EP2600992B1 - Bending press with a workpiece positioning device and an operating method - Google Patents

Description

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.

From the document EP 0 738 190 A1 For example, 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.

From the document US 4,706,491 A is known to operate with a workpiece for performing a bending operation bending press and a method for positioning of the workpiece before it is inserted between bending tools of the press brake. According to this embodiment, the bending press on a surface facing the manipulator of a press bar on a stop device to which the work piece with a reference surface by means of the manipulator applied and thus a reference position is determined, starting from the adjustment of the manipulator for positioning of the workpiece in relation to a predetermined bending of the bending tools in the work area between the bending tools is positioned.

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.

Advantageous are the advantageous measures of claims 2-12.

However, 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.

Advantageous embodiments are described in claims 14-25.

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. The advantage here is the modular design for the creation of demand-adapted manufacturing cells by the possibility of combining different machine types of bending presses and their rational design and with respect to changing manufacturing processes by a too generating product diversity and Produkterienerweiterbarkeit such a manufacturing facility and use of prefabricated components for linking the equipment.

Of advantage are also embodiments according to claims 28 to 33.

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

Fig. 1

eine erfindungsgemäße Biegepresse in vereinfachter, perspektivischer Ansicht;

Fig. 2

eine Fertigungseinrichtung mit zu einer Fertigungszelle verketteten Biegemaschinen in Ansicht;

Fig. 3

die Fertigungseinrichtung geschnitten gemäß den Linien III - III in Fig. 2;

Fig. 4

eine Werkteil-Positioniereinrichtung mit zwei Anschlagvorrichtungen in vereinfachter, perspektivischer Ansicht;

Fig. 5

eine Anschlagvorrichtung der Werkteil-Positioniervorrichtung, teilweise geschnitten;

Fig. 6

Darstellung eines Positioniervorganges mit der Werkteil-Positioniervorrichtung - Schritt 1;

Fig. 7

Darstellung eines Positioniervorganges mit der Werkteil-Positioniervorrichtung - Schritt 2;

Fig. 8

Darstellung eines Positioniervorganges mit der Werkteil-Positioniervorrichtung - Schritt 3;

Fig. 9

eine mögliche Ausbildung der erfindungsgemäßen Biegepresse in Ansicht;

Fig. 10

die Biegepresse geschnitten gemäß den Linien X - X in Fig. 9;

Fig. 11

eine weitere Ausbildung der Anschlagvorrichtung der erfindungsgemäßen Biegepresse die in vereinfachter Darstellung und Positionierung eines Biegewerkzeuges damit;

Fig. 12

eine andere Ausbildung der Anschlagvorrichtung der erfindungsgemäßen Biegepresse in vereinfachter perspektivischer Darstellung für einen Anschlagvorgang eines Werkteils.

Each shows in a highly schematically simplified representation:

Fig. 1

a bending press according to the invention in a simplified, perspective view;

Fig. 2

a manufacturing facility with linked to a manufacturing cell bending machines in view;

Fig. 3

the manufacturing device cut according to the lines III - III in Fig. 2 ;

Fig. 4

a workpiece positioning device with two stop devices in a simplified, perspective view;

Fig. 5

a stop device of the workpiece positioning device, partially cut;

Fig. 6

Presentation of a positioning process with the workpiece positioning device - step 1;

Fig. 7

Presentation of a positioning process with the workpiece positioning device - step 2;

Fig. 8

Presentation of a positioning procedure with the workpiece positioning device - step 3;

Fig. 9

a possible embodiment of the bending press according to the invention in view;

Fig. 10

the bending press is cut according to the lines X - X in Fig. 9 ;

Fig. 11

a further embodiment of the stop device of the bending press according to the invention in a simplified representation and positioning of a bending tool so that;

Fig. 12

another embodiment of the stop device of the bending press according to the invention in a simplified perspective view of a stop operation of a workpiece.

By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. 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 representational description are to be understood as including any and all sub-ranges thereof, eg the indication 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10 are, ie all subareas start with a lower one Limit of 1 or greater and end at an upper limit of 10 or less, eg 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10.

In the 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 ,

In the embodiment shown, 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 ,

In a press room 15, 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.

To carry out this manipulation, 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.

In the 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. However, it is essential for such a machine combination to match certain dimensions, which are determined in sizes. Thus, a multi-user solution for subsequent bending processes is achieved, for example, require a different tool geometry and thus are particularly economical to perform.

