EP4357042A1 - Machine de pliage avec correction automatique de la position de la tôle - Google Patents

Machine de pliage avec correction automatique de la position de la tôle Download PDF

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Publication number
EP4357042A1
EP4357042A1 EP23203982.6A EP23203982A EP4357042A1 EP 4357042 A1 EP4357042 A1 EP 4357042A1 EP 23203982 A EP23203982 A EP 23203982A EP 4357042 A1 EP4357042 A1 EP 4357042A1
Authority
EP
European Patent Office
Prior art keywords
bending
point
bending machine
distance
sheet
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
EP23203982.6A
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German (de)
English (en)
Inventor
Alexander ZWAHLEN
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.)
Haeusler Holding AG
Original Assignee
Haeusler Holding 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 Haeusler Holding AG filed Critical Haeusler Holding AG
Publication of EP4357042A1 publication Critical patent/EP4357042A1/fr
Pending legal-status Critical Current

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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
    • B21D5/002—Positioning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/14—Bending sheet metal along straight lines, e.g. to form simple curves by passing between rollers
    • 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
    • B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die

Definitions

  • the invention relates to a bending machine for round bending, also called round rolling, of a sheet metal, in particular a bending machine according to the preamble of claim 1.
  • Bending machines with at least three rollers or rolls for bending sheet metal or other bendable objects are known from the prior art, with a sheet metal being mentioned below as a representative of other objects to be bent.
  • a sheet metal can have a thickness of typically more than 3 mm and in particular more than 50 mm.
  • the sheet metal to be bent is fed into the bending machine from one side.
  • the position of the rollers is adjusted for a bending process so that they exert a force on the sheet metal and bend it accordingly.
  • At least one roller of such a bending machine is motor-driven so that the driven roller feeds the sheet metal through the rollers of the bending machine.
  • the sheet metal is continuously bent as it is fed through the appropriately adjusted rollers.
  • One challenge when bending a sheet metal is to precisely achieve the desired bending radius and to maintain the start and end points of the sheet metal section to be bent.
  • Bending machines with three or more rollers are known from the state of the art, which have sensors for tracking or controlling parameters of the bending machine during a bending process.
  • EP477752 describes a bending machine with sensors for determining the position of each roller so that the geometry of the rollers can be determined and corrected.
  • the EP1 644 140 describes a bending machine with sensors for determining the bending radius after a bending process so that the geometry of the rollers can be adjusted or corrected can be.
  • the WO2009/101649 describes a bending machine for bending an elongated workpiece, which has sensors for determining a bending radius at a point on the workpiece that is close to the point on the workpiece that is currently to be bent.
  • the problem is to convey the sheet metal precisely so that the actual length of the transported neutral fiber of the sheet metal corresponds to the set length and the beginning and end of a section of sheet metal to be bent are reached as precisely as possible.
  • the conveying of the sheet metal through the bending machine is subject to errors, such as slippage between the driven roller and the sheet metal and compression of the sheet metal on the inside of the radius due to bending, so that the length of the actually conveyed distance deviates from the set length of the conveyance in practice, even if the slippage and/or shortening on the inside of the radius of the sheet metal between the driven roller and the surface of the sheet metal as well as the geometric and material properties are taken into account when determining the control parameters to be entered.
  • Fig.1 shows schematically the rollers of a bending machine 1 with four rollers 3 - 6 for rolling an originally planar sheet 2.
  • the bending machine comprises an upper roller 3 and a lower roller 4 typically arranged vertically below it as well as a first side roller 5 and a second side roller 6.
  • the holders of the rollers as well as drives and a control system are not shown.
  • the upper roller 3 is motor-driven, the direction of rotation of the upper roller 3 being indicated by the arrow 3a.
  • more than one roller can be driven to convey the sheet 2 to be bent.
  • the geometry of the rollers in relation to one another can be changed.
  • the rollers can be arranged in such a way that they exert a force on the sheet 2 to bend the sheet 2 and the pressure force of the upper roller 3 exerts a sufficiently large force on the sheet 2 so that when the upper roller 3 rotates, the sheet is conveyed in the transport direction 2a, i.e. from right to left in the figure shown.
  • the lower roller 4 rotates in the direction of rotation 4a and the side rollers 5 and 6 each rotate accordingly.
