EP2498928A1

EP2498928A1 - Production system, in particular for free-form bending, having an integrated workpiece and tool manipulator

Info

Publication number: EP2498928A1
Application number: EP10798452A
Authority: EP
Inventors: Thomas Denkmeier
Original assignee: Trumpf Maschinen Austria GmbH and Co KG
Current assignee: Trumpf Maschinen Austria GmbH and Co KG
Priority date: 2009-11-10
Filing date: 2010-11-09
Publication date: 2012-09-19
Anticipated expiration: 2030-11-09
Also published as: EP2498928B1; WO2011057312A1; US9339860B2; AT508923B1; CN102712022B; ES2457235T3; AT508923A4; US20120279275A1; PL2498928T3; CN102712022A; JP5744894B2; JP2013510002A

Abstract

The invention relates to a production system (1) for free-form bending. The production system comprises a bending press (3) having bending tools (4), which are interchangeably retained in tool holders (19, 20), a manipulator (28) having gripping tongs (30), which have gripping fingers (31, 32) and a recess (35, 36) that is arranged in the bending tool (4) and that has stop areas (49, 50) spaced apart from each other for manipulating the bending tool (4). At the ends (38, 39) of the gripping fingers (31, 32), additional contact surfaces (40) are formed on sides of the gripping fingers (31, 32) facing away from each other. The ends (38, 39) of the gripping fingers (31, 32) are inserted into the recess (35, 36) in order to retain the bending tool (4). The contact surfaces (40) are pressed against the stop areas (49, 50) in the direction opposite from the clamping force for retaining the workpiece (2) to be produced.

Description

MANUFACTURING SYSTEM, ESPECIALLY FOR FREE BENDING WITH AN INTEGRATED WORKPIECE AND TOOL MANIPULATOR

The invention relates to a production plant, in particular for the free-form bending of workpieces to be produced from sheet metal, as described in claim 1.

From EP 1 862 255 AI a tool change system for a bending tool has become known in which a separate manipulator is provided for manipulating the bending tool. This has a pin-shaped approach, which is used in a separate recess of the bending tool for manipulation. For this purpose, a specially trained manipulator pin is needed, which is used exclusively for manipulating the bending tool. Furthermore, the clamping of the bending tool during its mounting in the tool receptacles can be achieved either via this manipulator pin or via an additional manipulator pin. This can either be done mechanically by the additional further manipulator pin, or else by a pressure-medium-actuated release starting from the first manipulator pin.

JP 06-234018 describes another tool changing system for bending tools, in which a separate gripper for the manipulation of the sheet to form the workpieces is provided. The manipulation of the bending tools is carried out with an additional manipulation element, which has two mutually distanced peg-shaped projections, which are used in the same opposite recesses of the bending tool for manipulating the same. In this embodiment, it is not possible to use the same gripper fingers, as they are used for the manipulation of the sheet, for the manipulation of the bending tool.

JP 05-293552 describes a tool change system with different attachments for the manipulator. With one of the essays, it is possible to grip and hold the sheets for manipulation to the finished tool, with another essay, the bending tools can be detected and manipulated on protruding elements.

Again, different attachments for manipulating the workpieces and the bending tools are necessary. From EP 1 160 024 AI a further tool change system has become known, in which a through hole is formed in the bending tool, in which a separate gripping arm can be inserted and passed. On the one hand, relative positioning is achieved by means of an attachment of the gripping arm and, with a holding arm displaceably guided in the axial direction of the recess, release of the clamping mechanism in the region of the head part of the bending tool. Again, a separate manipulator arm for the manipulation of the bending tool is again necessary.

The present invention has for its object to design a tool changing system for bending tools of a manufacturing facility such that the bending tools can be changed automatically in a simple manner, while the adaptation can be carried out with little effort and cost.

