EP1772204A1 - Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière - Google Patents

Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière Download PDF

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Publication number
EP1772204A1
EP1772204A1 EP06115768A EP06115768A EP1772204A1 EP 1772204 A1 EP1772204 A1 EP 1772204A1 EP 06115768 A EP06115768 A EP 06115768A EP 06115768 A EP06115768 A EP 06115768A EP 1772204 A1 EP1772204 A1 EP 1772204A1
Authority
EP
European Patent Office
Prior art keywords
bending
gripping
piece
retaining
elements
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.)
Withdrawn
Application number
EP06115768A
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German (de)
English (en)
Inventor
Francesco Vaudano
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.)
Crea SRL
Original Assignee
Crea SRL
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
Application filed by Crea SRL filed Critical Crea SRL
Publication of EP1772204A1 publication Critical patent/EP1772204A1/fr
Withdrawn legal-status Critical Current

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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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/002—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
    • B21D43/26—Stops
    • 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 present invention relates to a bending press for pieces of sheet metal.
  • the document EP-A-619151 describes a bending press according to the preamble to claim 1, comprising a rear positioning device with a retaining element adjustable in the vertical and horizontal direction and forming an arresting surface for positioning the pieces of sheet metal to be bent.
  • a pincer is movably mounted at the end of the retaining element, in such a way as to allow the gripping and manipulation of the pieces to be bent thanks to the vertical and horizontal displacement of the retaining element.
  • the pincer is held in position against the retaining element by means of a flexible tie rod operated by a pneumatic actuator.
  • the pincer moves away from the retaining element following the movement of the bent lap of the piece.
  • the pincer and the piece held thereby are returned against the retaining element by the flexible tie rod operated by the pneumatic actuator.
  • the manipulator integrated in the positioning device allows to move the piece of sheet metal solely in the vertical and horizontal direction.
  • the fact that the pincer is connected to the retaining element by means of a flexible member does not allow commanded movements of the pincer when the pincer is moved away from the retaining element.
  • the pincer is not able to support the lap of the piece being bent.
  • the object of the present invention is to provide an enhanced solution that allows to exploit the rear retaining elements of the positioning device as members for sustaining and manipulating the pieces of sheet metal during the bending operation.
  • said object is achieved by a bending press having the characteristics set out in the claims.
  • the number 10 designates a bending press for pieces of sheet metal.
  • the bending press 10 comprises a fixed base structure including two lateral uprights 12 joined together by an upper cross member 14 and by a lower cross member 16.
  • the bending press 10 comprises a lower tool holder table 18, fixed relative to the base structure, and an upper tool holder table 20, movable in a vertical plane and actuated by two actuators 22.
  • a positioning device 24 comprising a horizontal beam 26 parallel to the lower tool holder table 18.
  • the horizontal beam 26 is movable in the vertical direction and along a horizontal direction that is orthogonal with respect to the tool holder tables 18, 20.
  • the horizontal beam 26 bears two retaining elements 28, each of which is provided with a translation movement along the horizontal beam 26 in a parallel direction to the line of the tools of the bending press 10.
  • the two retaining elements 28 are provided with respective abutment surfaces against which an edge of a piece of sheet metal to be bent goes to bear.
  • the abutment surfaces of the retaining elements 28 can be arranged in a predetermined position with respect to the bending tools thanks to the horizontal and vertical motion of the beam 26.
  • the abutment surfaces of the retaining elements 28 constitute a reference surface for positioning the pieces of sheet metal which defines the length of the lap to bend, i.e. the distance of the edge of the piece from the bending line.
  • the motion of the beam 26 and of the retaining elements 28 is commanded by electric motors (not shown) controlled numerically by the numeric control unit of the machine.
  • the control unit defines the position of the retaining elements and, consequently, the position of the reference surface for the bearing of the rear edge of the sheet metal pieces, according to the bending program of the piece.
  • each retaining element 28 comprises a base 36 that is mounted able to slide along the beam 26 in the direction indicated by the arrows 34.
  • Each retaining element 28 also comprises a retaining body 38 which bears the retaining surfaces for positioning pieces of sheet metal P.
  • each retaining body 38 of each retaining element 28 bears at least one gripping element able to grip a piece of sheet metal P.
  • each retaining body 38 is provided with two gripping elements 40a, 40b.
  • the gripping elements 40a, 40b are pincer gripping elements.
  • the gripping elements could be of the type with suction cups or magnets or each retaining element 28 could be provided with one or more pincer gripping elements and with one or more suction cup or magnet gripping elements.
  • the retaining bodies 38 of the retaining elements 28 are articulated to the respective bases 36 around common horizontal axis 42 parallel to the bending line.
  • Each retaining element 38 is provided with an electric motor (not shown), numerically controlled, which commands the rotating motion of the retaining element 38 around the axis 42.
  • the motors that command the rotation of the retaining elements 38 are controlled by the same numeric control elements that manages the motion of the beam 26, of the retaining elements 28 and of the movable table 20 of the bending press.
  • the gripping elements 40a, 40b are configured in such a way as to be able to grip a piece to be bent both on a side parallel to the bending line ( Figure 3) and on sides of the piece P that are perpendicular to the bending line ( Figure 4).
