EP2484459A1 - Procédé de préhension et dispositif permettant de l'effectuer - Google Patents

Procédé de préhension et dispositif permettant de l'effectuer Download PDF

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Publication number
EP2484459A1
EP2484459A1 EP11153119A EP11153119A EP2484459A1 EP 2484459 A1 EP2484459 A1 EP 2484459A1 EP 11153119 A EP11153119 A EP 11153119A EP 11153119 A EP11153119 A EP 11153119A EP 2484459 A1 EP2484459 A1 EP 2484459A1
Authority
EP
European Patent Office
Prior art keywords
piece
clamping device
abutment
pushing member
segment
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Withdrawn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
EP11153119A
Other languages
German (de)
English (en)
Inventor
Luciano Gasparini
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to EP11153119A priority Critical patent/EP2484459A1/fr
Publication of EP2484459A1 publication Critical patent/EP2484459A1/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Withdrawn legal-status Critical Current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
    • B21D5/02—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
    • 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
    • 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
    • B21D43/11—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers for feeding sheet or strip material

Definitions

  • the invention concerns a method for clamping pieces while they are being manufactured (in particular metal sheets) in a press brake.
  • the invention also concerns a clamping device that achieves the method, in particular a clamp of a robot manipulator used to load the pieces in the press brake.
  • Press brakes are formed by a punch that can move vertically and that is forcibly inserted into a corresponding matrix.
  • the metal sheet is grasped with a robotic arm from a loading plane and is transported above the matrix to then be bent by the punch. See for example the presses in GB784981 and EP0476092 .
  • the arm is able to grasp the metal sheets by means of an end clamp.
  • Known types of clamps are formed by a clamp body 10 with a pneumatic or hydraulic cylinder 12 inside that moves the jaws 14 through inclined planes 16 or racks (not shown). As can be seen, the jaws 14 clamp a metal sheet (L) pressing its thickness.
  • the bulk of the clamp is proportional to that of the piece to be clamped.
  • the clamp is miniaturised and is not able to develop sufficient clamping force, especially due to the transmissions in the internal kinematic system and to the smaller pneumatic or hydraulic thrust available. Consequently, on a fast robot, the clamped piece moves losing precision in the bending or extension of the machine cycles for repositioning the piece.
  • the dimensions of the clamp are not able to drop below a certain limit. For particularly small pieces the minimum dimensions available for the clamp are still too large, and prevent fast and uninterrupted manipulation of the piece below or near to the punch.
  • the invention has the main purpose of solving the problem of the poor clamping force.
  • edge we mean the outline that defines a larger face of the piece or metal sheet.
  • the device can have many variants, see figures 2-5 . It can be built ( figure 2 ) to pull a piece L towards a groove 20 of a fixed reference 22 and lock it there. The piece is pulled for example by a claw 24 actuated by actuator means containing a main body 26. The pulling or pushing direction in the figures is indicated with arrows.
  • the device ( figure 3 ) can have:
  • the abutment 28 can be an element present on the main body 30 and/or on the segment 34.
  • the pushing member 36 has the function of pressing on an edge of the piece L so as to push one opposite edge against the abutment 28. It should be noted that the member 36 could be made integral with the segment 34, then moving the latter so as to clamp the piece L.
  • the pushing member 36 can be moved in various ways and with actuator means, for example, hydraulically, magnetically or pneumatically.
  • actuator means for example, hydraulically, magnetically or pneumatically.
  • a hydraulic cylinder or piston 38 with controlled movement is placed inside the body 30 and it is connected with the pushing member 36 so as to transfer linear motion to it.
  • the movement direction of the actuator means is substantially parallel to the axis X, or rather to the axis along which said segment projects, and parallel to the direction of linear movement of the pushing member.
  • the fact that they are parallel which implies the absence of power transmissions or intermediate kinematics, makes it possible to advantageously increase the clamping force.
  • the cylinder 38 can be connected to the pushing member 36 in a point P that is outside with respect to the body 30, and transfers motion to it for example through a rod 40 or an equivalent rigid connection (in order to avoid transmissions and direction changes of the force applied by the cylinder 38).
  • the pushing member 36 can comprise a hook-shaped or grooved portion so as to better engage and/or pull the piece L on its edge against the abutment 28.
  • the piece L can be pulled towards an abutment with one (as in figure 4 ) or more pulling segments, for example two as in figure 5 .
  • the two segments 34 extend from the body 30 separated and parallel to one another, and their pushing members 36 are actuated by a single cylinder 38 by means of a rigid connection, for example in the shape of a T-junction indicated with 33. It should be noted that this provision eliminates the problem of synchronising many clamping devices, which would move the piece, moving in an uncoordinated manner.
  • one or each segment 34 can comprise a portion, for example flat or shaped in a matching manner, which can rest transversally (i.e. for example from one side to the other, in width) on a larger surface of the piece L.
  • a pushing member 36 it is advantageous for a pushing member 36 to be mounted on a relative segment 34 with a certain clearance, so as to automatically adapt to possible tolerances or defects of the piece L.
  • the clearance is nullified and the piece is perfectly clamped.
  • Fig. 6 shows a clamp 50 for grasping a metal sheet L. It comprises a cylindrical clamp-body 70 to which, through screws, a flat segment 56 can be connected, resting on the piece L.
  • the hook 58 can come closer to the body 70, pushing the piece L towards an abutment 60 and clamping it in position.
  • Fig. 7 shows another clamp 80 for grasping the metal sheet L. It comprises a cylindrical clamp-body 82 to which a support 84 for a hook 86 can be connected through screws.
  • the hook 86 is slidingly guided above the support 84 and it can move thanks to the force given to it by a shaft 90 that is fixedly attached to a plunger 88 housed inside the body 82 and hit by pressurised fluid or air.
  • the shaft 90 connects to the hook 86 thanks for example to a head, for example T-shaped, which fits inside a seat 92 in the body of the hook 86.
  • Fig 7 shows two positions of the hook 86, one for grasping (minimum distance from the body 82) and one for releasing (maximum distance from the body 82), in a broken line.
  • the support 84 has an abutment for the piece L comprising a part or tab 88 that can elastically yield.
  • the purpose is to make the holding seat adaptable for the piece L in the case in which there are burrs or small tolerances.
  • the support 84 and the segment 56 for example are about 10 cm long. From experiments carried out with a similar sized piece, no positioning errors were obtained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
EP11153119A 2011-02-02 2011-02-02 Procédé de préhension et dispositif permettant de l'effectuer Withdrawn EP2484459A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11153119A EP2484459A1 (fr) 2011-02-02 2011-02-02 Procédé de préhension et dispositif permettant de l'effectuer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP11153119A EP2484459A1 (fr) 2011-02-02 2011-02-02 Procédé de préhension et dispositif permettant de l'effectuer