In the exemplary embodiment shown, 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.

It is advantageous to set up the bending presses 2 with a lateral distance 26 to each other, whereby a manipulation space 27 for the handling device 3 between the bending presses 2 for a loading operation, holding and turning operation of the workpiece 4 is achieved.

Such a combination of the bending presses 2 by linking modules 28, in particular a guide rail module 29 for the stop device 17 and a guide rail module 30 for the guide arrangement 23 of the workpiece handling device 3, in each case for bridging the distance 26 between the bending presses 2.

It is further provided that the 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.

In the Fig. 4 and 5 In detail, the stop device 17 of the workpiece positioning device 16 is shown.

At the back of the table beam 5 are aligned in the longitudinal direction preferably strung together several stop rail modules 32, in an exact predetermined position relative to the end face 10 of the table beam 5, attached. The 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.

In the illustrated embodiment, 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 Gleitbahnführungen.

These 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.

On the carriage module 36, 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.

For this purpose, 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.

Like still further the 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.

According to the embodiment shown, the bending tool 12 forms a support plane 66 for the immediate bending region of the workpiece 4 for a forming process. As can further be seen, 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

In the case of thin workpieces, 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.

In the 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.

After a start command and a program retrieval from a program memory of the central control device 24 of the work part 4 of a not shown supply position by a gripping device 68, for example grasping forceps 69, suction pad, magnetic gripper, etc., the handling device 3 is added and by corresponding movements in the immediate work area of the bending press 2 spent. The gripping device 68, for example the gripping tongs 69, 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.

Already during the recording of the workpiece 4 with the gripping device 69 and the transfer 4 in the press room 15 of the bending press 2 takes place according to the predetermined work program and according to the stored geometric data of the workpiece 4, the positioning of the stop fingers 59 in the R, X and Z - Axial directions, wherein the positioning preferably proceed simultaneously.

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 Biegewerkzeughöhe.

Positioning procedure X- axis direction: Simultaneous to the o. G. In this movement of the stop fingers 59, 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.

This is done by a speed control of the drive means 62 of the stop finger 59 and control of the motor torque e.g. by the decentralized measurement and control circuit 25 e.g. By controlling the motor current of the drive means 62. It is thus preferred both the approach speed of the stop finger 57 to the stop start position 78 as well as the driving force regulated, which for safety reasons in the end of the approach to the stop starting position 78, approximately from less than 50 mm 150 N should not exceed.

It should also be mentioned that 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.

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

Like now the 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.

This is done in the subsequent positioning process in which for an automated operation of the workpiece 4 with the workpiece handling device 3 with the workpiece abutment surface 83 for abutment against the stop surfaces 60 of the stop fingers 59 by an adjustment with the workpiece handling device 3 in the direction of the stop devices 17 and in the direction of the stop end position 80 - according to arrow 81.

By means of a corresponding power control of the drive means 62, preferably motor current control effected by the measuring and control circuit 25, this adjustment movement is counteracted by an adjusting resistor which can be preselected and regulated as a function of system and workpiece parameters.

As a result, a position control is achieved with underlayed force control in almost any regulation of the adjustment. In addition to part parameters, 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 Kalibrierverstellvorgänge. 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.

For the control process is now carried out that 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 Werkteil- 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

In the further delivery of the workpiece 4, the applied stop finger 59 from the start position 78 = set position is pressed into a predeterminable over a threshold actual position in which a stop pulse signal is generated.

Regardless, the further delivery of the workpiece 4 in the direction of the stop end position 80 runs until the o.b. Operation on further stop finger 51 completes and also a stop pulse signal is generated.

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.

A variant of the previously described positioning with the generated from the Yes / No contacts of the workpiece 4 on the stop fingers 59 stop pulse signals is the 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.

Due to the achievable sensitive control of the drive power and thus of Verstellwiderständen the drive arrangements of the stop fingers, the most essential Systemund part parameters such as workpiece mass, strength, bending stiffness, system friction, Werkteil- Auflagereibung etc. are taken into account in the positioning of the workpiece 4 and also giving rise to cause system vibrations both Stop devices 17 as well as the workpiece handling device 3 are suppressed during the positioning process.

Taking into account in particular the workpiece parameters also a so-called. Flying stop operation is possible in which the stop fingers 59 are actively adjusted in the direction of the stop end position 80 via the drive means 62 during the feeding of the workpiece with the workpiece handling device 3, wherein an adjustment of the stop fingers 59th smaller than a feed rate of the workpiece is selected, whereby the impulse or impact energy is kept low.