  • the gripping elements 40 are situated at the distal ends of the retaining elements 28 and they are intended to grip pieces with small flanges to be bent.
  • the gripping elements 40b are situated in an intermediate position between the gripping elements 40a and the axis of rotation 42 and they are intended to grip pieces with large flanges to be bent ( Figure 6).
  • Figures 5 and 6 show a piece of sheet metal to be bent P positioned between a punch 44 and a die 46, respectively fastened to the upper tool holder table 20 and to the lower tool holder table 18.
  • the retaining elements 28 also support the piece P in optimal fashion even in the presence of a flexion of the piece (phenomenon that is the more accentuated the larger and thinner the manipulated piece).
  • Figures 7 through 13 illustrate the working sequence of the positioning device 24 described previously.
  • the operator introduces the piece P between the bending tools 44, 46 of the bending press and pushes the piece P to abut against the retaining elements 28, as occurs in a normal bending press.
  • This operation could also be performed by means of a manipulator robot positioned on the front side of the press.
  • Gripping the piece of sheet metal P and positioning the piece P between the bending tools could also be accomplished by the positioning device 24 using the gripping elements provided on the retaining elements 28, as described in detail in the Italian patent application no. T02004A 000842 by the same Applicant.
  • the positioning device 24 positions the piece P in such a way that the flange to be bent has the desired length. Simultaneously, the punch moves towards the die ( Figure 10) and starts bending the piece. During the bending operation ( Figure 11) the positioning device follows the motion of the flange under the command of the numeric control unit. During the bending operation the flange is held by the gripping elements 40a. This is made possible by the rotating motion of the abutment bodies 38 around the axis 42. At the end of the bending operation, the positioning device 24 repositions the piece P for the execution of a second bend ( Figure 12) and the cycle is repeated for each subsequent bend ( Figure 13).
  • the operator does not intervene directly on the piece, since the piece is manipulated by the motorised retaining elements 28 of the positioning device 24.
  • the operator's intervention may be necessary during the upsetting and/or unloading of the piece or to execute bends that are not obtainable with the system described above.
  • the retaining elements are positioned in such a way as to hand the piece to the operator and, on the operator's command, the pincers are opened. The operator upsets the piece and hands it back to the positioning device 24 pushing the piece 24 to abut against the reference surfaces of the retaining elements. At this point, the piece is gripped by the gripping elements and the cycle of automatic manipulation of the piece resumes.
  • the positioning device 24 could also be provided with support structures to prevent the piece of sheet metal from flexing.
  • the positioning device could also be provided with integrated systems for loading and unloading and/or upsetting the piece. If the piece cannot be manufactured or completed with automatic manipulation by the device 24, the retaining elements can be used as the traditional retainers of bending presses.
  • FIG 14 shows a variant of the positioning device according to the present invention.
  • each retaining element 28 comprises a retaining body 46 fixed relative to the base 36 and provided with abutment surfaces 48 against which is thrust to bear the edge of the piece for its positioning with respect to the bending line.
  • Each retaining element 28 is further provided with a gripping element 50 with a part 52, fixed relative to the retaining body 46 and to the base 36 and a rotating part 54, rotatable relative to the fixed part 52 around the axis 42.
  • the rotating part 54 bears the means for gripping the piece of sheet metal which can be of the pincer type (as illustrated in the figure) or with suction cups or magnets.
  • Figures 15 through 18 show a possible working sequence of the positioning device shown in Figure 14. As is readily apparent, this configuration of the device allows to perform upsetting operations on the piece in order to execute bends on opposite sides of the piece.
  • Figure 15 shows the device at the end of the first bend
  • Figure 16 shows the step of upsetting the piece
  • Figures 17 and 18 show the positioning of the piece for the execution of the second bend and the step of executing the second bend.
  • the bending lines need to be parallel to the axis of rotation 42 of the gripping elements.
  • the retaining elements 28 can be provided with further degrees of freedom with respect to the embodiments described above, in order to allow the execution of bends along lines that are not parallel to the grip area.
  • the two retaining elements could also be provided with mutually independent vertical and horizontal translation movements in an orthogonal direction to the bending line.
  • the retaining elements of the solution according to the present invention are preferably interchangeable, so that the positioning device can be adapted to pieces having different geometry.
  • the interchangeability of the gripping elements allows to use the positioning device 24 also to replace the bending tools in automatic. To do so, the gripping elements suitable for gripping and manipulating pieces of sheet metal are automatically replaced with gripping elements suitable for gripping and manipulating the bending tools.
  • the system according to the present invention can also be combined with a bending robot.
  • the retaining elements according to the present invention can co-operate with the bending robot to execute the bends, e.g. subdividing the bending cycle into some steps to be performed by the bending robot and into other steps to be performed by the positioning device 24.
  • the device 24 can also be used to upset the piece as an auxiliary manipulating element assisting the main manipulator robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
EP06115768A 2005-10-07 2006-06-21 Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière Withdrawn EP1772204A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITTO20050705 ITTO20050705A1 (it) 2005-10-07 2005-10-07 Pressa piegatrice per pezzi di lamiera con manipolatore integrato in un dispositivo di posizionamento posteriore