  • the bending machine 1 further comprises a control system not shown in the figures, which controls, among other things, the geometric arrangement of the rollers relative to one another and the rotation of the driven roller.
  • the sheet metal 2 is to be bent using the bending machine 1.
  • the thickness center 2b of the sheet metal 2 is referred to here as the neutral fiber; in the literature it is also referred to as the zero line.
  • the sheet metal material is compressed on the inside of the neutral fiber 2b and stretched on the outside of the neutral fiber 2b.
  • the area of the neutral fiber 2b of a homogeneous sheet metal typically retains the original length as it was before the bend.
  • the bending radius and the target rotation are determined in the conventional way before the bending process begins, whereby the target rotation is the distance of the sheet 2 along the neutral fiber that is to be conveyed by the motor-driven roller. It is known, for example, that the surface area of the sheet 2 on the inside of the bend is reduced by bending into a smaller radius because the sheet 2 is compressed there.
  • the corresponding parameters of the bending machine for bending the sheet 2 into a curve are entered into the control system of the bending machine accordingly. Based on the entered parameters, the machine determines, among other things, the rotation of the driven roller that conveys the sheet through the rollers.
  • the sheet 2 can have a length and a width of several meters each and a thickness of several millimeters, in particular more than 3 millimeters and more than 50 millimeters.
  • a bending point is the beginning or the end of a section of the sheet that is to be bent into the constant radius, whereby the bending point lies on the neutral axis.
  • a further section to be bent can be connected to the first bending section.
  • the exact adherence to the start and end of the further section to be bent is achieved by an analogous procedure when conveying sheet metal 2.
  • the length of the sheet actually conveyed by the driven roller differs from the length set in the machine control system. This is caused by various effects such as slippage between the driven roller and the sheet.
  • the control of the bending machine is corrected during a bending operation so that the actual conveyed distance of the sheet metal has a small deviation between the length set in the machine parameters and the actual conveyed distance.
  • the bending machine 1 comprises a device, here an optical system, in particular with at least one camera 7, for determining the actual distance of a bending point from a reference point of the bending machine 1.
  • the reference point of the bending machine is one that has a known distance to the roller, here the top roller 3, around which the bending is to take place.
  • the reference point can be the point on the top roller that rests on the sheet 2 and at which the top roller 3 thus applies the force to convey the sheet onto the sheet.
  • the device is connected to the control of the bending machine 1 and is set up to recognize a bending point or a marking that can be detected by the device 7.
  • the camera 7 is connected to the control of the bending machine.
  • the control is configured and set up to determine the distance of a bending point of the sheet 2 from a reference point. Based on the distance, the control of the bending machine determines the actual position of a bending point relative to a predetermined, i.e. a previously calculated and thus expected distance value.
  • An optical marking can be applied, for example, in a color contrast to the sheet, for example as a colored symbol or as a line of predefined width perpendicular to the neutral fiber 2b.
  • the sheet metal 2 to be bent is placed in the bending machine 1 so that the sheet metal 2 is in the starting position for an upcoming bending process.
  • the bending machine saves this position as a reference position for the subsequent conveying of the sheet metal 2.
  • the corresponding position of the upper roller 3 can be saved as "0".
  • the sheet metal 2 is conveyed in the direction 2a by the rotation of the driven roller 3 by a predetermined distance.
  • the control of the bending machine 1 controls the rotation of the driven roller in such a way that the sheet metal is conveyed by a distance that is smaller than the distance to the first bending point, but is large enough that the marking of the bending point comes into the area captured by the camera 7 and the distance actually conveyed can be determined.
  • this distance is the distance until the first bending point touches the upper roller minus a predefined distance, the expected distance, for example 1/5 of the diameter of the upper roller 3.
  • the length of the predefined distance is the expected distance of a bending point (2c, 2d) from a reference point of the bending machine, here the point of contact of the sheet 2 with the upper roller 3, wherein the expected distance is selected such that the next expected bending point 2c, 2d or its marking is reliably detected by the camera 7 and thus the actual distance of the bending point 2c, 2d from the point of contact with the upper roller 3 can be determined.
