EP2600992B1 - Biegepresse mit einer werkteil-positionier-vorrichtung sowie ein verfahren zum betrieb - Google Patents

Biegepresse mit einer werkteil-positionier-vorrichtung sowie ein verfahren zum betrieb Download PDF

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Publication number
EP2600992B1
EP2600992B1 EP11726643.7A EP11726643A EP2600992B1 EP 2600992 B1 EP2600992 B1 EP 2600992B1 EP 11726643 A EP11726643 A EP 11726643A EP 2600992 B1 EP2600992 B1 EP 2600992B1
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EP
European Patent Office
Prior art keywords
arresting
bending
finger
workpiece
stop
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.)
Active
Application number
EP11726643.7A
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German (de)
English (en)
French (fr)
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EP2600992A1 (de
Inventor
Bernhard Fischereder
Thomas Reiter
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 Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
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.)
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Publication date
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Publication of EP2600992A1 publication Critical patent/EP2600992A1/de
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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
    • B21D43/003—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
    • B21D43/26—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 invention relates to a method for operating a bending press as described in the preamble of claim 1, and a bending press as described in the preamble of claim 14 and a manufacturing device according to the preamble of claim 27.
  • a method and apparatus for accurately feeding sheet metal workpieces to perform a bending operation between bending tools of a press brake is known.
  • the work piece is brought with a gripping device of a handling device in the work area between the bending tools and positioned with respect to a predetermined bending line in accordance with measurement data of at least two equipped with measuring sensors stop fingers by appropriate control of adjustment movements of the gripping device of the handling device, after which the bending operation by activating the Press drive takes place.
  • From the AT 402 372 B is provided for supplying workpieces in a work area between relatively adjustable bending tools of a bending press by means of a manipulator position detecting means by means of which the position of a reference surface of the workpiece with respect to the alignment is determined to a bending plane and upon occurrence of a deviation from a predetermined position, a readjustment Adjustment operations of the manipulation device is made.
  • the object of the invention is to provide a method for operating a bending press and a bending press and a manufacturing device with a Werkteil- positioning for a manual and automated positioning process to minimize unproductive non-productive times and to achieve high positioning accuracy and operator safety.
  • This object of the invention is achieved by the reproduced in the characterizing part of claim 1 measures.
  • the advantage of this is that the loading process of the bending press with the workpiece to be reshaped includes a possibly required by a gripping error alignment process of the workpiece with respect to a bending plane, ie simultaneously expires, thereby saving significant idle time for the positioning process.
  • the object of the invention is advantageously achieved by a bending press according to the characterizing features of claim 13, characterized in that the essential for the exact positioning of the workpiece essential positioning of the stop finger based on the entirety of the stop device has a low mass and due to its short positioning times due the possibility of high acceleration at low driving force is achieved and thus further very sensitive adjustment operations can be achieved.
  • the object of the invention is also achieved by a production device as characterized in claim 26, characterized in that the bending machines are arranged at a distance from one another in alignment alignment of the fixed table beams and the distance bridging each other against the table beams of the bending press arranged stop track modules are connected via a bridge module with linear guides for the stop device of the workpiece positioning device.
  • FIG. 1 1 shows a production device 1 with at least one bending press 2 and a workpiece handling device 3 for feeding the bending press 2 with workpieces 4 provided for bending deformation.
  • the bending press 2 has a fixed table bar 5, in perpendicular to a footprint 6 alignment and a relative thereto by drive means 7 adjustable press beam 8. On opposite end faces 9, 10 of the table beam 5 and the press bar 8 tool holders 11 are arranged with bending tools 12 ,
  • a tool set 13 formed from the bending tools 12 is provided, wherein it is quite possible to provide a plurality of tool sets 13 over a total length 14 of the table beam 5 and press bar 8 as a tooling to make different bending operations on the workpiece 4 in subsequent operations can ,
  • a Werkteil- positioning device 16 consisting of two stop devices 17, as described in detail later, for positioning the workpiece 4 between the bending tools 12 is provided at a rear side of the table beam 5.
