit 16 with a U-shaped base body 16 ', in the inner space delimited by the two legs 16a, 16b, the bent part B can be received and locked by means of a feed element 17 on the inside of the leg 16a of the base body 16 is, so that it is ensured that a firm connection between the measuring element 15 and the bending part B is given.
  • FIG. 2 This in turn shows the bending machine 1 together with the device 10 for detecting the bending angle of the Bending part B, but in Figure 2 - as already explained above - both angle measuring devices 10a and 10b are shown.
  • the bent part B is now inserted into the bending machine and the first angle measuring device 10a is brought into contact with the bent part B such that the measuring element 15 bears against the bent part B.
  • the position of the rotary encoder 14 caused thereby is now defined as the zero position of the first angle measuring device 10a.
  • the second angle measuring device 10b is then brought to the bending part B in a measuring system.
  • the measuring element 15 of the rotary encoder 14 of the second angle measuring device 10b is then in the measuring system on the bent part B.
  • the position of the rotary encoder 14 of the second angle measuring device 10b caused thereby is then determined as its zero position.
  • the output signals generated by the two rotary encoders 14 are passed via signal lines (not shown) to a control and evaluation device (likewise not shown) of the bending machine 1, which evaluates the signals from the two angle measuring devices 10a, 10b and regulates the delivery of the bending roller 2c.
  • This deflection of the measuring elements 15 is transmitted to the axis A of the rotary encoder 14 and the latter Rotary encoders 14 each generate a corresponding measurement signal, which is sent to the evaluation and control device of the bending machine 1.
  • the correct overbend angle is then determined from the measured springback of the bent part B, by which the bent part B is automatically bent over during the bending process in order to achieve the desired target bending value.
  • FIG. 5 shows a second exemplary embodiment of a device for detecting the bending angle of the bent part B, which differs from the device 1 shown in FIGS. 1 and 2 essentially in that the measuring arm 12 on the inlet side is no longer a joint for the measuring sensor 11 -Parallelogram 13 is executed, but that the angle measuring device 10a is rotatably arranged directly on the bending machine 1. It is preferred here that the first angle measuring device 10a is not only rotatably arranged on the bending machine 1, but is linearly displaceable in a rail 20 functioning as a measuring arm.
  • the rotatability of the first angle measuring device 10a is sufficient for a large number of applications, since - as already mentioned - the straight bending part B is not subjected to any action by the bending tool 2 in this area, so that only the evasive movement of the bending part B, which is caused by the Acting caused by the bending tool 2 must be compensated.
  • Another difference between the two exemplary embodiments is the different design of the measuring element 15, although it is of course also possible for the first exemplary embodiment of the device according to FIGS. 1 to 5 to use the measuring element 15 according to the second embodiment shown in FIGS. 6 and 7 , In the case shown here, this is about the axis A of the rotary encoder 14 rotatable measuring element 15 is formed as a measuring plate 18 on which measuring pins 19 are arranged, which are then brought to the bending part B in the measuring system.
  • FIG. 8 A third embodiment of the device is now shown in FIG. 8, identical or corresponding components being provided with the same reference numerals and not being described in any more detail.
  • the essential difference between the measuring device of the first exemplary embodiment in FIGS. 1 to 5 and the third exemplary embodiment in accordance with FIG. 8 is that it is not a joint parallelogram 13 but two linear guides 23a, 23b that are used as the measuring arm 12 for the second angle measuring device 10a the second linear guide 23b is rotatably mounted in a slide 24 which can be displaced along the first linear guide 23a.
  • the first angle measuring device 10a is in turn - as in the second embodiment - displaceable in a rail 20 and rotatably arranged on a plane orthogonal to the bending plane of the bent part B.
  • a fourth exemplary embodiment is shown schematically in FIG. 9, which is similar to its basic structure according to the third exemplary embodiment in FIG.
  • the essential difference between the third and fourth exemplary embodiments is that the first angle measuring device 10a is no longer arranged in the rail 20 of the bending machine 1, but also on a linear guide 23b 'which is mounted on a slide 24' which is displaceably mounted along the linear guide 23. is rotatably arranged.
  • the desired bending radius of the bending part B and the bending angle to be achieved are entered into the control and evaluation device of the bending machine 1 before the bending process. Is determined from the bend radius and possibly from the diameter of the bent part B then a target processing Q to be formed, which calculates the processing of the bending part B per degree of bending of the bending radius.
  • This target execution Q soll distance / bending angle then sets the controlled variable for the of the bending machine 1 to be generated bending radius of the bent part B.
  • the bending roller 2a of the bending tool 2 is then delivered in accordance with and be bent, the bending portion B.
  • the angle measuring devices 10a and 10b determine the bending angle of the bent part B continuously, quasi-continuously or at discrete points in time.
  • the bending distance that is to say the advance of the bent part B, is measured accordingly.
  • An actual development Q ist is determined from the ratio of the bending distance of the bending part B and the change in the bending angle.
  • a target actual comparison is carried out by Q and Q should, and the required adjustment (delivery) is then calculated of the bending tool 2 from this comparison, which is required so that Q is of Q will be equalized. If Q is greater than Q should , the infeed of the bending roller 2a of the bending tool 2 is increased so that the bending radius and thus Q is smaller, namely until Q is and Q should approach a predetermined tolerance. If Q is less than Q should , the infeed of the bending tool 2 is reduced so that Q is and the bending radius becomes larger, until Q is again and Q should approach a predetermined tolerance.
  • This method has the advantage that it is possible in an advantageous manner to determine, control and regulate the bending radius of the bending part B after the shortest bending distances, that is to say after only a slight advance of the bending part B in its direction of advance.
  • This method therefore allows to react quickly to disturbances and changes during and before the bending process and to compensate for the effects caused thereby.
  • the Faults and changes can be caused, for example, by changes in the material properties of the bent part B that are relevant to bending, by changing the dimensions of the bent part B (e.g. scattering of the diameter and scattering of the external dimensions), by changing the bending tools 2 caused by scale build-up on the bending rollers, or thermal influences, etc., arise by changing the machine settings of the bending machine 1, z. B. the machine position and the bending process speed, or by incorrect operator inputs.
  • the bent part B is bent over to compensate for the springback.
  • the procedure here is such that a certain number of degrees is interrupted before the desired bending angle is reached or when the desired angle is reached, and the actual bending angle, the actual position of the bending rollers 2a-2c of the bending tool 2 and the advance of the bending part B are measured becomes.
  • a so-called intermediate bend is then carried out, this intermediate bend being intended to correspond as exactly as possible to the programmed final bend after reaching the desired bending angle, taking into account the bending effect.
  • the bending angle is again measured and the bending effect is calculated from the difference between the two measured bending angles.
  • the bending machine 1 then reverses the bending direction, that is to say that the bending part B is moved in a transport direction opposite to the previous feed direction.
  • the bending part B is bent again by the bending machine 1, so that the bending machine 1 is reset to the starting position before the intermediate bending.
  • a bending process is then carried out in the original feed direction, the bending tools 2 being set in accordance with a bending angle which corresponds to the desired bending angle plus the bending effect determined as above.
  • This procedure advantageously ensures that after this bending process the bending angle of the bending part B corresponds to the desired bending angle within predetermined tolerances.
  • the method described is particularly suitable for the bending of bent parts B with unknown material behavior, since the springback can only be empirically compensated for in this way.

Abstract

Device (1) has angle measurement instrument (10b) that is arranged after the bending tool (2) in the feed direction of a workpiece. The measurement instrument has a measurement value signaler (11) with a measurement element (15) that is brought up to a measurement position on the workpiece. Measurement instrument pivots about an axis perpendicular to the bending plane. Measurement signal is transmitted to a control and evaluation device. An Independent claim is made for a method for controlling a bending tool in which bending of a workpiece is controlled by comparing measured and design angles and adjusting the bending tool accordingly.

Description

Beschreibungdescription

Die Erfindung betrifft eine Vorrichtung zur Erfassung eines Ringbiegewinkels, insbesondere eines Biegewinkels, eines in einer Vorschubrichtung transportierbaren Werkstücks, insbesondere eines Biegeteils, das in einer Biegemaschine der Einwirkung eines in einer zur Vorschubrichtung unterschiedlichen Biegerichtung wirkenden Biegewerkzeugs unterworfen wird, sowie ein Verfahren zur Regelung einer Biegemaschine.The invention relates to a device for detecting a ring bending angle, in particular a bending angle, of a workpiece which can be transported in a feed direction, in particular a bent part, which in a bending machine is subjected to the action of a bending direction which is different from the feed direction acting bending tool is subjected, and a method for controlling a bending machine.

