EP2554291B1 - Procédé de travail ainsi qu'agencement mécanique pour la réalisation du procédé de travail - Google Patents

Procédé de travail ainsi qu'agencement mécanique pour la réalisation du procédé de travail Download PDF

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Publication number
EP2554291B1
EP2554291B1 EP11176071.6A EP11176071A EP2554291B1 EP 2554291 B1 EP2554291 B1 EP 2554291B1 EP 11176071 A EP11176071 A EP 11176071A EP 2554291 B1 EP2554291 B1 EP 2554291B1
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EP
European Patent Office
Prior art keywords
handling
machine
control data
handling device
related control
Prior art date
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EP11176071.6A
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German (de)
English (en)
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EP2554291A1 (fr
Inventor
Walter Thiel
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.)
Trumpf Werkzeugmaschinen SE and Co KG
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Trumpf Werkzeugmaschinen SE and Co KG
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Priority to EP11176071.6A priority Critical patent/EP2554291B1/fr
Publication of EP2554291A1 publication Critical patent/EP2554291A1/fr
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    • 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
    • B21D43/28—Associations of cutting devices therewith
    • 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

Definitions

  • Both the sheet metal working machine and the handling device are numerically controlled.
  • a computer control of the sheet metal working machine communicates with a computer control of the handling device.
  • the computer control of the sheet metal processing machine transmits information about the nature of the manufactured on the sheet metal working machine and by means of the handling device to be transported sheet metal blank to the computer control of the handling device.
  • the computer control of the handling device comprises control units which are each associated with a type of sheet metal blanks. The transmitted from the computer control of the sheet metal working machine to the computer control of the handling device Information is decisive for which of the control units of the computer control of the handling device is activated.
  • Each of the control units ensures that the movement units of the handling device receive the sheet metal blanks assigned to the respective control unit on the workpiece support of the sheet metal working machine and deposit it at the location of the collecting vehicle or the stationary storage space provided for this purpose.
  • the movement units with their suction frame and the suction cups provided thereon are always used for handling the sheet metal blanks. Therefore, depending on the type of sheet metal blank to be transported, different suckers of the moving units must be activated to produce a vacuum required for fixing the sheet metal blank to be transported.
  • WO 2010/144517 A2 Another working method and another mechanical arrangement are known from WO 2010/144517 A2 .
  • sheet metal parts are produced from a coil on a first processing device, which may for example be designed as a pair of scissors or as a punching machine.
  • a handling device embodied as a multi-axis industrial robot
  • the sheet metal parts produced are picked up at the first processing device and transferred to a second processing device, for example a welding machine.
  • the mechanical components of the previously known system are operated in a coordinated manner and are computer-controlled for this purpose. Details of the computer control are in WO 2010/144517 A2 not revealed.
  • control modules for the individual system components are integrated in a superordinate computer control of the overall system. Each of the control blocks is programmed separately.
  • the programming of the handling device is usually done by teach-in or offline.
  • the object of the present invention is based on the generic prior art is to simplify the application-specific self-configuration of handling devices of the type mentioned. This object is achieved according to the invention by the working method according to claim 1 and the mechanical arrangement according to claim 7.
  • the cutting process and the subsequent handling process as well as the mechanical devices provided for carrying out these method steps are therefore closely linked on the control side.
  • the numerical control of the handling device uses handling-relevant control data, which are available at the cutting machine. On the one hand, this reduces the effort for programming the numerical control unit of the handling device.
  • the computer control of the handling device is optimally adapted to the computer control of the cutting machine due to the use of the same database.
  • the data transfer between the cutting machine and the handling device can be done online, preferably in the running process, but also offline. Due to the control-related communication of the handling device with the cutting machine, the handling device can be prepared for the handling task to be solved at an early stage, in particular before the end of the cutting workpiece machining.
  • device-related control data On the basis of machine-related control data, device-related control data is generated, on the basis of which a handling unit which is particularly expedient for the relevant application is selected for the handling device.
