EP3180138B1 - Outil de cintrage et dispositif de préhension servant à manipuler l'outil de cintrage - Google Patents

Outil de cintrage et dispositif de préhension servant à manipuler l'outil de cintrage Download PDF

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Publication number
EP3180138B1
EP3180138B1 EP15771847.9A EP15771847A EP3180138B1 EP 3180138 B1 EP3180138 B1 EP 3180138B1 EP 15771847 A EP15771847 A EP 15771847A EP 3180138 B1 EP3180138 B1 EP 3180138B1
Authority
EP
European Patent Office
Prior art keywords
gripping
actuating
bending tool
tool
gripping device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15771847.9A
Other languages
German (de)
English (en)
Other versions
EP3180138A1 (fr
Inventor
Thomas Denkmeier
Melvin SKOPLJAK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Publication of EP3180138A1 publication Critical patent/EP3180138A1/fr
Application granted granted Critical
Publication of EP3180138B1 publication Critical patent/EP3180138B1/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
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • 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
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/04—Movable or exchangeable mountings for tools
    • 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
    • B21D5/0209—Tools therefor
    • B21D5/0236—Tool clamping
    • 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
    • B21D5/0209—Tools therefor
    • B21D5/0254—Tool exchanging
    • 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
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/14—Particular arrangements for handling and holding in place complete dies
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1729—Reciprocating tool machine tool [e.g., broaching machine, shaping machine, etc.]