Beim Biegen von werkzeugunabhängigen Biegeradien, z. B. beim Drei- oder Vier-Walzenbiegen, oder beim Freiformbiegen oder Segmentbiegen, tritt bis jetzt das Problem auf, daß der Biegewinkel des Biegeteils nicht während des Biegevorgangs gemessen werden kann.When bending tool-independent bending radii, e.g. B. with three or four roll bending, or with free-form bending or segment bending, the problem arises so far that the bending angle of the bent part cannot be measured during the bending process.

Vielmehr erlauben es die bekannten Verfahren zur Erfassung eines Richtungswinkels in nachteiliger Art und Weise nur den Biegeradius nach einer gewissen Walzstrecke, die je nach Biegegeometrie und der Rollenanordnung der Biegemaschine bis zu 600 mm lang sein kann, zu bestimmen. Bei unbekanntem Materialverhalten des zu biegenden Werkstücks besteht somit die Gefahr, daß das Werkstück nach dieser zur Bestimmung des Biegeradius erforderlichen Walzstrecke mit einem falschen Biegeradius gebogen wurde und schon (vorzeitig) den gewünschten Biegewinkel erreicht hat, oder daß nur eine kleine Walzstrecke verbleibt, die nach der Erfassung des Biegeradiuses mit dem korrekten Radius gebogen werden kann. Ein zielgenaues Biegen von Werkstücken mit unbekanntem Materialverhalten ist somit mit den bekannten Verfahren in nachteiliger Art und Weise nicht auf Anhieb möglich. Dies ist besonders problematisch bei kleinen Biegeradien, deren Abwicklung kleiner als die zur Bestimmung des Biegeradiuses erforderliche Meßstrecke ist. Aus diesem Umstand resultiert bei den bekannten Verfahren in nachteiliger Art und Weise ein hoher Materialverbrauch, da zuerst das Materialverhalten des Werkstücks bestimmt werden muß, um dann das Werkstück korrekt biegen zu können.Rather, the known methods for detecting a directional angle disadvantageously only allow the bending radius to be determined after a certain rolling distance, which, depending on the bending geometry and the roller arrangement of the bending machine, can be up to 600 mm long. If the material behavior of the workpiece to be bent is unknown, there is a risk that the workpiece was bent with the wrong bending radius after this rolling section required to determine the bending radius and has already (prematurely) reached the desired bending angle, or that only a small rolling section remains detection of the bending radius can be bent with the correct radius. A precise bending of workpieces with unknown material behavior is therefore not possible with the known methods in a disadvantageous manner right away. This is particularly problematic in the case of small bending radii, the handling of which is smaller than the measuring distance required to determine the bending radius. In the known methods, this fact results in a disadvantageous manner in a high material consumption, since the material behavior of the workpiece must first be determined in order to then be able to bend the workpiece correctly.

Ein weiterer Nachteil bei den bekannten Verfahren besteht nun darin, daß keine oder nur eine bedingte Reaktion auf Störungen während des Biegevorgangs möglich ist.Another disadvantage of the known methods is that no or only a limited reaction to disturbances during the bending process is possible.

Es ist daher Aufgabe der vorliegenden Erfindung, eine Vorrichtung und ein Verfahren der eingangs genannten Art derart weiterzubilden, daß der Biegewinkel des Werkstücks, insbesondere eines Biegeteils, insbesondere während des Biegeprozesses leicht erfaßbar ist.It is therefore an object of the present invention to develop a device and a method of the type mentioned at the outset in such a way that the bending angle of the workpiece, in particular a bent part, can be easily detected, in particular during the bending process.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, daß die Vorrichtung mindestens eine Winkelmeßeinrichtung aufweist, die in Vorschubrichtung des Biegeteils nach dem Biegewerkzeug der Biegemaschine angeordnet ist, daß die mindestens eine Winkelmeßeinrichtung einen Meßwertgeber aufweist, der ein Meßelement besitzt, das in eine Meßanlage an das Biegeteil bringbar ist, daß die zumindest eine Winkelmeßeinrichtung um eine zur Biegeebene des Biegeteils im wesentlichen orthogonalen Achse verschwenkbar ist, und daß ein von der oder den jeweils in Meßanlage an dem Biegeteil befindlichen Winkelmeßeinrichtungen erzeugten Meßsignale zu einer Steuer-/Auswerteeinrichtung der Biegemaschine leitbar sind.This object is achieved in that the device has at least one angle measuring device, which is arranged in the feed direction of the bent part after the bending tool of the bending machine, that the at least one angle measuring device has a transducer which has a measuring element which can be brought into a measuring system on the bent part is that the at least one angle measuring device can be pivoted about an axis which is essentially orthogonal to the bending plane of the bent part, and that a measuring signal generated by the angle measuring device or devices located in the measuring system on the bent part can be conducted to a control / evaluation device of the bending machine.

Durch die erfindungsgemäßen Maßnahmen wird in vorteilhafter Art und Weise eine Vorrichtung zur Erfassung des Biegewinkels des Werkstücks, insbesondere des Biegeteils geschaffen, welche sich dadurch auszeichnet, daß der Biegewinkel während des Biegevorgangs kontinuierlich, quasi-kontinuierlich oder zu bestimmten Zeitabständen in einfacher Art und Weise erfaßbar ist. Die erfindungsgemäße Vorrichtung erlaubt somit in vorteilhafter Art und Weise eine Inprozeß-Messung des Biegewinkels, welche gewährleistet, daß Abweichungen des Biegewinkels des Biegeteils von einem vorgegebenen Soll-Wert unmittelbar erfaßt und der Biegevorgang entsprechend korrigiert werden kann.The measures according to the invention advantageously create a device for detecting the bending angle of the workpiece, in particular the bent part, which is characterized in that the bending angle can be detected continuously, quasi-continuously or at certain intervals in a simple manner during the bending process is. The device according to the invention thus advantageously allows an in-process measurement of the bending angle, which ensures that deviations in the bending angle of the bent part from a predetermined target value are detected directly and the bending process can be corrected accordingly.

Die erfindungsgemäße Vorrichtung kann in vorteilhafter Art und Weise als Meßgerät zur einfachen und direkten Erfassung des relativen und absoluten Winkels zweier Geraden des Werkstücks zueinander, die auf der gleichen Ebene liegen, verwendet werden, wobei die Messung des Richtungswinkels einer Geraden innerhalb des Meßbereichs der Winkelmeßvorrichtung an der zu messenden Geraden einfach und schnell vorgenommen werden kann. Ein Vorteil ist hier außerdem, daß der Winkel zwischen den beiden Geraden auch dann noch gemessen werden kann, wenn sich die Lage und die Richtung der beiden Geraden oder der Winkel zwischen diesen beiden Geraden verändert. Dies ermöglicht insbesondere die kontrollierte Inprozeß-Messung beim Biegen, Messung von vorgebogenen Biegeteilen, die einen oder mehrere Bögen aufweisen, die Winkelmessung von Geraden, die durch ein U-förmiges Gebilde verbunden sind, sowie das kontrollierte Nachbiegen und/oder Aufbiegen der vorgenannten Gebilde.The device according to the invention can advantageously be used as a measuring device for simple and direct detection of the relative and absolute angle of two straight lines of the workpiece relative to one another which lie on the same plane, the measurement of the directional angle of a straight line within the measuring range of the angle measuring device the one to be measured Straight lines can be made easily and quickly. Another advantage here is that the angle between the two straight lines can still be measured even if the position and the direction of the two straight lines or the angle between these two straight lines changes. This allows in particular the controlled in-process measurement during bending, measurement of pre-bent parts that have one or more bends, the angle measurement of straight lines that are connected by a U-shaped structure, and the controlled re-bending and / or bending of the aforementioned structures.

Ein weiterer Vorteil der erfindungsgemäßen Vorrichtung besteht darin, daß beim Eichen der mindestens einen Winkelmeßeinrichtung die zu messenden Geraden an beliebigen Orten innerhalb des Meßbereichs liegen können.Another advantage of the device according to the invention is that when the at least one angle measuring device is calibrated, the straight lines to be measured can lie anywhere within the measuring range.

Ein weiterer Vorteil der erfindungsgemäßen Vorrichtung ist, daß sie einfach in ihrer Handhabung ist, da bei der erfindungsgemäßen Vorrichtung keine komplizierten Null-Abgleiche durchgeführt werden müssen. Vielmehr ist es zur Erfassung des Biegewinkels des Biegeteils in vorteilhafter Art und Weise lediglich erforderlich, daß vor dem Biegevorgang die beiden Meßwertgeber der beiden Biegeeinrichtungen in Anlage an das gerade, also nicht gebogene Biegeteil gebracht werden und die dann vorliegende Position der beiden Meßwertgeber als die Null-Position festgelegt wird.Another advantage of the device according to the invention is that it is easy to use, since no complicated zero adjustments have to be carried out in the device according to the invention. Rather, it is only necessary to detect the bending angle of the bent part in an advantageous manner that before the bending process the two sensors of the two bending devices are brought into contact with the straight, i.e. not bent, bent part and the then present position of the two sensors as the zero Position is set.