  • the machine-related control data are used for programming the mechanical arrangement according to the invention, which has a handling device with a handling unit removably attached to a basic structure.
  • Particular embodiments of the working method according to claim 1 and the mechanical arrangement according to claim 7 emerge from the dependent claims 2 to 6 and 8 to 13.
  • control data of the computer control for the cutting machine are used for programming the computer control of the handling device, which relate to the location of male parts on the cutting machine.
  • the use of this machine-related control data enables the handling device to functionally locate and pick up workpieces that have been produced on the cutting machine.
  • control data for the handling device are generated on the basis of handling-related machine-related control data, for example on the basis of control data relating to the position of workpieces to be picked up on the cutting machine, on the basis of which the range of the handling device is set (claim 5).
  • the adjustment of the position of the handling unit relative to the basic structure of the handling device can be controlled by device-related data generated from those control data for the computer control of the cutting machine concerning the position of workpieces to be picked up at the cutting machine ( Claim 8).
  • handling-relevant control data of the computer control for the cutting machine machine-related control data are used according to the invention for programming the computer control of the handling device, which geometry and / or weight and / or the material and / or relate to the surface texture of male on the cutting machine workpieces (claims 3, 4).
  • the numerical control unit of the handling device in a preferred embodiment of the invention is programmed such that for the handling device from a plurality of handling units that handling unit is selected, which is responsible for the handling of workpieces with the relevant geometry and / or weight and / or material and / or surface texture. If, for example, a perforated plate is to be handled as the workpiece, then a handling unit is selected for the handling device, which due to its design can securely fix the workpiece irrespective of the perforation.
  • handling units for such applications are, for example, magnetic gripper or under consideration of the perforation configured suction structures in question.
  • a correspondingly load-bearing handling unit is selected from the available handling units.
  • the material and / or the surface finish of the workpieces to be handled may require particularly gentle workpiece handling and the use of a handling unit suitable for this purpose.
  • the numerical control unit of the handling device is programmed on the basis of machine-related control data in such a way that it configures the handling unit itself based on the application.
  • the handling unit may have a support structure that can be variably provided with retaining members, such as wearers.
  • the handling device independently selects, for example, the design and / or geometric arrangement of the holding members suitable for the respective application on the basis of the machine-related control data taken over by the numerical control unit of the cutting machine.
  • workpieces that have been picked up on the cutting machine are deposited by the computer-controlled handling device at a storage location and / or transferred to a downstream workstation (claim 6).
  • a workstation in particular a bending station, downstream (claim 13).
  • the mechanical arrangement according to the invention preferably has a laser flatbed machine and / or a combination machine with a punching device and with a laser cutting device (claim 12).
  • a correction device is provided in a further embodiment of the mechanical arrangement according to the invention for the numerical control unit of the handling device (claim 9).
  • the correction device comprises a receiving unit and an evaluation unit, wherein the handling-relevant properties of the workpieces to be received by the handling device on the cutting machine can be detected by means of the receiving unit and wherein the device-related control data stored in the numerical control unit of the handling device and attributed to machine-related control data by means of the evaluation unit Recording results are comparable.
  • the evaluation unit makes a discrepancy between the device-related control data stored in the numerical control unit of the handling device and based on machine-related control data, on the one hand, and the result On the other hand, the determination of the handling-relevant properties of the workpieces to be picked is fixed, the evaluation unit correspondingly corrects the device-related control data stored in the numerical control unit of the handling device.
  • the receiving unit of the correction device for the computer control of the handling device is arranged on a handling unit of the handling device and movable together with the handling unit in space (claim 10).
  • a camera is provided as a receiving unit of the correction device for the computer control of the handling device, which is attached to the handling unit of the handling device such that it assumes its functional position when the handling unit relative to a male on the cutting machine workpiece according to their Function position is aligned (claim 11).
  • a detection of the handling-relevant properties of the workpieces on the cutting machine made by the camera can be integrated directly into the handling process.
  • a passbauart such as a dual camera or a 3D camera allows extended position detection and in particular allows to detect a tilt of male workpieces and to distinguish the male workpieces from a surrounding skeleton.
