EP4292729A1 - Method for automatically changing at least one bending die and / or at least one guide nozzle of a bending machine - Google Patents

Abstract

Method for automatically changing at least one bending die (1) and/or at least one guide nozzle (2) of a bending machine (3) for wire, rod or strip-shaped material (4), wherein the process steps, in particular to be carried out in chronological order, are carried out: - wire, rod or band-shaped material (4) is fed to at least one bending head (5) through the at least one guide nozzle (2) to at least one feed device (21) and bent over the at least one bending die (1), - the bent material ( 4) is removed from the bending machine (3) by a robot gripper arm (7) controlled via at least one control device (6) - the at least one bending die (1) and / or the at least one guide nozzle (2) is removed by a, preferably the same, robot gripper arm (7) removed from the bending machine (3) - optionally at least one further bending die (1) and / or at least one further guide nozzle (2) is arranged on the bending machine (3) by a, preferably the same, robot gripper arm (7) - optionally wire, rod or band-shaped material (4) is fed to the at least one bending head (5) through the at least one further guide nozzle (2) and/or bent over the at least one further bending die (1), - optionally the bent material (4 ) is removed from the bending machine (3) by a, preferably the same, robot gripper arm (7). The invention also relates to a bending machine and a bending die.

Description

The invention relates to a method for automatically changing a bending die and/or at least one guide nozzle of a bending machine for wire, rod or strip-shaped material. The invention further relates to an arrangement comprising at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm. Furthermore, the invention relates to a bending machine for wire, rod or strip-shaped material, in particular for producing brackets for reinforced concrete construction, comprising a support frame, at least one bending head, preferably with two drives - which are aligned orthogonally to one another - and / or at least one Bending roller, at least one feed device with at least one guide nozzle, via which material to be bent can be fed to the at least one bending head, at least one bending die detachably arranged in a bending die holder for bending the material, at least one robot gripper arm, preferably of a multi-axis robot, and at least one control device for controlling the at least one robot gripper arm. The invention further relates to a bending die for such a bending machine and/or for such a method.

A bending machine for bending rod-shaped material is from the Scriptures EP 3 439 806 A1 known, and it is already being considered to remove bent pieces of material using bracket collection systems or robots.

The disadvantage of the state of the art is that for varying material diameters, bending radii and materials to be bent, the appropriate bending die and the correct guide nozzle have to be mounted on the bending machine, which takes time and resources, which means that the bending machine cannot be quickly and flexibly adapted to changing customer orders. Due to the large number of different bending dies, there is a risk that the bending machine will be incorrectly loaded, resulting in the production of rejects. In addition, the manufactured bending brackets also have to be transported manually from the bending machine, which is why the manufacturing process is inefficient. Due to the need for a large number of manual adjustment and assembly steps, which poses the risk of injury to the operator, the production flow must be stopped undesirably.

The objective technical object of the present invention is therefore to provide a method for changing at least one bending die and/or at least one guide nozzle as well as a bending machine, an arrangement of at least one robot gripper arm and at least one control device and a bending die which is improved over the prior art , in which the disadvantages of the prior art are at least partially eliminated, and which are characterized in particular by an efficient conversion process and / or an increased degree of automation.

This task is solved by the features of claims 1, 4, 5 and 15.

• draht-, stab- oder bandförmiges Material wird wenigstens einem Biegekopf durch die wenigstens eine Führungsdüse zugeführt und über die wenigstens eine Biegematrize gebogen,
• das gebogene Material wird durch einen über wenigstens eine Steuerungseinrichtung gesteuerten Robotergreifarm von der Biegemaschine entnommen
• die wenigstens eine Biegematrize und/oder die wenigstens eine Führungsdüse wird durch einen, vorzugsweise selbigen, Robotergreifarm von der Biegemaschine entfernt
• optional wird wenigstens eine weitere Biegematrize und/oder wenigstens eine weitere Führungsdüse durch einen, vorzugsweise selbigen, Robotergreifarm an der Biegemaschine angeordnet
• optional wird draht-, stab- oder bandförmiges Material dem wenigstens einen Biegekopf durch die wenigstens eine weitere Führungsdüse zugeführt und/oder über die wenigstens eine weitere Biegematrize gebogen,
• optional wird das gebogene Material wird einen, vorzugsweise selbigen, Robotergreifarm von der Biegemaschine entfernt.

According to the invention, it is therefore provided that the following process steps are carried out, in particular chronologically:

• wire, rod or band-shaped material is fed to at least one bending head through the at least one guide nozzle and bent over the at least one bending die,
• The bent material is removed from the bending machine by a robot gripper arm controlled by at least one control device
• The at least one bending die and/or the at least one guide nozzle is removed from the bending machine by a, preferably the same, robot gripper arm
• Optionally, at least one further bending die and/or at least one further guide nozzle is arranged on the bending machine by a, preferably the same, robot gripper arm
• Optionally, wire, rod or band-shaped material is fed to the at least one bending head through the at least one further guide nozzle and/or bent over the at least one further bending die,
• Optionally, the bent material is removed from the bending machine by a robot gripper arm, preferably the same.

