EP1631401B1 - Procede et dispositif pour faconner une piece par manipulation automatique - Google Patents

Procede et dispositif pour faconner une piece par manipulation automatique Download PDF

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Publication number
EP1631401B1
EP1631401B1 EP04735197A EP04735197A EP1631401B1 EP 1631401 B1 EP1631401 B1 EP 1631401B1 EP 04735197 A EP04735197 A EP 04735197A EP 04735197 A EP04735197 A EP 04735197A EP 1631401 B1 EP1631401 B1 EP 1631401B1
Authority
EP
European Patent Office
Prior art keywords
workpiece
handling
forming
handling devices
devices
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP04735197A
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German (de)
English (en)
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EP1631401A1 (fr
Inventor
Frank Reissenweber
Harald Barnickel
Lothar Bauersachs
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.)
Langenstein and Schemann GmbH
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Langenstein and Schemann GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE10333394A external-priority patent/DE10333394A1/de
Application filed by Langenstein and Schemann GmbH filed Critical Langenstein and Schemann GmbH
Priority to EP08005314A priority Critical patent/EP1944103A3/fr
Publication of EP1631401A1 publication Critical patent/EP1631401A1/fr
Application granted granted Critical
Publication of EP1631401B1 publication Critical patent/EP1631401B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools

Definitions

  • the invention relates to a method and an apparatus for forming a workpiece (see eg DE-A-25 54 277 ).
  • Beating forming machines comprise a working area in which two tools, generally rectilinear, are movable relative to each other. The workpiece is placed between the two tools and then reshaped by the impact or impact energy as the tools strike the workpiece and the forming energy caused thereby.
  • a scraper hammer comprises a scraper (or: a carrier, an anvil) as a tool fixed relative to the workpiece, and a striker or, in short, bears, relative to the workpiece and scraper, usually a vertical, moving tool.
  • a counter-hammer has two against each other and in each case relative to the ground or the hammer frame, vertically or horizontally, moving striker on.
  • the drives for the bears of blacksmith hammers are generally hydraulic or pneumatic.
  • the hammer frame and the hammer drives of a forging hammer are relieved of the forming force, so that forging hammers are not overloaded.
  • the moving tool is usually called a ram.
  • the plunger is moved rectilinearly to the stationary tool by a spindle.
  • the drive of the spindle and thus of the tappet takes place (VDI-Lexikon a. A. O.) Via a drive motor and / or a flywheel as an energy storage
  • the forming pressure and the forming temperature depend on the material of which the workpiece is made, as well as on the requirements for dimensional accuracy and surface quality.
  • Forgettable materials are basically all malleable metals and metal alloys, including both ferrous materials such as steels and non-ferrous metals such as magnesium, aluminum, titanium, copper, nickel and alloys thereof.
  • the temperatures occurring during forging can be in the range of room temperature for a so-called cold forming, between 550 ° C. and 750 ° C. for a warm forging and above 900 ° C. for a so-called hot forming.
  • the forming temperature is usually also placed in a temperature range in which the formability or flowability of the material required for forming is present as well as recovery and recrystallization processes can take place in the material and also undesirable phase transformations are avoided.
  • Industrial robots are universally applicable automatic movement machines with a sufficient number of degrees of freedom of movement, realized by a corresponding number (5 to 6) of axes of motion, and a freely programmable controller for the realization of virtually any movement trajectories of the workpiece within the movable or reachable by the industrial robot space area.
  • a problem with the use of such handling devices are the high impact forces in a beating forming machine, which can significantly burden and damage the handling device during forming blow when the handling device holds the workpiece when the bear or tappet blows.
  • a handling device for holding a forging in the forging process in which a chassis carries a gripper device via a sleeve, which has a forging part during the forging gripping gripping tongs detected.
  • the collar is hydraulically selectively in a yielding state and a rigid state brought.
  • Out DE 100 60 709 A1 is a trained as a manipulator or robotic handling device for handling a forged part in the forging process known with a grasping forceps and gripping tongs carrying the gripper arm, which is connected via a resilient block piece of an elastically deformable material with an arm portion which by means of a first electric motor and can swing from pivoting and can raise and lower by means of a second electric motor. These two movements of the arm area are synchronized by a control device. Due to the flexibility of the block piece, the front portion of the gripper with the gripper arm and the gripper tongs is pivotable relative to the rear portion with the arm portion and the drive motors in the block piece as a kind of hinge.
  • the gripper sets a forging workpiece on a die of a forging hammer and the striker strikes the workpiece from above, vibrations or shocks generated thereby in the elastic block piece can be damped and trapped, so that the drives are relieved.
  • the elastic block piece is bridged by means of a Starrstellstange which establishes a rigid connection between the gripper arm and the arm portion over the block piece.
  • the Strostellstange is fixed in parallel position of the front gripper arm and rear arm and detachable when the workpiece on the die of the forge hammer by lifting the rear arm area.