This object of the invention is solved by the features of claim 1. The advantage resulting from the features of claim 1 lies in the fact that by arranging and attaching a recess in the bending tool and by appropriate design of the ends of the gripper fingers of the manipulator the possibility is created with the same gripper fingers not only the sheet to be machined through to finished workpiece, but also the bending tool so that you can hold and manipulate. Due to the choice of recess in the area of the bending tool, no additional parts are required for manipulation above this projecting part. By appropriate design of the recess and no special tools for insertion into the recess are necessary in order to manipulate this so. As a result, on the one hand by a simple clamping movement of the two gripper fingers in a direction of movement to each other, the sheet or the workpiece to be formed from it to be formed and on the other hand done only by an oppositely oriented direction of movement with the same gripper fingers holding and manipulating the bending tool. Thus, it is no longer necessary to provide for the manipulation process of bending tools either own manipulators, or even to have specially trained gripper fingers or manipulation tools to make, which in turn are separately operated.

Also advantageous is a further embodiment according to claim 2, since characterized in conjunction with the gripper fingers of the gripping tongs sufficient support of the bending tool is guaranteed even when tilting. In addition, while a similar Haltebzw. Clamping position taken as this is done in the normal normal clamping of the sheets. Another advantage is an embodiment according to claim 3, since such a clear pre-centering is already achieved shortly before the termination of the clamping operation and thereby additionally a rotation between the gripping fingers and the bending tool can be created. Due to the design according to claim 4, it is possible that so directly and without complicated Verwinkelungen the manipulator replacement of the tool holders held in the bending tools is made possible.

According to another embodiment variant according to claim 5 a virtually tilting moment-free support and support of the bending tool is achieved on the gripper fingers.

Also advantageous is a development according to claim 6, since a certain tolerance is created within which the gripping fingers can be inserted into the recess of the bending tool and clamped thereto.

In the embodiment according to claim 7 it is advantageous that thereby the machining for the formation of the recess can be considerably simplified and made more cost effective by the development according to claim 8 is achieved so that a roughly cut-like investment of the support area on the outside of the gripper fingers achieved is and thus the slipping or sliding of the bending tool is made difficult by the gripper fingers. In addition, a certain positive locking or coupling against each other can be achieved with a corresponding counter-training of the contact surfaces of the gripper fingers.

Due to the design according to claim 9, a universal handling and manipulation of the bending tool can be achieved. Also advantageous is an embodiment according to claim 10, as this can be detected and held on both sides of the bending tool, whereby the manipulation is significantly simplified. Finally, a further development, as described in claim 11, advantageous because even better mutual centering can be achieved during the holder.

For a better understanding of the invention, this will be explained in more detail with reference to the following figures.

Each shows in a highly schematically simplified representation:

Fig. 1 is a bending press of the manufacturing plant according to the invention, in view;

Fig. 2, the bending press of FIG. 1 in side view and a schematically indicated

Manipulator; the gripping tongs of the manipulator of Figure 2, in an enlarged view. a section of the bending press according to Figures 1 and 2 in the region of their bending tools, in side view and enlarged view. the bending punch of the bending press of Figure 4 in view according to arrow V in Fig. 4. a section of another bending tool with a different configuration of a recess, in side view and enlarged view;

Fig. 7, the bending tool according to Fig. 6, in view.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are given the same reference numerals or the same component designations, the disclosures contained throughout the description being applied mutatis mutandis to the same. che parts with the same reference numerals or the same component names can be transferred. Also, the position information selected in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to a new position analogous to the new situation. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.

All statements on ranges of values in the description of the subject should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all subregions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10.

In Figs. 1 and 2, a manufacturing plant 1 for the free-form bending of sheet metal to be produced workpieces 2 is shown in a highly schematically simplified representation.

The production plant 1 comprises a bending press 3, in particular a press brake, for producing the workpieces 2 or workpieces between bending tools 4 which are adjustable relative to one another, such as bending dies 5 and bending dies 6.

A machine frame 7 of the bending press 3 consists for example of a base plate 8 on the vertically upstanding, mutually spaced and parallel to each other aligned side cheeks 9, 10 are arranged. These are preferably connected to each other by a solid, formed for example from a sheet metal part cross member 11 at their distance from the bottom plate 8 end portions.