This makes it possible for a bending machine which includes a robot gripper arm or which interacts with a robot gripper arm for the robot gripper arm to have a dual function of both removing the bent material - preferably bending brackets - from the bending machine and changing bending dies and/or guide nozzles. This can be achieved using the same gripping tool of the robot gripper arm or via an auxiliary tool to be picked up by the robot gripper arm, whereby the change can be generated fully automatically without the need for manual assembly and/or adjustment steps. The at least one control device can be flexibly adapted to changing requirements for the bending machine - in particular remotely.

In addition, there is the positive property that different wire diameters, bending radii or materials can be processed from the coil in a fluid manufacturing process, whereby the movement sequence of the robot gripper arm can be stored in the control device. This can increase the productivity of the bending machine through a reduced number of production interruptions by operators, a higher degree of safety for operators of the bending machine, simple monitoring of cycle times and cycle numbers for the respective bending die and/or guide nozzle, a reduction in incorrect assembly - especially visually similar bending matrices and/or guide nozzles - as well as component/component damage. The possibility of manual intervention in a changeover process of the bending machine is still maintained and can be used to supplement the fully automatic process if necessary.

• beispielsweise der wenigstens einen Zuführvorrichtung - durch den Robotergreifarm automatisch - insbesondere durch Programmierung der und/oder Anweisungen an die Steuerungseinrichtung - gewechselt werden können.

The at least one bending die defines the geometric configuration of the bent material. The at least one guide nozzle can pull the material in the direction of the bending head, generally also other components

• For example, the at least one feed device - can be changed automatically by the robot gripper arm - in particular by programming the and / or instructions to the control device.

Varying bending matrices can differ, for example, through changed bending surfaces, bending radii, profile shapes, etc. Varying guide nozzles can differ, for example, by a diameter for receiving the material to be bent in the feed to the at least one bending head. For example, a configuration file can be stored in the at least one control device, in which the large number of geometric parameters of the component components and/or products are stored. Such a configuration file can also be processed or used by the at least one control device.

The robot gripper arm can generally represent an integral part of the bending machine or a separate robot from the bending machine in interaction with the bending machine.

As stated at the beginning, protection is also sought for an arrangement consisting of at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm, characterized in that the at least one control device is configured to control the at least one robot gripper arm for removing bent material, preferably at least of a bracket, from a bending machine and for changing to move at least one bending die and/or at least one guide nozzle.

The configuration of the at least one control device can, for example, include the storage of movement sequences of the at least one robot gripper arm and/or of geometric parameters for at least one gripping tool of the at least one robot gripper arm.

As stated at the beginning, protection is also desired for a bending machine, wherein the at least one control device is configured to use the at least one robot gripper arm for removing bent material, preferably at least one bracket, from the bending machine and for changing the at least one bending die and / or the to move at least one guide nozzle.

The bending of the material is preferably generated via two rollers, with, for example, a bending head being provided as a bending bolt and a bending roller, preferably spaced apart substantially by a diameter of the material to be bent, being provided as a bending mandrel and particularly preferably the bending head is partially around the bending roller to form a specific one Bending radius rotates. Particularly preferably, the axis of rotation of the bending head is identical to an axis of symmetry of the bending roller, although this is generally not absolutely necessary.

As stated at the beginning, protection is also desired for a bending die of such a bending machine with at least one locking device, the at least one locking device being on at least one centering axis for the, preferably orthogonal, arrangement within at least one bending die receptacle of the bending machine and/or is designed in the form of a locking disk which can be rotated relative to at least one bending die receptacle.

Particularly preferably, the at least one locking device is designed such that the bending die can be automatically locked to the at least one bending die receptacle via the at least one robot gripper arm. For example, a notch can be provided on the at least one centering axis, which can be secured by locking means on the at least one bending die holder (or in the kinematic reversal). The at least one locking device can also be in the form of a groove, for example, into which the at least one locking disk engages automatically (mechanically or electronically initiated) after the bending die has been positioned on the at least one bending die holder.

At least one locking disk for locking the bending die within the at least one bending die receptacle has the advantage that contamination of the locking mechanism is inhibited and/or no additional bearing means and/or lubricants are required. The at least one locking disk can generally be assigned to the bending die and/or can be arranged on the at least one bending die receptacle and remain there as a component component that is spatially separate from the bending die.

The features of the device claims are applicable mutatis mutandis to the method claims and vice versa. Accordingly, for example, the structural features of the locking of the at least one bending die can be used in terms of process technology.

Advantageous embodiments of the invention are defined in the dependent claims.

According to an advantageous embodiment of the invention, it is provided that the bent material is deposited on at least one magazine, the at least one magazine being moved by a movement device, preferably a rotating device, and/or by at least one autonomous driverless means of transport, preferably via at least one marker Identification of at least one magazine, is maneuvered automatically.

If the bent material is placed by the robot gripper arm on the at least one magazine for filling, empty magazines are made available for filling by the movement device and the filled magazines are automatically removed by the autonomous driverless means of transport, fully automatic logistics and operation of the bending machine can be guaranteed, whereby In particular, in the prior art it is not possible to find out where the manufactured products are to be transported without manual steps and personnel in the form of forklift drivers are required to remove the products from the bending machine. This effectively eliminates the risk of incorrect logistics, with at least one marker Information about the bent material such as material thickness, bending radius, place of origin, delivery location, desired or convenient storage location, etc. can be provided.