  • the forgings may in part have significant variations in shape, particularly at the ends gripped by the handling equipment , Therefore, it can come when gripping with the known automatic gripping devices to significant deviations of the position of the forging relative to the handling device and thus also relative to the tool of the forming machine, which can have a high rejection and in extreme cases even damage to the tools result.
  • the position of the workpiece in the tool of the forming machine could now be detected for example by an image recognition and the handling device can be controlled accordingly to correct a deviation of the position of the workpiece relative to the tool from a target position.
  • this is quite expensive and functioning systems are not yet available for practical use.
  • the invention is based on the object at least partially to reduce or completely avoid the above problems in the prior art.
  • the movement of the tools in the forming machine relative to each other involves both the case of only one of the two tools moving relative to the ground or machine frame or other external frame of reference and the other remaining fixed to that external system, such as a top hammer or a hammer Monkey or a screw press, as well as the case that both tools move relative to the external reference system, such as a counter-impact hammer.
  • the forming position of the workpiece refers to its absolute and adjustable geometric position in space with respect to an external coordinate system.
  • a change of the forming position is thus generally composed of translatory and / or rotational position changes or movements, ie the workpiece can be moved and / or rotated.
  • the work area of the forming machine is the area between the tools where the actual forming takes place. It can also be formed several work areas between two tools, which can be defined for example by different engravings in a die.
  • the movement takes place in accordance with a predefined or predetermined movement sequence or movement profile or a corresponding stored control program (no feedback "open-loop-control"), while the movements of the handling devices are metrologically detected during the regulation and predetermined set movements (reference variables of the movement ) are adjusted or regulated (feedback, "closed-loop-control").
  • Automatically means that at least during the forming step itself no human intervention or holding the workpiece is required, but this is done automatically by the handling devices (or: automatic actuators) under control of the control device. Matched to each other are the movements or positions of the handling devices in order to be able to handle the workpiece exactly, in particular to hit it to be able to fix the forming machine in the forming position. So there is a kinematic coupling between the two handling devices provided when handling the workpiece during its transformation.
  • the invention is based on the idea of holding the workpiece at least during the impact of the impact tool or tools, the forming machine during the forming step at least two locations, each with an industrial robot or hold gripped.
  • Another advantage is that kinking of a longer workpiece on one side can be prevented because the industrial robots can fix the workpiece on both sides and stabilize it during forming.
  • a particular advantage of the invention is the possibility of compensating a deviation of the position of the workpiece relative to the tools due to a corresponding deviation of the shape of a workpiece in an area in which a first attacks the industrial robot. This is accomplished by gripping and holding the workpiece in a second area by means of the second industrial robot.
  • the workpiece is brought by the measures according to the invention between the two industrial robots in a kind of middle layer, while it is displaced or twisted when gripping with only one handling device as in the handling devices in the prior art due to the tolerances.
  • this problem of prefabrication tolerances is not relevant because the human easily corrects a deviation of the position of the workpiece and inserts the workpiece correctly.
  • the kinematic coupling of industrial robots is realized electronically or control or control technology via a coupling of the control of their drive systems.
  • the control device controls or regulates the two handling devices, in particular their respective drive devices, in one embodiment according to a master-slave control principle, wherein an industrial robot serving as a slave follows an industrial robot serving as a master in the movements.
  • control device controls the two industrial robots, in particular their respective drive devices, independently of one another, with respective control sequences matched to one another.
  • each industrial robot or its point of attack on the workpiece moves during a movement and / or handling of the workpiece along a previously determined trajectory with a predetermined speed profile and / or trailing consecutive trajectory points at regular time intervals.
  • the associated trajectory of the industrial robot or its point of application on the workpiece is preferably taught in advance, but can also be calculated or simulated.
  • the trajectory of one of the at least two industrial robots or its point of application is taught on the workpiece and the trajectory of the at least one other industrial robot or its point of attack on the workpiece is calculated in advance from the learned trajectory of the first industrial robot and stored or calculated in real time ,
  • the trajectory points are sequentially recorded and stored.
  • the speed course during training is preferably predetermined according to the later speed course in the process.
  • the actual speed profile during operation can also be considered later and new trajectory points can be calculated and stored.
  • workpiece trajectory follows the trajectory points stored during teach-in, possibly after speed correction, at the same time intervals and in the same sequence as during teach-in.
  • the two industrial robots are preferably located on opposite sides of the working area or the tools of the forming machine. Furthermore, the industrial robots may preferably also be moved to a parking position in order to make the working area or areas of the forming machine (s) accessible
  • the device is now preferably developed by absorbing a flexible connection of carrier device and transport device in a flexible state at least partially shocks or vibrations that are transmitted during the forming process from the workpiece in the forming machine to the handling device, and thus protects the transport device from these mechanical loads and that a rigid connection or position of carrier and transport means in a rigid state, however, is used when handling the workpiece during transport or during rotation or pivoting before or after forming steps.
  • first industrial robot also called first, handling device
  • second industrial robot also called second handling device
  • Each of the handling devices 2 and 2 ' is an industrial robot.
