EP2670543B1 - Production device with means for tool position sensing and method for operating said device - Google Patents

Description

The invention relates to a manufacturing device according to the preamble of claim 1 and a method for operating the manufacturing device as described in the preamble of claim 17.

From the document JP 09-052124 A is a bending device for reducing the time required for the exact use of bending tools in tool holders of press beams is known by means of the insertion via an NC control mode. A plurality of sensors for detecting tool dimensions in a scanning element of a backgauge arrangement which can be adjusted in three mutually perpendicular spatial directions receives the required tool data via a barcode and the backgauge has a barcode reader. For an exact positioning of the bending tool is achieved in the tool holder of the press bar.

From the document EP 1 600 257 A1 is a position detecting device, integrated in a bending tool holder, which is fixed to a press beam of a bending press known. The bending tool holder has in the support surface for the bending tool over a length of the tool holder extending integrated capacitive detection sensors on their coverage by the tool used in the tool holder bending tool depending on the transmitted by the Überdeckungsmaß tool length and the exact position of the tool in the direction of the longitudinal extension of the Tool holder is detected and thus the position of the bending tool according to a predetermined desired position in the tool holder can be fixed.

From another document, EP 0 471 848 A1 , a backgauge assembly on a press brake for abutting a workpiece to effect a bending deformation between bending tools is known. The back stop arrangement has stop fingers which can be adjusted on an NC adjusting device in three spatial directions extending at right angles to one another and is provided with a measuring and control device by means of the contours of the bending tools detected as a function of the metrological Correction of the position of the stops of the program according to predetermined positions before the implementation of the forming process takes place.

The object of the invention is to provide a production device and a method for operating such, with an automated and positionally accurate placement of the press bars of the press brake can be made and subsequent corrective measures are avoided.

This object of the invention is achieved by the reproduced in the characterizing part of claim 1 features.

The advantage of the solution according to the invention lies in a rapid and automated set-up of the bending machine of a manufacturing device with the required bending tools for performing a given forming process with a high positioning accuracy of the bending tools in the corresponding tool holders of the press bar according to program-specific process requirements whereby misfires avoided and high productivity Manufacturing device is achieved by minimizing non-productive time and achieved high process quality and set-up and production times and thus process costs are reduced.

It is also advantageous embodiments as described in the claims 2 to 9, whereby a variety of high quality, proven solutions for a long-term failure-proof solutions each custom requirements are available for the application available.

But there are also the embodiments according to claims 10 and 11 advantageous because it is a very compact, the high quality requirements corresponding design of the stop device is achieved.

Finally, however, the embodiments described in claims 12 to 16 are advantageous because a complete, automated management of the bending tools and their transfer is achieved and accurate data such as operating times, forming operations, etc., such as essential for the maintenance of bending tools, available.

The object of the invention is also solved by measures as described in claim 17. The advantage here is that positional deviations, as they can not be avoided during operation of a handling device for automated setup processes of press beams by the different masses of the bending tools as well as other mechanical influences, by a target position of the bending tools upstream IST position detection of the bending tools Steering parameters for the path control of the handling device are achieved in a reference position and thus the insertion of the bending tools in accordance with the predetermined desired position data into the tool holders with high positioning accuracy and a trouble-free recording of the subsequent production process is achieved.

Also possible are the advantageous measures according to claim 18, which are required for an accurate position detection of an actual position in a reference position only minor adaptation measures on the stop device and also a subsequent upgrade to carry out the inventive measures on already in operation manufacturing facility without significant Effort is achieved.

But are also possible the advantageous measures according to claim 19, whereby the cycle time for the detection of system-related deviations in the provision of a reference position and the detection of the actual position data of the bending tool is reduced.

Also advantageous are the measures according to claim 20, as a direct formation of the required for the positioning of the bending tool in the predetermined desired position control parameters by the control and monitoring device of the manufacturing facility.

Further advantageous measures also describe the claims 21 to 23, whereby adapted to the respective needs, a detection of the actual position data in up to three axis directions.