The type of at least one marker (as well as the additional marker shown below) is generally arbitrary, with chips, RFID chips, bar codes, labels or the like being able to be used to provide the data required for logistics to the autonomous driverless means of transport - for example by scanning or via a wireless connection - to be transmitted automatically. The at least one marker does not necessarily have to be arranged on the at least one magazine.

The at least one marker (analogous to the at least one further marker) can include movement information for the bent material (analogous to the at least one bending die and/or the at least one guide nozzle).

Particularly preferably, the autonomous driverless means of transport comprises a further control device which is configured to identify the at least one magazine - in particular via the at least one marker - and/or to transport it to a defined location.

Advantageously, it is provided that the at least one bending die is introduced by the at least one robot gripper arm into at least one bending die receptacle of the bending machine orthogonally onto the at least one bending die receptacle and/or laterally into the at least one Bending die holder is inserted, it being preferably provided that the at least one bending die is locked, particularly preferably by an auxiliary tool of the robot gripper arm, via at least one bolt and / or at least one locking disk.

When introducing the at least one bending die orthogonally, a centering axis - possibly with a groove or notch - of the at least one bending die can be used to ensure precise positioning. When the at least one bending die is inserted laterally, the bending die receptacle can be used as a guide and/or stop in order to ensure the correct localization of the at least one bending die - optionally with a lock via at least one locking disk on the at least one bending die receptacle.

The at least one robot gripper arm can use at least one gripping tool to contact the at least one bending die on a defined contacting section (for example flat lateral surface or opening), with which the at least one bending die is vertically against gravity or laterally orthogonal to gravity from the at least one bending die holder Bending machine can be removed. The same or different gripping tool can be used for the at least one guide nozzle and/or the manufactured material.

It has proven to be advantageous that there is one between the at least one bending head and the at least one Feed device arranged cutting device, preferably formed from at least one knife and at least one counter-knife movable relative to the at least one knife, the at least one feed device having a first end facing the at least one bending head and a second, opposite end, at the first end the at least one knife is attached to the cutting device and at the second end the at least one feed device is pivotally mounted about a pivot point on the support frame, so that a pivoting movement of the at least one feed device about the pivot point results in a relative movement between the at least one knife and the at least one counter-knife of the cutting device to carry out a cut, wherein a lever arm is provided, which is connected at one end to the first end of the at least one feed device and is pivotally mounted at an opposite end about a pivot point on the support frame of the bending machine, it is preferably provided that the Lever arm and the at least one feed device enclose an angle of essentially 90°.

This makes it possible to provide a compact and efficiently operating bending machine, for example in order to produce brackets of high quality and to provide at least one robot gripper arm.

According to an advantageous embodiment of the invention, it is provided that exactly one robot gripper arm is provided for removing the material and changing the at least one bending die and/or the at least one guide nozzle and/or the material to be bent has a diameter between 5 mm and 20 mm, preferably between 6 mm and 16 mm.

This allows the number of robot gripping arms to be reduced, with the at least one gripping tool being designed to move products and component components. The material diameter is particularly preferably designed for the steel industry.

It has proven to be advantageous that at least one magazine is provided for the, preferably at least two-sided, storage of bent material and/or at least one further magazine for the intermediate storage of the at least one bending die and/or the at least one guide nozzle, it being preferably provided that this at least one magazine and/or the at least one further magazine comprises a movement device, preferably a rotating device.

An advantageous variant of the present invention is that bent material can be deposited on the at least one magazine by the at least one robot gripper arm, with at least one autonomous driverless transport means being provided for automatic maneuvering of the at least one magazine, it being preferably provided that the at least one Magazine comprises at least one marker for identifying the at least one magazine.

Particularly preferably it is provided that the at least one bending die and/or the at least one guide nozzle comprises at least one further marker for identifying the at least one bending die and/or the at least one guide nozzle.

In order to promote, as an alternative or in addition to a fully automated removal of the bent material, a fully automated change of the at least one bending die and/or the at least one guide nozzle, the at least one robot gripper arm can provide information, for example regarding geometry and/or possible bending radii, via the at least one further marker determine. The at least one further marker can be scanned by the at least one robot gripper arm, for example, or read via wireless communication. In general, however, the at least one further marker can also be given by a defined position on the at least one further magazine, so that the at least one control device has a clear assignment of the storage location of the component to be changed.

In one embodiment of the invention it is provided that at least one locking device is provided for locking the at least one bending die in the at least one bending die receptacle, it preferably being provided that the at least one bending die is via a corresponding locking device of the at least one bending die and/or in three bidirectional orthogonal spatial directions can be secured.

• die wenigstens eine Biegematrizenaufnahme und/oder die wenigstens eine Biegematrize relativ zu der wenigstens einen Verriegelungsscheibe drehbar ist, und/oder
• die wenigstens eine Verriegelungsscheibe eine Aufnahme, vorzugsweise Langloch, für ein gegebenenfalls vorhandenes Hilfswerkzeug des wenigstens einen Robotergreifarms umfasst und/oder wenigstens ein, vorzugsweise federvorgespannter, Kugelschieber zur Sicherung der wenigstens einen Verriegelungsscheibe in einer entriegelten Stellung und/oder einer verriegelten Stellung vorgesehen ist.