  • the two handling devices 2 and 2 ' formed substantially identical and each comprise a gripping device (or: gripper tongs) 3 and 3', a support shaft 4 and 4 ', a support means (or: rigid setting device) 5 and 5' , a bearing part 6 or 6 ', a flexible element 7 or 7', a pivot drive (or: rotary drive) 8 or 8 ', a joint 9 or 9', an actuating device 11 or 11 'and a transport device 16 or 16 '.
  • Each gripping device 3 or 3 ' comprises two gripping levers 32 and 33 or 32' and 33 'each having an associated gripping jaw (or: gripping element, jaw jaw) 30, 31, 30' and 31 ', which by means of the actuating device 11 or 11 'to each other about a pivot axis E and E' in a pivot bearing 34 and 34 'are pivotable to open and close the gripping device 3 and 3'.
  • the actuating device 11 or 11 ' engages in an attack bearing 35 or 35' on the gripping lever 33 or 33 'and is in a pivot bearing 14 or 14' about a pivot axis D and D 'pivotally mounted on a holding part 61 and 61st 'of the bearing part 6 and 6' stored
  • the gripping lever 32 or 32 'of the gripping device 3 or 3' is connected via the carrier shaft 4 or 4 'with an intermediate part 60 or 60' of the bearing part 6 or 6 'coaxially along an axis M.
  • the flexible element 7 or 7' is arranged, and via a respective flange 67 and 87 or 67 'and 87' is connected to the intermediate part 60 or 60 'and the pivot drive 8 or 8' and consists of an elastic material, preferably an elastomer.
  • the flexible element 7 or 7 ' are now the front unit of the handling device 2 or 2', namely the gripping device 3 or 3 ', the support shaft 4 or 4' and the bearing part 6 or 6 'and the actuator 11th or 11 ', on the one hand and the rear unit of the handling device 2 or 2', namely the pivot drive 8 or 8 'and the hinge 9 or 9' and the transport device 16 or 16 ', and thus also their axes M and N mutually pivotable.
  • FIG. 3 and 4 show in a sectional view through the lifting cylinder of the actuator 11 and the support shaft 4 and the support means 50 of the manipulator 2 according to FIG. 1 an embodiment of a pivoting movement.
  • FIG. 3 shows a vertical position in which a central axis B of the support member 50 of the support means 5 and a central axis C of the actuator 11 and the bearing part 6 coincide, the actuating device 11 is thus seen in the direction of gravity G above the intermediate part 60 of the bearing part 6 is arranged.
  • FIG. 4 is now the front unit of the handling device 2 pivoted by a pivot angle ⁇ to the right in a clockwise direction or rotated.
  • the carrier shaft 4 rotates about the rotation axis R in its support bearing 54 of the support means 5.
  • the center axis C of the front unit, in particular the bearing part 6 and the actuator 11, and thus the gripping device 3 are now to the pivot angle ⁇ with respect to the central axis B of Supporting device 5 pivoted. This allows a workpiece 10 to rotate about the corresponding pivot angle ⁇ .
  • the support device 5 or 5 'of the handling devices 2 and 2' comprises a longitudinal connecting rod 53 or 53 ', on which a transversely extending first fastening part 51 or 51' for connecting the connecting rod 53 or 53 'with the pivot drive 8 or 8' and further behind a transversely extending second Fastening part 52 or 52 'for connecting the connecting rod 53 or 53' with the joint 9 or 9 'and in the front region a transversely to the connecting rod 53 or 53' upwardly projecting support member 50 and 50 'for fixing or supporting the Carrier shaft 4 and 4 'are arranged.
  • the support member 50 and 50 ' has an incision as a support bearing (or: a shaft seat) 54 and 54' for the support shaft 4 and 4 '(see 3 and 4 ).
  • the handling devices 2 and 2 ' are moved from both sides onto a workpiece 10 or 10' in the direction of the illustrated arrows, the axes M and N being coaxial and horizontal, ie perpendicular to the gravitational force G, and the flexible one Element 7 or 7 'is substantially undeformed.
  • the connecting rod 53 or 53 ' now extends parallel to the axes M and N and the support member 50 and 50' supports the support shaft 4 and 4 'and thus the associated gripping device 3 and 3' in its support bearing 54 and 54 'down.
  • the support device 5 or 5 'thus represents a mechanical bridging over the flexible element 7 or 7' and thus eliminates in the position according to FIG.
  • the rigid connection is maintained solely by the weight of the parts of the handling device 2 and 2 '.
  • the gripping means 3 and 3 ' Upon reaching the workpiece 10, the gripping means 3 and 3 'are closed and thus the workpiece 10 is gripped at its ends 10A and 10B and transported by the transport means 16 and 16' to a forming machine and placed there in the forming position for forming on a tool.
  • the handling device 2 or 2 ' is held in a rigid state via the support device 5 or 5'.
  • FIG. 2 shows the workpiece 10 in the mounted state on the lower tool or die 12 of a forging hammer.
  • the striking tool 13 now strikes the workpiece 10 in the direction of impact A.
  • the impact movement produces considerable impact and vibration loads, which are transmitted via the workpiece 10 to the handling devices 2 and 2 '.