Publications (1)

Publication Number Publication Date
EP1772204A1 true EP1772204A1 (fr) 2007-04-11

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP06115768A Withdrawn EP1772204A1 (fr) 2005-10-07 2006-06-21 Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière

Country Status (2)

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EP (1) EP1772204A1 (fr)
IT (1) ITTO20050705A1 (fr)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012119175A1 (fr) * 2011-03-07 2012-09-13 Trumpf Maschinen Austria Gmbh & Co. Kg. Procédé de positionnement d'une pièce sur une presse plieuse
WO2012126032A1 (fr) * 2011-03-21 2012-09-27 Trumpf Maschinen Austria Gmbh & Co. Kg. Installation de fabrication dotée d'un dispositif auxiliaire destiné au positionnement intermédiaire de pièces
CN102699653A (zh) * 2012-05-22 2012-10-03 大明重工有限公司 一种多厚度金属板材拼焊折弯方法
CN102712022A (zh) * 2009-11-10 2012-10-03 特鲁普机械奥地利有限公司及两合公司 特别是用于自由成形弯曲的、包括整合的工件和模具操纵器的生产设备
WO2014123054A1 (fr) * 2013-02-07 2014-08-14 株式会社 アマダ Dispositif de commande de robot et procédé de commande de robot
WO2016059159A1 (fr) * 2014-10-15 2016-04-21 Broetje-Automation Gmbh Dispositif de retenue pour une tôle-témoin
US20180133771A1 (en) * 2016-11-15 2018-05-17 Accurpress America Inc. Machine for bending metal including an adjustable backgauge
AT519644B1 (de) * 2017-07-05 2018-09-15 Trumpf Maschinen Austria Gmbh & Co Kg Hinteranschlageinheit sowie damit ausgestattete Fertigungsanlage
CN111421024A (zh) * 2020-03-16 2020-07-17 南京邮电大学 基于复合驱动的随动托料装置及其运动学反解方法
CN111421023A (zh) * 2020-03-16 2020-07-17 南京邮电大学 二自由度金属板材折弯随动托料装置及其运动学反解方法
DE112018000026B4 (de) 2018-01-17 2022-02-03 Jiangsu Jianke Civil Engineering Technology Co., Ltd. No.44 Hilfsbiegeroboter zum Biegen großformatiger Blechtafeln

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5548425A (en) * 1978-09-29 1980-04-07 Shin Meiwa Ind Co Ltd Automatic bending device of plate material
JPS55144330A (en) * 1979-04-25 1980-11-11 Shin Meiwa Ind Co Ltd Automatic plate bending device
BE904504A (nl) * 1986-03-27 1986-09-29 Lvd Co Positioneer- en volgrobot voor het bedienen van een pers.
EP0619151A1 (fr) * 1993-04-06 1994-10-12 Beyeler Raskin S.A. Dispositif pour la manipulation d'une pièce lors des opérations successives de travail de ladite pièce avec une presse
US5642291A (en) * 1989-12-22 1997-06-24 Amada Company, Limited Of Japan System for creating command and control signals for a complete operating cycle of a robot manipulator device of a sheet metal bending installation by simulating the operating environment
FR2850592A1 (fr) * 2003-02-05 2004-08-06 Euratec Europ D Assistance Tec Dispositif de manipulation de piece
WO2006122379A1 (fr) * 2005-05-19 2006-11-23 Robosoft, Naamloze Vennootschap Machine a travailler le metal en feuille et procede d'usinage de feuilles