Ein weiterer Vorteil der erfindungsgemäßen Vorrichtung besteht darin, daß sie sich zur Inprozeß-Messung von Biegewinkeln für nahezu beliebige Biegeradien eignet. Die erfindungsgemäße Vorrichtung zeichnet sich daher also durch ihre hohe Flexibilität aus.Another advantage of the device according to the invention is that it is suitable for in-process measurement of bending angles for almost any bending radii. The device according to the invention is therefore characterized by its high flexibility.

Eine vorteilhafte Weiterbildung der Erfindung sieht vor, daß mindestens eine der Winkelmeßeinrichtungen an einem Meßarm angeordnet ist. Eine derartige Maßnahme besitzt den Vorteil, daß hierdurch in einfacher Art und Weise die Winkelmeßeinrichtungen leicht unterschiedlichen Krümmungen des Biegeteils nachgeführt werden können, um damit die Meßwertgeber der Winkelmeßeinrichtungen in Anlage am Biegeteil zu halten.An advantageous development of the invention provides that at least one of the angle measuring devices is arranged on a measuring arm. Such a measure has the advantage that the angle measuring devices have slightly different curvatures of the bent part in a simple manner can be tracked in order to keep the transducers of the angle measuring devices in contact with the bent part.

Eine weitere vorteilhafte Weiterbildung der Erfindung sieht vor, daß der Meßarm als ein Gelenk-Parallelogramm ausgeführt ist, dessen erstes Ende vorzugsweise an der Biegemaschine befestigt ist und dessen zweites Ende eine Winkelmeßeinrichtung trägt. Eine derartige Maßnahme besitzt den Vorteil, daß hierdurch in einfacher Art und Weise eine besonders geeignetes Führungselement für die Winkelmeßeinrichtung ausgebildet wird. Ein weiterer Vorteil dieser Maßnahme besteht darin, daß hierdurch die Funktion der Biegemaschine, insbesondere einer Drei- oder Vier-Walzen-Biegemaschine, nicht durch die erfindungsgemäße Vorrichtung eingeschränkt bzw. die erfindungsgemäße Vorrichtung bei einem Meßprozeß nicht durch den Aufbau der Biegemaschine in ihrem Meßbereich eingeschränkt ist.A further advantageous development of the invention provides that the measuring arm is designed as an articulated parallelogram, the first end of which is preferably attached to the bending machine and the second end of which carries an angle measuring device. Such a measure has the advantage that a particularly suitable guide element for the angle measuring device is thereby formed in a simple manner. Another advantage of this measure is that the function of the bending machine, in particular a three- or four-roll bending machine, is not restricted by the device according to the invention or the device according to the invention in a measuring process is not restricted in its measuring range by the structure of the bending machine is.

Eine weitere vorteilhafte Weiterbildung der Erfindung sieht vor, daß mindestens eine Winkelmeßeinrichtung drehbar an der Biegemaschine angeordnet ist. Eine derartige Ausgestaltung dient insbesondere zur Verwendung als einlaufseitige, vor dem Biegewerkzeug der Biegemaschine angeordnete Winkelmeßeinrichtung, da in diesem Bereich das Biegeteil noch seinen geraden, nicht-gebogenen Verlauf besitzt.Another advantageous development of the invention provides that at least one angle measuring device is rotatably arranged on the bending machine. Such a configuration is used, in particular, for use as an angle-measuring device on the inlet side, in front of the bending tool of the bending machine, since in this region the bent part still has its straight, non-curved course.

Eine weitere vorteilhafte Weiterbildung der Erfindung sieht vor, daß der Meßwertgeber der Winkelmeßeinrichtung als ein Drehgeber ausgebildet ist, an dessen Achse das Meßelement angeordnet ist. Eine derartige Maßnahme besitzt den Vorteil, daß hierdurch in einfacher Art und Weise eine hinreichend genaue Meßanlage des Meßwertgebers an das Biegeteil erreichbar ist.Another advantageous development of the invention provides that the transducer of the angle measuring device is designed as a rotary encoder, on the axis of which the measuring element is arranged. Such a measure has the advantage that an adequately accurate measuring system of the transducer on the bent part can be reached in a simple manner.

Eine weitere vorteilhafte Weiterbildung der Erfindung sieht vor, daß das an der Drehachse des Drehgebers angeordnete Meßelement eine Greifereinheit aufweist, durch die das Meßelement am Biegeteil festlegbar ist. Eine derartige Maßnahme besitzt den Vorteil, daß hierdurch in einfacher Art und Weise eine gute Meßanlage des Meßelements am Biegeteil erzielbar ist.A further advantageous development of the invention provides that the measuring element arranged on the axis of rotation of the rotary encoder has a gripper unit by means of which the measuring element can be fixed on the bent part. Such one Measure has the advantage that a good measuring system of the measuring element on the bent part can be achieved in a simple manner.

Das erfindungsgemäß Verfahren zur Steuerung einer ein Biegewerkzeug aufweisenden Biegemaschine, in der das Biegeteil der Einwirkung eines in einer zu einer Vorschubrichtung des Biegeteils unterschiedlichen Biegerichtung wirkenden Biegewerkzeugs unterworfen wird, sieht erfindungsgemäß vor, daß durch eine Steuer- und Auswerteeinrichtung der Biegemaschine eine zur Erzielung eines vorgegebenen Biegewinkels und eines vorgegebenen Biegeradiuses des Biegeteils erforderliche Soll-Abwicklung des Biegeteils in dessen Vorschubrichtung bestimmt und das Biegewerkzeug der Biegemaschine in seiner Biegerichtung entsprechend dieser Soll-Abwicklung eingestellt wird, daß das Biegeteil in der Vorschubrichtung um eine Biegestrecke vorgeschoben und vom Biegewerkzeug der Biegemaschine gebogen wird, daß die Biegestrecke des Biegeteils erfaßt und die Differenz der Biegewinkel zu Beginn und am Ende dieser Biegestrecke von einer Vorrichtung zur Erfassung eines Biegewinkels bestimmt wird, daß aus dem Verhältnis der Biegestrecke und der Differenz der Biegewinkel eine Ist-Abwicklung bestimmt wird, daß die Steuer- und Auswerteeinrichtung die Soll-Abwicklung mit der Ist-Abwicklung vergleicht und aus diesem Vergleich eine die Differenz zwischen Soll-Abwicklung und Ist-Abwicklung kompensierende Änderung der Einstellung des Biegewerkzeugs durchführt.The method according to the invention for controlling a bending machine having a bending tool, in which the bending part is subjected to the action of a bending tool acting in a bending direction that is different from a feed direction of the bent part, provides according to the invention that a control and evaluation device of the bending machine provides a predetermined one Bending angle and a predetermined bending radius of the bent part required processing of the bent part in its feed direction is determined and the bending tool of the bending machine is adjusted in its bending direction in accordance with this target processing that the bent part is advanced in the feed direction by a bending distance and is bent by the bending tool of the bending machine that the bending distance of the bending part is detected and the difference in the bending angle at the beginning and at the end of this bending distance is determined by a device for detecting a bending angle, that from the ver Ratio of the bending distance and the difference in the bending angle an actual processing is determined that the control and evaluation device compares the target processing with the actual processing and from this comparison a difference in the setting between the target processing and the actual processing compensating change of the bending tool.

Das erfindungsgemäße Verfahren eignet sich insbesondere für die erfindungsgemäße Vorrichtung zur Erfassung eines Richtungswinkels, insbesondere eines Biegewinkels.The method according to the invention is particularly suitable for the device according to the invention for detecting a direction angle, in particular a bending angle.

Weitere vorteilhafte Weiterbildungen der Erfindung sind Gegenstand der Unteransprüche.Further advantageous developments of the invention are the subject of the dependent claims.