The side cheeks 9, 10 are approximately C-shaped to form a free space for the forming of the workpiece 2, wherein a fixed, on the bottom plate 8 upstanding press bar 13, in particular a table bar, is fixed to front end faces 12 of bottom legs of the side cheeks 9, 10 , At front end faces 14 of the legs removed from the bottom plate 8 is in linear guides 15 a to the table beam forming press bar thirteenth relatively adjustable further press bar 16, in particular a pressure bar, guided guided. On opposite, mutually parallel end surfaces 17, 18 of the two press bars 13, 16 tool holders 19, 20 are arranged for assembly with the bending tools 4.

The bending press 3 shown has, as a drive arrangement 21 for the adjustable press beam 16, namely the pressure beam, two electrically driven drive means 22, which are line-connected to a control device 24 fed from a power network 23. By way of example, the operation of the bending press 3 is controlled via a line-connected input terminal 25 connected to the control device 24.

The drive means 22 are electromotive spindle drives 26, as they are generally known, of which adjusting means 27 for a reversible actuating movement of the upper beam bar 16 formed by the pressure bar with this, for example drive connected are.

Further details required for the operation of such a bending press 3, such as safety devices, stop arrangements, control and measuring devices are omitted in the subject description to avoid unnecessary length of the description.

Furthermore, the production plant 1 also comprises a manipulator 28, shown here in simplified form in FIG. 2, which extracts at least a portion from a schematically indicated supply stack 29 of sheets to be deformed or folded and spends it into the working area of the bending press 3. The manipulator 28 in turn comprises a gripping tongs 30, shown in a simplified manner, which in turn has gripping fingers 31, 32. The gripping fingers 31, 32 each have clamping surfaces 33, 34 on the side facing the workpiece 2 to be produced. By a corresponding pivoting of the gripping fingers 31, 32 against each other and applying a sufficient clamping force, the sheet metal or the workpiece 2 to be produced is held by the manipulator 28 via the cooperation of the clamping surfaces 33, 34 and moved accordingly and positioned. With the gripper fingers 31, 32 of the gripper 30 is a corresponding gripping and later in consequence conditioned by the clamping movement ensures sufficient support for the workpiece 2 to be produced from the sheet metal.

Furthermore, it is shown here in simplified form that the bending tools 4, in particular the bending punch 5 and / or the bending die 6, have their own recesses 35, 36 for manipulating the same. Manipulating the bending tool 4 is understood to mean that it is automatically removed from a tool store not shown here and automatically inserted into the tool holders 19, 20 of the press beams 13, 16. It can also be spoken of a tool change system. For exchanging corresponding bending tools 4, after the clamping holding of the bending tools 4, these are in turn pushed out of the tool holders 19, 20, for the most part in the longitudinal direction thereof, and are replaced by other bending tools 4. In this case, the bending tools to be exchanged 4 are brought back into the tool depot and stored sorted to be removed there later for another bending process and used in the tool holder 19, 20. For this purpose, the recesses 35, 36 in the bending tool 4. The clamping holding the individual bending tools 4 takes place here in cooperation of arranged in the bending tool 4 recesses 35, 36 with the gripper fingers 31, 32 of the gripper 30. In Fig. 3 is the previously schematically shown gripper 30 has been shown in a larger scale for the sake of clarity again and shows the two gripping fingers 31, 32 with the facing clamping surfaces 33, 34. There are again for the same parts the same reference numerals or component designations as in the preceding Fig. 1st and 2 used. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 and 2 or reference.

The workpiece 2 to be produced from the sheet metal is here shown in clamping position between the two gripping fingers 31, 32 and adjacent to the two clamping surfaces 33, 34. In this example shown here, the gripping finger 31 is fixed, for example, and the further gripper finger 32 is pivotably mounted on a manipulator arm 37 for this purpose. The pivoting movement takes place in a predeterminable plane, wherein the pivoting direction is indicated by means of a double arrow. But it would also be possible to pivot both gripping fingers 31, 32 against each other. In order to grip and hold not only the sheet to form the workpiece 2 with the same gripping tongs 30, it is provided here to be able to carry out the manipulation of the bending tools 4 with it. For this purpose, an additional contact surface 40 is provided at each end 38, 39 of the two gripping fingers 31, 32 on the mutually averted sides of the clamping surfaces 33, 34.