Definitions

  • the invention relates to a bending tool for insertion into a tool holder, and a gripping device for manipulating a bending tool, as specified in the claims 1 and 10.
  • the generic AT 511 591 B1 discloses a bending tool for insertion into a tool holder, comprising a tool body, an adjustable therein locking element for securing the bending tool in the tool holder, two of opposite side surfaces on the tool body accessible actuating surfaces which are arranged on at least one actuating element which is between a with the locking position of the locking element corresponding basic position and one of the unlocking position of the locking element corresponding actuating position is adjustable, and wherein an adjustment of the actuating element is transmitted by means of a coupling means in a movement of the locking element.
  • the coupling means extends from the actuating element to the locking element and contacts a transfer surface on the actuating element and a contact surface on the locking element and is further guided the coupling means between the actuating element and locking element in the distance direction between the actuating element and locking element displaceable in the tool body.
  • the in the Die AT 511 591 B1 described embodiment has the disadvantage that the structure of the bending tool, in particular of the locking element consists of many items, making it prone to error and expensive to manufacture.
  • the present invention has for its object to provide a bending tool, and an associated gripping device for manipulating the bending tool, which are as simple as possible in construction, in order to achieve a high longevity of the components.
  • This object of the invention is achieved by a bending tool according to claim 1, and gripping device according to claim 10.
  • a bending tool is designed for insertion into a tool receptacle, comprising a tool body, a locking element which is coupled to an actuating element accessible outside the tool receptacle with a locking lug for securing the bending tool in the tool receptacle by engaging in a recess arranged in the tool receptacle.
  • a basic position of the actuating element corresponds to a locking position of the locking element and an actuating position of the actuating element corresponds to an unlocking position of the locking element.
  • the tool body has a first and a second gripping groove, which are arranged opposite one another on the tool body, wherein a first end portion of the actuating element in the region of the first gripping groove and a second end portion of the actuating element in the region of the second gripping groove is accessible.
  • the first end portion of the actuating element has an actuating surface arranged on the front side.
  • the second end portion of the actuating element has an actuating recess.
  • an advantage of the inventive design is that the actuating element is coupled directly to the locking element, whereby a complex mechanism for coupling the two elements can be omitted.
  • the bending tool can be constructed as simply as possible, on the one hand costs can be omitted in the production of the bending tool and the reliability of the bending tool can be increased.
  • Another advantage of the design according to the invention is that the actuating element can be actuated from two sides of the bending tool. Thus, the bending tool is universally applicable.
  • the actuating element is rotationally symmetrical in the region of the second end section.
  • the advantage here is that the actuator can be easily produced by the rotationally symmetrical shape by means of a rotary tool.
  • the circumferential groove of the bending tool according to the present invention has the advantage that an engagement in the groove can be made by means of a gripping device from all sides.
  • the actuating element has a first actuating component, on which the first end portion of the actuating element is formed, and a second actuating component, on which the second end portion of the actuating element is formed is, wherein the first actuating member and the second actuating member are joined together so that the locking element is clamped between the two actuating components.
  • the second actuation component has a screw portion which is screwed into a threaded bore of the first actuation component, wherein a projection for clamping the locking element is subsequently formed on the screw portion.
  • the second actuating component has a guide portion, which is rotationally symmetrical and which guide portion is received in a through hole in the tool body.
  • the guide section is subsequently arranged on the screw section, wherein the outer diameter of the guide section is greater than the outer diameter of the screw section, and wherein a circumferential annular projection is subsequently arranged on the guide section.
  • the locking element can be arranged as a boundary by this training at a first end of the guide section.
  • the actuator can be slidably received in the tool body, wherein the displaceability is limited by the annular shoulder and by the actuating element, whereby unintentional release of the actuating element can be prevented from the tool body.
  • first and the second gripping groove are formed dovetail-shaped and are arranged parallel to each other.
  • An advantage of a dovetail-shaped design is that the gripping device can engage in alignment parallel to the gripping groove position independent in this.
  • a simple gripping device can be used to engage in the gripping groove.
  • a centering recess widening towards the front is arranged on the tool body in each case in the center of the first and the second gripping groove.
  • the advantage here is that the centering can cooperate with a corresponding positioning projection on the gripping device, whereby the bending tool can be positioned in a direction parallel to the gripping groove alignment.
  • a compression spring is arranged, which acts on a rear side of the locking element.
  • a gripping device for manipulating a bending tool comprises a first gripping arm and a second gripping arm which is displaceable in the clamping direction relative to the first gripping arm, which gripping arms are designed to engage in a gripping groove of the bending tool and to clamp the bending tool, characterized in that an unlocking member is further formed for actuating an actuating element of the bending tool in which the unlocking member is longitudinally displaceable relative to the gripping arms normal to the clamping direction.
