EP1651367B1 - Verfahren zum biegen von werkstücken - Google Patents

Verfahren zum biegen von werkstücken Download PDF

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Publication number
EP1651367B1
EP1651367B1 EP04740963A EP04740963A EP1651367B1 EP 1651367 B1 EP1651367 B1 EP 1651367B1 EP 04740963 A EP04740963 A EP 04740963A EP 04740963 A EP04740963 A EP 04740963A EP 1651367 B1 EP1651367 B1 EP 1651367B1
Authority
EP
European Patent Office
Prior art keywords
bending
workpiece
robot
fed
bending device
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.)
Revoked
Application number
EP04740963A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1651367A1 (de
Inventor
Gerhard Rosenberger
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.)
Rosenberger AG
Original Assignee
Rosenberger AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=34195733&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1651367(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from DE102004012771A external-priority patent/DE102004012771A1/de
Application filed by Rosenberger AG filed Critical Rosenberger AG
Priority to PL04740963T priority Critical patent/PL1651367T3/pl
Publication of EP1651367A1 publication Critical patent/EP1651367A1/de
Application granted granted Critical
Publication of EP1651367B1 publication Critical patent/EP1651367B1/de
Revoked legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control

Definitions

  • the invention relates to a method for bending workpieces, in particular of pipes, wires, bar materials, semi-finished products, sheets od. Like. With at least one bending device.
  • the workpiece to be deformed is fed to a bending head of a bending machine by means of a feed device, for example by means of a cross slide.
  • a feed device for example by means of a cross slide.
  • the workpiece is picked up by means of a clamping device, for example a collet, and fed to the bending head by means of the cross slide.
  • a clamping device for example a collet
  • the workpieces must be bent or reshaped in a bending machine. If other bending and forming processes are required, the workpiece is fed to a further bending device for further processing. There is no exact final check of the bending state in the process.
  • EP-A-554533 is considered to be the closest prior art to the subject-matter of claim 1. It discloses a method for bending workpieces with a bending device (12,13), wherein a robot arm (11,112) receives the workpiece to be deformed and the bending device (12,13) feeds.
  • the bending device (12, 13) is arranged stationarily opposite a substrate.
  • the robot holds the workpiece during bending (column 2, lines 5-6).
  • the workpiece is fed further to the bending device (12, 13) and optionally radially rotated (column 3, lines 51-57).
  • FR 2 747 599 A discloses a bending machine to which a robot arm is assigned.
  • the robot arm removes a tube to be deformed to make it bendable to a bending head.
  • the present invention has for its object to provide a method for bending workpieces, in particular of pipes, wires, rod materials, semi-finished od. Like., Which eliminates the disadvantages mentioned and with which time and cost reshaped workpieces in one operation or bent If necessary, a final inspection is carried out immediately after bending.
  • a bending unit consisting of at least one bending device.
  • the workpiece is then deformed or bent under permanent or batch feed by means of the robot.
  • the workpiece is picked up directly by the robot or a gripper arm of a robot and fed directly to a bending head of the bending device.
  • the robot can rotate the workpiece with the corresponding gripper arm radially, should this be necessary.
  • a conventional tensioning device or a conventional tensioning feed device can thereby be dispensed with.
  • the workpiece After bending a certain area, the workpiece can be picked up by means of the robot or its gripping arm, in order, for example, to directly clamp it back into the bending device or its bending head in order, for example, to machine another end of a workpiece. This is not possible by the conventional bending process.
  • the workpiece is removed by means of the robot from a storage container and fed to the bending unit or the at least one bending device for deforming or bending. After bending, the bent workpiece can be fed to a tray.
  • the robot then grips a new workpiece to be deformed or bent from the storage container and feeds it back to the at least one bending device in a permanent or intermittent manner.
  • the robot arm in particular its gripping device take over a permanent feeding and radial rotation of the workpiece during the bending process in the bending unit.
  • bending devices roll bending heads, right / left bending heads, and bending device with mandrel devices, Abkante od. Like. Be summarized in a bending unit, which are arranged stationary relative to a substrate.
  • the bending device can be moved relative to a substrate and in particular to the robot.
  • the at least one bending device can be moved back and forth relative to the robot on a cross slide, a rail system, a linear system or the like manually and / or automatically controllable.
  • a storage container can not serve a conveyor belt, a receptacle, a machine, such as a cutting machine or a transfer robot, which transfers the workpiece for forming the robot or makes available.
  • the robot then transfers the finished workpiece to a tray, which may be a conveyor belt, a storage container, a machine for further processing or a transfer robot, around the finished workpiece Processing.