  • FIG. 1 1 comprises a machine arrangement 1 for sheet metal working as cutting machines, a combination machine 2 and a laser flatbed machine 3. Further components of the machine arrangement 1 are a work station in the form of a bending machine 4 and a handling device 5.
  • the combination machine 2 has a punching device 6 and a laser cutting device 7.
  • a numerical control unit 8 of the combination machine 2 is in FIG. 1 indicated.
  • a workpiece support 9 of the combination machine 2 stores raw sheets during the cutting sheet metal processing.
  • the combination machine 2 produced by cutting of sheet metal workpieces of three different categories, namely workpieces I, II and workpieces IV. These differ in terms of their geometry, their weight and in terms of the position they on completion of the cutting sheet metal processing on take the workpiece support 9 of the combination machine 2.
  • Machine-related control data which inter alia relate to the three mentioned parameters, are stored in the numerical control unit 8 of the combination machine 2.
  • the laser flatbed machine 3 has in the usual way an enclosure 10 which limits a working space 11.
  • a laser cutting head 12 is movable along a gantry carrier 13, which in turn moves perpendicular to its longitudinal direction.
  • raw sheets are machined cutting inside the working space 11 of the laser flatbed machine.
  • the essential functions of the laser floating bed machine 3 are controlled by means of a numerical control unit 14.
  • workpieces I and workpieces II are cut free from raw sheets in the present example case also on the laser flatbed machine.
  • the laser flatbed machine produces 3 workpieces III.
  • the workpieces I, II, III differ in their geometry, their weight and in the position they occupy after the processing of the sheet metal on a pallet 15 of a laser flat bed machine 3 associated pallet changer 16.
  • Machine-related control data concerning the three mentioned parameters are stored in the numerical control unit 14 of the laser flatbed machine 3.
  • the handling device 5 is arranged.
  • the handling device 5 is a multi-axis industrial robot, which can move driven by guide rails 17.
  • the handling device 5 has a basic structure 18 with a bearing on the guide rails 17 base 19 and with pivot arms 20, 21, 22 which are relatively pivotable.
  • the pivot arm 22 is provided at its remote from the pivot arm 21 end with a handling unit 23.1.
  • the handling unit 23.1 is detachably fastened to the swivel arm 22 by means of a quick coupling.
  • FIG. 2 a handling unit 23.2 and a handling unit 23.3.
  • the handling units 23.1, 23.2, 23.3 have support frames 24.1, 24.2, 24.3. On the support frame 24.1 of the handling unit 23.1 support suckers 25,1 are mounted by means of detachable quick-release couplings. Accordingly, the handling unit 23.2 are provided with suction pads 25.2 and the handling unit 23.3 with suction pads 25.3.
  • the handling units 23.1, 23.2, 23.3 differ in their carrying capacity as well as in their holding geometry caused by the arrangement of the carrying suckers 25.1, 25.2, 25.3.
  • the functions of the handling device 5 are controlled by a numerical control unit 26 on the basis of device-related control data.
  • a numerical control unit 26 Integrated into the numerical control unit 26 of the handling device 5 is an evaluation unit 27 of a correction device 28.
  • the correction device 28 comprises a receiving unit 29, which is attached to the pivot arm 22 of the handling device 5 and connected via this with the provided on the pivot arm 22 handling unit 23.1.
  • the recording unit 29 is in the example shown to a camera with a in FIG. 2 dash-dotted line direction.
  • the handling device 5 access both the workpiece support 9 of the combination machine 2 and the pallet 15 of the pallet changer 16 of the laser flatbed machine 3.
  • FIG. 1 shows the machine assembly 1 after the handling device 5 has picked up a workpiece II from the pallet 15 of the pallet changer 16.
  • the workpiece II has been previously cut free from inside the working space 11 of the laser flatbed machine 3 from a blank sheet.
  • handling-related machine-related control data stored there by the numerical control unit 14 of the laser flatbed machine 3 have been transferred to the numerical control unit 26 of the handling device 5.