Weitere Einzelheiten und Vorteile der Erfindung sind den Ausführungsbeispielen zu entnehmen, die im folgenden anhand der Figuren beschrieben werden. Es zeigen:

Figur 1
eine schematische Darstellung einer Biegemaschine mit einem er-sten Ausführungsbeispiel einer Vorrichtung zur Erfassung des Bie-gewinkels eines Biegeteils,
Figur 2
eine Draufsicht auf das Ausführungsbeispiel der Figur 1,
Figur 3
eine Seitenansicht einer Ausführungsform einer Winkelmeßeinrichtung,
Figur 4
eine Draufsicht auf die Winkelmeßeinrichtung der Figur 3,
Figur 5
eine Draufsicht auf ein zweites Ausführungsbeispiel,
Figur 6
eine Seitenansicht einer zweiten Ausführungsform eines Meßelements,
Figur 7
eine Draufsicht auf die zweite Ausführungsform des Meßelements,
Figur 8
eine schematische Darstellung eines dritten Ausführungsbeispiels, und
Figur 9
eine schematische Darstellung eines vierten Ausführungsbeispiels.
Further details and advantages of the invention can be found in the exemplary embodiments which are described below with reference to the figures. Show it:
Figure 1
1 shows a schematic illustration of a bending machine with a first exemplary embodiment of a device for detecting the bending angle of a bent part,
Figure 2
2 shows a plan view of the exemplary embodiment in FIG. 1,
Figure 3
2 shows a side view of an embodiment of an angle measuring device,
Figure 4
3 shows a plan view of the angle measuring device of FIG. 3,
Figure 5
a plan view of a second embodiment,
Figure 6
a side view of a second embodiment of a measuring element,
Figure 7
a plan view of the second embodiment of the measuring element,
Figure 8
is a schematic representation of a third embodiment, and
Figure 9
is a schematic representation of a fourth embodiment.

In Figur 1 ist nun eine Biegemaschine 1 dargestellt, welche ein Biegewerkzeug 2, das im hier gezeigten Fall aus drei Biegerollen 2a-2c besteht, aufweist. Das Biegewerkzeug 2 dient dazu, ein Biegeteil B in einer Biegerichtung zu biegen. Die Biegerollen 2a-2c bewirken desweiteren einen Vorschub des Biegeteils B in einer Vorschubrichtung, die - wie aus Figur 1 ersichtlich ist - unterschiedlich zur Biegerichtung des Biegewerkzeugs 2 ist. Eine derartige zum Biegen des Biegeteils B (siehe Figur 2) dienende Biegemaschine 1 ist an und für sich bekannt und muß daher nicht mehr näher beschrieben werden.In Figure 1, a bending machine 1 is now shown, which has a bending tool 2, which in the case shown here consists of three bending rollers 2a-2c. The bending tool 2 serves to bend a bending part B in one bending direction. The bending rollers 2a-2c furthermore cause the bending part B to be fed in a feed direction which - as can be seen from FIG. 1 - is different from the bending direction of the bending tool 2. One for bending the bent part B (See Figure 2) serving bending machine 1 is known per se and therefore need not be described in more detail.

An der Biegemaschine 1 sind nun zwei Winkelmeßeinrichtungen 10a und 10b angeordnet. Aus Gründen der Übersichtlichkeit ist in Figur 1 nur die auslaufseitig angeordnete, zweite Winkelmeßeinrichtung 10b dargestellt. Die - bei einer angenommenen Vorschubrichtung des Biegeteils B von links nach rechts - einlaufseitige, erste Winkelmeßeinrichtung 10a ist entsprechend der zweiten Winkelmeßeinrichtung 10b aufgebaut.Two angle measuring devices 10a and 10b are now arranged on the bending machine 1. For reasons of clarity, only the second angle measuring device 10b arranged on the outlet side is shown in FIG. The first angle measuring device 10a on the inlet side, assuming the direction of advance of the bent part B from left to right, is constructed in accordance with the second angle measuring device 10b.

Jede der beiden Winkelmeßeinrichtungen 10a, 10b des ersten Ausfühsungsbeispiels weist somit einen Meßwertgeber 11 auf, der auf einem Meßarm 12 angeordnet ist, der mit seinem ersten Ende 12' an der Biegemaschine 1, angelenkt ist und an seinem zweiten Ende 12" den Meßwertgeber 11 trägt. Im hier gezeigten Fall ist der Meßarm 12 als ein Gelenk-Parallelogramm 13 ausgebildet. Dies besitzt den Vorteil der besonders einfachen mechanischen Ausführung des Meßarms 12.Each of the two angle measuring devices 10a, 10b of the first exemplary embodiment thus has a measuring sensor 11, which is arranged on a measuring arm 12, which is articulated at its first end 12 'to the bending machine 1 and carries the measuring sensor 11 at its second end 12 " In the case shown here, the measuring arm 12 is designed as an articulated parallelogram 13. This has the advantage of the particularly simple mechanical design of the measuring arm 12.

Jeder Meßwertgeber 11 weist - im hier gezeigten Fall - einen Drehgeber 14 auf, der eine Achse A besitzt, die im wesentlichen orthogonal zur Biegeebene des Biegeteils B verläuft. An der Achse A ist ein Meßelement 15 angeordnet. Das Meβelement 15 besitzt im hier gezeigten Fall eine Greifereinheit 16 mit einem U-förmigen Grundkörper 16', in dessen durch die beiden Schenkel 16a, 16b begrenzten Innenraum das Biegeteil B aufnehmbar und mittels eines Zustellelements 17 an der Innenseite des Schenkels 16a des Grundkörpers 16 arretierbar ist, so daß gewährleistet ist, daß eine feste Verbindung zwischen dem Meßelement 15 und dem Biegeteil B gegeben ist.Each transducer 11 has - in the case shown here - a rotary encoder 14 which has an axis A which is essentially orthogonal to the bending plane of the bent part B. A measuring element 15 is arranged on the axis A. In the case shown here, the measuring element 15 has a gripper unit 16 with a U-shaped base body 16 ', in the inner space delimited by the two legs 16a, 16b, the bent part B can be received and locked by means of a feed element 17 on the inside of the leg 16a of the base body 16 is, so that it is ensured that a firm connection between the measuring element 15 and the bending part B is given.

Die Funktionsweise der Vorrichtung zur Erfassung des Biegewinkels des Biegeteils B wird nun anhand der Figur 2 erläutert. Diese zeigt wiederum die Biegemaschine 1 zusammen mit der Vorrichtung 10 zur Erfassung des Biegewinkels des Biegeteils B, wobei aber in Figur 2 - wie bereits oben erläutert - beide Winkelmeßeinrichtungen 10a und 10b dargestellt sind.The functioning of the device for detecting the bending angle of the bending part B will now be explained with reference to FIG. 2. This in turn shows the bending machine 1 together with the device 10 for detecting the bending angle of the Bending part B, but in Figure 2 - as already explained above - both angle measuring devices 10a and 10b are shown.

Das Biegeteil B wird nun in die Biegemaschine eingelegt und die erste Winkelmeßeinrichtung 10a wird derart in Anlage an das Biegeteil B gebracht, so daß das Meßelement 15 am Biegeteil B anliegt. Dies wird dadurch erreicht, daß das Biegeteil B in den U-förmigen Grundkörper 16' der Greifereinheit 16 des Meßelements 15 eingeführt und das Meßelement 15 in Meßanlage am Biegeteil B fixiert wird, indem das Zustellelement 17 zugestellt wird. Die hierdurch bewirkte Stellung des Drehgebers 14 wird nun als die Null-Stellung der ersten Winkelmeßeinrichtung 10a festgelegt.The bent part B is now inserted into the bending machine and the first angle measuring device 10a is brought into contact with the bent part B such that the measuring element 15 bears against the bent part B. This is achieved in that the bent part B is inserted into the U-shaped base body 16 'of the gripper unit 16 of the measuring element 15 and the measuring element 15 is fixed in the measuring system on the bent part B by the infeed element 17 being advanced. The position of the rotary encoder 14 caused thereby is now defined as the zero position of the first angle measuring device 10a.

In entsprechender Art und Weise wird dann die zweite Winkelmeßeinrichtung 10b in Meßanlage an das Biegeteil B gebracht. Das Meßelement 15 des Drehgebers 14 der zweiten Winkelmeßeinrichtung 10b ist dann in Meßanlage am Biegeteil B. Die dadurch bewirkte Stellung des Drehgebers 14 der zweiten Winkelmeßeinrichtung 10b wird dann als dessen Null-Stellung festgelegt. Die von den beiden Drehgebern 14 erzeugten Ausgangssignale werden über nicht gezeigte Signalleitungen zu einer Steuer- und Auswerteeinrichtung (ebenfalls nicht gezeigt) der Biegemaschine 1 geleitet, welche die Signale der beiden Winkelmeßeinrichtungen 10a, 10b auswertet und die Zustellung der Biegerolle 2c regelt.In a corresponding manner, the second angle measuring device 10b is then brought to the bending part B in a measuring system. The measuring element 15 of the rotary encoder 14 of the second angle measuring device 10b is then in the measuring system on the bent part B. The position of the rotary encoder 14 of the second angle measuring device 10b caused thereby is then determined as its zero position. The output signals generated by the two rotary encoders 14 are passed via signal lines (not shown) to a control and evaluation device (likewise not shown) of the bending machine 1, which evaluates the signals from the two angle measuring devices 10a, 10b and regulates the delivery of the bending roller 2c.