  • a tray which may be a conveyor belt, a storage container, a machine for further processing or a transfer robot, around the finished workpiece Processing.
  • the invention is not limited thereto.
  • the robot may feed the workpiece to a measuring device or guide the finished workpiece along the measuring device so that the complete contour of the finished workpiece is recorded in three planes as an actual value and backed up Target value is compared. This automatically results in a final inspection after bending and forming the workpiece. If the workpiece does not correspond to the setpoint value or its tolerance range, subsequent bending can take place, in which the robot feeds the workpiece again to bend the bending unit. Only after renewed positive control in the measuring device then the workpiece of the tray for further processing or processing is transferred.
  • a workpiece can be fully automatically integrated into a manufacturing process taken from a storage container, in the bending unit or the at least one bending device can be deformed or bent and then possibly after that Intermediate control of a tray can be supplied.
  • Intermediate control of a tray can be supplied.
  • an installation R 1 according to the invention for bending any desired workpieces 1 has a storage container 2 in which a plurality of workpieces 1 are mounted.
  • Under the storage container 2 may also be a conveyor belt, which, for example, a plurality of workpieces, which may have been preprocessed understood.
  • the storage container 2 can also be a robot or the like.
  • a conveying device which provides the workpieces 1 of the installation R 1 to be deformed or bent.
  • the system R 1 is assigned at least one robot 3.
  • the robot 3 has a robot arm 4, which is subdivided into several sections, with an end-side gripping device 5. With the gripping device 5, the robot 3 grasps the workpiece 1 to be deformed or bent and, after removal from the storage container 2, supplies it to the at least one bending device 6.
  • a bending unit 7 more bending device 6 different types, depending on the requirement of the workpiece to be bent.
  • the individual bending devices may be designed as, for example, roll bending heads, right-handed and / or left-bending heads, folding devices or the like, in order to deform a workpiece in different ways.
  • the workpiece 1 is fed by means of the robot 3 to the at least one bending device 6 of the bending unit 7, bent there, and, after bending, is fed further in the X direction for a renewed bending of the at least one bending device 6.
  • the robot assumes only the feed function in the illustrated X direction and the radial rotation of the workpiece 1 in the illustrated Y direction. In this way, a workpiece 1 can be deformed in three planes, in particular bent.
  • the robot 3 or its gripping device 5 can resume the workpiece 1 at another position in order to continue the bending process as described above.
  • the finished workpiece 1 is fed by means of the robot 3 a tray 8 and stored there.
  • a tray 8 As a shelf 8, a conveyor belt, a takeover robot, storage container od. Like. Serve.
  • the invention is not limited thereto.
  • a system R 2 is described, which is approximately corresponds to the Appendix R 1 . It is different here that between the bending unit 7 and the tray 8, a measuring device 9 is interposed.
  • the finished bent or deformed workpiece 1 is removed from the bending unit 7 by means of the robot 3 after deformation or after bending and guided along the measuring device 9, wherein the curved contour of the workpiece 1 is moved via the measuring device 9.
  • a desired state of the bent workpiece 1 is determined and compared with a stored actual value and / or tolerance field. If the actual value deviates inappropriately from the target value, the workpiece 1 can be returned to the bending unit 7 for subsequent bending and correction bending by means of the robot 3. Subsequently, a further control of the bent or deformed workpiece 1 in the measuring device 9 is carried out only after agreement of target value to the actual value, the deformed or bent workpiece 1 of the tray 8 is then supplied or passed to this.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)
  • Manipulator (AREA)
EP04740963A 2003-08-05 2004-07-13 Verfahren zum biegen von werkstücken Revoked EP1651367B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL04740963T PL1651367T3 (pl) 2003-08-05 2004-07-13 Sposób gięcia elementów

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10336554 2003-08-05
DE102004012771A DE102004012771A1 (de) 2003-08-05 2004-03-15 Verfahren zum Biegen von Werkstücken
PCT/EP2004/007730 WO2005016574A1 (de) 2003-08-05 2004-07-13 Verfahren zum biegen von werkstücken

Publications (2)

Publication Number Publication Date
EP1651367A1 EP1651367A1 (de) 2006-05-03
EP1651367B1 true EP1651367B1 (de) 2007-04-18

Family

ID=34195733

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04740963A Revoked EP1651367B1 (de) 2003-08-05 2004-07-13 Verfahren zum biegen von werkstücken

Country Status (8)

Country Link
US (1) US7373797B2 (pl)
EP (1) EP1651367B1 (pl)
JP (1) JP2007508144A (pl)
AT (1) ATE359881T1 (pl)
DE (1) DE502004003557D1 (pl)
ES (1) ES2286643T3 (pl)
PL (1) PL1651367T3 (pl)
WO (1) WO2005016574A1 (pl)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11697146B2 (en) 2018-04-13 2023-07-11 Wafios Aktiengesellschaft Bending device having workpiece guidance by a multi-articulated arm robot

