EP1570927B1 - Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles - Google Patents

Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles Download PDF

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Publication number
EP1570927B1
EP1570927B1 EP05004293A EP05004293A EP1570927B1 EP 1570927 B1 EP1570927 B1 EP 1570927B1 EP 05004293 A EP05004293 A EP 05004293A EP 05004293 A EP05004293 A EP 05004293A EP 1570927 B1 EP1570927 B1 EP 1570927B1
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EP
European Patent Office
Prior art keywords
sheet metal
feeding
metal sheet
manipulator
metal sheets
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.)
Active
Application number
EP05004293A
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German (de)
English (en)
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EP1570927A1 (fr
Inventor
Dieter Pfitzner
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.)
Trumpf Maschinen Austria GmbH and Co KG
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Trumpf Maschinen Austria GmbH and Co KG
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Publication of EP1570927A1 publication Critical patent/EP1570927A1/fr
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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
    • B21D43/003—Positioning devices
    • 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
    • B21D5/0281—Workpiece supporting devices

Definitions

  • the invention relates to a sheet receiving system for the parts receiving and loading a sheet metal bending machine, in particular a press brake, comprising at least one manipulator for gripping and moving sheet metal parts with a gripper head equipped with gripping means, an electronic control device for controlling the movement of the manipulator and a measuring system for determining the position of the sheet metal parts according to the preamble of claim 1 and a method for receiving sheet metal parts from a sheet stack and positioning the sheet metal parts in a sheet metal bending machine, in particular a press brake, by means of a sheet receiving system comprising at least one manipulator for gripping and moving the sheet metal parts with a gripper head equipped with gripping means, a Electronic control device for controlling the movement of the manipulator and a measuring system for determining the position of the sheet metal parts, according to the preamble of claim 5.
  • Conventional sheet receiving system for sheet metal bending machines in particular for press brakes, usually comprise a manipulator which is positioned in a specific position in front of the sheet metal working machine and feeds the sheet metal parts from a supply device of the press.
  • the achievement of an exact gripping position of the sheet metal parts can be done on the one hand by the exact alignment of the sheet metal parts in the supply device, on the other hand by detecting the alignment of the edges of the sheet metal parts by means of a special usually mechanical detector device.
  • these methods require elaborate devices and are on the one hand very time-consuming and on the other hand relatively imprecise.
  • Another approach is the implementation of a sheet metal part identification with sensors arranged on the manipulator, whereby an exact alignment of the sheet metal parts in the supply device can be omitted.
  • a box-shaped gripper head connected to a vacuum source has a receiving plate provided with gripping means and further comprises an optoelectronic measuring device, in particular an image acquisition means and a lighting device.
  • the DE 196 39 590 A1 describes a bending center, which includes, inter alia, a loading device with a feed table and a manipulator assembly.
  • the loading device has a sensor which determines the bearings of the recorded sheet metal part relative to a defined insertion position in a bending cell.
  • the sensor is formed by a light barrier arranged on a fork.
  • the object of the invention is to provide a sheet metal receiving system or a method for sheet metal receiving, which allows a fast and reliable identification of the sheet metal parts.
  • This object of the invention is achieved independently by a sheet receiving system according to claim 1 and by a method for receiving sheet metal parts according to claim 5.
  • the advantage here is that even with complex sheet metal forms or isolated holes and recesses fast and reliable sheet metal detection is possible, whereby the cycle times shortened and the Committee can be reduced.
  • Another advantage is reflected in reflective or galvanized surfaces of the sheet metal part, as a conventional lighting, in particular a flash lighting, this strong reflections that makes secure sheet metal detection impossible, or complex countermeasures, such as multiple shots, special recordings with polarized light, etc. required.
  • the illumination according to the invention by means of the transmitted-light table, these reflections are avoided and at the same time a high contrast of the recorded image is produced, in order thereby to carry out a position determination of the sheet-metal part with high accuracy.
  • the transmitted-light platform forms a support surface for the sheet metal parts, whereby the sheet metal parts come in a well-defined height and location for filing and no additional storage facilities are necessary and thereby optimal quality of optoelectronic measurement and optimal contrast can be achieved ,
  • partial areas of the support surface are formed of a transparent material creates the advantage that a mechanically more stable transmitted light platform can be provided because, for example, areas which are not transparent, can be formed from more stable materials, such as metals.
  • the transmitted-light platform prefferably has a lighting device which extends over at least 30% of the area of the partial areas and is arranged on a side facing away from the support surface, whereby a high contrast for the optoelectronic measurement can be achieved in an advantageous manner on the other hand a uniform illumination of the sub-area is given and thereby a high quality of the images is achieved.