  • machine-related control data were transmitted which relate to the geometry, the weight and the position of the workpiece II to be picked up by the handling device 5 after the end of the cutting sheet metal processing on the flatbed laser machine 3 or the pallet changer 16.
  • device-related control data intended for the control thereof were generated by the numerical control unit 26 of the handling device 5. Due to the associated programming of the computer controller 26, the handling device 5 is first in the in FIG. 1 not shown change position according to FIG. 2 method. evidenced FIG.
  • the handling unit 23.1 was still mounted on the basic structure 18 of the handling device 5. This was then replaced with the more robust handling unit 23.2, which was adapted to the geometry of Category II workpieces. Subsequently, the handling device 5 moved from the change position to a receiving position in front of the pallet changer 16.
  • the handling unit was 23.2 by appropriately controlled movements of the pivot arms 20, 21, 22 of the handling device 5 with the carrier suckers 25.2 on the top of the on the Pallet 15 resting workpiece II placed.
  • the support suckers 25.2 By applying a negative pressure to the support suckers 25.2 these were activated and the workpiece II was fixed to the handling unit 23.2.
  • the pivot arms 20, 21, 22 of the handling device 5 were finally in the position according to FIG. 1 pivoted.
  • the handling device 5 was controlled on the basis of device-related control data.
  • This device-related control data had previously been generated from machine-related control data, which in turn concerned the position of the workpiece II on the pallet 15.
  • the recording of the ready on the pallet 15 workpiece II was monitored by the correction device 28.
  • the handling unit 23.2 was aligned with respect to the workpiece II to be picked so that the workpiece II faced the recording unit 29 or the respective camera in its recording direction
  • the actual position of the workpiece II was detected by the recording unit 29.
  • the position information obtained in this way was compared by means of the evaluation unit 27 of the correction device 28 against the stored in the numerical control unit 26 of the handling device 5 and back to machine-related control data of the laser flatbed machine 3 position information. In the present case, no deviation of the actual stored from the numerical control unit 26 of the handling device 5 workpiece position was detected.
  • the workpiece holder on the pallet 15 could therefore be performed directly on the basis of the stored in the numerical control unit 26 of the handling device 5 device-related control data. If a deviation of the actual workpiece position stored in the numerical control unit 26 of the handling device 5 had been detected, then the relevant device-related control data in the numerical control unit 26 of the handling device 5 would have had to be modified accordingly.
  • the handling device 5 can also receive workpieces I, III from the pallet 15 of the pallet changer 16 or workpieces I, II, IV from the workpiece support 9 of the combination machine 2.
  • the data transfer from the numerical control units 8, 14 to the numerical control unit 26 which precedes the workpiece handling on the combination machine 2 or the laser flatbed machine 3 is shown in FIG FIG. 1 shown schematically.
  • the numerical control unit 26 In addition to the device-related control data for the workpiece handling on the combination machine 2 and on the laser flatbed machine 3, the numerical control unit 26 generates the handling device 5 on the basis of the numerical control unit 8 of the combination machine 2 and the numerical control unit 14 of the laser flatbed machine 3 transferred machine-related control data further device-related control data. These further device-related control data are used to control the handling device 5 following the in FIG. 1 shown recording of the workpiece II.
  • Conceivable is the generation of device-related control data for a control of the handling device 5 such that the recorded workpiece II is transferred directly to the bending machine 4, where then a bending machining of the workpiece II takes place.
  • the data records taken over by the combination machine 2 or the laser flatbed machine 3 can be supplemented by control data relating to the handling of the workpiece II during and after the bending process.
  • bending parameters or process steps subsequent to the bending can be taken into account. Bending parameters to be taken into consideration are, for example, bending lengths or edge distances to bends to be created.
  • finished bent workpieces can be sorted, for example, stored at designated locations.
  • the numerical control unit 26 of the handling device 5 can be programmed such that the handling device 5, the recorded workpiece II at a storage location, in detail on one of a total of three for Workpieces of category II certain storage pallets 30, deposits.
