EP2724795B1 - Agencement comprenant une presse à plier et un robot ainsi que procédé de fabrication d'une pièce pliée - Google Patents

Agencement comprenant une presse à plier et un robot ainsi que procédé de fabrication d'une pièce pliée Download PDF

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Publication number
EP2724795B1
EP2724795B1 EP13190282.7A EP13190282A EP2724795B1 EP 2724795 B1 EP2724795 B1 EP 2724795B1 EP 13190282 A EP13190282 A EP 13190282A EP 2724795 B1 EP2724795 B1 EP 2724795B1
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EP
European Patent Office
Prior art keywords
bending
thickness
bent part
gripper
press brake
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.)
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Application number
EP13190282.7A
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German (de)
English (en)
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EP2724795A1 (fr
Inventor
Alfred HASELBÖCK
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
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Trumpf Maschinen Austria GmbH and Co KG
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Publication of EP2724795A1 publication Critical patent/EP2724795A1/fr
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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
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • 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 producing a bent part by means of a bending press, wherein the bent part is fed by means of a gripper of a robot in the bending press and then bent by operating the bending press. Furthermore, the invention relates to an arrangement with a bending press for bending a bent part and a robot, which is prepared for feeding the bending part in the bending press by means of a gripper.
  • bent parts to be bent by a robot which is equipped with a gripper, taken from a delivery area, supplied to the bending press and bent in the connection.
  • the bending part can be held by the robot during the bending process or can also be fixed to the bending press, for example by a tensioning mechanism.
  • a general problem when bending a bent part are the tolerances of the blank. For example, if it is a bent part made of sheet metal, then thickness tolerances of the raw material can lead to considerable deviations of the actual bending angle from a desired set bending angle.
  • the bent part then has to be bent over or disposed of as a waste. In any case, a re-inspection of the bent bent parts is required.
  • the object of the invention is achieved by a method according to claim 1. Furthermore, the object of the invention is achieved by an arrangement according to claim 9.
  • the pressing pressure / the path of travel of the bending press in the above-mentioned method or in the above-mentioned arrangement is increased / shortened as the measured value for the bending thickness increases.
  • a dependent parameter of the bending press for influencing the same can be used.
  • the pressing force depends on the pressing pressure.
  • the bending press is hydraulically driven, the amount of oil flowing into the hydraulic cylinders depends on the travel. If a spindle drive is provided, then the number of revolutions of a drive motor depends on the travel path.
  • the stated parameters are of course only illustrative examples. Other parameters can also be used to influence the bending press.
  • the proposed method or the proposed arrangement for the production of bent parts of all kinds, in particular for sheet metal bent parts are suitable.
  • the bending press can be designed, for example, as a press bending press or as a swivel press brake.
  • the robot can be designed as a commercial industrial robot with serially kinematic or parallel kinematic drive.
  • this list is purely illustrative.
  • the bending press or the robot may also have a different structure.
  • the proposed method or the proposed arrangement is not limited to the production of bent sheet metal parts, but for example, is applicable to pipe bending machines.
  • bent bent part is removed with the aid of the gripper of the robot from the bending press. In this way, a fully automatic process results in the production of a bent part.
  • the bending thickness is determined directly from the relative position of gripping elements of the gripper to each other or calculated.
  • the distance between two mutually displaceably mounted gripping elements which corresponds to the thickness of a bending part located in the gripper, can be directly determined (measured) with a linear measuring system.
  • the thickness of a bending part in the gripper can be calculated based on the relative position of gripping elements of the gripper relative to one another.
  • the gripping elements can be rotated relative to one another and grab a pair of tongs. The angular position of the gripping elements to one another can now provide information about how thick the bending part positioned between the gripping elements.
  • the bending thickness is determined at a predeterminable gripping force or a predetermined gripping pressure. As a result, reproducible measurement results for the bending thickness can be achieved, since the deformation of the bent part by the gripping gripper is always substantially the same. If the gripping force is so great that a falsification of the measurement result for the bending thickness is unavoidable, a (constant) correction value can also be determined in order to correct the measurement result.
  • a deformation of the gripper is determined and used for a correction of the measured value for the bending thickness.
  • the correction value for the bending thickness is thus determined based on the currently occurring deformation.
  • the said deformation can be determined directly, for example by means of strain gauges in the gripper, or calculated by the holding force.
  • the thickness of the bent part is determined at that gripping thereof which serves for feeding the bent part into the bending press.