  • the transmitted-light platform has means for determining the position, since this makes it possible to determine the exact position of the platform in order to calibrate the system and thereby achieve a secure and accurate storage of the sheet-metal parts.
  • the transmitted-light platform has one to a maximum of three spaced-apart subregions, there is the advantage that very similar sheet metal parts can still be distinguished from one another reliably, and nevertheless a high stability of the transmitted-light platform is provided.
  • the advantage is achieved that consuming Provision facilities for receiving the sheet metal parts can be omitted by the manipulator, since no specific number of sheets or sheet metal layers must be available.
  • the advantage of a lower cycle time is achieved because a position correction can be done by the rapier head when re-recording after filing on the transmitted light platform and no additional position measurement is necessary.
  • the determined outline data are compared with stored in a storage device data, in particular CAD data of the sheet metal part, are compared by the computer and positive identification of the sheet metal part is released for further processing, whereby a safe and rapid control or identification of the sheet metal parts can be done
  • existing data from the CAD data can be used.
  • FIG. 1 shows a schematic representation of a press brake 1 with the sheet metal receiving system 2 according to the invention.
  • sheet metal parts 3 are formed, for example, to profiles or housing parts, etc.
  • the sheet-metal part 3 is deformed between an upper tool 4 and a lower tool 5 in a bending plane 6 running vertically with respect to a contact surface.
  • the upper tool 4 and the lower tool 5 are connected to an adjustable pressing beam 7 and a fixed press table 8. To reshape comes a sheet metal part 3 in the amount of a working level 9 on the lower tool 5 on a stop 10 to the plant.
  • gripping means 15 are arranged on the gripper head, which can be formed for example by a vacuum gripping device. This can for example be equipped with suction cups and formed by a device equipped with the required supply channels.
  • gripping means 15 can also be used in other embodiments, such as e.g. Magnetic gripper or mechanical gripper, etc.
  • the number of articulated arms 12 of the manipulator 11 should not be limited to the embodiment shown in FIG. 1, but their number or the arrangement of the axes of rotation 14 can be adapted to the respective requirements.
  • the axis of rotation 14 of the gripper head 13 extends in a direction parallel to the arranged articulated arm 12 direction thereby to allow additional degrees of freedom of movement.
  • an optoelectronic measuring device 16 can be arranged on the gripper head 13.
  • the optoelectronic measuring device 16 is preferably fastened on a side of the gripper head 13 arranged opposite to the gripping means 15.
  • the optoelectronic measuring device 16 is arranged on the same side of the gripper head 13 as the gripping means 15 or that the gripping means 15 and the optoelectronic measuring device 16 are arranged on the gripper head 13 in a common device.
  • the optoelectronic measuring device 16 can, in particular, record information about the sheet metal parts 3 to be processed, such as, for example, the type of sheet metal part 3, outline, position, etc.
  • the optoelectronic measuring device 16 is preferably formed by an image acquisition means, for example by an electronic camera. In a preferred embodiment, this camera can be formed by a camera operating on the basis of a CCD element. Also possible are line scan cameras which have only individual recording lines and the required recording area is optionally scanned in the form of a translatory movement.
  • the image acquisition means is formed by a plurality of cameras, in particular CCD cameras.
  • the image acquisition means may preferably have a coarse recognition camera and a fine recognition camera.
  • the sheet metal parts 3 can be gripped by the manipulator 11 without further position determination, only by means of a height determination or distance determination in a previously only roughly predetermined pickup position, and their position determined only in the subsequent fine recognition process.
  • the receiving position must then be determined beforehand by entering or detecting the position of the sheet stack and is corrected according to the recorded sheets to the respective sheet thicknesses.
  • the coarse identification and / or fine recognition of the sheet metal parts 3 can be done according to CAD data from the planning or construction, which are stored in a computer of the electronic control device. From these data, patterns are generated which are searched for in the recorded image and, if they match, the respective sheet metal part 3 is released.
  • the coarse detection and the fine detection can also be realized by a single optoelectronic measuring device 16, in particular a camera.
  • the optoelectronic measuring device 16 is part of a measuring system, which further comprises a transmitted-light platform 17.
  • the transmitted light platform 17 can be arranged arbitrarily in an environmental region of the sheet metal bending machine or the press brake 1. For this purpose, it is possible that the transmitted light platform 17 has means for determining position. These can be formed, for example, by reference marks arranged on the transmitted-light platform 17 or other clear markings, for which purpose it is once necessary for the calibration to first determine the position of the transmitted light platform 17 by means of the optoelectronic measuring device 16.
  • sheet metal part 3 After coarse detection of the position of the sheet metal part 3 on a sheet metal part stack and a completed height measurement recorded by the rapier head 13 sheet metal part 3 is first stored on the transmitted light platform 17. Subsequently, an image of the sheet metal part 3 is detected by the optoelectronic measuring device 16 of the measuring system and made available to a computer for determining the outline data.
  • This position determination or fine detection of the sheet metal parts 3 now allows an application of the gripper head 13 and the gripping means 15 in a corrected position on the sheet metal part 3 to accurately position the sheet metal part 3 in the sheet metal bending machine, in particular the press brake 1 according to the requirements.