  • the unlocking member is held by means of a torsionally rigid longitudinal guide on the second gripping arm, whereby the unlocking member is longitudinally displaceably received on the second gripping arm, in particular by means of at least two guide pins, which cooperate with a slot in Entriegelungsorgan.
  • the advantage here is that the unlocking member is slidably received by the torsionally rigid longitudinal guide on the second gripping arm and can be controlled by an actuator.
  • a structure by means of two guide pins which engage in a slot can be made simple and inexpensive.
  • both the first gripping arm and the second gripping arm each have a recess in the middle of a gripping portion, through which recess two gripping fingers are respectively formed on the gripping arms, wherein the unlocking member is movable within the recesses.
  • the bending tool according to the invention is adapted to the configuration of this gripping arm and can thus be easily absorbed by the gripping arm.
  • a centering projection which cooperates with a centering recess of the bending tool, is arranged centrally on the gripping section of the first gripping arm. It can thereby be achieved that the bending tool can be well positioned relative to the gripping arm in order to be able to pick it up safely.
  • a wear protection element is arranged at the front end portion of the first gripping arm, wherein a wear surface of the wear protection element is aligned parallel to the clamping direction.
  • the second gripping arm is displaceable relative to the first gripping arm by means of a first actuator.
  • the advantage here is that the gripping movement thereby independent of main movements of a robot arm on which the gripping device is mounted, can be performed.
  • the unlocking member is longitudinally displaceable by means of a second actuator.
  • the advantage here is that by the unlocking, which is controlled by an actuator, and thus at any time is free to move, the bending tool from the gripper arm at any time against falling out of the tool holder can be secured. Furthermore, this allows the bending tool to be easily fastened in the tool holder.
  • a gripping nose is formed on the unlocking member for engagement in an actuating recess of the actuating element of the bending tool.
  • the advantage here is that thereby the gripping device can unlock the unlocking not only by pressing in, but that the unlocking can be operated by means of a pulling movement.
  • the gripping device can receive the bending tool from both sides and thereby actuate the unlocking member to release the bending tool from the tool holder can.
  • a handling surface for adjusting an actuating surface of the actuating element of the bending tool is formed on the unlocking.
  • the advantage here is that the handling surface can serve as a stop in order to actuate the actuating element can.
  • Fig. 1 shows a schematic representation of the side view of a processing plant 1.
  • the processing plant 1 comprises a press brake 2, which is provided for bending a sheet 3.
  • the press brake 2 comprises a first adjustable pressing beam 4, in which a tool holder 5 for receiving a first bending tool 6 is formed. Furthermore, the press brake 2 comprises a second fixed pressing beam 7 on which also a tool holder 5 for receiving a bending tool 6 is formed.
  • the sheet 3 to be bent is inserted for the bending operation between the bending tools 6 of the first 4 and the second pressing beam 7.
  • the fixed in the first press bar 4 bending tool 6 respectively the first adjustable pressing bar 4 is moved by a press drive unit 8 in the vertical direction upwards or downwards.
  • a computer unit 9 is provided, which can be coupled to an input and / or display unit 10. By the press drive unit 8, the first Press bar 4 between an upper end position 11 and a lower end position 12 are adjusted.
  • the processing system 1 comprises a manipulation device 13, by means of which the sheets 3 to be processed can be manipulated automatically.
  • the sheets 3 to be processed are placed manually in the press brake 2.
  • the processing plant 1 comprises a gripping device 14.
  • the gripping device 14 is supported or moved by the manipulation device 13.
  • a manipulation device 13 for holding the gripping device 14 as shown in FIG Fig. 1 is shown, it may also be provided that, for example, a Schuanschlagtechnik not shown is adapted to manipulate the gripping device 14 and to perform a tool change can.
  • the bending tool 6 has a tool body 15, which deforms the sheet 3 to be bent during the bending operation.
  • the bending tool 6 can be positioned in the tool holder 5 in the horizontal displacement direction 16 along the clamping section of the tool holder 5.
  • the bending tool 6 in the horizontal displacement direction 16 must be inserted laterally into the tool holder 5 of the press bar 4.
  • the bending tool 6 is inserted in the vertical direction of insertion 17 in the tool holder 5.
  • the bending tool 6 according to the invention and in the other figures is described in more detail.
  • a problem-free insertion of the bending tool 6 in the vertical direction of insertion 17 can be made possible.
  • the gripping device 14 according to the invention it is possible to manipulate the bending tool 6 accordingly and to be able to grip.
  • a plurality of bending tools 6 which are of similar construction, can be positioned next to one another and join one another, and thus it can be achieved that bending edges 18 of individual bending tools 6 form a correspondingly long machining edge.
  • Another possibility is that in the tool holder 5 a plurality of different bending tools 6 are positioned. These different bending tools 6 are then used for various bending operations and can also be replaced individually. If bending tools 6 of different types are used for different working steps, then it is usual for them to be arranged at a certain distance from each other. In order to provide the most flexible processing plant 1 available, it is necessary that the bending tools 6 can be easily and quickly clamped in the tool holder 5 and taken out of this again.
  • FIGS. 2 to 5 an embodiment of a bending tool according to the invention 6 is shown in different views, wherein the same reference numerals or component names are used as in the respective preceding figures for the same parts. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