  • a part to be bent is thus grasped, fed into the bending machine and then bent, wherein the bending thickness between the gripping of the bending part and the bending of the same is determined, without letting go of the bent part.
  • the measurement of the bending thickness without the bending part is raised in order to avoid a falsification of the measurement result by the load on the gripping elements.
  • the gripper could be slightly widened when lifting by an arising tilting moment.
  • the bent part is deposited at least on one side during measurement in order to avoid a falsification of the measurement result in this way largely.
  • the bending thickness is determined with a handle which only serves to determine the said thickness.
  • a separate “measuring handle” is performed to determine the bending thickness.
  • this may be advantageous if the thickness of the bent part is to be determined at a position which differs from the position at which the bent part is lifted.
  • this measurement is carried out without lifting the bending part.
  • the bending thickness is determined on or in the region of a bending line.
  • the bending of the bent part can be carried out particularly accurately, since its thickness is determined at the position at which it is later bent.
  • "in the region of the bending line” means in particular 20 cm away from the bending line, preferably 10 cm away from the bending line and more preferably 5 cm away from the bending line.
  • the deviation of the actual angle of the bent bent part from the desired angle is determined and the influence of the bending press is adapted by the measured value of the bending thickness such that a deviation between an actual bending angle and a desired bending angle is reduced becomes.
  • a control circuit for the best possible achievement of the desired angle is built up.
  • Fig. 1 shows a schematically illustrated arrangement with a bending press 1 for bending a bending part 2 and a robot 3, which is prepared for feeding the bending part 2 in the bending press 1 by means of a gripper 40.
  • the robot 3 removes an unbent bent part 2 from a stack 5 and places it in the bending press 2 with the aid of its gripper 40.
  • the hydraulic pump 6 and a valve 7, respectively By activating the hydraulic pump 6 and a valve 7, respectively, the hydraulic cylinders 8 are pressurized, whereupon the blade 9 moves downwards in the direction of the die 10.
  • the bending angle ⁇ can be influenced.
  • the bending press 1 comprises a controller 11, which is connected to a pressure gauge 12, a linear measuring 13 and to the pump 6 and the valve 7 respectively.
  • control and “rules” are used synonymously unless otherwise specified. This means that instead of a controller, a control can be provided and vice versa, unless stated otherwise.
  • the bending part 2 bent along the bending line 14 is removed from the bending press 1 by means of the gripper 40 as shown in this example and deposited on a stack 15 or another transport means (for example conveyor belt). In this way, a fully automatic sequence results in the production of the bending part. 2
  • the thickness of the bent part 2 is determined before bending with the aid of said gripper 40 and a Pressing pressure and / or a travel and / or a dependent parameter of the bending press 1 influenced by the measured value of the bending thickness such that a deviation between an actual bending angle ⁇ and a target bending angle is reduced.
  • the gripper 40 comprises means for determining the thickness of the bent part 2 (see in detail the Fig. 2 ), and the arrangement shown comprises means for transmitting a measured value of the bending thickness of the robot 3 to the bending press 1, specifically to the controller 11 (see dotted line). Furthermore, the controller 11 is adapted for influencing the pressing pressure and / or the travel path and / or a parameter dependent thereon of the bending press 1 by the measured value of the bending thickness such that a deviation between an actual bending angle ⁇ and a desired bending angle is reduced becomes.
  • the thickness of the bending part 2 is thus determined by the gripper 40 before the bending part 2 is bent by means of the bending press 1.
  • This reading is communicated to the controller 11 (e.g., by wire or radio), which in this example adjusts the pressing pressure and travel according to the determined bending thickness and target bending angle to be achieved.
  • the pressing pressure is increased with increasing measured value for the bending thickness, the travel is shortened accordingly.
  • a number of bending parts 2 can be produced with substantially the same actual bending angle ⁇ , even if their thickness varies. Bending is therefore not necessary or only in exceptional cases. Also, a follow-up of each bending part 2 can be omitted without risking disruptions in a fully automatic production process.
  • the bending press 1 Despite the influence of the bending press 1 with the measured value of the bending thickness, it is favorable if the deviation of the actual angle ⁇ of the bent bending part 2 from the desired angle is determined and the influence of the bending press 1 is adapted by the measured value of the bending thickness such that a deviation between an actual bending angle ⁇ and a desired bending angle is reduced.
  • the pressing pressure is increased if the actual bending angle ⁇ is too low for the bending parts 2 to be produced in the future, and the travel length is extended accordingly.
  • the bending press 1 is continuously readjusted. In principle, rich to random samples, so that the production process is only slightly disturbed.
  • Fig. 2 now shows a gripper 41 in detail, although in turn in a schematic representation.
  • the gripper 41 comprises a fixed gripping element (a fixed gripping jaw) 16 and a movable gripping element (a movable jaw) 17 which is rotatably mounted about a pivot point 18.
  • the gripper 41 comprises a linear motor 19, which is coupled to the movable jaw 17 and moves it.
  • the gripper 41 comprises a linear measuring system 20 for measuring a position of the linear motor 19.
  • the rotary joint 18, the linear movement of the linear motor 19 is converted into a rotary or pivotal movement of the gripping jaw 17, whereby the gripper 41 grabbing tongs.