Publications (1)

Publication Number Publication Date
EP2484459A1 true EP2484459A1 (fr) 2012-08-08

Family

ID=44650923

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11153119A Withdrawn EP2484459A1 (fr) 2011-02-02 2011-02-02 Procédé de préhension et dispositif permettant de l'effectuer

Country Status (1)

Country Link
EP (1) EP2484459A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104550531A (zh) * 2014-12-12 2015-04-29 天津石泰伟业技术开发有限公司 一种冲压机的运送装置
CN105344866A (zh) * 2015-12-18 2016-02-24 苏州金逸康自动化设备有限公司 一种模内取放件传送机构
CN105414378A (zh) * 2015-12-18 2016-03-23 苏州金逸康自动化设备有限公司 一种用于模内取放件传送机构的吸料模组

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB784981A (en) 1956-05-17 1957-10-23 F J Edwards Ltd Improvements in or relating to metal working machines
DE3823621A1 (de) * 1988-07-12 1990-01-18 Fraunhofer Ges Forschung Greifer zum greifen und handhaben von werkstuecken
EP0438030A1 (fr) * 1990-01-17 1991-07-24 GebràœDer Sulzer Aktiengesellschaft Boîtier de pince pour robot employé dans des enceintes propres
EP0443295A1 (fr) * 1990-02-23 1991-08-28 GebràœDer Sulzer Aktiengesellschaft Pince, robot pourvu d'une telle pince et son application
EP0476092A1 (fr) 1990-03-15 1992-03-25 Lift Verkaufsgeraete Gmbh Dispositif de pliage des toles.
DE10157783A1 (de) * 2001-11-27 2003-06-05 Kurtz Altaussee Gmbh Altaussee Handhabungsvorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB784981A (en) 1956-05-17 1957-10-23 F J Edwards Ltd Improvements in or relating to metal working machines
DE3823621A1 (de) * 1988-07-12 1990-01-18 Fraunhofer Ges Forschung Greifer zum greifen und handhaben von werkstuecken
EP0438030A1 (fr) * 1990-01-17 1991-07-24 GebràœDer Sulzer Aktiengesellschaft Boîtier de pince pour robot employé dans des enceintes propres
EP0443295A1 (fr) * 1990-02-23 1991-08-28 GebràœDer Sulzer Aktiengesellschaft Pince, robot pourvu d'une telle pince et son application
EP0476092A1 (fr) 1990-03-15 1992-03-25 Lift Verkaufsgeraete Gmbh Dispositif de pliage des toles.
DE10157783A1 (de) * 2001-11-27 2003-06-05 Kurtz Altaussee Gmbh Altaussee Handhabungsvorrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104550531A (zh) * 2014-12-12 2015-04-29 天津石泰伟业技术开发有限公司 一种冲压机的运送装置
CN105344866A (zh) * 2015-12-18 2016-02-24 苏州金逸康自动化设备有限公司 一种模内取放件传送机构
CN105414378A (zh) * 2015-12-18 2016-03-23 苏州金逸康自动化设备有限公司 一种用于模内取放件传送机构的吸料模组

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