Finally, however, the measures according to claim 24 are advantageous because it minimizes idle times in the envelope of the bending tools for the loading of the tool storage and access times for the removal of bending tools.

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

Fig. 1

Eine erfindungsgemäße Fertigungseinrichtung in vereinfachter Darstellung;

Fig. 2

eine Detailansicht der erfindungsgemäße Fertigungseinrichtung, geschnitten gemäß den Linien II - II in Fig.3;

Fig. 3

die Detailansicht der erfindungsgemäße Fertigungseinrichtung gemäß Pfeil III in Fig. 2;

Fig. 4

eine Detaildarstellung einer IST- Positionserfassung eines Biegewerkzeuges in einer Referenzposition.

Each shows in a highly schematically simplified representation:

Fig. 1

A manufacturing device according to the invention in a simplified representation;

Fig. 2

a detailed view of the manufacturing device according to the invention, cut according to the lines II - II in Figure 3 ;

Fig. 3

the detailed view of the manufacturing device according to the invention according to arrow III in Fig. 2 ;

Fig. 4

a detailed representation of an actual position detection of a bending tool in a reference position.

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.

All information on ranges of values in representational description should be understood to include any and all sub-ranges thereof, eg the indication 1 to 10 is to be understood as encompassing all partial regions, starting from the lower limit 1 and the upper limit 10, ie all partial regions starting with a lower limit of 1 or greater and ending 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 to 3 1 shows a production device 1 for producing bent-formed workpieces with a bending press 2, a handling device 3 and a tool storage 4. A machine position 5 of the press brake essentially comprises two side stands 7, which are connected at a distance from one another and are perpendicular to a footprint 6, and a table joist 8 connected to them. Relative to the desk 8, in relation to the footprint In the vertical direction, a press bar 9 is arranged in guide arrangements of the side stand 7 and is drivingly connected to drive means 10 arranged on the side stands 7 or the machine frame 5, for example hydraulic cylinders, electric spindle drives.

In opposite, provided with clamping devices tool holders 11, 12 is an assembly with bending tools 13, for example a bending die 14 in the tool holder 11 of the table beam 8 and a punch 15 in the tool holder 12 of the press bar 9, according to specifications for each to be formed Workpiece and bending process provided.

Depending on the respectively to be produced for a series of workpieces or a maintenance of the bending tools 13 a reassembly and thus replacement of the bending tools 13 is required at different time intervals.

Furthermore, the production device 1 for an automated workpiece and tool transfer, the handling device 3, for example a multi-axis robot 16 with a multi-functional gripping device 17, for example, gripper gripper, suction gripper, etc., on an end arm 18 of the multi-axis robot 16. The multi-axis robot 16 can be moved in a drive arrangement 19 in a direction parallel to a front side 20 of the table beam 8.

Along a rear side 21 of the table beam 8 and thus within the machine frame 5 and between the side uprights 7 along a linear guide assembly 22 is a stop device 23, which is preferably controlled by two in the guide assembly 22 independently and via a control and monitoring device 24 of the bending press 2 formed in a Z-axis movable stop slide 25 is formed.

The stop slide 25 supports in a linear guide arrangement a driven and in the direction of adjustment of the stop slide 25 perpendicular direction - according to double arrow 26 - in an R- axis direction - adjustable finger carrier 27 with a stop finger 28 arranged thereon, in a guide arrangement of the finger carrier 27, in to the adjustment direction of the finger carrier 27 perpendicular direction - according to double arrow 29 - is motor-adjustable in an X-axis direction.

The actuation of the drives for the stop slide 25 in the Z-axis direction and the finger carrier 27 in the R-axis direction and the stop finger 28 in the X-axis direction takes place centrally via program instructions or from the data stored in a data memory 30.

Furthermore, it is advantageous that the production device 1 in the gripping region of the handling device 3 has the tool storage 4 with storage locations 31 for the storage of the bending tools 13, wherein it is advantageous, the tool storage 4 with its memory locations 31 for a chaotic storage and retrieval of the bending tools 13th in the control and monitoring device 24 to manage.