  • the position of the gripping jaw 17 is dependent on the position of the linear motor 19. From the position of the linear motor 19 can thus be calculated, the distance of the gripping jaws 16, 17, which the thickness of the located in the gripper 41 Bending parts 2 denotes or corresponds to this. Due to the special design of the gripper 41 is relatively slim, so that bending parts 2 can be easily manipulated even in confined spaces.
  • the bending thickness is determined at a predeterminable gripping force or a specifiable gripping pressure. As a result, reproducible measurement results for the bending thickness can be achieved, since the deformation of the bending part 2 by the gripping gripper 41 and also the deformation of the gripper 41 itself is always substantially the same. It is also conceivable that the determination of the bending thickness is determined at any gripping force and from the deformations occurring a correction value for the bending thickness is determined. These deformations can be calculated, for example, or determined empirically.
  • the linear motor 19 is designed as a pneumatic cylinder or hydraulic cylinder, the pressure in the cylinder can be determined. If the linear motor 19 is designed as a spindle drive, then, for example, the current consumption of the motor can be used to calculate the gripping force.
  • force sensors can also be installed in the gripper elements 16, 17 (for example, piezo pressure sensors or strain gauges) in order to be able to determine the holding forces occurring in the gripper 41.
  • the thickness of the bending part 2 is calculated based on the relative position of the gripping jaws 16, 17 to each other.
  • the angular position of the gripping jaws 16, 17 to one another provides information about how thick the bending part 2 positioned between the gripping jaws 16, 17 is. It would also be conceivable that the bending thickness from the relative position of the gripping jaws 16, 17 is determined directly to each other, that is, measured.
  • Fig. 3 shows a variant of a gripper 42, in which the gripping jaw 17 is slidably mounted. With the help of a length measuring system between the gripping jaws 16, 17, the distance between them to one another and thus the thickness of the bending part 2 located in the gripper 42 can be measured directly.
  • the thickness of the bending part 2 is determined at that gripping thereof, which serves for feeding the bending part 2 into the bending press 1.
  • the bent part 2 is thus taken from the stack 5 and inserted into the bending press 1.
  • the bending thickness is determined in the manner previously indicated. This process is very efficient, since by measuring the bending thickness practically no loss of time during the production of a bent part 2 is formed. In particular, the bending thickness during the feeding movement of the robot 3 can be measured.
  • the method can be well integrated into existing systems, since the workflow with respect to the manipulation of the bending part 2 does not change.
  • the measurement of the bending thickness without the bending part 2 is raised in order to avoid a falsification of the measurement result by the load on the gripping elements 16, 17.
  • this could be done in the present example before lifting the bending part 2 from the stack 5 or after placing it in the bending press 1. This avoids that the gripper 40..42 is widened by the tilting moment of the bent part 2 or the resulting accelerations during the manipulation and the measurement result is falsified.
  • the bent part 2 is stored unilaterally during measurement.
  • the bent part 2 in the Fig.1 rest during the measurement at its trailing edge on the stack 5 so as to at least reduce a falsification of the measurement result.
  • the deformation of the gripper 40... 42 can furthermore be determined and used for the correction of the measured value for the bending thickness.
  • the said deformation can be determined directly, for example by means of strain gauges, or calculated by the holding force.
  • the bending thickness is determined on or in the region of the bending line 14.
  • the bending of the bending part 2 can be particularly accurate, since its thickness is determined at the position at which it is bent later.
  • the bending press 2 or depending on the arrangement of the delivery area (stack 5) and the removal area (stack 15), it may be difficult or even impossible, the bending thickness when feeding the bending part 2 in the bending press 1 or in the area of the bending line 14 to determine. It is therefore also advantageous if the bending thickness is determined in a separate "measuring handle", which only serves to determine the said thickness. In the present example, this can be realized in that the robot 3, the bending part 2 on the stack 5 laterally engages the bending line 14 and determines the bending thickness. Thereafter, the bending part 2 is grasped at its front edge and inserted into the bending press 2.
  • the bent part 2 can in turn be packed at its front edge and inserted into the bending press 1, whereupon the robot 3 lets go of the bent part 2 and misses on its side edge. It would also be conceivable that the bending part 2 is initially only a little pushed into the bending press 1, so that access to the bending line 14 remains free. Only after measuring this is pushed into the bending position. Of course, also applies to this variant that the measurement is preferably carried out without the bending part 2 (completely) raise, or that the deformation of the bending part 2 and / or the gripper 40..42 is taken into account in determining the bending thickness.
  • FIGS. 2 and 3 shown grippers 40..42 are drawn purely schematically and represent only illustrative examples.
  • a gripper can also have more than one movable gripping element and of course the gripping elements can also be driven by more than one linear motor.
  • FIG. 1 The arrangement shown is shown very schematically. Again, these may in reality include more or fewer components than shown.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Claims (10)