  • the elastic elements 7 and 7 ' now decouple these shocks or vibration largely from the transport device 16 or 16' and the pivot drive 8 or 8 ', so that these drive devices are protected against overloading.
  • the gripping means 3 and 3 ' are engaged with the gripped workpiece 10 in the supported state, i. when in support of the support shaft 4 located support means 5 to the desired pivot angle ⁇ in the same direction of rotation and at the same rotational or angular speed pivoted to rotate the workpiece without torsion in its desired forming position.
  • a rotational movement of an output shaft of a in the drive housing 80 or 80 'of the rotary actuator 8 and 8' arranged drive motor possibly via a transmission, via the drive flange 87 and 87 'and the flexible member 7 and 7' on the Connecting flange 65 and 65 'transmitted, which in turn rotates the intermediate part 60 and 60', the support shaft 4 and 4 'and the gripping device 3 and 3'.
  • the rotation of the gripping means 3 and 3 ' may be omitted if rotation is not desired.
  • FIG. 5 shows, starting from FIG. 2 , The situation shortly after the striking tool 13 strikes the workpiece 10 and the surrounding areas of the tool 12.
  • the impact tool 13 is again in a direction away from the tool 12 upward movement in a return direction RH by the recoil and possibly by a drive.
  • the workpiece 10 is raised or released by the tool 12 by a distance d.
  • This release movement of the two handling devices 2 and 2 'and the workpiece 10 held by them thus follows the upwardly moving impact tool 13 in the same direction as the return direction RH.
  • scale material is blown out of the lower die 12 by means of a blower.
  • the venting also shortens the contact time of the workpiece 10 with the lower die or die 12.
  • either the workpiece 10 can now be placed again on the tool 12 or on another die or another engraving of the tool 12 and be reshaped with the striking tool 13. But it can also be completed the forming process and the workpiece 10 from the in FIG. 5 shown ventilated position of the two handling devices 2 and 2 'moved out of the work area of the forming machine between the two tools 12 and 13 and transported to a storage device.
  • FIG. 6 shows an embodiment of a handling of a workpiece 10 with two handling devices 2 and 2 ', starting from the recording on a supply device 41 to laying on a tool 12 of a hitting forming machine.
  • the trajectories or trajectories of the two handling devices 2 and 2 ' are denoted by S and S', the directions of movement are indicated by arrows.
  • the two handling devices 2 and 2 ' are each started at a time t0 from a parking or starting position S (t0) and S' (t0) and move toward the workpiece 10 on the supply device 41.
  • the handling devices 2 and 2 ' respectively reach the ends 10A and 10B of the workpiece 10 at the respective positions S (ti) and S' (ti).
  • the gripping devices 3 and 3 ' grip the respective end 10A and 10B of the workpiece 10 and the handling devices 2 and 2' now transport the workpiece 10 along the trajectories S and S '.
  • the two trajectories S and S ' run parallel to each other and the handling devices 2 and 2' are moved synchronously with each other.
  • the handling devices 2 and 2' introduce the workpiece 10 into the working area between the tools 12 and 13 of the striking forming machine and move the workpiece 10 down to a predetermined forming position on the tool 12 to an end position S. (tn) for the handling device 2 and S '(tn) for the handling device 2' at an end time tn on opposite sides of the working area or tool 12 of the forming machine.
  • the dashed workpiece 10 is now in the forming position on the tool 12 and can be reshaped.
  • the handling devices 2 and 2 ' which are likewise indicated by dashed lines, hold the ends 10A and 10B of the workpiece 10 firmly again.
  • a release movement by the handling devices 2 and 2 'take place can now as in FIG. 5 a release movement by the handling devices 2 and 2 'take place.
  • the workpiece 10 can additionally or alternatively be implemented by being engraved from one tool into another or also from the forming machine to a depositing or discharging device.
  • the tools 12 and 13 are according to the invention forming tools, so-called dies with corresponding to the desired shape of the workpiece adapted engravings.
  • the handling devices generally hold the workpiece 10 throughout the forging cycle and perform all of the handling movements necessary for the forging process jointly and synchronously.
  • handling movements are, inter alia, Lsymmetricterrorismen within an engraving and Umsetzzien of the feeder in the first engraving of the die, Umsetzzien between engravings of Gesenkes and Umsetzdochen of an engraving of Gesenkes in a discharge device.
  • workpieces are preferably also forged whose ends, on which the handling devices hold the workpiece during handling, are not symmetrical to the workpiece axis. These workpieces are stretched in previous steps, wherein it happens that the ends of the workpiece are formed asymmetrically. As a result of the workpiece 10 being grasped at both ends 10A and 10B by a respective handling device 2 and 2 ', the workpiece 10 is aligned automatically, so that the workpiece 10 is placed in its correct position in the engraving or the tool 12.
  • the common and synchronous driving of the two handling devices 2 and 2 ' is achieved via an electrical coupling between the two handling devices 2 and 2', wherein the coupling via the master-slave operation of electric drives or by the simultaneous start of independently operating drives is achieved.