In order to achieve a clamping effect of the sheet for the formation of the workpiece 2, one or both gripping fingers 31, 32 of the gripping tongs 30 are moved towards each other, so that the distance between the clamping surfaces 33, 34 is reduced to such an extent that the sheet metal with its thickness resp Thickness gets trapped in between.

For manipulation of the bending tools 4, the ends 38, 39 of the gripping fingers 31, 32 are inserted into the recesses 35 or 36 of the bending tool 4 and achieved in the opposite direction with respect to the clamping action of the workpiece 2, the clamping bracket on the bending tool 4. The description of the possible design of the recess 35, 36 is detailed in the following figures.

FIGS. 4 and 5 show a possible embodiment of the bending tool 4, which may be independent of itself, wherein the same reference numerals or component designations are again used for the same parts as in the preceding FIGS. 1 to 3. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 to 3 or reference.

As can now be seen from a combination of FIGS. 4 and 5 with FIG. 2, the bending tools 4 each have a head part 41, which is inserted in a clamping region 42 in the tool holders 19, 20. For this purpose, the tool holders 19, 20 on a receiving slot 43. Each of the bending tools 4 illustrated here further comprises an end region 44 which is distanced from the head part 41 and defines a bending region 45 in the longitudinal extent of the bending tool 4. A tool arm 46 extends between the head part 41 and the end region 44 of the bending tool 4. In the present exemplary embodiment, in the case of the bending tool 4 forming the bending tool 4, the tool arm 46 is formed by a plurality of unspecified legs. The two previously described tool holders 19, 20 of the press beams 13, 16 receive the head portion 41 of the bending tool or tools 4 and these are held interchangeable there. When the bending die 6 forming bending tool 4, the tool arm between its head portion 41 and the end portion 44 in contrast to the tool arm 46 of the punch 5 is formed short and stocky.

The bending tools 4 formed by the bending punch 5 and the bending die 6 are limited in their spatial form by this limiting side walls 47 and in the longitudinal extent thereof distanced end walls 48.

The recess 35 shown here in the area of one of the side walls 47 of the bending tool 4 designed as a bending punch 5 has abutment areas 49, 50 spaced apart from one another. In this exemplary embodiment shown here, the two abutment regions 49, 50 in the normal position of use of the bending tool 4, in particular the bending punch 5, vertically aligned one above the other or in a vertical plane to each other. Each of the stop regions 49, 50 in turn comprises at least one own stop surface 51, 52. The spatial form of the stop region 49, 50 or the stop surfaces 51, 52 delimited by these can be designed as desired. Preferably, these may be formed opposite to the contact surfaces 40 of the previously described gripping fingers 31, 32. In this embodiment shown here, the two stop surfaces 51, 52 are curved curved. The two abutment regions 49, 50 are preferably arranged in a reference plane 53, which is aligned in the vertical direction with respect to the bending region 45. Furthermore, this reference plane 53 is also aligned perpendicular to the longitudinal extension of the bending tool 4 here. Thus, in this exemplary embodiment shown here, the two stop regions 49, 50 are distanced from one another in the vertical direction with respect to the bending region 45. For clamping support of the bending tool 4 by the gripping tongs 30 of the manipulator 28, the ends 38, 39 of the gripping fingers 31, 32 are inserted into the recess 35, 36. By corresponding spreading of the gripping fingers 31, 32 in the opposite direction with respect to the clamping force for holding the workpiece 2 to be produced, the two come on the gripper fingers 31, 32 outer contact surfaces 40 of the abutment against the two stop regions 49, 50th