According to a preferred embodiment of the invention it is provided that the at least one Locking device comprises at least one, preferably spring-loaded, bolt and/or at least one locking disk for securing the at least one bending die, it preferably being provided that

• the at least one bending die holder and/or the at least one bending die is rotatable relative to the at least one locking disk, and/or
• the at least one locking disk comprises a receptacle, preferably an elongated hole, for an optionally present auxiliary tool of the at least one robot gripper arm and/or at least one, preferably spring-loaded, ball slide is provided for securing the at least one locking disk in an unlocked position and/or a locked position.

By means of at least one bolt or other locking means such as a clamping device, the at least one bending die can be secured, for example via a groove on the at least one bending die within the at least one bending die receptacle. The at least one bolt can be displaced or, preferably electronically or mechanically, controlled by the action of force in the course of inserting or pulling out the at least one bending die from the at least one bending die holder (for example via inclined surfaces).

In the case of a locking disk, an engagement in a locking device (such as a groove) of the at least one bending die can take place via rotation for securing within the bending die receptacle. The locking disc However, it can also be viewed as part of the bending die, although it is particularly preferred for the locking disk to remain on the bending die holder when the bending die is changed.

It has proven to be advantageous that the bending die includes at least one opening and/or bore for receiving at least one auxiliary tool of a robot gripper arm.

This provides a dirt-resistant means for safely moving the bending die via the at least one robot gripper arm, without requiring additional components on the bending die.

It is preferably provided that the at least one robot gripper arm comprises at least one gripping tool, which is designed to hold bent material and at least one bending die and/or at least one guide nozzle, wherein the at least one gripping tool is designed as jaw pliers and/or at least one, preferably spring-loaded , auxiliary tool for regional arrangement within an opening and / or bore of at least one bending die.

The at least one auxiliary tool and the jaw pliers can alternatively or in addition be provided on the at least one robot gripper arm.

Furthermore, it is preferably provided that the at least one auxiliary tool is essentially cylindrical and/or at least one conical free end, preferably spaced apart by a groove, and/or at least one bending die can be locked in at least one bending die receptacle via the at least one auxiliary tool, preferably by fixing a locking disk of the at least one bending die.

The conical free end facilitates entry into an opening of the at least one bending die. The groove can represent a holding means for maneuvering the at least one bending die, for example at least one auxiliary tool being moved laterally relative to the opening and generating a positive fit against gravity. A cylindrical design (or other elongated spacing means with a polygon-like cross section) can prevent an undesirable collision between the gripping tool and the bending die.

Fig. 1a, 1b

eine Biegemaschine gemäß einer bevorzugten Ausführungsform in einer perspektivischen Ansicht sowie einer Ansicht von oben,

Fig. 2a, 2b

Bauteilkomponenten von Biegemaschine gemäß bevorzugten Ausführungsbeispielen in einer Schnittdarstellung sowie in einer Ansicht von oben auf eine Biegematrize gemäß einer ersten besonders bevorzugten Ausführungsform,

Fig. 3a, 3b

eine Biegematrize gemäß einer zweiten besonders bevorzugten Ausführungsform sowie während einem Wechsel der Biegematrize über einen Robotergreifarm in perspektivischer Ansicht,

Fig. 4a, 4b

die Biegematrize gemäß dem Ausführungsbeispiel nach Fig. 3a nach erfolgter Montage an einer Biegemaschine in einer Ansicht von der Seite und in Schnittdarstellung sowie in einer Ansicht von der Seite und in Schnittdarstellung mit einem an der Biegematrize angeordnetem Robotergreifarm,

Fig. 5a, 5b

die Biegematrize gemäß dem Ausführungsbeispiel nach Fig. 2b während einem Transport über einen Robotergreifarm mit einem Hilfswerkzeug in einer Ansicht von der Seite sowie in einer perspektivischen Ansicht vor einer Kontaktierung zwischen der Biegematrize und einem Robotergreifarm,

Fig. 6a, 6b

die Biegematrize gemäß dem Ausführungsbeispiel nach Fig. 2b während einer Montage sowie während einer Verriegelung an einer Biegematrizenaufnahme in perspektivischer Darstellung,

Fig. 7a, 7b

die Biegematrize gemäß dem Ausführungsbeispiel nach Fig. 2b nach erfolgter Montage und Verriegelung an der Biegematrizenaufnahme in einer Ansicht von der Seite mit zugehöriger Schnittdarstellung sowie in einer perspektivischen Darstellung in einem entriegelten Zustand,

Fig. 8a, 8b

eine Führungsdüse einer Zuführvorrichtung gemäß zwei besonders bevorzugten Ausführungsbeispielen jeweils in drei orthogonalen Seitenansichten und einer perspektivischen Darstellung.