  • the start signal for the individual handling steps is supplied by a control device which controls the sequence between the beating forming machine and the two handling devices 2 and 2 '.
  • This control device can additionally carry out the complete signal exchange.
  • the control device operates by means of at least one digital processor, in particular a microprocessor or a digital signal processor, and corresponding memory in which the sequence programs, control algorithms and data for the movements are stored.
  • a master-slave operation known per se master-slave control units can be used.
  • For independently operating drives the same distances and speeds as well as error feedback and error responses between the independent drives are provided in order to ensure an exact and in case of failure safe operation.
  • a workpiece is fed by means of a feeder or providing device.
  • both handling devices 2 and 2 'grip the workpiece 10 and insert the workpiece 10 together and synchronously into an engraving of the die of the striking die-forming machine.
  • the beating die-forming machine is triggered at a variable time during or at the end of the handling movement and after triggering the further handling of the workpiece is initiated at a variable time during or at the end of the impact movement.
  • This further handling is again together and synchronously by both handling devices 2 and 2 'and may be a release movement of the workpiece in the same engraving, a common and synchronous conversion of the workpiece in a further engraving or the common and synchronous transfer of the workpiece in a storage device for the finished formed workpiece.
  • the second handling device 2 also grips the workpiece 10 at a later time of the forging cycle and both handling devices 2 and 2' forge from this point in time together and in sync like already described.
  • the partial reacting or forging with only one handling device is particularly useful when more than two handling devices are used, since this or the other handling devices already pick up a new workpiece and possibly even forge if the other two handling devices forge the previous forging finished or insert into a discharge device.
  • FIG. 7 shows another embodiment of an apparatus for handling a workpiece during a forging process.
  • This device again comprises two industrial robots 2 and 2 'with respective gripping devices 3 and 3'.
  • the counter tool or impact tool of this die-forming machine is not shown and would be in the illustrated plan above the plane of the drawing.
  • the impact tool of the forming machine is triggered.
  • a new sequence for the further handling of the workpiece 10 is initiated by a time during or at the end of the impact movement of the impact tool.
  • the workpiece 10 is fixed in its forming position on the engraving 17 of the two handling devices 2 and 2 'to the impact and during the impact of the impact tool and held at both ends.
  • the workpiece 10 is handled jointly and synchronously by the two handling devices 2 and 2 'according to the stored further handling routine.
  • the workpiece 10 is released, as indicated by FIG. 5 already explained, and then either processed again in the first engraving 17 or immediately implemented in the second engraving 18 of the tool 12.
  • FIG. 8 shows a park or rest position of the two handling devices 2 and 2 'in a device according to FIG. 7 , In the parking position of the handling devices access to the tools 12 and 13 of the forming machine for tool change, for post-processing or for a manual test operation of the beating forming machine is possible.
  • the movement of the handling devices 2 and 2 'and thus the handling movements for the workpiece 10 are usually taught.
  • the workpiece 10 with the two handling devices 2 and 2 'guided along the intended trajectory and possibly rotational movements and the individual space points or the corresponding motion parameters in the motion system of the handling devices 2 and 2' are at regular intervals, typically 16 ms, saved.
  • the trajectors S and S 'of the handling devices 2 and 2' are each in the form of discrete data sets which each belong to a point on the trajectories, starting from the track points S (t0) and S '(t0) via S (ti). or S '(ti), S (tj) or S' (tj) up to the end point S (tn) or S '(tn).
  • the movement is guided along the stored trajectories S and S '.
  • the handling devices 2 and 2 ' may have independent drive systems and control systems from the hardware, but are electrically or electronically coupled by the mismatched control programs and operations that enable the synchronous movements.
  • This embodiment has the advantage over a master-slave operation that there is no following error between the two handling devices 2 and 2 ' the stepwise succession as in the master-slave operation more arises, but the two handling devices 2 and 2 'are at each time tm on mutually synchronous or parallel track points.
  • the handling devices 2 and 2 'can in addition to the basis of the 1 to 4 described embodiments, other industrial robots are used, preferably a good damping of the movement joints and other movement mechanisms is provided to relieve the drives of the recoil and the vibrations when hitting the impact tool of the forming machine.
  • handling movements may also be provided by the handling devices 2 and 2 'with or without a workpiece 10.
  • the distance between the gripping devices is usually dependent on the length or along this distance measured dimension of the workpiece and remains constant during the synchronous common handling usually.
  • the gripping pressure of the gripping devices 3 and 3 ' can be reduced and - without letting go or open the gripping devices 3 and 3' - the gripping devices 3 and 3 'of the handling devices 2 and 2' can be pulled further outwards along the workpiece 10
  • the movement trajectories of the two handling devices can also deviate from each other in an adapted manner, for example in an offset or a correction, for example if the Workpieces have different burrs or other different shape at the attack areas.
  • the workpiece can also be rotated about an axis of rotation, in particular with the aid of the 1 to 4 described embodiments of the handling devices. Furthermore, of course, rotary movements or portions of rotational movements for transporting the workpiece 10 are possible, for example, to pass through narrow areas on the transport path.