This makes it possible to capture the bending tool 4 by the same gripper fingers 31, 32 of the manipulator 28 without additional tooling or additional manipulation means and to be able to hold them as they do for holding and manipulating the sheet to form the workpiece 2 be used. It is also advantageous that no additional components, such as pins, bolts, ribs or the like, must be attached to the bending tool 4 for its manipulation by the gripping fingers 31, 32. The attachment or formation of the recess 35, 36 can by a simple

Machining operation, such as a milling process done. To maintain the corresponding strength properties of the bending tool 4, attention must be paid to the arrangement and size of the recesses 35, 36. To an oriented holder of the bending tool 4 in the interaction of the gripper fingers

31, 32 with the recesses 35, 36, it is advantageous if the abutment surfaces 51 and 52 of a stop region 49, 50 are aligned with each other on the side facing away from the other stop area 50, 49 side. Such a possible embodiment is indicated in Fig. 5 in dotted lines. As a result, a self-centering of the two contact surfaces 40 on the abutment surfaces 51, 52 associated therewith is achieved. This not only a perfect clamping achieved but also an oriented holder already achieved starting from the recording process of the bending tool 4 to the final positioning in the tool holders 19, 20 and the tool depot. For this purpose, the contact surfaces 40 formed on the gripper fingers 31, 32 can be formed opposite to the stop regions 49, 50, in particular their abutment surfaces 51, 52.

The recesses 35, 36 are preferably arranged in at least one side wall 47 of the bending tool 4 that extends parallel with respect to the bending region 45. With a corresponding strength of the bending tool 4, the recess 35, 36 could also be arranged in at least one of the end walls 48. In order to avoid an eccentric mounting of the bending tool 4 on the gripper fingers 31, 32, it is advantageous if the recesses 35, 36 are preferably arranged centrally between the two end walls 48 distanced from one another in the longitudinal direction. This creates a centric arrangement of the impact areas 49, 50 of the recess 35, 36 achieved with respect to the longitudinal extent of the bending tool 4.

FIGS. 6 and 7 show a possible embodiment of the bending tool 4, which is possibly independent of itself, wherein the same reference numerals or component designations are used again for the same parts as in the preceding FIGS. 1 to 5. To avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 to 5 or reference. In this embodiment shown here, a bending punch 5 has again been selected as the bending tool 4. The recess 35 shown here for interacting with the gripper fingers 31, 32 of the gripping tongs 30 extends in the longitudinal direction of the bending tool 4. A preferred parallel alignment with respect to the bending region 45 is advantageous. The recess 35 may further be arranged not only in one of the side walls 47 but also opposite one another. Preferably, the recess 35 also extends continuously over the entire longitudinal extent of the bending tool 4 between the two end walls 48. Thus, the recess 35 may be formed groove-shaped. Seen in cross-section, the recess 35 may be formed dovetail-shaped. This means that, starting from a groove base, the stop faces 51, 52 delimiting the recess 35 are formed toward each other in the direction of the side walls 47.

It is advantageous if a plurality of recesses 35, 36 are provided in the bending tool 4 in order to be able to grip and grasp the bending tool 4 from different positions. For this purpose, the recesses 35, 36 may be arranged or formed in opposite side walls 47 of the bending tool 4.

However, this arrangement of the recess 35, 36 described here can also be selected in the embodiment shown in FIGS. 4 and 5. Then the abutment regions 49, 50 would be distanced from each other in a parallel direction with respect to the longitudinal extension of the bending tool 4. In this case, then the clamping holders can be carried out by the mutually spread gripping fingers 31, 32, but to a relation to the holder described above rotated by 90 ° alignment. The embodiments show possible embodiments of the manufacturing plant 1, in particular the bending tools 4 with the co-operating gripper fingers 31, 32, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation due to the teaching of technical action by objective invention in the skill of working in this technical field expert. Thus, all conceivable embodiments that are possible by combinations of individual details of the embodiment variant shown and described are also encompassed by the scope of protection.

For the sake of the order, it should finally be pointed out that for a better understanding of the construction of the production plant 1, these or their components have been shown partly unevenly and / or enlarged and / or reduced in size.

The task underlying the independent inventive solutions can be taken from the description.