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2243568A4 (en) * 2008-01-31 2014-01-22 Opton Kk BENDER
JP5330064B2 (ja) * 2009-04-08 2013-10-30 株式会社オプトン 曲げ加工装置
JP5405879B2 (ja) * 2009-04-08 2014-02-05 株式会社オプトン 曲げ加工装置
JP5405878B2 (ja) * 2009-04-08 2014-02-05 株式会社オプトン 曲げ加工装置
AT516371B1 (de) * 2014-12-02 2016-05-15 Stonawski Rudolf Einrichtung zum Biegen eines Profil-Werkstücks
JP6654351B2 (ja) * 2015-03-02 2020-02-26 株式会社オプトン 曲げ加工装置
JP6387437B1 (ja) * 2017-05-24 2018-09-05 株式会社アマダホールディングス プレスブレーキ
JP6984880B2 (ja) * 2017-11-21 2021-12-22 東陽建設工機株式会社 鉄筋曲げ装置
JP7128993B2 (ja) * 2017-11-21 2022-09-01 東陽建設工機株式会社 鉄筋曲げ装置
DE102018108863A1 (de) 2018-04-13 2019-10-17 Wafios Aktiengesellschaft Biegevorrichtung für längliche Werkstücke
CN108927427A (zh) * 2018-08-16 2018-12-04 昆山汇格精密机械有限公司 一种机械手自动折弯设备
US11768574B2 (en) * 2019-05-07 2023-09-26 Hexagon Metrology, Inc. Graphical user interface for scheduling and monitoring an automated inspection process for batch production
CN110935766B (zh) * 2019-12-24 2021-03-23 林义 连续折弯装置

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US3431759A (en) * 1966-02-02 1969-03-11 Walker Mfg Co Forming apparatus
JPS59140027U (ja) * 1983-03-09 1984-09-19 株式会社日立製作所 鉄筋ベンダ−
US5182936A (en) * 1988-01-29 1993-02-02 Amada Company, Limited Plate bending machine equipped with a plate clamping manipulator and a plate position detecting device
US4989444A (en) * 1988-08-09 1991-02-05 Daikin Industries, Ltd. Industrial robot for pressing system, pressing system, and method for bending plate material
JPH02165833A (ja) * 1988-12-20 1990-06-26 Honda Motor Co Ltd 棒状材の加工方法
JPH0335820A (ja) * 1989-06-30 1991-02-15 Chuo Electric Mfg Co Ltd 曲げ加工装置
JPH0394921A (ja) * 1989-09-08 1991-04-19 Chuo Electric Mfg Co Ltd 曲げ加工装置
IT1237750B (it) * 1989-12-29 1993-06-15 Prima Ind Spa Procedimento di piegatura di una lamiera
JPH0565440U (ja) 1992-02-03 1993-08-31 安川商事株式会社 ワイヤベンディング装置
JPH06328142A (ja) * 1993-05-21 1994-11-29 Komatsu Ltd 曲げ加工システム
FR2747599B1 (fr) * 1996-04-23 1998-06-05 Witub Sa Dispositif pour tous les types d'usinage de tubes metalliques
JP4221106B2 (ja) * 1999-03-15 2009-02-12 株式会社アマダ プレスブレーキ
WO2000061315A1 (en) * 1999-04-07 2000-10-19 Amada Company, Limited Automatic bending system and manipulator for the system
US6269677B1 (en) * 1999-12-28 2001-08-07 Abb T&D Technology Ltd. Press brake back gauge finger
JP2002254112A (ja) * 2000-12-25 2002-09-10 Yamaha Motor Co Ltd パイプ用曲げ加工装置
ES2194827T3 (es) * 2001-10-02 2003-12-01 Macchine Curvatubi Crippa Agos Maquina para curvar con traccion.

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11697146B2 (en) 2018-04-13 2023-07-11 Wafios Aktiengesellschaft Bending device having workpiece guidance by a multi-articulated arm robot

Also Published As

Publication number Publication date
WO2005016574A1 (de) 2005-02-24
ATE359881T1 (de) 2007-05-15
US20060254336A1 (en) 2006-11-16
EP1651367A1 (de) 2006-05-03
ES2286643T3 (es) 2007-12-01
PL1651367T3 (pl) 2007-09-28
JP2007508144A (ja) 2007-04-05
DE502004003557D1 (de) 2007-05-31
US7373797B2 (en) 2008-05-20

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