EP3774107A1 - Dispositif de pliage avec guidage de pièce à travers un robot à bras à articulations multiples - Google Patents

Dispositif de pliage avec guidage de pièce à travers un robot à bras à articulations multiples

Info

Publication number
EP3774107A1
EP3774107A1 EP19718150.6A EP19718150A EP3774107A1 EP 3774107 A1 EP3774107 A1 EP 3774107A1 EP 19718150 A EP19718150 A EP 19718150A EP 3774107 A1 EP3774107 A1 EP 3774107A1
Authority
EP
European Patent Office
Prior art keywords
bending
robot
workpiece
control
control unit
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.)
Pending
Application number
EP19718150.6A
Other languages
German (de)
English (en)
Inventor
Uwe-Peter Weigmann
Thomas Walker
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.)
Wafios AG
Original Assignee
Wafios AG
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 Wafios AG filed Critical Wafios AG
Publication of EP3774107A1 publication Critical patent/EP3774107A1/fr
Pending legal-status Critical Current

Links

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
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • 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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45143—Press-brake, bending machine
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to a bending device for bending a workpiece, comprising a bending machine having a forming device, which is formed for bending the workpiece in a re-forming process, and a control device, which controls the operation of the Biegema machine, a robot with a Gripping end, which is designed for gripping and Hal th of the workpiece, and a control unit, which is designed to control the loading operation of the robot has, wherein the robot stabilizes the workpiece during the forming process.
  • Such a bending device is known in the form of a press brake from EP 0742054 A1.
  • a sheet is folded in the press brake, wherein a punch is pressed on a pressing tool ge to deform the sheet.
  • a robot holds the sheet during the bending process and carries it out.
  • the robot has a pivotable holder which is attached to three mutually perpendicular, in the x-, y- or z-direction slidable carriers and is pivotable at an angle. It is in the embodiments of the document thus a so-called Cartesian robot.
  • Cartesian robot For tracking, the publication provides three equa tion equations, which describe the x and y setting and the holder tilt angle of kar tesischen robot as a function of the position of the punch of the press brake.
  • EP 0554533 B1 and EP 2998041 A1 describe a bending device for rod-shaped or tubular workpieces, in which a bending machine which has a bending head designed to bend the workpiece in a forming process, and a robot which has a motor-adjustable Mehrgelenkarm with a gripping end , are combined.
  • the robot Holds the workpiece during the forming process. The control of the two components, bending machine and robot, is not considered.
  • EP 3266529 A1 discloses a bending machine having a control unit. As a further component a robot is provided which has an independent control unit. The control units of the two components, bending machine and robot, are synchronized in operation. The text speaks of "interlocking manner". A master-slave control is not provided, but programs for both control units are generated on a common database.
  • the master-slave control of the robot by the bending machine designed as a bending machine achieves a particularly high synchronicity of the two components.
  • this requires a sophisticated mathematical analysis to determine the equations by which the robot is driven.
  • the motion capabilities of the robots of the generic state of the art must exactly match the x, y axes and the tilt angle used in the thematic analysis.
  • the press brake and the Cartesian robot have the same coordinate system.
  • the device combination is thus on a very limited applica tion, namely the folding of sheets, set.
  • the robot's CPU must be controlled directly, which requires information about its internal operation.
  • the invention is therefore the object of developing a generic system with master-slave control of the robot by a bending machine so that a greater applicational freedom and the processing of rod or tubular workpieces is possible.
  • the bending device for bending a rod-shaped or tubular workpiece comprises a bending machine and a robot.
  • the bending device has a forming device, which is designed as a bending head that bends rod or tubular workpieces.
  • the bending machine has the bending head for cold forming.
  • the bending head is designed to bend the workpiece in a forming process.
  • the bending machine has a control device which controls the operation of the bending machine.
  • the robot is designed as a motor ver adjustable Mehrgelenkarm with a gripping end.
  • the gripping end is designed for gripping and holding the workpiece, wherein the gripping end of the robot is designed as a gripping tool for the rod or tubular workpiece and, based on the held work piece, has a center.
  • the robot has a control unit, which is to control the operation of the robot is formed.
  • the bending process, which is performed on the workpiece out includes the forming process in which the bending head bends the workpiece.
  • Preceding the forming process and the bending process is the insertion of the work piece by the robot in the bending head.
  • the robot stabilizes and orients the workpiece. Depending on the type of deformation process, he keeps it or provides the tracking.