  • the error communication about the in FIGS. 7 and 8 shown control device makes it possible to interrupt the process in an impermissible deviation of the handling devices of the prescribed trajectory at a certain time, especially to stop the handling equipment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)
  • Manipulator (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Turning (AREA)

Claims (20)

  1. Procédé pour le façonnage d'au moins une pièce, dans lequel
    a) la pièce (10) est positionnée dans une position de façonnage prédéfinie ou prédéfinissable dans au moins une zone de travail d'au moins une machine de façonnage par frappe, c'est-à-dire d'un marteau pilon ou d'une presse à vis ou d'une presse à manivelle, entre deux outils (12, 13) spécifiques, qui sont des outils à matrice de formage pour le façonnage de la pièce, la pièce étant disposée dans une position de façonnage dans ou sur l'un des outils de la machine de façonnage ou étant insérée ou posée dans sa position de façonnage dans ou sur l'outil,
    b) pendant au moins une étape de façonnage, les outils de la machine de façonnage sont déplacés les uns par rapport aux autres et la pièce est façonnée entre les outils,
    c) pendant chaque étape de façonnage, la pièce est maintenue par au moins deux appareils de manipulation (2, 2') dans sa position de façonnage,
    d) les déplacements et les positions des appareils de manipulation étant commandés ou réglés de façon automatique et coordonnée par au moins un dispositif de contrôle (43) et
    e) les appareils de manipulation étant des robots industriels.
  2. Procédé selon la revendication 1, dans lequel la pièce est façonnée en au moins deux étapes de façonnage dans la même zone de travail et/ou dans la même position de façonnage et/ou dans différentes zones de travail d'une ou de plusieurs machines de formage et/ou dans différentes positions de façonnage.
  3. Procédé selon la revendication 2, dans lequel la pièce est déplacée entre deux étapes de façonnage consécutives d'au moins un appareil de manipulation d'une zone de travail à la prochaine zone de travail ou d'une position de façonnage à la prochaine position de façonnage et est positionnée dans cette position de façonnage, en particulier est tournée entre une position de façonnage et une prochaine position de façonnage, de préférence autour d'un axe de rotation passant par la pièce, en particulier d'un angle de rotation d'environ 90°.
  4. Procédé selon l'une quelconque des revendications précédentes, dans lequel chaque pièce est transportée avant l'étape de façonnage ou la première étape de façonnage par au moins un appareil de manipulation d'un dispositif de mise à disposition à la zone de travail respectivement la première zone de travail de la machine ou des machines de façonnage et/ou dans lequel chaque pièce est transportée après l'étape de façonnage ou après la dernière étape de façonnage par au moins un appareil de manipulation de la zone de travail respectivement de la dernière zone de travail de la machine ou des machines de façonnage vers un dispositif de dépose.
  5. Procédé selon l'une quelconque des revendications précédentes, dans lequel la pièce est positionnée par au moins deux appareils de manipulation dans la ou toute position de façonnage ou au moins une des positions de façonnage et est aussi bien positionnée dans la position de façonnage que maintenue pendant la au moins une étape de façonnage de préférence par les mêmes deux appareils de manipulation et/ou est aussi bien transportée par le dispositif de mise à disposition vers la respectivement la première zone de travail de la ou des machines de façonnage que positionnée dans la position de façonnage respective par les mêmes deux appareils de manipulation et/ou est aussi bien positionnée dans la respectivement la dernière position de façonnage que transportée de la zone de travail respectivement la dernière zone de travail de la ou des machines de façonnage vers un dispositif de dépose par les mêmes deux appareils de manipulation et/ou est aussi bien positionnée dans chacune des position de façonnage que maintenue dans chacune des position de façonnage ou déplacée entre les positions de façonnage par les mêmes deux appareils de manipulation.
  6. Procédé selon l'une quelconque des revendications précédentes, dans lequel les au moins deux appareils de manipulation soulèvent la pièce de l'outil ou des outils après l'arrivée des outils et/ou pendant un déplacement relatif des outils à partir des uns des autres.
  7. Procédé selon l'une quelconque des revendications précédentes, dans lequel les appareils de manipulation saisissent de façon continue la pièce pendant sa manipulation et son déplacement et/ou la pièce est maintenue par respectivement un appareil de manipulation, tout du moins pendant chaque étape de façonnage, sur des côtés ou des extrémités, opposés les uns aux autres.
  8. Procédé selon l'une quelconque des revendications précédentes, dans lequel, pendant un déplacement et/ou une manipulation de la pièce par au moins deux appareils de manipulation, les appareils de manipulation ou leurs points d'application sur la pièce sont déplacés le long de trajectoires S(tO) espacées sensiblement de façon constante les unes des autres et/ou dans lequel, pendant un déplacement et/ou une manipulation de la pièce par au moins deux appareils de manipulation, les appareils de manipulation ou leurs points d'application sur la pièce sont déplacés de façon synchrone les uns vers les autres et/ou dans lequel, pendant un déplacement de la pièce par au moins deux appareils de manipulation, les appareils de manipulation ou leurs points d'application sur la pièce sont déplacés avec sensiblement la même vitesse et/ou dans lequel, lors d'une manipulation de la pièce par au moins deux appareils de manipulation, les appareils de manipulation réceptionnent ou relâchent la pièce de façon sensiblement synchrone.