For this purpose, the memory locations 31 are freely assignable to the bending tools 13, each of which has a unique identifier. The identifier of the bending tool 13 is included, for example, for an automated reading process by a mounted on the bending tool 13 barcode or electronic data carrier. Due to the management in the control and monitoring device 24 and the assignment of the memory locations 31 the respective bending tool 13 can be accessed according to the planning specifications of a forming process for a set-up of the bending press 2 on the provided bending tool 13 in the tool memory 4 with the handling device 3 and this the tool memory 4 are removed by means of the gripping device 17. The further measures for carrying out a set-up operation, for example, the insertion of the bending die 14 in the tool holder 11 of the table beam 8 is now the FIGS. 2 and 3 and the setup process will be described in detail below with reference to these figures.

It should be noted that the procedure described is analogous to the insertion of the punch 15 in the tool holder 12 of the press bar 9 is correct, to which the adjustable press bar is positioned in a predefined position, preferably in the upper end position with the drive means.

The gripping device 17, e.g. a bending gripper 14 detected bending die 14 is by means of stored in the data memory 30 of the control and monitoring device 24 Bahnsteuerungsvorgaben the handling device 3 to X and / or Z and / or R coordinates in one, in the vicinity of a required target position 32 in a receiving groove 33 of the tool holder 11, in a fictitious reference position 34, according to the position shown in broken lines, controlled, which ensures that it as a result of deviations of an actual occupied actual position 35 of the bending die 14 --- as the full lines, to no collision between the bending die 14 and the tool holder 11 comes. Preferably, the reference position 34 will be a position of the bending tool 13 in which the bending tool 13 is still outside the receiving groove 33, ie slightly above or below the tool holders 11, 12 in the R- axis direction, but the X and Z axis direction accordingly the predetermined nominal positions are given, whereby Nachpositionierwege are kept small due to the settling deviations.

These deviations from the actual IS position 35 to the theoretically controlled reference position 34 are caused by mechanical effects on the handling device 3, such as different masses of the bending tools 13 and by temperature influences, tolerances in the guides and drives of the handling device 3, etc.

Starting from the position data of the fictitious reference position 34 and the position data of the effective actual position 35, as determined in detail below, and the required and deposited data of the target position 32, in a path control module 36 of the control and monitoring device 24, a position correction of the tool position is made from the actual position 35 to the required target position 32 via the path control of the handling device 3, whereby the insertion into the Tool holder 11 takes place in the exact required target position 32 and the bending die 14 is fixed in the tool holder 11, the bending die 14 is released from the gripping device and thus the set-up process is completed.

The detection of the position data of the actual position 35 of the bending die 14 according to the X and / or Z and / or R coordinates takes place according to a possible embodiment by means of the stop device 23 by a stop operation of the stop finger 28 on reference surfaces of the bending tool 13, e.g. at three mutually perpendicular tool surfaces 37, 38, 39 by adjusting the stop carriage 25 in the Z-axis direction - according to double arrow 40, the finger carrier 27 in the R- axis direction - according to double arrow 41 and the stop finger 28 in the X axis direction - - according to double arrow 42.

The measuring sensor 44, which has a measuring device 43, of the stop device 23, e.g. Proximity sensors of the stop finger 28 or, for example, motor current measuring sensors of drive means 45 for the adjustment of the stop finger 28, finger carrier 27 and stop carriage 25, determined actual position data of the bending tool are stored in a comparator circuit 46 of the control and monitoring device 24 with the stored in the data memory 30 Position data adjusted and generated from the deviations in the path control module 36 control parameters for the path control of the handling device 3, which then takes place the positioning of the bending tool 13 in the predetermined desired position 32 in the tool holder 11.