  • Fig. 2 shows the bending tool 6 in a perspective view. It can be clearly seen that the main component of the bending tool 6 is formed by the tool body 15. In the tool body, an actuating element 19 is accommodated, which is coupled to a locking element 20.
  • the locking element 20 serves to be able to use the bending tool 6 in the vertical direction of insertion 17 in the tool holder 5 and in this case as long as safe to hold in the tool holder 5 until the bending tool 6 can be clamped by the tool holder 5. However, this is only possible if all bending tools 6 necessary for a certain bending process are equipped in the tool holder 5.
  • the locking element 20 has a locking lug 21, which can be moved outwardly by displacement of the locking element 20 as required relative to the tool body 15 and thus can engage in a corresponding recess 22 in the tool holder 5 to secure the bending tool 6 in the vertical direction of insertion 17. Furthermore, it is also possible that the locking element 20 is moved in the tool body 15 such that the locking lug 21 does not engage in the recess 22 in the tool holder 5 and thus the bending tool 6 is released for moving in the vertical direction of insertion 17 out of the tool holder 5.
  • the tool body 15 has a first gripping groove 23 and a second gripping groove 24, which are formed in the tool body 15.
  • the gripping grooves 23, 24 are in this case arranged opposite each other on the tool body 15, wherein they extend in a direction parallel to the bending edge 18 longitudinal direction.
  • the gripping grooves 23, 24 in this case have such a shape that the gripping device 14 can engage in the bending tool change in this, and thus equip the bending tool 6 on the press brake 2 and, if necessary, can disarm again.
  • gripping grooves 23, 24 are formed in the form of a groove, but it is also conceivable that these are formed for example in the form of simple holes into which a gripping device 14 can engage.
  • FIGS. 3 and 4 show the bending tool 6 in a sectional view according to the section line III-III Fig. 2 ,
  • Fig. 3 In the view after Fig. 3 is the actuator 19 in an operating position in which it is pressed or activated.
  • the locking element 20 is in an unlocked position 26, in which the locking lug 21 does not engage in the recess 22 in the tool holder 5 and thus the bending tool 6 in the vertical inserting direction 17 from the tool holder 5 can be moved out or into this.
  • the actuator 19 in a basic position 27 in which it is not pressed or activated.
  • the locking element 20 is in a locking position 28.
  • the locking lug 21 projects into the recess 22 of the tool holder 5, so that a positive connection exists between these two elements.
  • the locking element 20 is by a compression spring 30th held in its locking position 28.
  • the compression spring 30 is in this case arranged in a spring receptacle 31 in the tool body 15.
  • the spring receptacle 31 may in this case be designed in the form of a simple bore, which is placed so that the compression spring 30 presses on a rear side 32 of the locking element 20.
  • the locking element 20 is in its locking position 28 and thus secures the bending tool 6 against falling out.
  • the locking element 20 In order to transport the locking element 20 out of its locking position 28 into the unlocking position 26, it is necessary for the locking element 20 to be moved by means of the actuating element 19 coupled thereto. It is necessary here for the actuating element 19 to have, in the region of the first gripping groove 23, a first end section 32, on which an actuating surface 33 is arranged, in order to be actuated by a gripping device 14.
  • the gripping device 14 can in this case press on the actuating surface 33, and thus press the actuating element 19 from its basic position 27 into its actuating position 25. Furthermore, it is provided that the actuating element 19 in the region of the second gripping groove 24 has a second end portion 34, in which an actuating recess 35 is formed.
  • the gripping device 14 can in this case engage in the Betuschistsaus originallyung 35 and pull the actuator 19 to the outside, whereby in this case the actuator 19 can be moved from its normal position 27 in the operating position 25.
  • the bending tool 6 can be accommodated either on the first gripping groove 23 or on the second gripping groove 24 of the gripping device 14.
  • the actuating recess 35 is designed in the form of a circumferential groove 36, in which the gripping device 14 can engage.
  • the actuating element 19 is designed in two parts, wherein a first actuating component 37 and a second actuating component 38 are formed, between which the locking element 20 is received and which actuating components 37, 38 are connected to each other.
  • the first actuating member 37 has the first end portion 32 and thus the actuating surface 33 is formed thereon.
  • the second actuating component 38 has the second end portion 34 and thus the actuating recess 35 is formed thereon.
  • the second actuating component 38 has a screw portion 39 which cooperates with a threaded bore 40 of the first actuating component 37. Furthermore, it can be provided that a projection 41 is subsequently provided on the screw section 39, by means of which the locking element 20 can be clamped between the first actuating component 37 and the second actuating component 38. In particular, it may be provided that a through hole 42 is formed in the locking element 20, through which the screw portion 39 of the second actuating member 38 protrudes, whereby the locking element 20 between the two actuating members 37, 38 can be accommodated.
  • an internal hexagon 43 is formed in the second end portion 34 of the actuation element 19 in which an Allen key can engage the second actuation component 38 relative to the first actuation component 37 to be able to turn.
  • the second actuating component 38 subsequently to the screw portion 39 has a guide portion 44, which is likewise rotationally symmetrical.
  • a through hole 45 is provided in the tool body 15, which extends from the first gripping groove 23 to the second gripping groove 24 and in which the actuating element 19 is received.
  • the guide portion 44 is received in the through hole 45 and thus the actuating element 19 between the basic position 27 and the actuating position 25 is displaced back and forth.