  9. Procédé selon l'une quelconque des revendications précédentes, dans lequel, pour le déplacement et/ou la manipulation de la pièce par au moins deux appareils de manipulation, le dispositif de contrôle actionne les deux appareils de manipulation, en particulier leurs dispositifs d'entraînement respectifs, selon un principe de commande maître-esclave, un appareil de manipulation servant d'esclave suivant un appareil de manipulation servant de maître dans les déplacements.
  10. Procédé selon l'une quelconque des revendications précédentes, dans lequel, pour le déplacement et/ou la manipulation de la pièce par au moins deux appareils de manipulation, le dispositif de contrôle actionne les deux appareils de manipulation, en particulier leurs dispositifs d'entraînement respectifs, indépendamment les uns des autres.
  11. Procédé selon l'une quelconque des revendications précédentes, dans lequel chaque appareil de manipulation ou son point d'application sur la pièce suit pendant un déplacement et/ou une manipulation de la pièce une trajectoire déterminée auparavant avec une courbe de vitesse prédéfinie et/ou dans lequel l'appareil de manipulation ou son point application sur la pièce suit lors du déplacement et/ou de la manipulation de la pièce des points de trajectoire consécutifs et mémorisés à des intervalles de temps réguliers, qui se situent de préférence entre 1 ms et 50 ms, en particulier 16 ms.
  12. Procédé selon la revendication 11, dans lequel, pour au moins un appareil de manipulation pour chaque déplacement et/ou pour chaque manipulation de la pièce par cet appareil de manipulation, la trajectoire spécifique de l'appareil de manipulation ou son point d'application sur la pièce est ou a été acquise auparavant, en particulier la trajectoire de l'un des au moins deux appareils de manipulation ou de son point d'application sur la pièce étant ou ayant été acquise et la trajectoire du au moins un autre appareil de manipulation ou de son point d'application sur la pièce étant déterminée ou ayant été déterminée par le calcul à partir de la trajectoire acquise du premier appareil de manipulation et/ou, en particulier pour l'acquisition de la trajectoire d'un appareil de manipulation ou de son point d'application sur la pièce, la trajectoire spécifique étant ou ayant été parcourue avec une courbe de vitesse prédéfinie et les points de trajectoire étant ou ayant été enregistrés et stockés les uns après les autres à des intervalles de temps réguliers ou bien, en particulier pour l'acquisition de la trajectoire d'un appareil de manipulation ou de son point d'application sur la pièce, la trajectoire spécifique étant ou ayant été parcourue et les points de trajectoire étant ou ayant été enregistrés et mémorisés les uns après les autres à des intervalles de temps réguliers et de nouveaux points de trajectoire étant calculés à partir des ces points de trajectoire et à partir d'une courbe de vitesse ultérieure prédéfinie, en particulier l'appareil de manipulation ou son point d'application sur la pièce suivant lors du déplacement et/ou de la manipulation de la pièce les points de trajectoire mémorisés lors de l'acquisition aux mêmes intervalles de temps et dans le même ordre de succession que lors de l'acquisition.
  13. Procédé selon l'une quelconque des revendications précédentes, dans lequel les manipulation et/ou les déplacements des appareils de manipulation sont calculés directement dans un système de cordonnées en trois dimensions et/ou sont établis et stockés par une simulation ou similaire.
  14. Procédé selon l'une quelconque des revendications précédentes, dans lequel on vérifie par incréments de sécurité si le ou les appareils de manipulation respecte(nt) leur déplacement et/ou leur position prédéfini(e) par le dispositif de contrôle et le déplacement des appareils de manipulation est arrêté dans le cas d'un écart inacceptable et/ou dans lequel les appareils de manipulation peuvent être déplacés ou sont déplacés dans une position de stationnement, afin de rendre accessible la ou les zones de travail de la ou des machines de façonnage.
  15. Procédé selon l'une quelconque des revendications précédentes, dans lequel les au moins deux appareils de manipulation sont disposés ou positionnés, tout du moins lors du blocage de la pièce pendant une étape de façonnage, sur des côtés opposés de la zone de travail de la machine de façonnage.
  16. Dispositif pour le façonnage d'au moins une pièce, en particulier pour une utilisation dans un procédé selon l'une quelconque des revendications 1 à 15 ou pour mettre en oeuvre un procédé selon l'une quelconque des revendications 1 à 15, comprenant
    a) au moins une machine de façonnage par frappe, en particulier un marteau pilon ou une presse à vis ou une presse à manivelle, comprenant au moins deux outils (12, 13) déplaçables l'un par rapport à l'autre pour le façonnage d'une pièce, qui sont des outils à matrice de formage pour le façonnage lié de la pièce, dans une position de façonnage prédéfinie ou prédéfinissable pendant au moins une étape de façonnage,
    b) au moins deux appareils de manipulation pour le blocage de la pièce dans la position de façonnage pendant l'étape de façonnage,
    c) au moins un dispositif de contrôle pour la commande ou le réglage des déplacements et positions des appareils de manipulation,
    d) les appareils de manipulation étant des robots industriels.