  • the robot takes the piece of work from the bending head.
  • the control device of the bending machine is designed to create a bending program and has a programming system for this purpose.
  • the bending program comprises a plurality of deforming bends of the rod or tubular workpiece, wherein the bends at intervals to each other and each lie in a defined bending plane, for. B. be executed in individual bending planes.
  • the programming system generates setpoints for the axes of the bending machine and for the robot.
  • the user enters the distances of the bends to each other and the position of the bending plane (s) in the programming system.
  • the bending program controls the bending machine and the robot during the bending process.
  • control unit of the robot is switched to a slave mode. In this it receives control commands from the controller of the bending machine and puts them in the control of the motorized Mehrgelenkarms and the Grei fendes to.
  • control commands do not specify directly the position, orientation andorientsge speed of the gripping end, but the employment of the robot joints.
  • the control device of the control unit of the robot which is in the slave mode, continuously provides settings for the motor-adjustable multi-jointed arm and the gripping end.
  • control device of the bending machine controls not only the bending machine, but indirectly also the robot via the control unit.
  • the robot inserts the work piece into the bending head, stabilizes it during the deformation process and feeds it and removes it from the bending head after the forming operation.
  • the controller of the bending machine thus ultimately takes over the control of Robo age, but without that the control unit of the robot would be completely disabled.
  • the control device of the control unit of the robot provides information concerning the setting for the motorized Mehrgelenkarm and / or the gripping end.
  • the control device can directly specify the adjustment of the arm and / or the position (in particular alignment) of the center of the gripping tool.
  • the control unit of the robot does not run its own program in the slave mode, but only sets the specifications of the control device of the bending machine in a corresponding control of the motors that adjust the Mehrgelenkarm, and the gripping end. Since the bending machine and the robot are ultimately controlled by a jointly controlling authority, namely the control device of the bending machine, the synchronicity and mutual coordination of the movements of the robot and the bending machine is surprisingly unproble matic, and the bending result is improved.
  • a bending process u. a. the sequence of the supply of the workpiece to the bending head on the possibly multiple, bending deformation (s) of the workpiece in the bending head and the removal of the formed workpiece understood from the bending head.
  • the bending process may also be supplemented by gripping a blank from a blank stock and / or depositing the machined workpiece on an output stack.
  • Knowledge about the internal structure of the robot controller, as in EP 0742054 A1, are no longer necessary.
  • the control device has a programming system for creating the Biegepro program. From the bending program, which may be predetermined, for example, in the form of the previously mentioned PRB data, the programming system generates in a first alternative specifications for nominal values for axes of the bending machine and axes or coordinates of the robot.
  • the central control of bending machine and robot by the Steuerein direction of the bending machine is particularly easy to implement when bending machine and robot refer to a coordinate or axis system that is uniform for both machines.
  • the control device of the bending machine performs an axis transformation, in which it uses a mathematical co mation between angles of rotation of axes of Mehrgelenkarms on the one hand and a position of the center of the gripping end on the other hand.
  • This center is also referred to as a "tool center point” or tool center point and makes it possible to precisely specify the position of a workpiece held by the robot.
  • the programming system generates specifications for the center of the gripping tool relative to the held workpiece. In this way, an operator of the bending device does not have to deal with different programming interfaces for the bending machine on the one hand and the robot on the other hand.
  • control unit of the robot reports actual values of the setting of the motor-adjustable multi-joint arm and the gripping of the to the control device of the bending machine. In this way, in the control unit, the proper operation and in particular the proper interaction of the bending machine and the robot can be checked well.
  • the bending machine also more than one bending head and / or the bending device may comprise two or more robots, which cooperate with each other in the bending process and each having a motorized Mehrgelenkarm, a gripper end and a control unit.
  • the still centrally provided control device which is responsible for all Biegema machines, connected to the respective control units of the robot running in the slave mode and receive control commands from the control device of the bending machine.
  • the workpiece is oriented by the robot.
  • the multiple bending comprehensive bending process ie a sequence of bending forming operations, the distances of the bends to each other and the default, z. B. rotation of the bending planes set by the robot.