  1. Procédé de fabrication d'une pièce pliée (2) à l'aide d'une presse plieuse (1), comprenant les étapes suivantes :
    - introduction de la pièce à plier (2) dans la presse plieuse (1) à l'aide d'une pince (40..42) d'un robot (3) et
    - pliage de la pièce à plier (2) par actionnement de la presse plieuse (1),
    caractérisé en ce que
    - l'épaisseur de la pièce à plier (2) est déterminée avant le pliage à l'aide de moyens (20) pour la détermination de l'épaisseur de la pièce à plier (2), qui sont intégrés dans la pince (40..42) mentionnée,
    - une valeur de mesure de l'épaisseur de la pièce à plier est transmise par le robot (3) à la pièce plieuse (1) et
    - une pression de pressage et/ou un trajet de déplacement et/ou un paramètre de la presse plieuse (1), dépendant de ceux-ci, est influencé par la valeur de mesure de l'épaisseur de la pièce à plier de façon à ce qu'un écart entre un angle de pliage effectif (α) et un angle de pliage de consigne soit réduit.
  2. Procédé selon la revendication 1, caractérisé en ce que la pression de pressage / le trajet de déplacement est augmenté / raccourci lorsque la valeur de mesure de l'épaisseur de la pièce à plier augmente.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que l'épaisseur de la pièce à plier est déterminée ou calculée directement à partir de la position relative des éléments (16, 17) de la pince (40..42) entre eux.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que l'épaisseur de la pièce à plier est déterminée pour une force de pince prédéterminée ou une pression de pince prédéterminée.
  5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que l'épaisseur de la pièce à plier (2) est déterminée lors de la préhension de celle-ci qui permet l'introduction de la pièce à plier (2) dans la presse plieuse (1).
  6. Procédé selon l'une des revendications 1 à 4, caractérisé en ce que l'épaisseur de la pièce à plier est déterminée lors d'une préhension qui sert uniquement à déterminer l'épaisseur mentionnée.
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que l'épaisseur de la pièce à plier est déterminée sur ou au niveau d'une ligne de pliage (14).
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce que l'écart entre l'angle effectif (α) de la pièce pliée (2) et l'angle de consigne est déterminé et la commande de la presse plieuse (1) est adaptée par la valeur de mesure de l'épaisseur de la pièce à plier de façon à ce qu'un écart entre un angle de pliage effectif (α) et un angle de pliage de consigne soit réduit.
  9. Dispositif comprenant une presse plieuse (1) pour le pliage d'une pièce à plier (2) et un robot (3), qui est préparé pour l'introduction de la pièce à plier (2) dans la presse plieuse (1) à l'aide d'une pince (40..42),
    caractérisé en ce que
    - la pince (40..42) comprend des moyens (20) pour la détermination de l'épaisseur de la pièce à plier (2),
    - le dispositif comprend des moyens pour la transmission d'une valeur de mesure de l'épaisseur de la pièce à plier du robot (3) à la presse plieuse (1) et
    - la presse plieuse (1) comprend un dispositif de commande (11) qui est conçu pour influencer, lors d'un pliage, une pression de pressage et/ou un trajet de déplacement et/ou un paramètre de la presse plieuse (1), dépendant de ceux-ci, à l'aide de la valeur de mesure de l'épaisseur de la pièce à plier, de façon à ce qu'un écart entre un angle de pliage effectif (α) et un angle de pliage de consigne soit réduit.
  10. Dispositif selon la revendication 9, caractérisé par
    - au moins deux éléments de pince (16, 17) dans la pince (40..42), dont au moins un est logé de manière rotative,
    - un moteur linéaire (19) couplé avec l'au moins un élément de pince rotatif (17) pour le déplacement de celui-ci,
    - un système de mesure (20) pour la mesure d'une position du moteur linéaire (19) et
    - des moyens pour le calcul d'une distance entre les éléments de pince (16, 17), qui caractérise l'épaisseur d'une pièce à plier (2) se trouvant dans la pince (40..42), sur la base de la position du moteur linéaire (19).
EP13190282.7A 2012-10-25 2013-10-25 Agencement comprenant une presse à plier et un robot ainsi que procédé de fabrication d'une pièce pliée Active EP2724795B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ATA1155/2012A AT512892B1 (de) 2012-10-25 2012-10-25 Anordnung mit einer Biegepresse und einem Roboter sowie Verfahren zur Herstellung eines Biegeteils