  • a clearance fit between guide portion 44 and through hole 45 so that the actuator 19 can be moved smoothly.
  • a plain bearing bush or other material with good sliding properties is integrated in order to achieve a smooth running of the actuating element 19.
  • an outer diameter 46 of the guide section 44 is selected as an outer diameter 47 of the screw portion 39. Furthermore, it can be provided that subsequent to the guide portion 44 on the second actuating member 38, a ring projection 48 is formed, which limits the displacement of the actuating element 19.
  • a locking element receptacle 49 which has approximately the outer shape of the locking element 20.
  • the locking element 20 can be received in the tool body 15.
  • the displaceability of the actuating element 19 or, contiguous thereto, of the locking element 20 is limited on one side by the fact that the locking element 20, in particular its rear side 31, bears against a bottom surface 50 of the locking element receptacle 49. This is the case when the actuator 19 is activated by the gripping device 14 and thus is in its operating position 25.
  • the displaceability of the actuating element 19 is limited by the fact that the actuating element 19, in particular the annular shoulder 48 rests in an actuating element receptacle 51, more precisely at the bottom surface 52 thereof.
  • the locking element receptacle 49 is formed in the region of the first gripping groove 23.
  • the actuating element receptacle 51 is formed in the region of the second gripping groove 24.
  • the spring receptacle 30 is arranged directly in the bottom surface 50 of the locking element receptacle 49.
  • At least one clamping recess 53 is formed in the tool body 15, in which a clamping jaw 54 of the tool holder 5 can engage and thus the bending tool 6 can be fixed in the tool holder 5.
  • the locking element 20, in particular at the locking lug 21 has a chamfer 55, which is chamfered in the direction of receiving portion 56 of the bending tool 6. It can thereby be achieved that the bending tool 6 can be inserted from below into the tool receptacle 5 in the vertical insertion direction 17 without the actuating element 19 having to be actuated by the gripping device 14, but rather by the bevel 55 and thus the tool receptacle 5 correspondingly the locking element 20 is pressed from its locking position 28 in its unlocked position 26.
  • Fig. 5 shows a plan view of the bending tool, wherein in conjunction with Fig. 2 It can easily be seen that a centering recess 57 is formed in the tool body 15 both in the region of the first gripping groove 23 and in the region of the second gripping groove 24, which facilitates the reception of the bending tool 6 by the gripping device 14. In particular, correct positioning of the bending tool 6 relative to the gripping device 14 is facilitated by the centering recess 57. How out Fig. 5 It can be seen here that the centering recesses 57 are arranged centrally in the direction of an axis of symmetry 58 of the bending tool 6.
  • FIGS. 6 to 8 an embodiment of a gripping device 14 according to the invention is shown in different views, wherein the same reference numerals or component names are used as in the preceding figures for the same parts. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
  • Fig. 6 shows a perspective view of the gripping device 14, which is designed for manipulating the bending tool 6, in particular for inserting the bending tool 6 in the tool holder 5 and for removing the bending tool 6 from the tool holder 5.
  • Fig. 7 also shows a perspective view of the gripping device 14, wherein this is shown in a half-section to release the view of internal parts.
  • Fig. 8 shows a half section of the gripping device 14th
  • the structure of the gripping device 14 is based on a synopsis Fig. 6 . Fig. 7 and Fig. 8 explained or explained.
  • the gripping device 14 has a first gripping arm 59 and a second gripping arm 60.
  • the first gripping arm 59 is arranged here on a first gripping arm receiving means 61 and the second gripping arm 60 is arranged on a second gripping arm receiving means 62.
  • the second Greifarmability 62 a first actuator 63, whereby the second gripping arm 60 is displaceable in a clamping direction 64 relative to the first gripping arm 59. In other words, by the first actuator 63, the two gripper arms 59, 60 are moved towards each other or removed from each other.
  • the gripping device 14 has an unlocking member 65, which is received between the two gripping arms 59, 60.
  • a recess 66 is formed both on the first gripping arm 59 and on the second gripping arm 60, the unlocking member 65 being movable in the free space created by the recess 66.
  • the recess 66 may extend from a gripping portion 67 and a front end portion 68, respectively, to a rear gripping arm portion 69.
  • each case two gripping fingers 70 are formed by the recess 66 in the gripper arms 59, 60 on the gripping portion 67.
  • the Greiffinger 70 show how particularly good in Fig. 8 can be seen, a dovetail-like shape, so that they can engage in the first gripping groove 23 or in the second gripping groove 24 of the bending tool 6.
  • first gripper arm 59 and the second gripper arm 60 are formed substantially symmetrically with respect to a median plane 71, wherein the two gripper fingers 70 of a gripper arm 59, 60 are arranged at the same distance from the median plane 71 and the recess 66 exactly is arranged centrally on the center plane 71.
  • the unlocking member 65 is arranged by means of a torsionally rigid longitudinal guide 72 on the second gripper arm 60, so that it can be moved in the direction of movement 73 relative to the first gripper arm 59 and the second gripper arm 60.
  • the torsionally rigid longitudinal guide 72 can be realized by means of two guide pins 74 which project transversely through the second gripping arm 60 and cooperate with a slot 75 in the unlocking member 65.
  • the gripping device 14 comprises a second actuator 76, by means of which the unlocking member 65 can be moved in the direction of movement 73 relative to the second gripping arm 60.
  • Both the first actuator 63 and the second actuator 76 can be realized for example in the form of a pneumatic or hydraulic cylinder. Alternatively, it is also conceivable, for example, that an electric actuating cylinder or a linear motor is used as the actuator.