  17. Dispositif selon la revendication 16, sur lequel les appareils de manipulation présentent chacun au moins un dispositif d'entraînement avec à chaque fois au moins un moteur d'entraînement électrique et le dispositif de contrôle actionne chaque dispositif d'entraînement ou dans lequel au moins deux appareils de manipulation sont entraînés par au moins un dispositif d'entraînement commun avec au moins un moteur d'entraînement électrique et le dispositif de contrôle actionne le dispositif d'entraînement commun.
  18. Dispositif selon la revendication 16 ou la revendication 17, sur lequel chaque appareil de manipulation
    a) comporte au moins un dispositif de préhension avec au moins deux éléments de préhension pouvant être déplacés l'un par rapport à l'autre pour la préhension de la pièce,
    b) au moins un dispositif support, sur lequel le dispositif de préhension est fixé ou peut être fixé et
    c) au moins un dispositif de transport pour le transport de dispositif support avec le dispositif de préhension.
  19. Dispositif selon la revendication 18, sur lequel le dispositif support et le dispositif de transport sont reliés l'un à l'autre de façon souple dans un état souple et sont reliés sensiblement l'un à l'autre de façon rigide ou sont placés de façon rigide l'un par rapport à l'autre dans un état rigide, au moins dans une direction de l'espace et/ou dans toute position de rotation du dispositif de préhension et/ou du ou des éléments de préhension, du fait que soit le dispositif support et le dispositif de transport sont reliés l'un à l'autre au moyen d'au moins un élément de liaison, lequel est souple dans l'état souple et rigide dans l'état rigide, soit du fait que le dispositif support et le dispositif de transport sont reliés l'un à l'autre par au moins un élément flexible et ne sont reliés dans l'état souple que par l'élément souple et sont soutenus l'un sur l'autre ou l'un contre l'autre dans l'état rigide par au moins un dispositif de soutien avec le franchissement de l'élément flexible.
  20. Dispositif selon la revendication 18 ou la revendication 19, sur lequel chaque appareil de manipulation comporte au moins un entraînement de rotation pour la rotation du dispositif de préhension autour d'un axe de rotation passant par le dispositif de préhension et/ou pour la rotation d'au moins un des éléments de préhension autour d'un axe de rotation passant par l'élément de préhension, le au moins un entraînement de rotation destiné à la notation du dispositif de préhension étant disposé de préférence sur le côté, opposé au dispositif de préhension et au dispositif support, de l'élément de liaison ou de l'élément flexible.
EP04735197A 2003-06-06 2004-05-28 Procede et dispositif pour faconner une piece par manipulation automatique Expired - Lifetime EP1631401B1 (fr)

Priority Applications (1)

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EP08005314A EP1944103A3 (fr) 2003-06-06 2004-05-28 Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique

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DE10326105 2003-06-06
DE10333394A DE10333394A1 (de) 2003-06-06 2003-07-23 Verfahren und Vorrichtung zum Umformen eines Werkstücks mit automatischer Handhabung
PCT/EP2004/005782 WO2004108323A1 (fr) 2003-06-06 2004-05-28 Procede et dispositif pour façonner une piece par manipulation automatique

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EP1631401A1 EP1631401A1 (fr) 2006-03-08
EP1631401B1 true EP1631401B1 (fr) 2008-05-14

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EP1815972B1 (fr) * 2006-02-06 2013-12-18 ABB Research Ltd. Système de train de presses et procédé
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DE102010037896B4 (de) 2010-09-30 2017-06-08 Langenstein & Schemann Gmbh Verfahren und Vorrichtung zum Umformen eines Werkstücks
CN104138947B (zh) * 2013-05-06 2016-08-24 珠海格力电器股份有限公司 弯管机及其夹头装置
RU2602586C2 (ru) * 2015-02-16 2016-11-20 Общество с ограниченной ответственностью Научно-производственное предприятие "МЕТЧИВ" (ООО НПП "МЕТЧИВ") Способ радиальной ковки
CN107552708B (zh) * 2017-08-21 2018-08-10 河南鑫安利安全科技股份有限公司 一种锻造安全防护装置
DE102019113764A1 (de) 2019-05-23 2020-11-26 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Konfiguration einer werkstückbezogenen Werkstückhalteeinrichtung für die Pressenautomatisierung
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WO2024159205A1 (fr) * 2023-01-27 2024-08-02 Ohio State Innovation Foundation Systèmes et procédés pour la déformation incrémentielle locale de régions de composant locales

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DE502004007147D1 (de) 2008-06-26
EP1631401A1 (fr) 2006-03-08
WO2004108323A8 (fr) 2005-07-14
US7350389B2 (en) 2008-04-01
US20060123871A1 (en) 2006-06-15
WO2004108323A1 (fr) 2004-12-16

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