This prevents a "hard" striking and significantly prevents the occurrence of system vibrations and is for both thin, less intrinsically stiff, as well as for workpieces 4 with a high mass advantage.

The foregoing description with the two stopper devices 17 is prepared for a positioning operation of the workpiece with the workpiece handling device 3 in the X-axis direction with adjustment of a misalignment with respect to the intended bending line 82.

However, it should also be pointed out that the 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.

Therefore, 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.

In the Fig. 9 and 10 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. As already to the 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.

In order to create this freedom of movement for the stop device 17, 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.

To increase the deformation resistance of the side stand 86 to minimize springback under load, side panels 91, 92 of the side stand 86 are along the cutout 87 running, reinforcing plates 93 frictionally, eg screwed, welded, arranged.

In the Fig. 11 is shown in a simplified representation of the stop device 17 with the finger carrier 46 and the stop finger 59. As previously described, 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. In the Fig. 11 is on the details already described such as the guide and drive assemblies, etc. no longer received.

In detail now shows the Fig. 11 Detecting the position of the bending tool 12 in a receiving device 95, which is superimposed on the table bar 5 and not shown further fixing devices for the bending tools 12 has.

According to 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 For example, 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. It is further pointed out that the same process of course also for the positioning of the bending tool or tool set in a receiving device of the adjustable press bar is used and thus the exact position match the cooperating during the forming process bending tools is given. Also with this position specification and position determination of the reference value for the control of the handling device for the workpiece supply is given in the forming position between the bending tools.

In the 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.

This allows the formation of the previously described support surface 66 for a thin, less intrinsically rigid workpiece 4 by support during the stop process on one of the tops 98 of the stop element 96 of the underlying stop plane.

The formation of Anschlagendbereichen 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.

As can be seen further, the backdrop-shaped Anschlagendbereich 99 of the stop element 96 of the lowest stop plane in the exemption a support lug 102 for supporting the workpiece 4 during the stop process, which is for a thin, less intrinsically rigid part 4 of advantage.

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

The problem underlying the independent inventive solutions can be taken from the description. <B> Reference Numbers </ b> 1 manufacturing facility 41 bottom 2 bending press 42 pinion 3 Work part-handling apparatus 43 drive arrangement 4 work part 44 Z-axis direction 5 bench beam 45 double arrow 6 footprint 46 finger carrier 7 drive means 47 R-axis direction 8th press beams 48 double arrow 9 face 49 guideway 10 face 50 drive means 11 tool holder 51 pinions 12 bending tool 52 dental Education 13 tool kit 53 drive arrangement 14 overall length 54 top 15 Press room 55 guideway 16 Workpiece positioning device 56 bending plane 17 stop device 57 X-axis direction 18 58 double arrow 19 59 stop finger 20 multi-axis robot 60 stop surface 21 gripper 61 drive arrangement 22 landing gear 62 drive means 23 guide assembly 63 pinions 24 control device 64 dental Education 25 Measuring and control circuit 65 encoders 26 distance 66 support plane 27 Manipulation space 67 support surface 28 chaining engine 68 gripping device 29 bridge module 69 tongs 30 bridge module 70 rotary unit 31 Input and output interface 71 poor 32 Stop train module 72 swivel axis 33 linear guide 73 double arrow 34 linear guide 74 distance 35 distance 75 36 sled module 76 37 guide element 77 arrow 38 drive means 78 Stop start position 39 pinions 79 distance 40 rack 80 Stop end position 81 arrow 82 elastic line 83 Work part-bearing surface 84 distance 85 angle 86 kickstand 87 neckline 88 front 89 face 90 face 91 side surface 92 side surface 93 Support panel 94 95 cradle 96 stop element 97 reference surface 98 top 99 Anschlagendbereich 100 reference plane 101 reference plane 102 support lug

Claims (33)