  • the unlocking member 65 is adapted to operate the actuator 19 of the bending tool 6 and thus to move the locking element 20 between its unlocked position 26 and its locking position 28 can. As a result, the bending tool 6 inserted into the tool holder 5 can be taken out of this again.
  • the unlocking member 65 has a handling surface 77 which can cooperate with the actuating surface 33 of the actuating element 19 and thus can move this.
  • the handling surface 77 acts on actuation surface 33 when actuated as a pressure element.
  • the unlocking element 65 has a gripping nose 79 in a front end region 78 in which the handling surface 77 is arranged, which engage in the actuation recess 35 of the actuation element 19 can and thus move by a pulling movement, the actuator 19 from its normal position 27 in its operating position 25.
  • the gripping nose 79 is formed semicircular, so that the actuating recess 35, which is formed as a circumferential groove 36 on the rotationally symmetrical second actuating member 38, can be well grasped by the gripping nose 79.
  • a centering projection 80 is arranged, which can engage in the centering recess 57 of the bending tool 6.
  • the bending tool 6 can be positioned relative to the gripping device 14.
  • the centering projection 80 is formed so that it has a chamfer 81 on both sides, which corresponds to the expansion in the centering recess 57.
  • the centering projection 80 is designed in the form of a flat iron with corresponding bevels and is fastened by means of a fastening means 82 on the second gripping arm.
  • the gripping device 14 comprises a wear protection element 83, which is arranged in the front end region 68 of the first gripping arm 59.
  • the wear protection element 83 has a wear surface 84.
  • the wear protection element 83 is fastened by means of fastening means 85 on the first gripping arm 59.
  • FIGS. 9 to 16 an interaction of the bending tool 6 according to the invention and the gripping device 14 according to the invention is shown in different views, wherein the same reference numerals or component designations are used for the same parts as in the respective preceding figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
  • Fig. 9 and 10 is shown in a perspective view with half-section and in a plan view of the interaction between the bending tool according to the invention 6 and inventive gripping device 14.
  • the centering projection 80 is formed such that it cooperates with the centering recess 57 and thereby the bending tool 6 can be positioned in the horizontal displacement direction 16 to the gripping device 14.
  • the centering recess 57 is formed on the tool body 15 such that the actuating element 19 is freely accessible from above and from below and thus the unlocking member 65 can be moved freely in the centering recess 57.
  • Fig. 9 the second actuator 76 for moving the Entriegelungsorganes 65 is shown schematically.
  • Fig. 11 to 13 is shown in a side view of the process sequence for receiving the bending tool 6 by the gripping device 14 and for moving the locking element 20 from its locking position 28 in the unlocked position 26 stepwise or will be explained in a sequential step by step.
  • the gripping device 14 is moved to the bending tool 6 such that the gripping fingers 70 of the first and the second gripping arm 59, 60 are positioned within the second gripping groove 24.
  • the gripping device 14 is in this case by means of the manipulation device 13 shifted in a subsequent process step down so that the gripping fingers 70 of the first gripping arm 59 with the second gripping groove 24 are engaged and touching each other.
  • the second gripper arm 60 is moved upward in the clamping direction 64 by means of the first actuator 63 and thereby displaced relative to the first gripper arm 59, so that both the gripper fingers 70 of the first gripper arm 59 and the gripper fingers 70 of the second gripper arm 60 with the second gripper groove 24 engage.
  • the unlocking member 65 fastened to the second gripping arm 60 is simultaneously displaced upward, so that the gripping nose 79 is brought into engagement with the actuating recess 35.
  • step Fig. 13 Now the unlocking member 65 can be pulled away by the second actuator 76 in a direction away from the bending tool 6, whereby the actuating element 19 and coupled thereto the locking element 20 is displaced from its locking position 28 in its unlocked position 26.
  • the bending tool 6 can be freely moved out of the tool holder 5 or used in this.
  • the actuating element 19 can now be brought back into its basic position 27 in the reverse order and the gripping device 14 can be brought out of engagement with the bending tool 6.
  • a further process sequence for clamping or unlocking a bending tool 6 is shown, in which case the gripping device 14 engages in the first gripping groove 23 of the bending tool 6.
  • the gripping device 14 engages in the first gripping groove 23 of the bending tool 6.
  • the bending tool 6 can be gripped from the opposite side.
  • a first method step the gripping device 14 is moved toward the bending tool 6 such that the gripper fingers 70 of the first and the second gripping arm 59, 60 are positioned within the first gripping groove 23.
  • the gripping device 14 is moved downward by means of the manipulation device 13 in a subsequent method step, so that the gripping fingers 70 of the first gripping arm 59 are engaged with the first gripping groove 23 and contact each other.
  • the second gripper arm 60 is moved upward in the clamping direction 64 by means of the first actuator 63 and thereby displaced relative to the first gripper arm 59, so that both the gripper fingers 70 of the first gripper arm 59 and the gripper fingers 70 of the second gripper arm 60 with the first gripper groove 23 engage.
  • the unlocking member 65 fastened to the second gripping arm 60 is simultaneously displaced upward, so that the gripping nose 79 is brought into engagement with the actuating recess 35.
  • step Fig. 16 Now the unlocking member 65 can be pressed by the second actuator 76 in a direction facing the bending tool 6, whereby the actuating element 19 and coupled thereto the locking element 20 is moved from its locking position 28 in its unlocked position 26.
  • the bending tool 6 can be freely moved out of the tool holder 5 or used in this.
  • the actuating element 19 can now be brought back into its basic position 27 in the reverse order and the gripping device 14 can be brought out of engagement with the bending tool 6.