Publications (2)

Publication Number Publication Date
EP2724795A1 EP2724795A1 (fr) 2014-04-30
EP2724795B1 true EP2724795B1 (fr) 2018-05-02

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EP (1) EP2724795B1 (fr)
AT (1) AT512892B1 (fr)

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CN105689458A (zh) * 2014-11-25 2016-06-22 无锡市恒盛电机有限公司 钣金的智能分阶段折弯装置
CN105598221A (zh) * 2014-11-25 2016-05-25 无锡市恒盛电机有限公司 折弯加工装置
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CN104624739B (zh) * 2014-12-24 2016-08-24 广东中南声像灯光设计研究院 基于plc的电容厚度检测与裂纹反馈的板件折弯机及其弯折加工方法
CN104624726B (zh) * 2014-12-24 2016-08-24 广东中南声像灯光设计研究院 基于plc的x光厚度检测与折弯速度调节的折弯机及其折弯加工方法
CN104942053A (zh) * 2015-06-22 2015-09-30 苏州边桐传感科技有限公司 带压力检测与扭矩调节的折弯装置
CN104942091A (zh) * 2015-06-23 2015-09-30 苏州边桐传感科技有限公司 基于厚度调节折弯扭矩的安全折弯装置
CN104942057A (zh) * 2015-06-23 2015-09-30 苏州边桐传感科技有限公司 基于裂纹检测反馈与夹持控制的折弯加工系统
CN104942056A (zh) * 2015-06-23 2015-09-30 苏州边桐传感科技有限公司 基于定位夹持控制与反馈控制的折弯加工装置
CN104942066A (zh) * 2015-06-23 2015-09-30 苏州边桐传感科技有限公司 基于厚度检测与反馈调控的折弯加工装置
CN104942073A (zh) * 2015-06-25 2015-09-30 苏州边桐传感科技有限公司 带反馈检测与夹持控制的钣金折弯加工系统及方法
CN104942095A (zh) * 2015-06-26 2015-09-30 苏州边桐传感科技有限公司 基于检测反馈与智能调控的钣金折弯装置及方法
CN104942081A (zh) * 2015-06-26 2015-09-30 苏州边桐传感科技有限公司 阶段折弯与磨压式折弯装置及方法
CN104959417A (zh) * 2015-06-26 2015-10-07 苏州边桐传感科技有限公司 基于阶段式折弯与反馈扭矩控制的钣金折弯系统及方法
CN109622675B (zh) * 2019-03-01 2024-02-02 山东红宝自动化有限公司 一种冷凝器散热片折弯机系统
CN113680871B (zh) * 2021-10-20 2021-12-31 江苏伊凯医疗器械有限公司 一种精密医疗器械加工用夹具

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EP2724795A1 (fr) 2014-04-30
AT512892B1 (de) 2013-12-15

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