Wird nun das Biegeteil B durch die Einwirkung des in Biegerichtung wirkenden Biegewerkzeugs 2 - wie aus Figur 2 ersichtlich - gekrümmt, so bewirkt dies, daß das Meßelement 15 des Drehgebers 14 der ersten und der zweiten Winkelmeßeinrichtung 10a, 10b jeweils aus seiner vorher definierten Null-Stellung ausgelenkt wird, wobei diese Auslenkung der beiden Meßelemente 15 der beiden Winkelmeßeinrichtungen 10a, 10b - wie aus Figur 2 ersichtlich - zu der durch den Biegevorgang bewirkten Auslenkung des Biegeteils um die Winkel α1 und α2 aus ihrer Ausgangslage korreliert ist. Diese Auslenkung der Meßelemente 15 wird jeweils über die Achse A des Drehgebers 14 auf diese übertragen und die Drehgeber 14 erzeugen jeweils ein entsprechendes Meßsignal, das zur Auswerte- und Steuereinrichtung der Biegemaschine 1 geleitet wird. Diese vergleicht nun den durch die Meßsignale der Drehgeber 14 repräsentierten Ist-Wert des Biegewinkels mit dem zu erreichenden Soll-Wert und erzeugt ein Steuersignal, welches die Zustellung der Biegerolle 2a entsprechend nachführt. Aus der gemessenen Rückfederung des Biegeteils B wird dann der richtige Überbiegewinkel ermittelt, um den das Biegeteil B noch während des Biegeprozesses automatisch überbogen wird, um den gewünschten Soll-Biegewert zu erzielen.If the bending part B is now curved by the action of the bending tool 2 acting in the bending direction, as can be seen in FIG. 2, this causes the measuring element 15 of the rotary encoder 14 of the first and the second angle measuring device 10a, 10b in each case from its previously defined zero Position is deflected, this deflection of the two measuring elements 15 of the two angle measuring devices 10a, 10b - as can be seen from Figure 2 - is correlated to the deflection of the bent part caused by the bending process by the angles α1 and α2 from their initial position. This deflection of the measuring elements 15 is transmitted to the axis A of the rotary encoder 14 and the latter Rotary encoders 14 each generate a corresponding measurement signal, which is sent to the evaluation and control device of the bending machine 1. This now compares the actual value of the bending angle represented by the measurement signals of the rotary encoder 14 with the desired value to be achieved and generates a control signal which tracks the infeed of the bending roller 2a accordingly. The correct overbend angle is then determined from the measured springback of the bent part B, by which the bent part B is automatically bent over during the bending process in order to achieve the desired target bending value.

In Figur 5 ist ein zweites Ausführungsbeispiel einer Vorrichtung zur Erfassung des Biegewinkels des Biegeteils B dargestellt, welches sich von der in den Figuren 1 und 2 dargestellten Vorrichtung 1 im wesentlichen dadurch unterscheidet, daß einlaufseitig der Meßarm 12 für den Meßwertgeber 11 nun nicht mehr als Gelenk-Parallelogramm 13 ausgeführt ist, sondern daß die Winkelmeßeinrichtung 10a direkt an der Biegemaschine 1 drehbar angeordnet ist. Hierbei wird bevorzugt, daß die erste Winkelmeßeinrichtung 10a nicht nur an der Biegemaschine 1 drehbar angeordnet ist, sondern in einer als Meßarm fungierenden Schiene 20 linear verschiebbar ist.FIG. 5 shows a second exemplary embodiment of a device for detecting the bending angle of the bent part B, which differs from the device 1 shown in FIGS. 1 and 2 essentially in that the measuring arm 12 on the inlet side is no longer a joint for the measuring sensor 11 -Parallelogram 13 is executed, but that the angle measuring device 10a is rotatably arranged directly on the bending machine 1. It is preferred here that the first angle measuring device 10a is not only rotatably arranged on the bending machine 1, but is linearly displaceable in a rail 20 functioning as a measuring arm.

Die Drehbarkeit der ersten Winkelmeßeinrichtung 10a ist aber für eine Vielzahl von Anwendungsfällen ausreichend, da ja - wie bereits erwähnt - das gerade Biegeteil B in diesem Bereich keiner Beaufschlagung durch das Biegewerkzeug 2 unterworfen ist, so daß nur die Ausweichbewegung des Biegeteils B, welches durch die Beaufschlagung durch das Biegewerkzeug 2 bewirkt wird, ausgeglichen werden muß.The rotatability of the first angle measuring device 10a is sufficient for a large number of applications, since - as already mentioned - the straight bending part B is not subjected to any action by the bending tool 2 in this area, so that only the evasive movement of the bending part B, which is caused by the Acting caused by the bending tool 2 must be compensated.

Ein weiterer Unterschied zwischen den beiden Ausführungsbeispielen ist die unterschiedliche Ausgestaltung des Meßelements 15, wobei es natürlich auch möglich ist, daß beim ersten Ausführungsbeispiel der Vorrichtung gemäß den Figuren 1 bis 5 das Meßelement 15 gemäß der in den Figuren 6 und 7 dargestellten zweiten Ausführungsform verwendet wird. Im hier gezeigten Fall ist das um die Achse A des Drehgebers 14 drehbare Meßelement 15 als eine Meßplatte 18 ausgebildet, an der Meßstifte 19 angeordnet sind, die dann in Meßanlage an das Biegeteil B gebracht werden.Another difference between the two exemplary embodiments is the different design of the measuring element 15, although it is of course also possible for the first exemplary embodiment of the device according to FIGS. 1 to 5 to use the measuring element 15 according to the second embodiment shown in FIGS. 6 and 7 , In the case shown here, this is about the axis A of the rotary encoder 14 rotatable measuring element 15 is formed as a measuring plate 18 on which measuring pins 19 are arranged, which are then brought to the bending part B in the measuring system.

In der Figur 8 ist nun eine dritte Ausführungsform der Vorrichtung dargestellt, wobei gleiche oder einander entsprechende Bauteile mit gleichen Bezugszeichen versehen werden und nicht mehr näher beschrieben werden. Der wesentliche Unterschied zwischen der Meßvorrichtung des ersten Ausführungsbeispiels der Figuren 1 bis 5 und dem dritten Ausführungsbeispiel gemäß Figur 8 ist nun, daß als Meßarm 12 für die zweite Winkelmeßeinrichtung 10a nicht ein Gelenk-Parallelogramm 13, sondern zwei Linearführungen 23a, 23b verwendet werden, wobei die zweite Linearführung 23b drehbar in einem entlang der ersten Linearführung 23a verschiebbaren Schlitten 24 gelagert ist. Die erste Winkelmeßeinrichtung 10a ist wiederum - wie beim zweiten Ausführungsbeispiel - in einer Schiene 20 verschiebbar und auf einer orthogonal zur Biegeebene des Biegeteils B verlaufenden Ebene drehbar angeordnet.A third embodiment of the device is now shown in FIG. 8, identical or corresponding components being provided with the same reference numerals and not being described in any more detail. The essential difference between the measuring device of the first exemplary embodiment in FIGS. 1 to 5 and the third exemplary embodiment in accordance with FIG. 8 is that it is not a joint parallelogram 13 but two linear guides 23a, 23b that are used as the measuring arm 12 for the second angle measuring device 10a the second linear guide 23b is rotatably mounted in a slide 24 which can be displaced along the first linear guide 23a. The first angle measuring device 10a is in turn - as in the second embodiment - displaceable in a rail 20 and rotatably arranged on a plane orthogonal to the bending plane of the bent part B.

In Figur 9 ist nun schematisch ein viertes Ausführungsbeispiel dargestellt, welches seinem prinzipiellen Aufbau nach dem dritten Ausführungsbeispiel der Figur 8 gleicht. Der wesentliche Unterschied zwischen dem dritten und vierten Ausführungsbeispiel ist nun, daß die erste Winkelmeßeinrichtung 10a nun nicht mehr in der Schiene 20 der Biegemaschine 1 angeordnet ist, sondern ebenfalls auf einer Linearführung 23b', die auf einem entlang der Linearführung 23 verschiebbar gelagerten Schlitten 24' drehbar angeordnet ist.A fourth exemplary embodiment is shown schematically in FIG. 9, which is similar to its basic structure according to the third exemplary embodiment in FIG. The essential difference between the third and fourth exemplary embodiments is that the first angle measuring device 10a is no longer arranged in the rail 20 of the bending machine 1, but also on a linear guide 23b 'which is mounted on a slide 24' which is displaceably mounted along the linear guide 23. is rotatably arranged.

Bei der obigen Beschreibung wird davon ausgegangen, daß stets zwei Winkelmeßeinrichtungen 10a, 10b erforderlich sind. Bei einer Reihe von Anwendungsfällen, z. B. bei einem Vier-Wälzen-Biegen, erfährt aber das Biegeteil B einlaufseitig beim Biegevorgang keine Lageveränderung, es bleibt also stets in einer definierten Lage. Die erste Winkelmeßeinrichtung 10a ist daher in diesem Fall nicht erforderlich.In the above description it is assumed that two angle measuring devices 10a, 10b are always required. In a number of use cases, e.g. B. in a four-roll bending, but the bending part B experiences no change in position on the inlet side during the bending process, so it always remains in a defined position. The first angle measuring device 10a is therefore not necessary in this case.