Above all, the individual in Figs. 1, 2; 3; 4, 5; 6; 7 embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.

Reference designation Production plant 41 Headpiece Workpiece 42 Clamping range Bending press 43 Receiving slot Bending tool 44 End area Bending punch 45 Bending part Bending tool 46 Tool arm Machine frame 47 Side wall Bottom plate 48 End wall Sidewall 49 Stop area Sidewall 50 Stop area Cross-section 51 Stop face Front face 52 Stop face Presser bar 53 Reference plane Front face

linear guide

press beams

face

tool holder

drive arrangement

drive means

energy grid

control device

input terminal

spindle drive

actuating means

manipulator

stockpile

tongs

gripping fingers

clamping surface

recess

manipulator

The End

contact area

Claims

Patent claims

1. manufacturing plant (1), in particular for the free-form bending of sheet metal to be produced workpieces (2) comprising

^■ => a bending press (3), in particular a press brake, with press beams (13, 16) and

Tool holders (19, 20),

at least one bending tool (4), such as bending punch (5) or bending die (6), with a head part (41) and a distal end portion (44) defining a bending region (45) in the longitudinal extension of the bending tool (4), and with a tool arm (46) extending between the head part (41) and the end region (44), the head part (41) being held exchangeably in the tool receptacles (19, 20) of the press beams (13, 16), and the bending tool ( 4) has this limiting side walls (47) and end walls (48),

^■ = a manipulator (28) with a gripping tongs (30), which gripping fingers (31, 32), wherein the two gripping fingers (31, 32) on the sides to be produced workpiece (2) facing sides clamping surfaces (33, 34) in order to grip and hold the workpiece (2) to be manufactured,

<=> at least one in the bending tool (4) arranged recess (35, 36) for manipulating the bending tool (4),

characterized in that

additional contact surfaces (40) are formed on ends (38, 39) of the gripper fingers (31, 32) on mutually averted sides of the clamping surfaces (33, 34),

^■ => the recess (35, 36) spaced abutment areas (49, 50), wherein the ends (38, 39) of the gripping fingers (31, 32) for clamping support of the bending tool (4) in the recess (35, 36 ) are used,

· = The contact surfaces (40) of the gripping fingers (31, 32) are pressed against the abutment regions (49, 50) in the opposite direction with respect to the clamping force for holding the workpiece (2) to be produced.

2. Production plant (1) according to claim 1, characterized in that the abutment regions (49, 50) in the vertical direction with respect to the bending region (45) are spaced from each other.

3. Production plant (1) according to claim 1 or 2, characterized in that each of the stop regions (49, 50) stop surfaces (51, 52), wherein the stop surfaces (51, 52) of a stop region (49, 50) on the from other stop area (50, 49) side facing away from each other are aligned.

4. Production plant (1) according to one of the preceding claims, characterized in that the recess (35, 36) in at least one parallel with respect to the bending region (45) extending aligned side wall (47) of the bending tool (4) is arranged.

5. Production plant (1) according to one of the preceding claims, characterized in that the abutment regions (49, 50) of the recess (35, 36) are arranged centrally with respect to the longitudinal extent of the bending tool (4).

6. Production plant (1) according to one of the preceding claims, characterized in that the recess (35, 36) extends in the longitudinal direction of the bending tool (4).

7. Production plant (1) according to claim 6, characterized in that the recess (35, 36) continuously over the entire longitudinal extent of the bending tool

(4) extends.

8. Production plant (1) according to one of the preceding claims, characterized in that the recess (35, 36) is groove-shaped and has a dovetail-shaped cross-section.

9. Production plant (1) according to one of the preceding claims, characterized in that in the bending tool (4) a plurality of recesses (35, 36) are provided.

10. Production plant (1) according to one of the preceding claims, characterized in that the recesses (35, 36) in opposite side walls (47) of the bending tool (4) are arranged.

11. Production plant (1) according to one of the preceding claims, characterized in that the contact surfaces (40) on the gripper fingers (31, 32) respectively opposite to the stop areas (49, 50) of the bending tool (4) are formed.