Further details and advantages of the present invention are explained in more detail below based on the description of the figures with reference to the exemplary embodiments shown in the drawings. Show in it:

Fig. 1a, 1b

a bending machine according to a preferred embodiment in a perspective view and a view from above,

Fig. 2a, 2b

Component components of a bending machine according to preferred exemplary embodiments in a sectional view and in a view from above of a bending die according to a first particularly preferred embodiment,

Fig. 3a, 3b

a bending die according to a second particularly preferred embodiment and during a change of the bending die via a robot gripper arm in a perspective view,

Fig. 4a, 4b

the bending die according to the exemplary embodiment Fig. 3a after assembly on a bending machine in a view from the side and in a sectional view as well as in a view from the side and in a sectional view with a robot gripper arm arranged on the bending die,

Fig. 5a, 5b

the bending die according to the exemplary embodiment Fig. 2b during transport via a robot gripper arm with an auxiliary tool in a view from the side and in a perspective view before contact between the bending die and a robot gripper arm,

Fig. 6a, 6b

the bending die according to the exemplary embodiment Fig. 2b during assembly and during locking on a bending die holder in a perspective view,

Fig. 7a, 7b

the bending die according to the exemplary embodiment Fig. 2b after assembly and locking on the bending die holder in a view from the side with the associated sectional view and in a perspective view in an unlocked state,

Fig. 8a, 8b

a guide nozzle of a feed device according to two particularly preferred exemplary embodiments, each in three orthogonal side views and a perspective view.

Fig. 1a shows a bending machine 3 for wire, rod or strip-shaped material 4 for producing brackets 17 for reinforced concrete construction, comprising a support frame 18 and a feed device 21 with a guide nozzle 2, via which material 4 to be bent is fed to a bending head 5 (cf. Fig. 2a and following) can be supplied. In a bending die holder 13 (see Fig. 2a and following) a bending die 1 is arranged for bending the material 4.

The bending machine 3 comprises a robot gripper arm 7 of a multi-axis robot 25 which interacts with the material 4 and the bending die 1, the robot gripper arm 7 comprising a control device 6 for controlling the robot gripper arm 7. The control device 6 is configured to automatically move the robot gripper arm 7 to remove bent material 4 in the form of brackets 17 from the bending machine 3 and to change the bending die 1 or the guide nozzle 2.

The bent material 4 is placed on a magazine 8 to be filled on both sides, the filled magazine 8 being rotated by a movement device 9 in the form of a rotating device 10 and being automatically removed from the bending machine 3 by an autonomous driverless transport means 11.

The magazine 8 includes a marker 12 in the form of an RFID chip or the like for identifying the magazine 8 in order to determine a desired location for further logistics.

The magazine 8 is intended for the two-sided storage of bent material 4 and another magazine 34 is intended for the intermediate storage of bending dies 1 or guide nozzles 2. The magazine 8 (and possibly the further magazine 34) is equipped with the movement device 9 in the form of the rotating device 10.

Fig. 1b shows a further bending machine 3, which interacts with a robot gripper arm 7 for removing brackets 17, bending matrices 1 or guide nozzles 2 in order to mount other bending matrices 1 or guide nozzles 2 if the requirements for the material to be bent 4 change and, if necessary, by the robot gripper arm 7 to lock.

In this exemplary embodiment, the control device 6 is spatially separate from the robot gripper arm 7 and is in a signal-conducting connection (wired or wireless) with the robot gripper arm 7. The arrangement of the robot gripper arm 7 and the control device 6 for controlling the robot gripper arm 7 allows a method for automatically changing Bending dies 1 or guide nozzles 2 of the bending machine 3 are carried out, the control device 6 being programmed for this purpose or transmitting instructions to the robot gripper arm 7, the robot gripper arm 7 for removing the bent material 4 from the bending machine 3 and for changing the bending die 1 located in the bending machine 3 and/or guide nozzle 2 to move automatically.

The method for automatically changing the bending dies 1 or the guide nozzles 2 of the bending machine 3 can exemplified as follows: Wire, rod or band-shaped material 4 is fed to the bending head 5 through the guide nozzle 2 of the feed device 21 and bent over the bending die 1 and then the bent material 4 is removed by the robot gripper arm 7 controlled via the control device 6 Bending machine 3 removed. If another bending die 1 or guide nozzle 2 is required, the bending die 1 or the guide nozzle 2 is removed from the bending machine 3 by the robot gripper arm 7 or possibly by another robot gripper arm 7 in order to use a further bending die 1 or another guide nozzle 2 by the robot gripper arm 7 to be able to arrange it on the bending machine 3. Subsequently, the material 4 or new material 4 can be fed to the bending head 5 through the further guide nozzle 2 or bent via the further bending die 1 and the bent material 4 can be removed from the bending machine 3 by the robot gripper arm 7.

The magazine 8 has not yet been filled by the robot gripper arm 7, with an empty autonomous driverless transport device 11 being in a waiting position in order to transport brackets 17 from the bending machine 3.

Bent material 4 can be placed on the magazine 8 by the robot gripper arm 7, with the autonomous driverless transport means 11 being provided for the automatic maneuvering of parts of the magazine 8. The magazine 8 may generally include a variety of programmable markers 12 for identifying the magazine 8 or parts of the magazine 8.

For reasons of clarity, the cutting device included in the bending machine 3 is not visible. In general, however, the cutting device can be provided between the bending head 5 and the feed device 21, which can be formed from a knife and a counter-knife that can be moved relative to the knife. The feed device 21 can have a first end facing the bending head 5 and a second, opposite end, the knife of the cutting device being attached to the first end and the feed device 21 being pivotally mounted about a pivot point on the support frame 18 at the second end, so that through a Pivoting movement of the feed device 21 about the pivot point can cause a relative movement between the knife and the counter knife of the cutting device to carry out a cut. A lever arm is preferably provided, which is connected at one end to the first end of the feed device 21 and is pivotally mounted at an opposite end about a pivot point on the support frame 18 of the bending machine 3. Particularly preferably, the lever arm and the feed device 21 enclose an angle of approximately 90°.