  • the transmitted light platform 17 can form a support surface 18 for the sheet metal parts 3.
  • partial regions 19 of the support surface 18 may be formed from a transparent material.
  • These subregions 19 may be formed, for example, from glass or highly transparent plastic and their size and arrangement on the support surface 18 of the transmitted light platform 17 are individually adapted to the requirements. It can also be inventively formed up to three spaced-apart portions 19, whereby a distinction of very similar sheet metal parts 3 can still be done safely and yet a high stability of the transmitted light platform 17 is given.
  • the transmitted-light platform 17 has a lighting device 20 arranged on the side facing away from the support surface 18 for the sheet-metal parts 3.
  • the illuminance is chosen so that a sufficient contrast for recording an image with the optoelectronic measuring device 16 is achieved, but no overexposure and thus a poor quality of recording occurs.
  • an electronic adaptation of the exposure times and / or a change in the number of recordings can furthermore be provided.
  • the illumination device 20 of the transmitted-light platform 17 has lighting means which extend over at least 30% of the area of the partial regions 19. This improves the quality of the images through a flat illumination and a constant contrast ratio.
  • the transparent material of the partial area 19 of the support surface 18 may preferably also be such that a diffuse scattering of the light beams emitted by the illumination device 20 takes place, thereby likewise improving the image acquisition by a contrast ratio that remains constant over the entire area of the partial area 19 ,
  • the transmitted-light platform 17 it is also possible for the transmitted-light platform 17 to be arranged on a front side of the press brake 1, in particular the press table 8, facing the manipulator 11.
  • the transmitted-light platform 17 can preferably be arranged in a vertical position (not shown in FIG. 1).
  • the optoelectronic measuring device 16 is associated with the transmitted light platform 17 and is positioned in a suitable position and a suitable distance from the transmitted light platform 17.
  • the optoelectronic measuring device 16 can be made adjustable in its position in order to make necessary position corrections easy.
  • On the gripper head 13 may be an additional optoelectronic measuring device 16 for determining an on-taking position of the sheet metal parts 3 may be arranged.
  • FIG. 2 shows a schematic plan view of the sheet metal receiving system 2 according to the invention.
  • FIG. 1 Shown is a press brake 1 with the sheet receiving system 2 according to the invention in a plan view.
  • the manipulator 11 from FIG. 1 is not shown, but only the optoelectronic measuring device 16, which is shown on the gripper head 13 of the manipulator 11 according to FIG. 1.
  • the transmitted-light platform 17 forms a bearing surface 18 for the sheet-metal parts 3. Furthermore, a partial region 19 of the transparent plates, which may be formed from a transparent material, for example glass or transparent plastic, is formed.
  • a lighting device 20 is arranged, which is preferably formed over at least 30 ° of the surface of the portion 19.
  • a plurality of transparent subregions 19 are arranged on the transmitted light platform 17 and, for example, to illuminate characteristic areas in the case of larger or strongly similar sheet metal parts 3.
  • markings which represent a reference position of the position of the transmitted light platform 17 in space are arranged on the transmitted light platform 17.
  • the sheet metal part 3 can be placed on the transmitted light platform 17 and it can be a rotation of the gripper head 13 about the axis of rotation 14 to determine by means of the optoelectronic measuring device 16, the deviation of the position of the sheet metal part 3 on the support surface 18 of a desired desired position.
  • the sheet metal part 3 is now gripped by the gripper head 13 by means of the gripping means 15 in a corrected position and fed to the press brake 1 in the correct position for the bending operation.
  • the optoelectronic measuring device 16 is arranged on the same side of the gripper head 13 as the gripping means 15 or that the gripping means 15 and the optoelectronic measuring device 16 are arranged in a common device on the gripper head 13, a storage of the sheet metal part 3 and a rotation of the gripper head 13 omitted.
  • the transmitted-light platform 17 is not arranged separately from the press brake, as shown in FIG. 2, but is arranged at a suitable position on the press brake 1, as has already been explained in more detail in FIG.
  • the optoelectronic measuring device 16 according to the invention which is preferably formed by an electronic camera, is equipped with corresponding lenses for adjusting the focal length.
  • a coarse identification camera and an additional fine recognition camera of course, different lenses can be used.
  • an additional diode laser for the projection of a mark used for distance determination on the sheet metal parts 3.
  • a positioning of the sheet metal parts 3 in the press brake 1 is carried out by detecting a characteristic area of the sheet metal part 3, according to the specifications of a production program for the production of a workpiece, which can be taken over by a computer directly from the design area, especially the CAD data.
  • the electronic control device for controlling the movement of the manipulator 11 may be integrated in the computer and at the same time take over the task of the Brechteilerkennung.
  • the optoelectronic measuring device 16 or the transmitted light platform 17 are arranged directly on the sheet metal bending machine, no new gripping of the sheet metal part 3 takes place after the position detection, but a correction of the position of the gripper head 13 or sheet metal part 3 is performed directly and the sheet metal part 3 of the press brake 1 in the for the Bending process fed correct position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (9)