1. Method of operating a production device (1) comprising at least one bending press (2) and a workpiece handling device (3) and having a central control device (24) and a workpiece positioning device (16) with a first arresting device (17) and at least one other arresting device (17) having arresting fingers (59) displaceable in an X axial direction (57) extending perpendicular to a bending plane (56) for positioning a workpiece (4) on a first bending tool (12) for a bending operation between the first bending tool (12) and a second bending tool displaceable relative thereto, and the arresting device (17) has a carriage module (36) which is displaceable in a linear guide arrangement in a Z axial direction (44) extending parallel with the bending plane (56) and a support plane (66), and the carriage module (36) has a finger carrier (46) providing a displaceable mounting for the arresting finger (59) which can be displaced in a guide track (49) of the carriage module (36) in an R axial direction (47) extending perpendicular to the support plane (66) by means of a drive means (50) of a first drive arrangement (53) relative to the carriage module (36), characterized in that the arresting fingers (59) are displaced in the X axial direction (57) by an arresting surface (60) by a distance (79) extending beyond a predefined stop-end position (80) opposite the feeding direction of the workpiece (4) into a stop-start position (78), after which the workpiece (4) is moved by the workpiece handling device (3) in the feeding in direction of the workpiece (4) with a workpiece support surface (83) lying against the arresting surfaces (60) of the arresting fingers (59) in the direction of the stop-end position (80), and on the basis of stop-impulse signals of the first and the other arresting device (17) and position data of the first and the other arresting device (17) detected cyclically during the rest of the operation of moving the workpiece into the stop-end position (80), a workpiece incorrect position is corrected by regulating the path of the workpiece handling device (3) in accordance with a regulating algorithm stored in the control device (24), and a drive means (62) on the drive arrangement (61) of the arresting finger (59) for displacing the arresting finger (59) in the form of a servomotor activated by a measuring and controlling circuit (25) of the control device (24) is activated during the displacement of the arresting finger (59) relative to the finger carrier (46) with the workpiece (4) from the stop-start position (78) into the stop-end position (80) and the return of the arresting finger (59) into the stop-start position (78).
2. Method according to claim 1, characterized in that the stop-impulse signal is generated as a position signal by the measuring and controlling circuit (25) when a change in the position of the arresting finger (59) from a predefined stop-start position (78) occurs due to the process of arresting the workpiece (4) on the arresting finger (59).
3. Method according to claim 1, characterized in that the stop-impulse signal is generated as a load signal by the measuring and controlling circuit (25) when a change in the power of a predefined motor power of the drive means (62) of the drive arrangement (61) of the arresting finger (59) occurs due to the arresting operation.
4. Method according to claim 1, characterized in that the activation of the drive arrangement (61) of the arresting finger (59) is regulated in terms of speed and/or power and/or force and/or torque as a function of system and workpiece parameters stored in the control device (24).
5. Method according to claim 1, characterized in that the arresting finger (59) is actively displaced by the drive arrangement (61) in the direction of the stop-end position (80) during the arresting operation, and a displacement speed of the arresting finger (59) is lower than a speed at which the workpiece (4) is fed.
6. Method according to claim 4, characterized in that a displacement resistance of the drive arrangement (61) of the arresting finger (59) opposing the arresting movement can be regulated on the basis of the system and workpiece parameters.
7. Method according to one of claims 1 or 2, characterized in that the resistance to displacement is achieved by regulating the driving power, e.g. tor que, of a drive means (62) of the drive arrangement (61) of the arresting finger (59).
8. Method according to claim 2 or 3, characterized in that the stop-impulse signals determined by a measuring and controlling circuit (25) of the control device (24) form control parameters for activating the workpiece handling device (3).
9. Method according to claim 1, characterized in that an approach speed of the arresting finger (59) is reduced in an area approaching the stop-start position (78).
10. Method according to claim 8, characterized in that a displacement force applied by the drive means (62) of the arresting finger (59) is reduced in the area approaching the stop -start position (78).
11. Method according to claim 9, characterized in that the displacement force generated in the area approaching the stop-start position (78) is less than or equal to 150 N.
12. Method according to claim 10, characterized in that the area approaching the stop-start position is equal to/less than 50 mm.