Um nun das Biegeteil B zielgenau zu biegen, ist vorgesehen, daß vor dem Biegevorgang in die Steuer- und Auswerteeinrichtung der Biegemaschine 1 der gewünschte Biegeradius des Biegeteils B sowie der zu erzielende Biegewinkel eingegeben wird. Aus dem Biegeradius und gegebenenfalls aus dem Durchmesser des Biegeteils B wird dann eine Soll-Abwicklung Qsoll gebildet, welche die Abwicklung des Biegeteils B pro Biegegrad für den Biegeradius errechnet. Diese Soll-Abwicklung Qsoll = Wegstrecke/Biegewinkel stellt dann die Regelgröße für den von der Biegemaschine 1 zu erzeugenden Biegeradius des Biegeteils B dar. Die Biegerolle 2a des Biegewerkzeugs 2 wird dann entsprechend zugestellt und das Biegeteil B angebogen. Die Winkelmeßeinrichtungen 10a und 10b bestimmen kontinuierlich, quasi-kontinuierlich oder zu diskreten Zeitpunkten den Biegewinkel des Biegeteils B. Die Biegestrecke, also der Vorschub des Biegeteils B, wird entsprechend gemessen. Aus dem Verhältnis der Biegestrecke des Biegeteils B und der Änderung des Biegewinkels wird eine Ist-Abwicklung Qist bestimmt. Dann erfolgt ein Soll-lst-Vergleich von Qist und Qsoll,und aus diesem Vergleich wird dann die erforderliche Einstellung (Zustellung) des Biegewerkzeugs 2 errechnet, welche erforderlich ist, damit Qist an Qsoll angeglichen werden kann. Ist Qist größer als Qsoll,so wird die Zustellung der Biegerolle 2a des Biegewerkzeugs 2 vergrößert, damit der Biegeradius und somit Qistkleiner wird, und zwar solange, bis Qistund Qsoll sich auf eine vorgegebene Toleranz annähern. Wenn Qist kleiner als Qsoll ist, so wird die Zustellung des Biegewerkzeugs 2 reduziert, damit Qistund der Biegeradius größer wird, und zwar solange, bis sich wieder Qist und Qsollauf eine vorgegebene Toleranz annähern.In order to precisely bend the bending part B, it is provided that the desired bending radius of the bending part B and the bending angle to be achieved are entered into the control and evaluation device of the bending machine 1 before the bending process. Is determined from the bend radius and possibly from the diameter of the bent part B then a target processing Q to be formed, which calculates the processing of the bending part B per degree of bending of the bending radius. This target execution Q soll = distance / bending angle then sets the controlled variable for the of the bending machine 1 to be generated bending radius of the bent part B. The bending roller 2a of the bending tool 2 is then delivered in accordance with and be bent, the bending portion B. The angle measuring devices 10a and 10b determine the bending angle of the bent part B continuously, quasi-continuously or at discrete points in time. The bending distance, that is to say the advance of the bent part B, is measured accordingly. An actual development Q ist is determined from the ratio of the bending distance of the bending part B and the change in the bending angle. Then, a target actual comparison is carried out by Q and Q should, and the required adjustment (delivery) is then calculated of the bending tool 2 from this comparison, which is required so that Q is of Q will be equalized. If Q is greater than Q should , the infeed of the bending roller 2a of the bending tool 2 is increased so that the bending radius and thus Q is smaller, namely until Q is and Q should approach a predetermined tolerance. If Q is less than Q should , the infeed of the bending tool 2 is reduced so that Q is and the bending radius becomes larger, until Q is again and Q should approach a predetermined tolerance.

Dieses Verfahren besitzt den Vorteil, daß es in vorteilhafter Art und Weise möglich ist, nach kürzesten Biegestrecken, also nach einem nur geringen Vorschub des Biegeteils B in seiner Vorschubrichtung, den Biegeradius des Biegeteils B zu bestimmen, zu kontrollieren und zu regeln. Dieses Verfahren erlaubt es daher, schnell auf Störungen und Veränderungen während und vor dem Biegeprozeß zu reagieren und die dadurch hervorgerufenen Auswirkungen zu kompensieren. Die Störungen und Veränderungen können beispielsweise durch Änderungen der biegerelevanten Materialeigenschaften des Biegeteils B, durch Veränderung der Maße des Biegeteils B (z. B. Streuung des Durchmessers und Streuung der Außenmaße), durch Veränderung der Biegewerkzeuge 2, die durch Zunderaufbau an den Biegerollen, Abnutzung, oder thermische Einflüsse, etc., entstehen, durch Veränderung der Maschineneinstellwerte der Biegemaschine 1, z. B. der Maschinenposition und der Biegeprozeßgeschwindigkeit, oder durch falsche Bedienereingaben.This method has the advantage that it is possible in an advantageous manner to determine, control and regulate the bending radius of the bending part B after the shortest bending distances, that is to say after only a slight advance of the bending part B in its direction of advance. This method therefore allows to react quickly to disturbances and changes during and before the bending process and to compensate for the effects caused thereby. The Faults and changes can be caused, for example, by changes in the material properties of the bent part B that are relevant to bending, by changing the dimensions of the bent part B (e.g. scattering of the diameter and scattering of the external dimensions), by changing the bending tools 2 caused by scale build-up on the bending rollers, or thermal influences, etc., arise by changing the machine settings of the bending machine 1, z. B. the machine position and the bending process speed, or by incorrect operator inputs.

In vorteilhafter Art und Weise kann beim beschriebenen Verfahren optional vorgesehen sein, daß das Biegeteil B zur Kompensation der Rückfederung überbogen wird. Hierbei wird derart vorgegangen, daß eine bestimmte Gradzahl vor Erreichen des gewünschten Biegewinkels oder bei Erreichen des Soll-Winkels der Biegeprozeß unterbrochen wird und der Ist-Biegewinkel, die lst-Position der Biegerollen 2a-2c des Biegewerkzeugs 2 und der Vorschub des Biegeteils B gemessen wird. Dann wird eine sogenannte Zwischen-Ausbiegung durchgeführt, wobei diese Zwischen-Ausbiegung möglichst exakt der programmierten endgültigen Ausbiegung nach Erreichen des Soll-Biegewinkels unter Berücksichtigung des Ausbiegeeffekts entsprechen soll.In an advantageous manner, it can optionally be provided in the method described that the bent part B is bent over to compensate for the springback. The procedure here is such that a certain number of degrees is interrupted before the desired bending angle is reached or when the desired angle is reached, and the actual bending angle, the actual position of the bending rollers 2a-2c of the bending tool 2 and the advance of the bending part B are measured becomes. A so-called intermediate bend is then carried out, this intermediate bend being intended to correspond as exactly as possible to the programmed final bend after reaching the desired bending angle, taking into account the bending effect.

Nach diesem Zwischen-Ausbiegen wird wiederum der Biegewinkel gemessen und aus der Differenz der beiden gemessenen Biegewinkel wird der Ausbiegeeffekt errechnet. Die Biegemaschine 1 kehrt dann die Biegerichtung um, d. h., daß das Biegeteil B in einer der vorherigen Vorschubrichtung entgegengesetzten Transportrichtung bewegt wird. Hierbei wird das Biegeteil B durch die Biegemaschine 1 wieder angebogen, so daß die Biegemaschine 1 wieder auf der Ausgangsposition vor dem Zwischenausbiegen zurückgesetzt wird. Dann erfolgt ein Biegevorgang in der ursprünglichen Vorschubrichtung, wobei die Biegewerkzeuge 2 entsprechend einem Biegewinkel, der dem Soll-Biegewinkel plus dem wie vorstehend bestimmten Ausbiegeeffekt entspricht, eingestellt wird.After this intermediate bending, the bending angle is again measured and the bending effect is calculated from the difference between the two measured bending angles. The bending machine 1 then reverses the bending direction, that is to say that the bending part B is moved in a transport direction opposite to the previous feed direction. Here, the bending part B is bent again by the bending machine 1, so that the bending machine 1 is reset to the starting position before the intermediate bending. A bending process is then carried out in the original feed direction, the bending tools 2 being set in accordance with a bending angle which corresponds to the desired bending angle plus the bending effect determined as above.

Durch diese Vorgangsweise wird in vorteilhafter Art und Weise erreicht, daß nach diesem Biegevorgang der Biegewinkel des Biegeteils B mit dem gewünschten Biegewinkel innerhalb von vorgegebenen Toleranzen übereinstimmt.This procedure advantageously ensures that after this bending process the bending angle of the bending part B corresponds to the desired bending angle within predetermined tolerances.