  • the workpiece II remains on the storage pallet 30 and is removed from there, for example by means of a lift truck or the workpiece II is only temporarily stored on the storage pallet 30 in the course of the process and resumed at a later time by the handling device 5 and transported to the bending machine 4 for bending processing.
  • the workpieces II are deposited on the associated pallet 30 in the correct position. An orderly stacking of several workpieces II is possible.
  • the handling device 5 can move with workpieces of categories I, III and IV.
  • pallets 31 (workpieces I), pallets 32 (workpieces III) and pallets 33 (workpieces IV) are provided as storage locations.
  • the handling device 5 can also charge the combination machine 2 and the laser flatbed machine 3 with blank sheets and the replacement and replacement of punching tools and laser nozzles and laser cutting heads on the combination machine 2 and the laser Take over the flat bed machine 3.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Claims (13)

  1. Procédé de travail, dans le cadre duquel
    - des pièces (I, II, III, IV) sont produites par découpage sur une machine de coupe (2, 3) commandée par ordinateur, en particulier des pièces de tôle sont dégagées par découpage à partir d'une tôle, et
    - les pièces produites (I, II, III, IV) sont prises en charge sur la machine de coupe (2, 3) au moyen d'un dispositif de manutention (5) commandé par ordinateur,
    sachant que la machine de coupe (2, 3) est commandée par ordinateur à l'aide de données de commande relatives à la machine et le dispositif de manutention (5) à l'aide de données de commande relatives au dispositif, et sachant que les données de commande relatives au dispositif de la commande par ordinateur du dispositif de manutention (5) sont générées à l'aide de données de commande relatives à la machine pour la commande par ordinateur de la machine de coupe (2, 3) qui sont pertinentes pour la manutention,
    caractérisé en ce que, à l'aide des données de commande relatives à la machine qui sont pertinentes pour la manutention, on génère des données de commande relatives au dispositif sur la base desquelles on sélectionne pour le dispositif de manutention (5) une unité de manutention (23.1, 23.2, 23.3) parmi une pluralité d'unités de manutention (23.1, 23.2, 23.3),
    et en ce que l'unité de manutention (23.1, 23.2, 23.3) sélectionnée sur la base des données de commande relatives au dispositif est fixée de manière amovible sur une structure de base (18) du dispositif de manutention (5).
  2. Procédé de travail selon la revendication 1, caractérisé en ce que les données de commande relatives au dispositif de la commande par ordinateur du dispositif de manutention (5), sur la base desquelles on sélectionne pour le dispositif de manutention (5) une unité de manutention (23.1, 23.2, 23.3) parmi une pluralité d'unités de manutention (23.1, 23.2, 23.3), sont générées à l'aide de données de commande relatives à la machine qui concernent la position sur la machine de coupe (2, 3) des pièces (I, II, III, IV) à prendre en charge.
  3. Procédé de travail selon l'une des revendications précédentes, caractérisé en ce que les données de commande relatives au dispositif de la commande par ordinateur du dispositif de manutention (5), sur la base desquelles on sélectionne pour le dispositif de manutention (5) une unité de manutention (23.1, 23.2, 23.3) parmi une pluralité d'unités de manutention (23.1, 23.2, 23.3), sont générées à l'aide de données de commande relatives à la machine qui concernent la géométrie et/ou le poids des pièces (I, II, III, IV) à prendre en charge sur la machine de coupe (2, 3).
  4. Procédé de travail selon l'une des revendications précédentes, caractérisé en ce que les données de commande relatives au dispositif de la commande par ordinateur du dispositif de manutention (5), sur la base desquelles on sélectionne pour le dispositif de manutention (5) une unité de manutention (23.1, 23.2, 23.3) parmi une pluralité d'unités de manutention (23.1, 23.2, 23.3), sont générées à l'aide de données de commande relatives à la machine qui concernent le matériau et/ou l'état de surface des pièces (I, II, III, IV) à prendre en charge sur la machine de coupe (2, 3).