Landscapes

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

Claims (17)

  1. Outil de pliage (6) destiné à être inséré dans un logement d'outil (5), comprenant un corps d'outil (15), un élément de verrou (20), couplé avec un élément d'actionnement (19) accessible à l'extérieur du logement d'outil (5), avec un embout de verrou (21) pour la sécurisation de l'outil de pliage (6) dans le logement d'outil (5) par emboîtement dans un évidement (22) disposé dans le logement d'outil (5), une position de base (27) de l'élément d'actionnement (19) correspondant à une position de verrouillage (28) de l'élément de verrou (20) et une position d'actionnement (25) de l'élément d'actionnement (19) correspondant à une position de déverrouillage (26) de l'élément de verrou (20), le corps d'outil (15) comprenant une première rainure d'emboîtement (23) et une deuxième rainure d'emboîtement (24), qui sont disposées de manière opposée sur le corps d'outil (15), et une première portion d'extrémité (32) de l'élément d'actionnement (19) étant accessible au niveau de la première rainure d'emboîtement (23) et une deuxième portion d'extrémité (34) de l'élément d'actionnement (19) étant accessible au niveau de la deuxième rainure d'emboîtement (24), la première portion d'extrémité (32) de l'élément d'actionnement (19) comprenant une surface d'actionnement (33) disposée sur le côté frontal, caractérisé en ce que la deuxième portion d'extrémité (34) de l'élément d'actionnement (19) comprend un évidement d'actionnement (35) qui se présente sous la forme d'une rainure circulaire (36).
  2. Outil de pliage selon la revendication 1, caractérisé en ce que l'élément d'actionnement (19) est conçu avec une symétrie de rotation au niveau de la deuxième portion d'extrémité (34).
  3. Outil de pliage selon la revendication 1 ou 2, caractérisé en ce que l'élément d'actionnement (19) comprend un premier composant d'actionnement (37), sur lequel la première portion d'extrémité (32) de l'élément d'actionnement (19) est réalisée, et un deuxième composant d'actionnement (38), sur lequel la deuxième portion d'extrémité (34) de l'élément d'actionnement (19) est réalisée, le premier composant d'actionnement (37) et le deuxième composant d'actionnement (38) étant assemblés entre eux de façon à ce que l'élément de verrou (20) soit serré entre les deux composants d'actionnement (37).
  4. Outil de pliage selon la revendication 3, caractérisé en ce que le deuxième composant d'actionnement (38) comprend une portion filetée (39) qui est vissée dans un trou taraudé (40) du premier composant d'actionnement (37), un embout (41) étant ensuite réalisé sur la portion filetée (39) pour le serrage de l'élément de verrou (20).
  5. Outil de pliage selon l'une des revendications 3 ou 4, caractérisé en ce que le deuxième composant d'actionnement (38) comprend une portion de guidage (44), qui est réalisée avec une symétrie de rotation, cette portion de guidage (44) étant logée dans un trou de passage (45) dans le corps d'outil (15).
  6. Outil de pliage selon la revendication 5, caractérisé en ce que la portion de guidage (44) est ensuite disposée sur la portion filetée (39), le diamètre extérieur (46) de la portion de guidage (44) étant supérieur au diamètre extérieur (47) de la portion filetée (39) et un embout annulaire (48) étant ensuite disposé sur la portion de guidage (44).
  7. Outil de pliage selon l'une des revendications précédentes, caractérisé en ce que la première rainure d'emboîtement (23) et la deuxième rainure d'emboîtement (24) sont réalisées en forme de queues d'arondes et sont disposées parallèlement entre elles.
  8. Outil de pliage selon l'une des revendications précédentes, caractérisé en ce que, sur chaque corps d'outil (15), au centre entre la première rainure d'emboîtement (23) et de la deuxième rainure d'emboîtement (24), est disposé un évidement de centrage (57) s'élargissant vers l'avant.
  9. Outil de pliage selon l'une des revendications précédentes, caractérisé en ce que, dans un logement à ressort (30) dans le corps d'outil (15) est disposé un ressort de compression (29), qui agit sur un côté arrière (31) de l'élément de verrou (20).
  10. Dispositif de préhension (14) pour la manipulation d'un outil de pliage (6) selon l'une des revendications précédentes, comprenant un premier bras de préhension (59) et un deuxième bras de préhension (60) mobile dans une direction de serrage (64) par rapport au premier bras de préhension (59), ces bras de préhension (59) étant conçus pour être emboîtés dans une rainure d'emboîtement (23, 24) de l'outil de pliage (6) et pour le serrage de l'outil de pliage (6), caractérisé en ce qu'un organe de déverrouillage (65) est conçu pour l'actionnement d'un élément d'actionnement (19) de l'outil de pliage (6), cet organe de déverrouillage (65) étant mobile longitudinalement par rapport aux bras de préhension (59, 60), perpendiculairement à la direction de serrage (64), un embout de préhension (79), destiné à être emboîté dans un évidement d'actionnement (35) de l'élément d'actionnement (19) de l'outil de pliage (6), étant réalisé sur l'organe de déverrouillage (65).
  11. Dispositif de préhension selon la revendication 10, caractérisé en ce que l'organe de déverrouillage (65) est maintenu au moyen d'un guidage longitudinal (72) rigide en rotation sur le deuxième bras de préhension (60), l'organe de déverrouillage (65) étant logé de manière mobile longitudinalement sur le deuxième bras de préhension (60), plus particulièrement au moyen de deux tiges de guidage (74), qui interagissent avec un trou oblong (75) dans l'organe de déverrouillage (65).
  12. Dispositif de préhension selon la revendication 10 ou 11, caractérisé en ce que, aussi bien le premier bras de préhension (59) que le deuxième bras de préhension (60) comprennent, au centre d'une portion de préhension (67), un évidement (66), cet évidement (66) permettant la formation de deux doigts de préhension (70) sur chacun des deux bras de préhension (59), l'organe de déverrouillage (65) étant mobile dans l'espace libre des évidements (66).
  13. Dispositif de préhension selon l'une des revendications 10 à 12, caractérisé en ce que sur la portion de préhension (67) du premier bras de préhension (59), au centre, est disposé une saillie de centrage (80), qui interagit avec un évidement de centrage (57) de l'outil de pliage (6).
  14. Dispositif de préhension selon l'une des revendications 10 à 13, caractérisé en ce que, sur la portion d'extrémité avant (68) du premier bras de préhension (59) est disposé un élément de protection contre l'usure (83), une surface d'usure (84) de l'élément de protection contre l'usure (83) étant orienté parallèlement à la direction de serrage (64).
  15. Dispositif de préhension selon l'une des revendications 10 à 14, caractérisé en ce que le deuxième bras de préhension (60) peut être déplacé au moyen d'un premier actionneur (63) par rapport au premier bras de préhension (59).
  16. Dispositif de préhension selon l'une des revendications 10 à 15, caractérisé en ce que l'organe de déverrouillage (65) est mobile longitudinalement au moyen d'un deuxième actionneur (76).
  17. Dispositif de préhension selon l'une des revendications 10 à 16, caractérisé en ce que, sur l'organe de déverrouillage (65), est réalisée une surface de manipulation (77) pour le déplacement d'une surface d'actionnement (33) de l'élément d'actionnement (19) de l'outil de pliage (6).
EP15771847.9A 2014-08-12 2015-08-11 Outil de cintrage et dispositif de préhension servant à manipuler l'outil de cintrage Active EP3180138B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50568/2014A AT515526B1 (de) 2014-08-12 2014-08-12 Biegewerkzeug und Greifvorrichtung zum Manipulieren des Biegewerkzeuges
PCT/AT2015/050197 WO2016023057A1 (fr) 2014-08-12 2015-08-11 Outil de cintrage et dispositif de préhension servant à manipuler l'outil de cintrage