Das beschriebene Verfahren eignet sich insbesondere für das Biegen von Biegeteilen B mit unbekanntem Materialverhalten, da bei diesen die Rückfederung nur derart empirisch kompensiert werden kann.The method described is particularly suitable for the bending of bent parts B with unknown material behavior, since the springback can only be empirically compensated for in this way.

Claims (17)

Vorrichtung zur Erfassung eines Richtungswinkels, insbesondere eines Biegewinkels, eines in einer Vorschubrichtung transportierbaren Werkstücks, insbesondere eines Biegeteils (B), das in einer Biegemaschine (1) der Einwirkung eines in einer zur Vorschubrichtung unterschiedlichen Biegerichtung wirkenden Biegewerkzeugs (2) unterworfen wird, dadurch gekennzeichnet, daß die Vorrichtung (1) mindestens eine Winkelmeßeinrichtung (10b) aufweist, die in Vorschubrichtung des Biegeteils (B) nach dem Biegewerkzeug (2) der Biegemaschine (1) angeordnet ist, daß die mindestens eine Winkelmeßeinrichtung (10b) einen Meßwertgeber (11) aufweist, der ein Meßelement (15) besitzt, das in eine Meßanlage an das Biegeteil (B) bringbar ist, daß zumindest die eine Winkelmeßeinrichtung (10b) um eine zur Biegeebene des Biegeteils (B) im wesentlichen orthogonalen Achse verschwenkbar ist, und daß ein von der oder den jeweils in Meßanlage an das Biegeteil (B) befindlichen Winkelmeßeinrichtungen (10a, 10b) erzeugten Meßsignale zu einer Steuer-/Auswerteeinrichtung der Biegemaschine (1) leitbar sind.Apparatus for detecting a direction angle, in particular a bending angle, a transportable in a feeding direction of the workpiece, in particular a bending part (B) which is subjected to a bending machine (1) the action of an acting in a direction different from the feed direction of the bending direction bending tool (2), characterized that the device (1) has at least one angle measuring device (10b), which is arranged in the feed direction of the bending part (B) after the bending tool (2) of the bending machine (1), that the at least one angle measuring device (10b) has a sensor (11) has a measuring element (15) which can be brought into a measuring system on the bent part (B), that at least one angle measuring device (10b) can be pivoted about an axis which is essentially orthogonal to the bending plane of the bent part (B), and that a of the angle measuring device (10a, 10b.) located in the measuring system on the bending part (B) ) generated measurement signals to a control / evaluation device of the bending machine (1) can be conducted. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Vorrichtung (1) eine weitere Winkelmeßeinrichtung (10a) aufweist, die in Vorschubrichtung des Biegeteils (B) vor dem Biegewerkzeug (2) der Biegemaschine (1) angeordnet ist.Device according to claim 1, characterized in that the device (1) has a further angle measuring device (10a) which is arranged in the feed direction of the bending part (B) in front of the bending tool (2) of the bending machine (1). Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß mindestens eine Winkelmeßeinrichtung (10a, 10b) einen Meßwertgeber (11) aufweist.Device according to claim 1 or 2, characterized in that at least one angle measuring device (10a, 10b) has a measuring value transmitter (11). Vorrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß mindestens eine Winkelmeßeinrichtung (10a, 10b) einen Drehgeber (14) besitzt, an dessen Achse (A) ein in Meßanlage an das Biegeteil (B) bringbares Meßelement (15) angeordnet ist.Device according to one of the preceding claims, characterized in that at least one angle measuring device (10a, 10b) has one Has a rotary encoder (14), on the axis (A) of which a measuring element (15) which can be brought into the measuring system on the bent part (B) is arranged. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß das Meßelement (15) eine Greifereinheit (16) aufweist, in der das Biegeteil (B) arretierbar ist.Device according to claim 4, characterized in that the measuring element (15) has a gripper unit (16) in which the bent part (B) can be locked. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, daß die Greifereinheit (16) einen U-förmigen Grundkörper (16') aufweist, in dessen Innenraum das Biegeteil (B) durch ein Zustellelement (17) lagefixierbar ist.Apparatus according to claim 5, characterized in that the gripper unit (16) has a U-shaped base body (16 '), in the interior of which the bent part (B) can be fixed in position by an infeed element (17). Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, daß das Meßelement (15) eine Platte (18) aufweist, an der mindestens ein Meßstift (19) angeordnet ist.Device according to claim 4, characterized in that the measuring element (15) has a plate (18) on which at least one measuring pin (19) is arranged. Vorrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß mindestens eine Winkelmeßeinrichtung (10a, 10b) einen vorzugsweise als ein Gelenk-Parallelogramm ausgebildeten Meßarm (12) aufweist, dessen erstes Ende (12') vorzugsweise mit der Biegemaschine (1) beweglich verbunden ist und der an seinem zweiten Ende (12") den Meßwertgeber (11) trägt.Device according to one of the preceding claims, characterized in that at least one angle measuring device (10a, 10b) has a measuring arm (12) which is preferably designed as an articulated parallelogram, the first end (12 ') of which is preferably movably connected to the bending machine (1) and which carries the transmitter (11) at its second end (12 "). Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß mindestens eine Winkelmeßeinrichtung (10a, 10b) einen Meßarm (12) aufweist, der zwei Linearführungen (23a, 23b; 23a, 23b') besitzt, wobei eine Linearführung (23b, 23b') an ihrem Ende den Meßwertgeber (11) trägt, und wobei diese eine Linearführung (23b, 23b') auf einem Schlitten (24, 24') drehbar gelagert ist, wobei der Schlitten (24, 24') verschiebbar auf der anderen Linearführung (23a) gelagert ist.Device according to one of claims 1 to 8, characterized in that at least one angle measuring device (10a, 10b) has a measuring arm (12) which has two linear guides (23a, 23b; 23a, 23b '), one linear guide (23b, 23b ') carries the transmitter (11) at its end, and a linear guide (23b, 23b') is rotatably mounted on a slide (24, 24 '), the slide (24, 24') being displaceable on the other linear guide (23a) is stored. Vorrichtung nach einem der Ansprüche 1-9, dadurch gekennzeichnet, daß der Meßarm (12) als eine Schiene (20) in der Arbeitsfläche der Biegemaschine (1) ausgebildet ist.Device according to one of claims 1-9, characterized in that the measuring arm (12) is designed as a rail (20) in the working surface of the bending machine (1). Biegemaschine, gekennzeichnet durch eine Vorrichtung nach einem der Ansprüche 1-10.Bending machine, characterized by a device according to one of claims 1-10. Verfahren zur Steuerung einer ein Biegewerkzeug (2) aufweisenden Biegemaschine (1), in der das Biegeteil (B) der Einwirkung eines in einer zu einer Vorschubrichtung des Biegeteils (B) unterschiedlichen Biegerichtung wirkenden Biegewerkzeugs (5) unterworfen wird, dadurch gekennzeichnet, daß durch eine Steuer- und Auswerteeinrichtung der Biegemaschine (1) eine zur Erzielung eines vorgegebenen Biegewinkels und eines vorgegebenen Biegeradiuses des Biegeteils (B) erforderliche Soll-Abwicklung des Biegeteils (B) in dessen Vorschubrichtung bestimmt und das Biegewerkzeug (2) der Biegemaschine (1) in seiner Biegerichtung entsprechend dieser Soll-Abwicklung eingestellt wird, daß das Biegeteil (B) in der Vorschubrichtung um eine Biegestrecke vorgeschoben und vom Biegewerkzeug (2) der Biegemaschine (1) gebogen wird, daß die Biegestrecke des Biegeteils (B) erfaßt und die Differenz der Biegewinkel zu Beginn und am Ende dieser Biegestrecke von einer Vorrichtung (1) zur Erfassung eines Biegewinkels bestimmt wird, daß aus dem Verhältnis der Biegestrecke und der Differenz der Biegewinkel eine Ist-Abwicklung bestimmt wird, daß die Steuer- und Auswerteeinrichtung die Soll-Abwicklung mit der Ist-Abwicklung vergleicht und aus diesem Vergleich eine die Differenz zwischen Soll-Abwicklung und Ist-Abwicklung kompensierende Änderung der Einstellung des Biegewerkzeugs (2) durchführt.Method for controlling a bending machine (1) having a bending tool (2), in which the bending part (B) is subjected to the action of a bending tool (5) acting in a bending direction different from a feed direction of the bent part (B), characterized in that A control and evaluation device of the bending machine (1) determines a desired execution of the bending part (B) in the direction of its advance required to achieve a predetermined bending angle and a predetermined bending radius of the bending part (B) and determines the bending tool (2) of the bending machine (1) in its bending direction is set according to this target processing that the bent part (B) is advanced in the feed direction by a bending distance and bent by the bending tool (2) of the bending machine (1), that the bending distance of the bent part (B) is detected and the difference of Bending angle at the beginning and at the end of this bending distance by a device (1) for detecting a bending angle s it is determined that an actual processing is determined from the ratio of the bending distance and the difference in the bending angles, that the control and evaluation device compares the target processing with the actual processing and from this comparison the difference between the target processing and Actual settlement compensating change in the setting of the bending tool (2) is carried out. Verfahren nach Anspruch 12, dadurch gekennzeichnet, daß als Vorrichtung zur Erfassung des Biegewinkels eine Vorrichtung (1) nach einem der Ansprüche 1-11 verwendet wird.Method according to Claim 12, characterized in that a device (1) according to one of Claims 1-11 is used as the device for detecting the bending angle. Verfahren nach Anspruch 12 oder 13, dadurch gekennzeichnet, daß eine Zustellung des Biegewerkzeugs (2) vergrößert wird, wenn der Wert der Ist-Abweichung größer als der Wert der Soll-Abweichung ist, oder daß die Zustellung des Biegewerkzeugs (2) verkleinert wird, wenn der Wert der Ist-Abweichung kleiner als der Wert der Soll-Abweichung ist.A method according to claim 12 or 13, characterized in that an infeed of the bending tool (2) is increased if the value of the actual deviation is greater than the value of the target deviation, or that the infeed of the bending tool (2) is reduced, if the value of the actual deviation is smaller than the value of the target deviation. Verfahren nach einem der Ansprüche 12 bis 14, dadurch gekennzeichnet, daß der Biegevorgang eine bestimmte Gradzahl vor Erreichen des gewünschten Biegewinkels des Biegeteils (B) oder bei Erreichen des, Soll-Winkels unterbrochen wird, daß der Ist-Biegewinkel und die Ist-Einstellung des Biegewerkzeugs (2) sowie die Vorschubposition des Biegeteils (B) gemessen wird, daß dann eine Zwischen-Ausbiegung durchgeführt wird, daß nach dieser Zwischen-Ausbiegung wiederum der Biegewinkel des Biegeteils (B) gemessen und aus der Differenz dieser beiden Biegewinkel ein Ausbiegeeffekt errechnet wird.Method according to one of claims 12 to 14, characterized in that the bending process is interrupted a certain number of degrees before reaching the desired bending angle of the bent part (B) or when the target angle is reached, that the actual bending angle and the actual setting of the Bending tool (2) and the feed position of the bent part (B) is measured, that an intermediate bend is then carried out, that after this intermediate bend the bend angle of the bent part (B) is measured again and a bending effect is calculated from the difference between these two bending angles , Verfahren nach Anspruch 15, dadurch gekennzeichnet, daß nach der Bestimmung des Ausbiegeeffekts die Biegemaschine (1) ihre Vorschubrichtung umkehrt und das Biegeteil (B) und die Biegemaschine (1) in ihre Ausgangsposition vor dem Zwischen-Ausbiegen zurückgebracht werden.Method according to Claim 15, characterized in that after the bending effect has been determined, the bending machine (1) reverses its direction of advance and the bending part (B) and the bending machine (1) are returned to their starting position before intermediate bending. Verfahren nach einem der Ansprüche 15 oder 16, dadurch gekennzeichnet, daß der Biegevorgang durch die Biegemaschine (1) mit einem um den Ausbiegeeffekt korrigierten Biegewinkel durchgeführt wird.Method according to one of claims 15 or 16, characterized in that the bending process is carried out by the bending machine (1) with a bending angle corrected for the bending effect.
EP20030004720 2002-03-06 2003-03-04 Device for detecting a ring bending angle, and method of regulating a bending machine Expired - Lifetime EP1342514B1 (en)