  • the robot when stabilized, allows this retraction or feeds the workpiece appropriately.
  • forming operations which do not entail the collection of the workpiece, for example, bending heads, which operate on the rolling bending process, holds the robot to stabilization tion the workpiece firmly.
  • Fig. 1 is an illustration of a bending device for bending rod or tubular Maschinenstü bridge and
  • FIG. 2 is a block diagram of the control of the bending apparatus of FIG. 1.
  • FIG. 2 is a block diagram of the control of the bending apparatus of FIG. 1.
  • Fig. 1 shows a bending device 2, which is formed for bending a tubular workpiece 4 here.
  • the bending device 2 comprises a bending machine 6 with a bending head 8.
  • Sol che bending machines are known to those skilled in principle, for example from the ge called EP 3266529 A1.
  • the workpiece 4 is fed from egg nem robot 10, inserted into the bending head 8 and kept ges during the Umformungsvorgan.
  • the robot 10 has a gripper tool 12, which grips and holds the workpiece 4, in particular during processing by the bending head 8.
  • the bending head 8 of FIG. 1 operates according to the rolling-off bending method.
  • the robot 10 When rolling off the workpiece 4 is not retracted.
  • the gripping tool 12 and the robot 10 therefore hold the workpiece 4 during the shaping process.
  • the deformation Operation a retraction of the workpiece 4 on the bending head 8 need.
  • the robot 10 with its gripper tool 12 the workpiece 4 by the gripping tool 12 follows the movement of the workpiece 4 during the forming process.
  • the gripping tool 12 of the robot 10 stabilizes the workpiece during the Umfor mungsvorganges.
  • the robot 10 oriented the workpiece in the multiple Biegun gene.
  • the distances between the Bie conditions to each other and the rotation of the bending planes are set to each other. For 2D workpieces, the bending planes remain unchanged; it is therefore given the same bending plane for all bends.
  • the robot 10 is a multi-jointed robot having a robot arm 11 having a plurality of pivots 16-21.
  • a robot of this type is available, for example, from Kuka AG. In the present case, it is a robot 10 with six axes. The number of axes is purely exemplary.
  • the robot arm 11 is adjustable at the pivot joints 16-21 by electric motors, so that the gripping tool 12 is dreidi dimensionally adjustable in space and thus the position of the workpiece 4 for the bending cold forming.
  • the robot is a general-purpose robot and therefore has its own control unit 22, which allows the robot 10 to be freely controlled.
  • a corresponding program would be stored in the control unit 22, which controls the operation of the robot 10.
  • the bending machine 6 has a control device 24 which controls the operation of the Biegemaschi ne 6 and in particular the action of the bending head 8.
  • the control unit 22 and the STEU er driving 24 are connected to the robot controlled by them 10 or bending machine 6 via unspecified lines. They are also interconnected with each other in order to ensure the coordinated operation of the robot 10 and the bending machine 6 during the bending process of the workpiece 4.
  • the control device 24 of the control unit 22 is hierarchically superior.
  • control unit 22 The interaction of control unit 22 and control device 24 is shown schematically in FIG.
  • the control device 24 is connected to the control unit 22 via a bidirectional data exchange.
  • the controller 24 sends default data 26 to the control unit 22 and contains from her feedback data 28. It further has a programmable device 30 on.
  • the movements to be performed by the robot 10 are not stored in the form of a Steuerpro program in the control unit 22, but completely in the controller 24 of Bending machine 6 programmed, for example, via the programmer 30.
  • the control unit 22 which in itself would be capable of autonomous control of the robot 10 runs in a slave mode in which they merely give data before 26th receives from the control device 24 and the drives on the hinges 16-21 according to this default data 26 sets.
  • the setpoints for the robot are passed as default data 26 to the control unit 22, which adjusts the drives on the hinges 16-21 and the gripping tool 12 accordingly.
  • the default data 26 indicate the position of a tool center point of the gripping tool 12 in a coordinate system 25 in a first embodiment variant.
  • the tool center point is the center of the gripping tool 12 with respect to the held workpiece 4. In this way, the tool center of the gripping tool 12 of Robo age 10 in the Cartesian coordinate system 25 can be moved.
  • the default data 26 contained th the target location and the desired position for the tool center of the gripping tool 12th
  • the default data 26 indicates the adjustment of the axes of the robot 10.
  • the control device 24 executes an axis transformation, which establishes a mathematical relationship between angles of rotation of the robot axes and the position of the center of the tool on the robot 10. This axis transformation can be carried out in the control device 24 or else in the control unit 22.
  • the Steuerein device 24 can interpolate the axes of the bending machine 6 with the Cartesian coordinate system 25 for the tool center of the gripping tool 12 of the robot 10. In this way, the robot 10, the workpiece 4 during the bending of the bending head 8 z. B. hold or adjust track and perform the change of position between several forming operations.