  5. Procédé de travail selon l'une des revendications précédentes, caractérisé en ce que, à l'aide des données de commande relatives à la machine qui sont pertinentes pour la manutention, on génère des données de commande relatives au dispositif sur la base desquelles on règle la portée du dispositif de manutention (5).
  6. Procédé de travail selon l'une des revendications précédentes, caractérisé en ce que le dispositif de manutention (5) commandé par ordinateur dépose des pièces (I, II, III, IV) prises en charge sur la machine de coupe (2, 3) à un emplacement d'entreposage (30, 31, 32, 33) et/ou les transfère à un poste de travail consécutif (4).
  7. Agencement mécanique pour la mise en oeuvre du procédé de travail selon l'une des revendications précédentes,
    - avec une machine de coupe (2, 3) sur laquelle des pièces (I, II, III, IV) sont produites par découpage, en particulier des pièces de tôle sont dégagées par découpage à partir d'une tôle, et qui présente une unité de commande numérique (8, 14) dans laquelle sont enregistrées des données de commande relatives à la machine pour la commande de la machine de coupe (2, 3),
    - et avec un dispositif de manutention (5) qui prend en charge des pièces produites (I, II, III, IV) sur la machine de coupe (2, 3) et qui présente une structure de base (18), une unité de manutention (23.1, 23.2, 23.3) pouvant être déplacée dans l'espace au moyen de la structure de base (18), et une unité de commande numérique (26) dans laquelle sont enregistrées des données de commande relatives au dispositif pour la commande du dispositif de manutention (5),
    sachant que les pièces (I, II, III, IV) produites sur la machine de coupe (2, 3) peuvent être fixées en position sur le dispositif de manutention (5) au moyen de l'unité de manutention (23.1, 23.2, 23.3), et sachant que sont enregistrées dans l'unité de commande numérique (26) du dispositif de manutention (5) des données de commande relatives au dispositif qui ont été générées à l'aide de données de commande relatives à la machine pour l'unité de commande numérique (8, 14) de la machine de coupe (2, 3) qui sont pertinentes pour la manutention,
    caractérisé en ce que, sur la base des données de commande relatives au dispositif enregistrées dans l'unité de commande numérique (26) du dispositif de manutention (5), données qui ont été générées à l'aide de données de commande relatives à la machine pour l'unité de commande numérique (8, 14) de la machine de coupe (2, 3) qui sont pertinentes pour la manutention et qui concernent la géométrie et/ou le poids et/ou le matériau et/ou l'état de surface des pièces (I, II, III, IV) à prendre en charge sur la machine de coupe (2, 3), l'unité de manutention (23.1, 23.2, 23.3) peut être sélectionnée parmi une pluralité d'unités de manutention (23.1, 23.2, 23.3) d'une manière commandée au moyen de l'unité de commande numérique (26) du dispositif de manutention (5),
    et en ce que l'unité de manutention (23.1, 23.2, 23.3) sélectionnée au moyen de l'unité de commande numérique (26) du dispositif de manutention (5) est fixée de manière amovible sur la structure de base (18) du dispositif de manutention (5).
  8. Agencement mécanique selon la revendication 7, caractérisé en ce que l'unité de manutention (23.1, 23.2, 23.3) peut être positionnée de manière variable par rapport à la structure de base (18), sachant que la position de l'unité de manutention (23.1, 23.2, 23.3) par rapport à la structure de base (18) du dispositif de manutention (5) peut être réglée d'une manière commandée au moyen de l'unité de commande numérique (26) du dispositif de manutention (5), et que la commande du réglage de la position de l'unité de manutention (23.1, 23.2, 23.3) par rapport à la structure de base (18) du dispositif de manutention (5) s'effectue à l'aide des données de commande relatives au dispositif enregistrées dans l'unité de commande numérique (26) du dispositif de manutention (5) qui ont été générées à l'aide de données de commande relatives à la machine qui concernent elles-mêmes la position sur la machine de coupe (2, 3) des pièces (I, II, III, IV) à prendre en charge.