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DE20203583U 2002-03-06
DE20203583U DE20203583U1 (en) 2002-03-06 2002-03-06 Device for detecting a direction angle, in particular a bending angle, a workpiece, in particular a bent part
DE10218432 2002-04-25
DE10218432A DE10218432A1 (en) 2002-03-06 2002-04-25 Bending machine angle measurement unit has linkage with sensor works during bending
DE10249300A DE10249300A1 (en) 2002-03-06 2002-10-22 Bending machine angle measurement unit has linkage with sensor works during bending
DE10249300 2002-10-22

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DE29718648U1 (en) * 1997-10-21 1997-12-11 Franz Thoman Maschinenbau Bending machine for bending bar-shaped material
DE19822023A1 (en) * 1998-05-14 1999-11-25 Song Byung Jun Self-learning device for bending machine

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DE102008052474A1 (en) 2008-10-20 2010-04-22 Rasi Maschinenbau Gmbh Method for mechanically bending bars, in particular tubes
EP2177288A2 (en) 2008-10-20 2010-04-21 RASI Maschinenbau GmbH Method for mechanical bending of rods, in particular tubes
ITBS20090022A1 (en) * 2009-02-10 2010-08-11 Faccin Srl METHOD AND DEVICE FOR BENDING A STEEL MATERIAL
EP2248611A1 (en) * 2009-05-06 2010-11-10 CML International S.P.A. A machine for continuously bending an elongated workpiece at predetermined radii
ITRM20090215A1 (en) * 2009-05-06 2010-11-07 Cml Int Spa MACHINE TO TURN CONTINUOUSLY AN EXTENDED PIECE ACCORDING TO PREDETERMINATED RAYS
CN101879542A (en) * 2009-05-06 2010-11-10 Cml国际有限公司 A kind of machine with predetermined radii continuous bend farm labourer part
CN101856683A (en) * 2010-06-21 2010-10-13 长治钢铁（集团）锻压机械制造有限公司 Sectional material bending machine
DE102011006101A1 (en) * 2011-03-25 2012-09-27 Wafios Ag Method for producing a bent part and bending machine for carrying out the method
DE102011006101B4 (en) * 2011-03-25 2015-12-24 Wafios Ag Method for producing a bent part and bending machine for carrying out the method
CN102240707A (en) * 2011-05-10 2011-11-16 山东雷帕得弹簧有限公司 Automatic pipe bending device and pipe bending process thereof
CN103071708B (en) * 2011-12-30 2016-07-06 河北建设集团有限公司 Simple large-diameter steel pipe bender
CN103071708A (en) * 2011-12-30 2013-05-01 河北建设集团有限公司 Simple large-diameter steel pipe bender
CN102641924A (en) * 2012-05-10 2012-08-22 西安向阳航天材料股份有限公司 Manufacturing device and method for bimetal composite hot bend
CN102641924B (en) * 2012-05-10 2014-04-09 西安向阳航天材料股份有限公司 Manufacturing device and method for bimetal composite hot bend
CN102941266A (en) * 2012-11-23 2013-02-27 贵州安大航空锻造有限责任公司 Bending blank manufacturing method for stainless steel flash welding thin-wall ring profiles
CN102941262A (en) * 2012-11-23 2013-02-27 贵州安大航空锻造有限责任公司 Method for section bar bending blank manufacturing of ball bearing steel flash welding thin-wall annular member
CN102941264A (en) * 2012-11-23 2013-02-27 贵州安大航空锻造有限责任公司 Bent blank manufacture method of section bar of aluminum alloy flash-welded thin-wall ring
CN102941262B (en) * 2012-11-23 2014-09-24 贵州安大航空锻造有限责任公司 Method for section bar bending blank manufacturing of ball bearing steel flash welding thin-wall annular member
CN102941258B (en) * 2012-11-23 2014-12-17 贵州安大航空锻造有限责任公司 Section bending blank manufacturing method of iron-based high temperature alloy flash welding thin wall ring piece
CN102941266B (en) * 2012-11-23 2014-12-17 贵州安大航空锻造有限责任公司 Bending blank manufacturing method for stainless steel flash welding thin-wall ring profiles
CN102941263B (en) * 2012-11-23 2014-12-17 贵州安大航空锻造有限责任公司 Method for section bar bending blank manufacturing of nickel-based superalloy flash welding thin-wall annular member
CN102941264B (en) * 2012-11-23 2014-12-17 贵州安大航空锻造有限责任公司 Bent blank manufacture method of section bar of aluminum alloy flash-welded thin-wall ring
CN102941258A (en) * 2012-11-23 2013-02-27 贵州安大航空锻造有限责任公司 Section bending blank manufacturing method of iron-based high temperature alloy flash welding thin wall ring piece
CN102941263A (en) * 2012-11-23 2013-02-27 贵州安大航空锻造有限责任公司 Method for section bar bending blank manufacturing of nickel-based superalloy flash welding thin-wall annular member
CN104998939A (en) * 2015-08-28 2015-10-28 重庆五洲龙新能源汽车有限公司 Section bar arching device

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