  1. Système d'alimentation (2) pour la réception de parties et le chargement d'une machine à cintrer les tôles, en particulier d'une presse plieuse (1), comprenant au moins un manipulateur (11) pour saisir et déplacer des pièces de tôle (3) avec une tête de préhension (13) pourvue de moyens de préhension (15) et avec un dispositif de commande électronique pour commander le mouvement du manipulateur (11) ainsi qu'avec un système de mesure pour la détermination de la position des pièces de tôle (3), qui est formé par un dispositif de mesure opto-électronique (16), en particulier un moyen de détection d'images, et une plateforme à lumière transmise (17), caractérisé en ce que la plateforme à lumière transmise (17) constitue une face d'application (18) pour les pièces de tôle (3) et que des zones partielles (19) de la face d'application (18) sont réalisées en un matériau transparent.
  2. Dispositif d'alimentation (2) selon la revendication 1, caractérisé en ce que la plateforme à lumière transmise (17) présente une installation d'éclairage (20) disposée sur un côté éloigné de la face d'application (18) des pièces de tôle (3), s'étendant sur au moins 30% de la face des zones partielles (19).
  3. Système d'alimentation (2) selon la revendication 1 ou 2, caractérisé en ce que la plateforme à lumière transmise (17) présente des moyens pour la détermination de la position.
  4. Système d'alimentation (2) selon la revendication 1 ou 2, caractérisé en ce que la plateforme à lumière transmise (17) présente une, au maximum jusqu'à trois zones partielles (19) espacées les unes des autres.
  5. Procédé d'alimentation de pièces de tôle (3) d'une pile de tôles et positionnement des pièces de tôle (3) dans une machine à cintrer les tôles, en particulier une presse plieuse (1), au moyen d'un système d'alimentation (2), comprenant au moins un manipulateur (11) pour saisir et déplacer les pièces de tôle (3) avec une tête de préhension (13) munie de moyens de préhension (15), un dispositif de commande électronique pour commander le mouvement du manipulateur (11) ainsi qu'un système de mesure pour déterminer la position des pièces de tôle (3), caractérisé en ce qu'une pièce de tôle (3) est saisie avec les moyens de préhension (15) du manipulateur (11) et est amenée à une plateforme à lumière transmise (17) formant une face d'application (18) pour la ou les pièces de tôles, et une installation d'éclairage (20) éclaire depuis le côté éloigné des moyens de préhension (15) du manipulateur (11) au moins des zones partielles (19) de la plateforme à lumière transmise (17), et un dispositif de mesure opto-électronique (16) du système de mesure détecte une image de la pièce de tôle (3), en particulier une zone partielle de la pièce de tôle (3), et par un calculateur, des données de contour sont calculées à partir des données d'images et à partir de celles-ci, une nouvelle position de préhension respectivement une correction de la position de la tête de préhension est calculée, et la tête de préhension (13) reçoit la pièce de tôle (3) dans la nouvelle position de préhension respectivement corrige sa position et l'amène à la machine cintrer les tôles.
  6. Procédé selon la revendication 5, caractérisé en ce qu'avant la première alimentation de la pièce de tôle (3), au moyen du système de mesure, est effectuée une détermination de la hauteur et une détermination grossière de la position de réception de la pièce de tôle (3).
  7. Procédé selon la revendication 5, caractérisé en ce qu'avant la première alimentation de la pièce de tôle (3), au moyen du système de mesure, a lieu une détermination de la hauteur de la position de réception de la pièce de tôle (3).
  8. Procédé selon la revendication 5, caractérisé en ce que les données de contour déterminées sont comparées par le calculateur avec des données, en particulier des données CAD de la pièce de tôle (3), stockées dans un dispositif de stockage, et lors d'une identification positive, la pièce de tôle (3) est libérée pour le traitement ultérieur.
  9. Procédé selon la revendication 5, caractérisé en ce que dans le cas d'une identification négative par le calculateur, un message de perturbation est émis, et la pièce de tôle (3) est extraite.
EP05004293A 2004-03-05 2005-02-28 Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles Active EP1570927B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0039204A AT502501B1 (de) 2004-03-05 2004-03-05 Durchlichteinheit
AT3922004 2004-03-05