Finally, it should be mentioned that the method does not necessarily presuppose the positioning of the bending tool 13 in the described three axial directions R, X and Z axis direction, but of course it is also on the positioning of the bending tool 13 in only one or two or three Axis directions, as described, applicable.

It is further pointed out that after the successful insertion of the bending tool 13 in the receiving groove 33 a new position determination, in particular the Z axis direction on possible deviation, after the clamping of the bending tool in the receiving groove by means of the stop device 23 and the measuring sensor 44 is made and the determined position data are compared with the predetermined target position data. If deviations can be detected, these can be stored as correction values to the control and monitoring device 24 or as such in the data memory as changed desired position data and taken into account for the setup process of the further bending tool 13, or in the path control of the handling device 3 in the workpiece feed for a forming process become.

In the Fig. 4 a possible embodiment of the stop device 23 with the stop finger 28 for the detection of the reference position data of the bending tool 13 is shown. From the for a set-up, of the not further shown handling device in the ACTUAL position 35, with device-related deviations from a controlled reference position, held bending tool 13, according to this embodiment, the X and Z position data by means of the measuring sensor 44 and the stop finger 28 in mutually perpendicularly extending contact surfaces 47, 48 integrated ordered measuring means 43, by adjusting movements of the stop finger 28 at right angles aligned tool reference surfaces 49, eg an end face 50 and a side surface 51-according to the double arrows 29, 40 - determined.

The measuring means 44 form according to this embodiment, for example, piezo elements, proximity sensors, etc., whose signals are transmitted to the measuring sensor 44. Via an NC control and measuring system 52 of the stop device 23, the evaluation actually takes place in the IST. Position taken by the bending tool 13 X and Z position data from which starting a position correction is made to the required target position of the bending tool 13 for insertion into the tool holder not shown.

Again Fig. 4 Furthermore, according to this exemplary embodiment, a marking 53, for example a bar code 54, is attached to the bending tool and the stop finger has, for example, a camera 55 for tool control, thereby avoiding a faulty setting-up operation with a bending tool 13 which is not suitable for an intended forming operation.

Also for the management of the tool storage and tool removal or storage of the tools in the tool storage by means of the handling device, the use of such communication means is possible.

How further the Fig. 4 can also be seen, it is for example possible to detect the actual position of the bending tool 13 in the R- axis direction - according to double arrow 56 -. For this purpose, for example, a further measuring means 43 on an upper side 57 and / or bottom 58 of the stop finger 28 is arranged. In a further measuring operation, the position of the bending tool 13 is thus determined by a positioning process of the stop finger 28 at a plane perpendicular to the planes of the end face 50 and the side face 51, eg on a lower side 59 of the bending tool 13.

Another way of determining the position of the bending tool 13, in one, two or three spatial directions by a stopping operation of the stop finger 28 on the reference surfaces of the bending tool 13, consists in measuring the motor current consumption at each authorizing the adjustment of the stop finger 28 in the corresponding spatial directions drive means 45th the stop means 23. For this purpose, the drive means 45, a current measuring sensor 60 is assigned to a current increase due to a stop operation of the stop finger 28 on the bending tool 13, a position signal to the measuring sensor 44 and the NC control and measuring system 52 outputs and from the respective coordinate can be derived as an actual position.

In the foregoing description, to determine the actual position data of the bending tool 13, reference has been made to the adjustment of the stop device 23 and the stop finger 28 relative to the bending tool 13 held ready by the gripping device in the actual position.

However, it should be further noted that in order to achieve the exact TARGET position for insertion of the bending tool 13 in the tool holder, it is also possible to position at least one stop finger 28 of the stop device 23 in a position corresponding to the reference position of the bending tool 13 and the bending tool 13 with the handling device 3 to bear against the stop finger 28 in the X-axis direction and / or Z-axis direction and / or R-axis direction and thus actual position data, as adjusted by plant-related deviations output data, for the transfer of the bending tool 13 in the predetermined desired position in the tool holder by the handling device set.

The embodiments show possible embodiments of the manufacturing device for carrying out the method according to the invention, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather also various combinations, so far as they are covered by the claims in the Scope of protection.