  • the workpiece handling device 3 is according to the embodiment shown, a multi-axis robot 20, with a gripping device 21 for the manipulation of the workpiece 4.
  • the manipulation includes the recording of a supply position, the positioning between the bending tools 12, any Umgreifvorgang and depositing after completion of the forming process on a goods carrier or in a collecting container etc.
  • the multi-axis robot 20 is mounted on a chassis 22 or provided with a chassis 22 and is along a arranged on the footprint 6, preferably parallel to the longitudinal extent of the table beam 5 extending guide arrangement movable.
  • the bending press 2 and the workpiece handling device 3 is supplied by a central control device 24 with power and control signals, wherein further measuring and control circuits 25 in the control device 25 or externally to the stop device 17 and / or the workpiece handling device 3 or integrated in a Operator terminal of the bending press 2 may be provided with other switching and display elements.
  • FIGS. 2 and 3 is a concatenation of two bending presses 2 shown to the manufacturing device 1, wherein different types of machines, eg in terms of their pressing force combined.
  • different types of machines eg in terms of their pressing force combined.
  • a multi-user solution for subsequent bending processes is achieved, for example, require a different tool geometry and thus are particularly economical to perform.
  • the combined bending presses 2 have a common stop device 17, which can be positioned with respect to the tool sets 13, and a handling device 3 which operates both bending presses 2.
  • control device 24 with the decentralized measurement and control circuits 25 of the bending presses 2 and / or the workpiece handling device 3 from the outset on a plurality of parallel input and output interfaces 31 and thus for the connection of a plurality of Measuring and control circuits 25 is designed. This makes the control device 24 universally applicable in dependence on the individual components of the production device 1 to be operated.
  • stop track module 32 has two linear guides 33, 34, which run parallel to each other at a distance 35 and aligned with the stop track module 32 to the end face 10.
  • the linear guides 33, 34 are formed by strip-shaped guide profiles, wherein a large number of differently ausgestalteter profiles of the prior art are possible and the execution is not limited to the embodiment shown with Gleitbahn operationen.
  • slideways 33, 34 adjustably support a sled module 36 via guide elements 37 cooperating therewith and connected to the linear guides 33, 34.
  • An adjustment of the carriage module 36 along the linear guides 33, 34 takes place by means of an arranged on the slide module 36, electric drive means 38 which is provided with a pinion 39 and which engages with a rack 40 on a bottom 41 of the stop rail module 32 thereby Pinion 42 is formed as a drive assembly 43 for an adjustment of the drive device 17 in a Z-axis direction 44 - according to double arrow 45 -.
  • the electric drive means 38 is preferably a servomotor and the drive arrangement 43 and the control is designed as an NC positioning axis.
  • a finger carrier 46 is mounted in a direction perpendicular to the Z-axis direction 44 R-axis direction 47 - according to double arrow 48 - adjustable in a linear guide track 49.
  • the finger carrier 46 has a further, arranged thereon, electric drive means 50, which is in driving connection with a toothed pinion 51 with a linear tooth formation 52 on the carriage module 36 and thus a further drive assembly 53 of the stop device 17 is formed.
  • the electric drive means 50 is preferably a Servomotor and the drive assembly 53 and the controller is designed as NC positioning axis.
  • the finger carrier 46 supports on a top surface 54 in a linear guide track 55 in a bending plane 56 perpendicular X-axis direction 57 - according to double arrow 58 - a stop finger 59 adjustable and forms this stop finger 59 at least one of the bending plane 56 facing stop surface 60 for positioning of Workpiece 4 with respect to the bending plane 56.
  • a drive arrangement 61 for the stop finger 59 is formed by an electric drive means 62 arranged on the finger carrier 46 which is in drive connection with a toothed pinion 63 with a linearly extending tooth formation 64 of the stop finger 59 and the electric drive means 62 is preferably a servomotor with a rotary encoder 65 and thus achieves an NC control for adjusting the stop finger 59 in the X-axis direction 57.
  • the drive means 38, 50, 62 are connected via lines to the input and output interface 31.
  • FIG. 4 and 5 can be seen, for example, for the positioning of the workpiece 4, for the exact alignment of the workpiece 4 with respect to the bending plane 56, two similar and independent, both in the Z-axis direction 44, the R-axis direction 47 and the X-axis direction 58 - according to double arrows 45, 48, 59 - brought adjustable stop devices 17 used for their control for a positioning of the workpiece 4 on the bending tool 12, as will be described in detail below, from the central control device 24 and each stop device 17 associated measurement and control circuit 25.
  • the drive arrangements 43, 53 and 61 for the positioning operations of the stop devices 17 in the R, X and Z axis directions are NC-controlled and thus any required axis can be accurately positioned and any position and / or position change for continuing control and regulatory measures exactly detectable.