13. Bending press (2) comprising a central control device (24) and a workpiece positioning device (16) having a first arresting device (17) and at least one other arresting device (17) with arresting fingers (59) displaceable in an X axial direction (57) perpendicular to a bending plane (56) for positioning a workpiece (4) on a first bending tool (12) for a bending operation between the first bending tool (12) and a second bending tool displaceable relative thereto, and the arresting device (17) has a carriage module (36) which is displaceable in a Z axial direction (44) extending parallel with the bending plane (56) and a support plane (66) in a linear guide arrangement, and the carriage module (36) has a finger carrier (46) providing a displaceable mounting for the arresting finger (59) which is displaceable in a guide track (49) of the carriage module (36) in an R axial direction (47) extending perpendicular to the support plane (66), characterized in that a drive means (50) of a first drive arrangement (53) for displacing the finger carrier (46) relative to the carriage module (36) and a drive means (62) of another drive arrangement (61) for displacing the arresting finger (59) relative to the finger carrier (46) are disposed on the finger carrier (46), and at least the drive means (62) for displacing the arresting finger (59) is provided in the form of a servomotor activated via a measuring and controlling circuit (25) of the control device (24).
14. Bending press (2) according to claim 13, characterized in that the drive arrangements (43) of the arresting devices (17) are displaceable independently of one another.
15. Bending press (2) according to claim 13, characterized in that the drive arrangement (43) of the carriage module (36) is provided in the form of a rack gearing (42) with a pinion (39) disposed on the drive means (38) and a rack (40) of the arresting track module (32).
16. Bending press (2) according to claim 13, characterized in that the drive arrangement (53) of the finger carrier (46) is provided in the form of a rack gearing (42) with the drive means (50) disposed on the finger carrier (46) and incorporating a pinion (41), and a rack (40) on the carriage module (36).
17. Bending press (2) according to claim 13, characterized in that the drive arrangement (61) for the arresting finger (59) is provided in the form of a rack gearing (42) with the drive means (62) disposed on the finger carrier (46) and incorporating a pinion (63), and a tooth design (64) of the arresting finger (59).
18. Bending press (2) according to claim 13, characterized in that linear guides (33, 34) of the linear guide arrangement are provided in the form of several arresting track modules (32) secured to a bench beam (5) oriented in alignment with one another in the direction of a total length (14) of the bench beam (5) via positioning means.
19. Bending press (2) according to claim 13, characterized in that the carriage module (36) is mounted in the linear guide arrangement via guide elements (37) so as to be displaceable on linear guides (33, 34) of the arresting track module.
20. Bending press (2) according to claim 13, characterized in that several arresting track modules (32) of the same type are disposed on a rear face of a bench beam (5) and across a total length (14) thereof in a track-aligned orientation.
21. Bending press (2) according to claim 13, characterized in that the arresting finger (59) is stepped in a step-shaped design in its longitudinal extension and each step constitutes an arresting surface (60).
22. Bending press (2) according to claim 13 or 21, characterized in that the arresting finger (59) has a fork-shaped end region for supporting a corner region of a workpiece (4) in the X axial direction (57) and/or Z axial direction (44).
23. Bending press (2) according to claim 13 or 21 or 22, characterized in that the arresting finger (59) is provided with a support surface (67) in its end region.
24. Bending press (2) according to one of the preceding claims, characterized in that the arresting finger (59) is of a lightweight design, e.g. of lightweight metal, plastic, etc.
25. Bending press (2) according to one of the preceding claims, characterized in that the arresting finger (59) is made from GRP.
26. Production device (1) for bending a workpiece (4) comprising at least two bending presses (2) according to one of claims 13 to 25 and having a workpiece handling device (3) for feeding and positioning the workpiece, characterized in that the bending presses (2) are disposed at a distance (26) apart from one another in alignment with the stationary bench beam (5) and, bridging the distance (26), mutually opposite arresting track modules (32) are disposed on the bench beam (5) of the bending presses (2) connected via a bridging module (29) to linear guides (33, 34) for the arresting device (17) of the workpiece positioning device (16).
27. Production device (1) according to claim 26, characterized in that a guide arrangement (23) for the handling device (3) is provided, extending at least across the sum of a respective total length (14) of the bench beam (5) plus the distance (26) between the bending presses (2).
28. Production device (1) according to claim 26, characterized in that the guide arrangement (23) for the handling device (3) has a bridging module (30) bridging the distance (26).
29. Production device (1) according to one of claims 26 to 28, characterized in that bending machines (2) based on the same type or different types of machines are linked to the machine arrangement.
30. Production device (1) according to one of claims 26 to 29, characterized in that several of the bending machines (2) are linked via the central control device (24) and the decentrally disposed input and output interfaces (31).
31. Production device (1) according to one of claims 26 to 30, characterized in that side panels (86) of the bending presses (2) have cut-outs (87) in a front face (88) creating a space for the arresting device (17) to move.
32. Production device (1) according to claim 31, characterized in that the cut-out (87) has an approximately semi-elliptical curved contour.
33. Production device (1) according to claim 32, characterized in that a reinforcing plate (93) incorporating the cut-out (87) is disposed on at least one side face (91, 92) of the side panel (86).

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