For the sake of the order, it should finally be pointed out that for a better understanding of the construction of the production facility for carrying out the method according to the invention, these or their components have been shown partially unevenly and / or enlarged and / or reduced in size.

REFERENCE NUMBERS

1 manufacturing facility 42 double arrow 2 bending press 43 measuring Equipment 3 handling device 44 measuring sensors 4 tool storage 45 drive means 5 machine frame 46 comparator 6 footprint 47 contact surface 7 kickstand 48 contact surface 8th bench beam 49 Tool reference surface 9 press beams 50 face 10 drive means 51 side surface 11 tool holder 52 Tax u. measuring system 12 tool holder 53 Labelling 13 bending tool 54 barcode 14 bending die 55 camera 15 punch 56 double arrow 16 multi-axis robot 57 top 17 gripper 58 bottom 18 end arm 59 bottom 19 driving arrangement 60 Current measuring sensor 20 front 21 back 22 guide assembly 23 stop device 24 Control and monitoring device 25 stop slide 26 double arrow 27 finger carrier 28 stop finger 29 double arrow 30 data storage 31 memory 32 Desired position 33 receiving groove 34 reference position 35 ACTUAL position 36 Train control module 37 tool face 38 tool face 39 tool face 40 double arrow 41 double arrow

Claims (24)