Landscapes

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

Abstract

L'invention concerne un dispositif de pliage (2), destiné à plier une pièce (4) en forme de tige ou de tube, qui comprend une machine de pliage (6) pourvue d'une tête de pliage (8) conçue pour plier la pièce (4) dans un processus de formage et un moyen de commande (24) commandant le fonctionnement de la machine de pliage (6), un robot (10) pourvu d'un bras à articulations multiples (11), réglable par moteur, qui possède une extrémité de préhension (12) conçue pour saisir et maintenir la pièce (4) et une unité de commande (22) conçue pour commander le fonctionnement du robot (10). Le moyen de commande (24) est conçu pour commander la machine de pliage (6) et le robot (10) pendant le processus de pliage. L'unité de commande (22) du robot (10) est commutée au moins pendant le processus de pliage dans un mode esclave dans lequel elle reçoit des instructions de commande de la part du moyen de commande (24) de la machine de pliage (6). Le moyen de commande (24) de la machine de pliage (6) délivre à l'unité de commande (22), commutée en mode esclave, du robot (10), de manière continue pendant le processus de pliage, des directives de réglage du bras à articulations multiples (11) réglable par moteur et de l'extrémité de préhension (12) et ordonne ainsi au robot (10) d'introduire la pièce (4) dans la tête de pliage (8), de la stabiliser pendant le processus de formage et de la retirer de la tête de pliage (8) après le processus de formage.
EP19718150.6A 2018-04-13 2019-04-12 Dispositif de pliage avec guidage de pièce à travers un robot à bras à articulations multiples Pending EP3774107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018108862.0A DE102018108862A1 (de) 2018-04-13 2018-04-13 Biegevorrichtung mit Werkstückführung durch Mehrgelenkarmroboter
PCT/EP2019/059559 WO2019197669A1 (fr) 2018-04-13 2019-04-12 Dispositif de pliage avec guidage de pièce à travers un robot à bras à articulations multiples

Publications (1)

Publication Number Publication Date
EP3774107A1 true EP3774107A1 (fr) 2021-02-17

Family

ID=66218103

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19718150.6A Pending EP3774107A1 (fr) 2018-04-13 2019-04-12 Dispositif de pliage avec guidage de pièce à travers un robot à bras à articulations multiples

Country Status (4)

Country Link
US (1) US11697146B2 (fr)
EP (1) EP3774107A1 (fr)
DE (1) DE102018108862A1 (fr)
WO (1) WO2019197669A1 (fr)

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CN111659780B (zh) * 2020-06-18 2022-07-01 上海发那科机器人有限公司 一种机器人弯管加工方法及弯管加工装置
CN113714352A (zh) * 2021-08-23 2021-11-30 上海发那科机器人有限公司 一种机器人智能弯管系统及方法
CN114273430B (zh) * 2021-12-23 2022-10-04 南京航空航天大学 基于机器人的变径管制备弯曲一体化成形装置及方法
CN115301791A (zh) * 2022-08-19 2022-11-08 南京埃斯顿机器人工程有限公司 一种弯管机器人的加工轨迹控制方法
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Also Published As

Publication number Publication date
WO2019197669A1 (fr) 2019-10-17
US11697146B2 (en) 2023-07-11
US20210162484A1 (en) 2021-06-03
DE102018108862A1 (de) 2019-10-17

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