  • the bending tool 12 forms a support plane 66 for the immediate bending region of the workpiece 4 for a forming process.
  • the abutment finger 59 is graduated in its region facing the bending tool 12 with e.g. two in the adjustment of the stop finger 59 distant stop surfaces 60th
  • the graduated design offers the possibility of supporting the free end region of the work piece 4 projecting beyond the bending tool 12 onto a support surface 67 of the stop finger 59 brought into alignment alignment with the support plane 66.
  • Fig. 6 to 8 is the positioning of the workpiece 4 in the X-axis direction, after already successful positioning of the stop finger 59 in the R and Z axis direction, on a bending tool 12 for performing a bending operation, by way of example in three steps, shown and is based on the Fig. 6 to 8 the method for positioning the workpiece 4 explained in detail.
  • a gripping device 68 for example grasping forceps 69, suction pad, magnetic gripper, etc.
  • the gripping device 68 is pivotable about a pivoting axis 72 via a rotary unit 70 in an end region of an arm 71 of the handling device 3 - in accordance with the double arrow 73.
  • Positioning process Z- axis direction In this case, an adjusting operation of the stop devices 17 relative to each other in the Z axis direction - whereby they are positioned at a distance 74 depending on the workpiece geometry and corresponding to the position of the bending tools on table and press beams.
  • Positioning process R- axis direction Simultaneously with the positioning process in the X-axis direction, an adjustment operation of the finger carrier 46 with the stop fingers 59 in the R-axis direction - whereby the stop fingers 59 are positioned in their altitude with respect to the support plane 66, depending on a Biegewerkmaschine Weghoff.
  • Positioning procedure X- axis direction Simultaneous to the o. G.
  • the drive means 62 in particular in response to the approach of the stop finger 59 to the stop start position 78 speed - Controlled and power controlled, the other movements of the stop device 17 and the stop finger 59 are preferably performed under full power and the highest possible speeds.
  • the force limitation via the motor current control is preferably activated only when approaching the stop start position 78, and the remaining motion sequences take place at high actuating speeds, ie at full load to reduce the non-productive times.
  • stop device 17 An advantage according to the structural design of the stop device 17 is a small, moving mass of the stop finger 59 over conventional stop devices which generally have relatively high moving masses. Accordingly, the stopper fingers 59, which are directly driven, are preferably formed of lightweight materials such as aluminum, plastic, etc.
  • the stop start position 78 is preceded by a predetermined, selectable distance 79 of a predetermined stop, end position 80 against the - shown in arrow 81 - feed direction of the workpiece 4.
  • the stop end position 80 results from the position of a bending line 82 with respect to a workpiece abutment surface 83 and thus a corresponding distance 84 to the bending plane 56th
  • Fig. 6 for a first step of the positioning process, and shown in this exaggerated, takes place, for example, the receiving part 4 by the gripping device 68 in one of a parallel alignment of the workpiece abutment surface 83 to the bending plane 56 different receiving position, ie the proposed bending line 82 extends at an angle 85 to the bending plane 56 and this angular deviation must be corrected before the forming process to achieve an exact bending deformation, for example, parallel to the contact surface 83.
  • system parameters are taken into account when specifying an adjustable resistor takes into account that the system parameters, in particular the power required for an adjustment of the stop fingers and takes into account the internal frictional forces are determined by Kalibrierverstellvortician. Taking into account a basic power requirement determined in this way, the adjustment resistance to be set by the stop finger 59 of an adjustment into the stop end position 80 can be very sensitive to the workpiece part parameters, between a "soft" and “hard” stop dynamics, up to one Fixed stop corresponding locking function in the stop end position 80 are regulated.
  • both stop fingers 59 remain on position control in the stop start position 78 as a desired position. Due to the underlying force control, an adjustment in the direction of the abutment end position 80 is set by the supplied with the Maschinenteil- handling device 3 workpiece part 4 a predetermined, freely configurable force, which may be smaller by an active friction compensation, as the stiction of the X in - The axial direction displaceable stop finger 59.
  • the opposite force is advantageously greater than the Werkteil- static friction when resting on the stop finger 59th
  • the signal generation and sequence of the signals effected according to a predetermined control algorithm a cyclically running control process and web control operation of the workpiece handling device 3 and the gripping device 68 for correcting an existing by a misalignment of the workpiece 4 angle 85 relative to the stop end position 85 until reaching this like in the Fig. 8 represented, with geometric information of the workpiece, stop finger, gripping position, etc. form further parameters for the web control process.