1. A production device (1) with a bending press (2) for the manufacture of workpieces shaped by bending between bending tools (13) of a stationary bench beam (8) and a press beam (9) that can be adjusted relative to the latter, and with a tool magazine (4) and a handling device (3) with a gripping device (17) for the bending tools (13), and a stop device (23) having at least one adjustable stop finger (28), and with a control and monitoring device (24), characterised in that, the stop device (23) has a measuring sensor system (44) connected with a comparator circuit (46) of the control and monitoring device (24), and at least one measuring means (43) for determining reference position data of the bending tool (13).
2. The production device (1) according to claim 1, characterised in that, the measuring sensor system (44) of the stop device (23) comprises at least one force measuring sensor assigned to the stop finger (28) as a measuring means (43).
3. The production device (1) according to claim 2, characterised in that, the force measuring sensor is formed by a piezo-element which is integrated into at least one contact surface (47, 48) of the stop finger.
4. The production device (1) according to claim 1, characterised in that the measuring sensor system (44) of the stop device (23) comprises at least one proximity sensor assigned to the stop finger (28) as a measuring means (43).
5. The production device according to claim 1, characterised in that, the measuring sensor system (44) of the stop device (23) comprises at least one current measuring sensor (60) assigned to a drive means (45) of the stop device (23) as a measuring means (43).
6. The production device (1) according to claim 1, characterised in that, the measuring sensor system (44) of the stop device (23) comprises at least one power measuring sensor assigned to the drive means (45) of the stop device (23) as a measuring means (43).
7. The production device (1) according to claim 1, characterised in that, the measuring sensor system (44) of the stop device (23) comprises at least one laser beam measuring device, arranged on a finger carrier (27) or stop finger (28) of the stop device (23), and constituting the measuring means (43).
8. The production device (1) according to claim 1, characterised in that, the measuring sensor system (44) of the stop device (23) comprises at least one camera (55) arranged on the finger carrier (27) or stop finger (28).
9. The production device (1) according to claim 8, characterised in that, the camera (55) is a CCD camera.
10. The production device (1) according to claim 1, characterised in that, the stop finger (28) is mounted on the finger carrier (27) of the stop device (23) so as to be pivotable about three degrees of freedom extending at right angles to one another.
11. The production device (1) according to claim 10, characterised in that, a measuring means (43) of the measuring sensor system (44) is assigned to the stop finger (28) for each degree of freedom.
12. The production device (1) according to claim 10, characterised in that, the bending tool (13) is provided with a code (53) e.g. a barcode.
13. The production device (1) according to claim 12, characterised in that, the bending tool (13) is provided with a microchip having the code (53) of the bending tool (13).
14. The production device (1) according to claim 1, characterised in that, magazine places (31) of the tool magazine (4) are provided with devices for reading the code (53) of the bending tool (13).
15. The production device according to claim 1, characterised in that, the gripping device (17) of the handling device (3) is provided with a device for reading the code (53) of the bending tool (13).
16. The production device (1) according to claim 1, characterised in that, a device for reading the code (53) of the bending tool (13) is arranged on the finger carrier (27) or on the stop finger (28) of the stop device.
17. A method for setting up a bending press (2) with a bending tool (13) for the manufacture of workpieces shaped by bending, with a tool magazine (4) and with a handling device (3) with a gripping device (17) for the transfer of bending tools between the tool magazine (4) and tool holders (11, 12) of a stationary bench beam (8) and/or of a press beam (9) that can be adjusted relative to the latter, and with a multi-axial stop device (23) having at least one stop finger (28), which stop device (23) can be adjusted in a guide arrangement (22) extending parallel to the bench beam (8), and with a control and monitoring device (24), wherein on the basis of bending tool data stored in a data memory (30) of the control and monitoring device (24), a bending tool (13) corresponding to the bending tool data is picked up from the bending tool magazine (4) with the gripping device (17) of the handling device (3), after which, on the basis of tool position data stored in the data memory (30), the bending tool (13) is brought into a reference position (34) by the gripping device (17), and ACTUAL position data of an ACTUAL position (35) of the bending tool (13) are sensed and compared with stored desired position data for a DESIRED position (32) in a comparator circuit (46) of the control and monitoring device (24), after which control signals for drive means (45) of the handling device (3) are generated in a path control module (36) of the control and monitoring device (24) on the basis of differences in the data between the ACTUAL position data and the desired position data, and the bending tool (13) is adjusted from the ACTUAL position (35) into the desired position (32) in the tool holder (11, 12) and secured therein, characterised in that, the ACTUAL position data for the ACTUAL position (35) of the bending tool (13) brought into the reference position (34) are determined by means of a measuring means (43) of a measuring sensor system (44) of the stop device (23) connected with the comparator circuit (46).
18. The method according to claim 17, characterised in that, in order to sense the ACTUAL position data, the bending tool (13) brought to the reference position (34) is sensed on the basis of contact with at least one of the stop fingers (28), wherein the stop finger (28) is moved relative to the bending tool (13).
19. The method according to claim 17, characterised in that in order to sense the ACTUAL position data, the bending tool (13) brought to the reference position (34) is sensed on the basis of contact with at least one of the stop fingers (28), wherein the bending tool (13) is moved with the handling device (3) relative to the stop finger (28).
20. The method according to claim 17, characterised in that, the differences in data determined in the comparator circuit (46) between the ACTUAL position data and the desired position data are sensed as control parameters for controlling the path of the handling device (3) in addition to the bending tool data and tool position data stored in the data memory (30).
21. The method according to one of the claims 17 to 20, characterised in that, the ACTUAL position data (35) of the ACTUAL position of the bending tool (13) determined in the reference position (34) are determined in an X-axis direction of the bending press (2).
22. The method according to one of the claims 17 to 20, characterised in that, the ACTUAL position data (35) of the ACTUAL position of the bending tool (13) determined in the reference position (34) are determined in a Z-axis direction of the bending press (2).
23. The method according to one of the claims 17 to 20, characterised in that, the ACTUAL position data (35) of the ACTUAL position of the bending tool (13) determined in the reference position (34) are determined in an R-axis direction of the bending press (2).
24. The method according to claim 17, characterised in that, the allocation of a magazine place (31) of the tool magazine (4) for holding the bending tools (13) in readiness for a set-up operation is organised on a random basis based on the free availability of a magazine place (31) by means of a magazine allocation module of the control and monitoring device (24), and the allocated magazine place (31) is stored in the data memory (30) of the control and monitoring device (24).

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