Publications (2)

Publication Number Publication Date
EP3180138A1 EP3180138A1 (fr) 2017-06-21
EP3180138B1 true EP3180138B1 (fr) 2018-04-18

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EP15771847.9A Active EP3180138B1 (fr) 2014-08-12 2015-08-11 Outil de cintrage et dispositif de préhension servant à manipuler l'outil de cintrage

Country Status (4)

Country Link
US (1) US11260442B2 (fr)
EP (1) EP3180138B1 (fr)
AT (1) AT515526B1 (fr)
WO (1) WO2016023057A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT517712B1 (de) 2015-11-04 2017-04-15 Trumpf Maschinen Austria Gmbh & Co Kg Greifersystem für eine Biegepresse
WO2018049056A1 (fr) * 2016-09-09 2018-03-15 Mate Precision Tooling, Inc. Système de mise en prise d'outil de presse-plieuse
US10953453B2 (en) 2017-11-06 2021-03-23 Mate Precision Technologies Inc. Magnetic press brake tooling engagement system
US20210323046A1 (en) * 2018-07-17 2021-10-21 Amada Co., Ltd. Tool changer
CN109108166A (zh) * 2018-10-23 2019-01-01 安徽联盟模具工业股份有限公司 一种适用于智能折弯机器人自动换模的模具夹钳机构
CN113857359B (zh) * 2021-09-18 2023-07-25 南京邮电大学 一种数控折弯中心自动换模系统

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AT411819B (de) * 2002-09-16 2004-06-25 Trumpf Maschinen Austria Gmbh Biegewerkzeug und werkzeugaufnahmevorrichtung für ein solches
AT414327B (de) * 2003-05-14 2007-09-15 Trumpf Maschinen Austria Gmbh Werkzeugaufnahmevorrichtung
US20060277970A1 (en) * 2005-06-10 2006-12-14 Pabich Terry G Press brake tool incorporating seating and/or locating mechanism
ATE494971T1 (de) * 2005-11-11 2011-01-15 Wila Bv Formwerkzeug mit feststellmitteln für das betätigungsglied des sicherheitsglieds
AT511591B1 (de) * 2012-02-07 2013-01-15 Trumpf Maschinen Austria Gmbh Biegewerkzeug mit sicherheitseinrichtung
AT514078B1 (de) * 2013-06-20 2014-10-15 Trumpf Maschinen Austria Gmbh Biegewerkzeug

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Also Published As

Publication number Publication date
WO2016023057A1 (fr) 2016-02-18
AT515526B1 (de) 2015-10-15
EP3180138A1 (fr) 2017-06-21
US20170232493A1 (en) 2017-08-17
AT515526A4 (de) 2015-10-15
US11260442B2 (en) 2022-03-01

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