  • the synchronous sequence of the stop process and the position correction in case of any deviations ensures a very rapid positioning and thus a reduction in the entire course of the bending deformation but also a high level of safety during operation.
  • stop pulse signals as load signals from the power change, detected by a motor current measurement of the drive means 62 of the first and second stop device 17 to generate - and the conversion is carried out in the position correction of the workpiece 4, starting from the thus generated stop pulse signals as already described above.
  • control of the stop device 17 or the drive means 38, 50, 62 for all axis directions - preferably the X and Z axis direction - speed or / and torque-controlled according to the criteria described above or done can.
  • the essential criteria for the control of the drive means 38, 50, 62 with the resulting advantages of an acceleration of the positioning process, taking into account the system and part parameters, increase the operating safety u.a. also analogously for these axes and also for a 1-dimensional positioning process of the workpiece 4, when using only one of the stop devices 17, applicable.
  • a further embodiment of the bending press 2 is shown which is designed in particular for a concatenation to a plurality of bending press 2 comprehensive manufacturing device 1 and in which created by an adapted C-shape of side posts 86 a space for movement of the stop device 17 between the adjacently arranged bending presses is.
  • FIGS. 2 and 3 described in such a grouping stop rail modules 32 and in a space of adjacent bending presses 2 arranged bridge modules, as already described above combined.
  • a cutout 87 is provided in a front side 88 of the side stand 86 which is adapted to an outer contour of the stop device 17.
  • This cutout 87 has an approximately semicircular curve shape between a plane end face 89 in the region of the table beam 5 and a plane end face 90 in the region of the press beam 8.
  • side panels 91, 92 of the side stand 86 are along the cutout 87 running, reinforcing plates 93 frictionally, eg screwed, welded, arranged.
  • Fig. 11 is shown in a simplified representation of the stop device 17 with the finger carrier 46 and the stop finger 59.
  • the finger carrier 46 is adjustable relative to the table beam 5 in the R-axis direction 47 and the Z-axis direction 44 and the stop finger 59 relative to the finger carrier 46 and perpendicular to the bending plane 56.
  • the Fig. 11 is on the details already described such as the guide and drive assemblies, etc. no longer received.
  • an assembly plan is in addition to the intended bending tools 12 and their position in the tool holder and the bending tool 12 or a tool set spent manually or by means of the handling device in the receiving device for a particular forming process on a workpiece in the receiving device and as now in the Fig. 11
  • the positioning operation is carried out by means of the stop device 17 in which the positioned stop finger 59 with a stop element 96, the position, for example, a reference surface 97 of the bending tool 12 pretends. Following this positioning process, the fixing of the bending tool takes place in the receiving device.
  • FIG. 12 In detail, an embodiment of the stop device 17 with a possible embodiment of the finger carrier 46 in the X-axis direction 57 adjustable stop finger 59 is shown. As previously described, the finger carrier 46 is in the R-axis direction 47 and the Z-axis direction 44 adjustable whereby the details already described, such as the guide and drive assemblies, etc. is no longer discussed.
  • the stop finger 59 is preferably provided with a plurality of, in the embodiment shown with three of the stop elements 96, which form three stop planes by a Abtreppung the stop finger 59 for the workpiece 4 substantially.
  • An Ancoming Schemeen 99 of the stop members 96 is in a gate shape with an exemption for the corner of the workpiece 4 and is thus a linear system for the workpiece 4 in two mutually perpendicular reference planes 100, 101 achieved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
EP11726643.7A 2010-08-05 2011-05-02 Biegepresse mit einer werkteil-positionier-vorrichtung sowie ein verfahren zum betrieb Active EP2600992B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0131510A AT509857B1 (de) 2010-08-05 2010-08-05 Biegepresse mit einer werkteil-positionier- vorrichtung sowie ein verfahren zum betrieb
PCT/AT2011/000212 WO2012016252A1 (de) 2010-08-05 2011-05-02 Biegepresse mit einer werkteil-positionier-vorrichtung sowie ein verfahren zum betrieb

Publications (2)

Publication Number Publication Date
EP2600992A1 EP2600992A1 (de) 2013-06-12
EP2600992B1 true EP2600992B1 (de) 2014-07-09

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Country Status (7)

Country Link
US (1) US9278383B2 (da)
EP (1) EP2600992B1 (da)
CN (1) CN103124602B (da)
AT (1) AT509857B1 (da)
DK (1) DK2600992T3 (da)
ES (1) ES2511654T3 (da)
WO (1) WO2012016252A1 (da)

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US20130160508A1 (en) 2013-06-27
US9278383B2 (en) 2016-03-08
CN103124602A (zh) 2013-05-29
WO2012016252A1 (de) 2012-02-09
AT509857B1 (de) 2011-12-15
AT509857A4 (de) 2011-12-15
ES2511654T3 (es) 2014-10-23
CN103124602B (zh) 2016-05-11
EP2600992A1 (de) 2013-06-12

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