Fig. 2a shows a section through component components of a bending machine 3, which are intended for the bending process of the material 4. The bending die 1 includes a bending head 5, which acts as a bending bolt, and a bending roller 20, which acts as a bending mandrel.

Two drives 19 are indirectly arranged on the bending die 1, which generate a feed in two orthogonal spatial directions.

The bending die 1 includes a further marker 36 for identifying the bending die 1 in order to position the bending die 1 fully automatically on the bending machine 3 for a respective customer order by the robot gripper arm 7. In an analogous manner, the guide nozzle 2 can include a further marker 36 for identifying the guide nozzle 2.

Fig. 2b shows a bending die 1 of a first preferred embodiment shown enlarged during a bending process of material 4. The material 4 has a diameter 33 of 10 mm, with a diameter 33 preferably between 5 mm and 20 mm being used.

The material 4 is arranged between the bending roller 20 and the bending head 5, the bending head 5 being rotated about the axis of rotation of the bending roller 20 in order to generate a bending radius defined by the bending roller 20, wherein a bending angle of the material 4 can be specified by a rotation angle .

The bending die 1 comprises a locking device 38, which remains located on the bending machine 3 during a change of the bending die 1 and is designed in the form of a locking disk 16 which can be rotated relative to the bending die holder 13 or relative to the bending machine 3.

Fig. 3a shows a second preferred embodiment of a bending die 1 for a bending machine 3 and also suitable for automatic changing via a robot gripper arm 7, with below the bending roller 20 and the Bending head 5 has a locking device 38 on a centering axis 45 for orthogonal arrangement (see Fig. 3b ) is arranged within a bending die holder 13 of the bending machine 3.

The locking device 38 is in the form of a groove designed as a circumferential notch, but can also be designed, for example, in the form of locally limited recesses. Bolts 15, a locking ring or the like can engage in the groove to form a positive connection in the orthogonal direction on the bending die holder 13.

The bending roller 20 and the bending head 5 are arranged with their axes of rotation and axes of rotation parallel to one another and remain arranged parallel to one another during the bending process of the material 4.

In Fig. 3b It can be seen how the robot gripper arm 7 inserts the bending die 1 in an orthogonal direction into the bending die holder 13 by means of a gripping tool 48 in the form of jaw pliers 49, which is designed to hold bent material 4 and guide nozzles 2.

For this purpose, the jaw pliers 49 grip the bending die 1 at a contacting section which is arranged below the bending head 5, whereby a collision with the bending die holder 13 is prevented.

Fig. 4a shows the bending die 1, whereby the robot gripper arm 7 has completely pushed the bending die 1 into the bending die holder 13 of the bending machine 3 orthogonally onto the bending die holder 13, thereby spring-loaded bolts 15 are displaced laterally and snap into the locking device 38 of the bending die 39.

To dismantle the bending die 1, the robot gripper arm 7 can lift the bending die 13 orthogonally from the bending die holder 13, the positive locking generated by the bolts 15 being overcome by inclined surfaces of the locking device 38 and/or the bolts 15. Alternatively or in addition, the bolts 15 can also be mechanically or electronically spaced from the locking device 38 before the bending die is lifted. The locking is not limited to bolts 15 and can be formed by other locking means such as a spring ring or clamping devices for pressing onto the centering axis 45.

The locking device 37 of the bending die holder 13 comprises a large number of spring-loaded bolts 15, the number of bolts 15 being generally arbitrary and the bolts 15 can also be replaced by other force-applying means in order to secure the bending die 1 up to a threshold value of a vertical force - initiated by the robot gripper arm 7 - to ensure.

Fig. 4b differs from Fig. 4a only to the extent that the robot gripper arm 7 is arranged on the bending die 1 in order to illustrate the change of the bending die 1.

Fig. 5b shows the bending die 1 according to Fig. 2b , wherein a robot gripper arm 7 arranged on the bending die 1 comprises a gripping tool 48 in the form of jaw pliers 49, with which two auxiliary tools 7 are accommodated. In the In general, only one auxiliary tool 7 can be provided and/or the auxiliary tools 7 can be provided as an alternative to the jaw pliers 49.

The bending die 1 includes two openings 46 in the form of two bores 47 for receiving the auxiliary tools 7, one bore 47 being covered by the bending head 5. The opening 46 can generally also be designed as an elongated hole or groove for the regional arrangement of the auxiliary tool 14 within the opening 46 of the bending die 1.

The auxiliary tools 14 are cylindrical and each include a conical free end 51 spaced apart by a groove 50. The auxiliary tools 14 are inserted into the openings 46 up to the groove 50 and can, for example, create a positive connection against gravity to move the bending die 1 through a lateral movement to generate. Particularly preferably, at least one of the auxiliary tools 14 is subjected to spring force, with other force-applying means apart from springs also generally being applicable in the present invention.

In Fig. 6a It can be seen that the at least one bending die 1 is pushed laterally into the bending die receptacle 13 by the at least one robot gripper arm 7, with a locking disk 16 being provided on the bending die receptacle 13 for locking the bending die 1. The locking disk 16 can be viewed as part of the bending die 1 or the bending die holder 13.