Publications (2)

Publication Number Publication Date
EP1570927A1 EP1570927A1 (fr) 2005-09-07
EP1570927B1 true EP1570927B1 (fr) 2007-11-07

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Family Applications (1)

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EP05004293A Active EP1570927B1 (fr) 2004-03-05 2005-02-28 Dispositif d'alimentation pour machine à cinter les tôles avec un dispositif d'éclairage et procédé d'alimentation des tôles

Country Status (5)

Country Link
US (1) US7201032B2 (fr)
EP (1) EP1570927B1 (fr)
AT (2) AT502501B1 (fr)
DE (1) DE502005001852D1 (fr)
ES (1) ES2297549T3 (fr)

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JP2003326486A (ja) * 2001-06-20 2003-11-18 Amada Co Ltd ワーク位置決め装置
ES2360386T3 (es) 2008-03-12 2011-06-03 SCHULER AUTOMATION GMBH & CO. KG Dispositivo y procedimiento para la orientación de la posición de piezas de forma de placa.
EP2177326A3 (fr) * 2008-10-14 2012-04-04 Safan B.V. Procédé d'alignement d'une pièce de travail sur un robot
AT508310B1 (de) 2009-05-18 2011-02-15 Trumpf Maschinen Austria Gmbh Verfahren zum betrieb einer fertigungspresse
CN108855732B (zh) * 2015-12-31 2020-08-25 徐州德坤电气科技有限公司 一种具有自动喷涂单元的智能钣金件生产系统
CN106734467B (zh) * 2016-12-14 2018-06-05 安徽海拓志永智能装备股份有限公司 一种悬挂式机械手自动化冲压线
CN108380773A (zh) * 2016-12-14 2018-08-10 安徽海拓志永智能装备股份有限公司 采用高效机械手的自动化冲压线
JP2021183349A (ja) * 2020-05-22 2021-12-02 株式会社アマダ 曲げ加工システム及びその使用方法
EP4357040A1 (fr) * 2022-10-19 2024-04-24 Variobend-ASCO GmbH Procédé de fourniture de pièces de tôle à introduire dans une machine de pliage de tôle ainsi que combinaison d'un dispositif de fourniture de pièces de tôle à introduire dans une machine de pliage de tôle et d'un dispositif de pliage latéral

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EP1503874B1 (fr) * 2002-05-13 2006-04-26 Trumpf Maschinen Austria GmbH & CO. KG. Equipement de fabrication avec une presse a plier et mode de fonctionnement de cet equipement de fabrication

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Publication number Publication date
AT502501B1 (de) 2007-04-15
ES2297549T3 (es) 2008-05-01
EP1570927A1 (fr) 2005-09-07
ATE377464T1 (de) 2007-11-15
US7201032B2 (en) 2007-04-10
AT502501A4 (de) 2007-04-15
US20050223772A1 (en) 2005-10-13
DE502005001852D1 (de) 2007-12-20

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