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5548425A (en) * 1978-09-29 1980-04-07 Shin Meiwa Ind Co Ltd Automatic bending device of plate material
JPS55144330A (en) * 1979-04-25 1980-11-11 Shin Meiwa Ind Co Ltd Automatic plate bending device
BE904504A (nl) * 1986-03-27 1986-09-29 Lvd Co Positioneer- en volgrobot voor het bedienen van een pers.
US5642291A (en) * 1989-12-22 1997-06-24 Amada Company, Limited Of Japan System for creating command and control signals for a complete operating cycle of a robot manipulator device of a sheet metal bending installation by simulating the operating environment
EP0619151A1 (fr) * 1993-04-06 1994-10-12 Beyeler Raskin S.A. Dispositif pour la manipulation d'une pièce lors des opérations successives de travail de ladite pièce avec une presse
FR2850592A1 (fr) * 2003-02-05 2004-08-06 Euratec Europ D Assistance Tec Dispositif de manipulation de piece
WO2006122379A1 (fr) * 2005-05-19 2006-11-23 Robosoft, Naamloze Vennootschap Machine a travailler le metal en feuille et procede d'usinage de feuilles

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102712022A (zh) * 2009-11-10 2012-10-03 特鲁普机械奥地利有限公司及两合公司 特别是用于自由成形弯曲的、包括整合的工件和模具操纵器的生产设备
CN102712022B (zh) * 2009-11-10 2015-10-21 特鲁普机械奥地利有限公司及两合公司 包括整合的工件和模具操纵器的生产设备
US9339860B2 (en) 2009-11-10 2016-05-17 Trumpf Maschinen Austria Gmbh & Co. Kg. Production system, in particular for free-form bending, having an integrated workpiece and tool manipulator
WO2012119175A1 (fr) * 2011-03-07 2012-09-13 Trumpf Maschinen Austria Gmbh & Co. Kg. Procédé de positionnement d'une pièce sur une presse plieuse
WO2012126032A1 (fr) * 2011-03-21 2012-09-27 Trumpf Maschinen Austria Gmbh & Co. Kg. Installation de fabrication dotée d'un dispositif auxiliaire destiné au positionnement intermédiaire de pièces
CN102699653A (zh) * 2012-05-22 2012-10-03 大明重工有限公司 一种多厚度金属板材拼焊折弯方法
CN102699653B (zh) * 2012-05-22 2016-04-20 大明重工有限公司 一种多厚度金属板材拼焊折弯方法
WO2014123054A1 (fr) * 2013-02-07 2014-08-14 株式会社 アマダ Dispositif de commande de robot et procédé de commande de robot
JP2014151385A (ja) * 2013-02-07 2014-08-25 Amada Co Ltd ロボット制御装置およびロボット制御方法
US10807149B2 (en) 2014-10-14 2020-10-20 Broetje-Automation Gmbh Holding device for a test sheet
CN107000033A (zh) * 2014-10-15 2017-08-01 布勒特耶自动控制设备有限责任公司 用于测试板的保持装置
RU2674794C2 (ru) * 2014-10-15 2018-12-13 Бретье-Аутомацион Гмбх Устройство фиксации для тестового листа
CN107000033B (zh) * 2014-10-15 2018-12-18 布勒特耶自动控制设备有限责任公司 用于测试板的保持装置
WO2016059159A1 (fr) * 2014-10-15 2016-04-21 Broetje-Automation Gmbh Dispositif de retenue pour une tôle-témoin
US20180133771A1 (en) * 2016-11-15 2018-05-17 Accurpress America Inc. Machine for bending metal including an adjustable backgauge
US10857581B2 (en) * 2016-11-15 2020-12-08 Accurpress America Inc. Machine for bending metal including an adjustable backgauge
AT519644B1 (de) * 2017-07-05 2018-09-15 Trumpf Maschinen Austria Gmbh & Co Kg Hinteranschlageinheit sowie damit ausgestattete Fertigungsanlage
AT519644A4 (de) * 2017-07-05 2018-09-15 Trumpf Maschinen Austria Gmbh & Co Kg Hinteranschlageinheit sowie damit ausgestattete Fertigungsanlage
EP3427853A1 (fr) * 2017-07-05 2019-01-16 TRUMPF Maschinen Austria GmbH & Co. KG. Unité de butée arrière ainsi qu'installation de fabrication équipée d'une telle unité de butée arrière
DE112018000026B4 (de) 2018-01-17 2022-02-03 Jiangsu Jianke Civil Engineering Technology Co., Ltd. No.44 Hilfsbiegeroboter zum Biegen großformatiger Blechtafeln
CN111421024A (zh) * 2020-03-16 2020-07-17 南京邮电大学 基于复合驱动的随动托料装置及其运动学反解方法
CN111421023A (zh) * 2020-03-16 2020-07-17 南京邮电大学 二自由度金属板材折弯随动托料装置及其运动学反解方法
CN111421024B (zh) * 2020-03-16 2021-08-10 南京邮电大学 基于复合驱动的随动托料装置及其运动学反解方法

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