Fig. 6b shows the locking of the bending die 1 on the bending die holder 13 via the locking disk 16, the bending die 1 being fixed by an auxiliary tool 14 of the robot gripper arm 7, the locking disk 16 and the bending machine 3 rotating the bending die holder 13 relative to the locking disk 16.

In Fig. 7a a section through the bending die 1 is shown, whereby it can be seen that the bending die 1 can be secured in three bidirectional orthogonal spatial directions via a corresponding locking device 38 of the bending die 1. The locking disk 16 is inserted into the locking device 38 for positive locking due to the relative rotation relative to the bending die holder 13.

Using the auxiliary tool 14, the bending die 1 can be locked in the bending die holder 13 by fixing it via the locking disk 16, with the locking disk 16 preferably being held by the robot gripper arm 7 during the locking process.

A free end of the (circular segment-like) locking disk 16 is designed to correspond to the locking device 38 - in the form of a circular segment-like groove.

In this exemplary embodiment, exactly one robot gripper arm 7 is provided for removing the material 4 and changing the bending die 1 and the guide nozzle 2.

Fig. 7b shows the bending die 1 in a fixed position on the bending die holder 13, the locking disk 16 comprising receptacles 40 in the form of elongated holes 41 for the auxiliary tool 14 of the robot gripper arm.

Below the locking disk 16 (hidden by the bending die holder 13 in the illustration) is a spring-loaded ball slide for securing the locking disk 16 in an unlocked position 43 (see Fig. 2b ) and the present locked position 44 is provided.

Fig. 8a shows an exemplary embodiment of a guide nozzle 2 of a feed device 21 of a bending machine 3, which can be automatically removed from the bending machine 3 by the robot gripper arm 7 or mounted on the bending machine 3.

The guide nozzle 2 has a web which projects transversely from the guide nozzle 2 and which comprises two notches oriented orthogonally to a longitudinal extent of the guide nozzle 2.

The robot gripper arm 7 can pick up the guide nozzle 2 on side surfaces of the guide nozzle 2 or over the web of the guide nozzle 2 using a gripping tool 48 in the form of jaw pliers 49.

The web has a taper in the direction of the guide nozzle 2, which can be used in particular for the safe transport of the guide nozzle 2.

In general, it is also conceivable that the guide nozzle 2 (analogous to the bending die 1) has an opening or bore, which can be used for transport via a gripping tool 48 in the form of the auxiliary tool 14.

Fig. 8b shows a further embodiment of a guide nozzle 2, which can be changed fully automatically by the robot gripper arm 7 via the control device 6 configured for this purpose.

The guide nozzle 2 has a notch on a transversely projecting web.

The guide nozzle 2 has a further transversely projecting web that is spatially spaced from the web and extends to a free end of the guide nozzle 2.

Claims (15)