  9. Agencement mécanique selon la revendication 7 ou la revendication 8, caractérisé en ce qu'il est prévu pour l'unité de commande numérique (26) du dispositif de manutention (5) un équipement de correction (28) qui comprend une unité de détection (29) ainsi qu'une unité d'évaluation (27), sachant qu'au moyen de l'unité de détection (29), on peut détecter la position et/ou la géométrie et/ou le poids et/ou le matériau et/ou l'état de surface des pièces (I, II, III, IV) à prendre en charge sur la machine de coupe (2, 3), et sachant qu'au moyen de l'unité d'évaluation (27), on peut comparer au résultat de la détection les données de commande relatives au dispositif enregistrées dans l'unité de commande numérique (26) du dispositif de manutention (5), et les corriger dans le cas d'une divergence par rapport au résultat de la détection.
  10. Agencement mécanique selon la revendication 9, caractérisé en ce que l'unité de détection (29) de l'équipement de correction (28) pour l'unité de commande numérique (26) du dispositif de manutention (5) est solidaire du mouvement de l'unité de manutention (23.1, 23.2, 23.3) du dispositif de manutention (5) et peut, au moyen de la structure de base (18) du dispositif de manutention (5) pourvue de l'unité de manutention (23.1, 23.2, 23.3), être déplacée dans l'espace conjointement avec l'unité de manutention (23.1, 23.2, 23.3).
  11. Agencement mécanique selon la revendication 9 ou la revendication 10, caractérisé en ce que, comme unité de détection (29) de l'équipement de correction (28) pour l'unité de commande numérique (26) du dispositif de manutention (5), il est prévu une caméra qui est fixée sur l'unité de manutention (23.1, 23.2, 23.3) du dispositif de manutention (5) de telle sorte qu'elle prend sa position de fonctionnement lorsque l'unité de manutention (23.1, 23.2, 23.3) est positionnée conformément à sa position de fonctionnement par rapport à une pièce (I, II, III, IV) à prendre en charge sur la machine de coupe (2, 3).
  12. Agencement mécanique selon l'une des revendications 7 à 11, caractérisé en ce que, comme machine de coupe (2, 3), il est prévu une machine laser à banc plat et/ou une machine combinée avec un dispositif de poinçonnage (6) ainsi qu'un équipement de découpage au laser (7).
  13. Agencement mécanique selon l'une des revendications 7 à 12, caractérisé en ce qu'un poste de travail (4), en particulier un poste de cintrage, est disposé à la suite du dispositif de manutention (5) dans le déroulement du procédé et peut être alimenté, au moyen du dispositif de manutention (5), en pièces (I, II, III, IV) qui ont été préalablement prises en charge sur la machine de coupe (2, 3) par le dispositif de manutention (5).
EP11176071.6A 2011-08-01 2011-08-01 Procédé de travail ainsi qu'agencement mécanique pour la réalisation du procédé de travail Active EP2554291B1 (fr)

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DE102014006683A1 (de) 2014-05-08 2015-11-12 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Fertigungsstraße für die Bearbeitung mindestens eines Flächenbauteils und Verfahren zur Bearbeitung des mindestens einen Flächenbauteils in der Fertigungsstraße
CN106825288B (zh) * 2017-03-30 2019-01-22 东莞市瑞辉机械制造有限公司 一种多设备柔性组合生产线及其同步方法
DE102019125159A1 (de) * 2019-09-18 2021-03-18 Sandvik Materials Technology Deutschland Gmbh Transportsystem für ein Rohr, einen Draht oder ein Blech und Verfahren zum Ausliefern eines Rohrs, eines Drahts oder eines Blechs
CN111112485A (zh) * 2019-11-19 2020-05-08 广汽新能源汽车有限公司 端拾器辅助制作工装

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JP5380785B2 (ja) * 2007-04-25 2014-01-08 村田機械株式会社 板材加工システム
EP2177326A3 (fr) * 2008-10-14 2012-04-04 Safan B.V. Procédé d'alignement d'une pièce de travail sur un robot
US9032605B2 (en) 2009-06-09 2015-05-19 Shiloh Industries, Inc. Apparatus, system and method for manufacturing metal parts

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