Method for automatically changing at least one bending die (1) and/or at least one guide nozzle (2) of a bending machine (3) for wire, rod or strip-shaped material (4), characterized by the method steps, in particular to be carried out in chronological order: - wire, rod or band-shaped material (4) is fed to at least one bending head (5) through the at least one guide nozzle (2) to at least one feed device (21) and bent over the at least one bending die (1), - The bent material (4) is removed from the bending machine (3) by a robot gripper arm (7) controlled by at least one control device (6). - The at least one bending die (1) and/or the at least one guide nozzle (2) is removed from the bending machine (3) by a, preferably the same, robot gripper arm (7). - Optionally, at least one further bending die (1) and/or at least one further guide nozzle (2) is arranged on the bending machine (3) by a, preferably the same, robot gripper arm (7). - Optionally, wire, rod or band-shaped material (4) is fed to the at least one bending head (5) through the at least one further guide nozzle (2) and/or bent over the at least one further bending die (1), - Optionally, the bent material (4) is removed from the bending machine (3) by a, preferably the same, robot gripper arm (7). Method according to claim 1, wherein the bent material (4) is deposited on at least one magazine (8), the at least one magazine (8) being moved by a movement device (9), preferably a rotating device (10), and/or by at least an autonomous driverless means of transport (11), preferably via at least one marker (12) for identifying the at least one magazine (8), is maneuvered automatically. Method according to claim 1 or 2, wherein the at least one bending die (1) is inserted through the at least one robot gripper arm (7) into at least one bending die receptacle (13) of the bending machine (3) orthogonally onto the at least one bending die receptacle (13) and/or laterally into the at least one bending die holder (13) is inserted, it being preferably provided that the at least one bending die (1), particularly preferably by an auxiliary tool (14) of the robot gripper arm (7), via at least one bolt (15) and/or at least one Locking disk (16) is locked. Arrangement consisting of at least one robot gripper arm (7) and at least one control device (6) for controlling the at least one robot gripper arm (7), characterized in that the at least one control device (6) is configured to: to move at least one robot gripper arm (7) for removing bent material (4), preferably at least one bracket (17), from a bending machine (3) and for changing at least one bending die (1) and/or at least one guide nozzle (2). Bending machine (3) for wire, rod or strip-shaped material (4), in particular for producing brackets (17) for reinforced concrete construction - a support frame (18), - at least one bending head (5), preferably with two drives (19) which are aligned orthogonally to one another, and/or at least one bending roller (20), - at least one feed device (21) with at least one guide nozzle (2), via which material (4) to be bent can be fed to the at least one bending head (5), - at least one bending die (1) detachably arranged in a bending die holder (13) for bending the material (4), - at least one robot gripper arm (7), preferably a multi-axis robot (25), and - at least one control device (6) for controlling the at least one robot gripper arm (7), characterized in that the at least one control device (6) is configured to use the at least one robot gripper arm (7) to remove bent material (4), preferably at least one bracket (17), from the bending machine (3) and to change it to move the at least one bending die (1) and/or the at least one guide nozzle (2). Bending machine (3) according to claim 5, wherein a cutting device arranged between the at least one bending head (5) and the at least one feed device (21), preferably formed from at least one knife and at least one counter-knife movable relative to the at least one knife, is provided, wherein the at least one feed device (21) has a first end facing the at least one bending head (5) and a second, opposite end, the at least one knife of the cutting device being attached to the first end and the at least one feed device (21) being pivotable at the second end is mounted around a pivot point on the support frame (18), so that a relative movement between the at least one knife and the at least one counter-knife of the cutting device for carrying out a cut can be caused by a pivoting movement of the at least one feed device (21) around the pivot point, wherein a lever arm is provided, which is connected at one end to the first end of the at least one feed device (21) and is pivotally mounted at an opposite end about a pivot point on the support frame (18) of the bending machine (3), it preferably being provided that the lever arm and the at least one feed device (21) enclose an angle of substantially 90°. Bending machine (3) according to one of claims 5 or 6, wherein exactly one robot gripper arm (7) is provided for removing the material (4) and changing the at least one bending die (1) and/or the at least one guide nozzle (2) and/ or the material (4) to be bent has a diameter (33) between 5 mm and 20 mm, preferably between 6 mm and 16 mm. Bending machine (3) according to one of claims 5 to 7, wherein at least one magazine (8) for, preferably at least two-sided, storage of bent material (4) and / or at least one further magazine (34) for intermediate storage of the at least one bending die (1 ) and / or the at least one guide nozzle (2) is provided, it is preferably provided that the at least one magazine (8) and / or the at least one further magazine (34) is a movement device (9), preferably a rotating device (10), includes. Bending machine (3) according to claim 8, wherein bent material (4) can be deposited on the at least one magazine (8) by the at least one robot gripper arm (7), with at least one autonomous driverless transport means (11) for automatically maneuvering the at least one magazine ( 8) is provided, wherein it is preferably provided that the at least one magazine (8) comprises at least one marker (12) for identifying the at least one magazine (8). Bending machine (3) according to one of claims 5 to 9, wherein the at least one bending die (1) and / or the at least one guide nozzle (2) comprises at least one further marker (36) for identifying the at least one bending die (1) and/or the at least one guide nozzle (2). Bending machine (3) according to one of claims 5 to 10, wherein at least one locking device (37) is provided for locking the at least one bending die (1) in the at least one bending die receptacle (13), it preferably being provided that the at least one bending die ( 1) can be secured via a corresponding locking device (38) of at least one bending die (1) and/or in three bidirectional orthogonal spatial directions. Bending machine (3) according to claim 11, wherein the at least one locking device (37) comprises at least one, preferably spring-loaded, bolt (15) and / or at least one locking disk (16) for securing the at least one bending die (1), which is preferably provided , that - the at least one bending die holder (13) and/or the at least one bending die (1) is rotatable relative to the at least one locking disk (16), and/or - The at least one locking disk (16) comprises a receptacle (40), preferably an elongated hole (41), for an optionally present auxiliary tool (14) of the at least one robot gripper arm (7) and/or at least one, preferably spring-loaded, ball slide for securing the at least one locking disk (16) is provided in an unlocked position (43) and/or a locked position (44). Bending machine (3) according to one of claims 5 to 12, wherein the at least one robot gripper arm (7) comprises at least one gripping tool (48) which is designed to hold bent material (4) and at least one bending die (1) and/or at least one to accommodate the guide nozzle (2), the at least one gripping tool (48) being designed as jaw pliers (49) and/or at least one, preferably spring-loaded, auxiliary tool (14) for arrangement in certain areas within an opening (46) and/or bore (47) at least one bending die (1). Bending machine (3) according to claim 13, wherein the at least one auxiliary tool (14) is essentially cylindrical and/or comprises at least one conical free end (51), preferably spaced apart by a groove (50), and/or via the at least one Auxiliary tool (14) at least one bending die (1) can be locked in at least one bending die holder (13), preferably by fixing a locking disk (16) of the at least one bending die (1). Bending die (1) for a bending machine (3) according to one of claims 5 to 14 and / or for a method according to one of claims 1 to 3 with at least one locking device (38), wherein the at least one locking device (38) on at least one Centering axis (45) for the, preferably orthogonal, arrangement within at least one bending die receptacle (13) of the bending machine (3) is arranged and / or is designed in the form of a locking disk (16) rotatable relative to at least one bending die receptacle (13), which is preferably provided in that the bending die (1) comprises at least one opening (46) and / or bore (47) for receiving at least one auxiliary tool (7) of a robot gripper arm (7).

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