  • the marked bending point 2c has an expected distance 9 to the point of contact with the top roller 3.
  • the predefined and expected distance 9 is typically in the conveying direction 2a shortly before the point of contact of the sheet with the top roller 3, at which the sheet is actually bent.
  • the expected distance can be, for example, 1/5 of the diameter of the top roller 3.
  • Fig.3 shows a position of the sheet metal in the bending machine 1 after the sheet metal 2 has been conveyed according to the originally entered control parameters so far that the next bending point in the conveying direction 2a or the marking of the bending point, here 2c, is recorded by the camera 7.
  • the bending machine 1 has thus conveyed the sheet metal 2 according to the entered distance, ie the distance to the next bending point 2c minus the predetermined distance 9.
  • this predetermined distance 9 has the length 50.
  • the control of the bending machine 2 receives the captured images from the camera, evaluates them and determines the actual position of the bending point 2c, i.e. the distance of the bending point from the reference point, and thus the deviation of the actually conveyed sheet metal distance from the previously calculated and expected distance.
  • the sectional view of the rollers, right in Fig.3 shows the distance 9 calculated in the control and thus expected, i.e. the distance 9 of the bending point 2c expected according to the control parameters and the actual position of the sheet 2, ie the actual distance 10 of the bending point 2c from the contact point 8 of the sheet 2 with the upper roller 3, whereby the actual distance 10 of the bending point 2c of the sheet deviates from the expected distance 9.
  • the first bending point x1 100 from the left edge of the sheet.
  • the bending point 2c should therefore be expected to have a distance of 50 from the contact point 8 with the upper roller 3.
  • the actual distance 10 of the bending point 2c from the contact point 8 of the sheet 2 with the top roller 3 is determined by the device for determining the distance based on an image from the camera 7. To do this, the device's camera 7 captures the marking of the bending point 2c and supplies the corresponding data to the control system. Based on this data, the control system determines that the actual distance of the bending point from the contact point with the top roller 3 is, for example, 48. Based on the actual value determined, the control system corrects the parameter for the subsequent conveying so that the further conveying of the sheet is based on the corrected control parameters. Since in this numerical example the actual distance of the bending point 2c is not 50, as expected, but actually 48, as determined with the camera, the value of the distance already conveyed in the bending machine control system is adjusted accordingly to 52.
  • the further conveying of the sheet for example conveying the sheet until the bending point 2c is on the top roller 3, is also subject to errors.
  • the incorrectly conveyed distance is smaller than without the correction of the control parameter described above, so that the error in conveying the sheet is reduced and the bending point of the sheet is maintained more precisely.
  • control determines the slip during the conveying of the sheet 2 from the calculated conveying distance and the determined deviation and takes this into account when calculating the further conveying of the sheet 2 in order to further minimize a deviation during the conveying of the sheet 2.
  • Fig.4 shows the position of the sheet metal 2 in the bending machine 1 after the sheet metal has been conveyed according to the corrected control parameters so far that the bending point 2c is at the point of contact with the upper roller 3.
  • the rollers of the bending machine 1 cause the sheet metal 2 to be bent round.
  • the sheet metal is further conveyed by the driven roller, here the upper roller 3, according to the entered control parameters.
  • the sheet 2 was conveyed over a distance which is the length of the bending section minus an expected distance 9, so that the next bending point 2d also has an expected distance 9 to the point of contact 8 of the sheet with the top roller 3.
  • the expected distance 9 can be individual for a distance, but such that a bending point 2c, 2d or a marking thereof lies in the area that can be detected by a camera 7.
  • the expected distance for the second conveying can thus be smaller than the expected distance as a percentage of the conveyed distance.
  • the slip between the sheet 2 and the driven top roller 3 can be determined based on previous conveying of the sheet and thus the value of an expected distance of an upcoming conveying process can be calculated from the deviation between the expected and actual distance, so that the deviation from the expected distance becomes smaller.
  • the actual position of the sheet metal 2 can also deviate from the expected position in the vertical direction during bending, typically if the actual properties of the sheet metal 2 deviate from the expected/assumed properties. Accordingly, the actual position of the bending point 2c, 2d or its marking also deviates from an expected position in the vertical direction.
  • the determined position of the bending point is adjusted to the expected sheet metal shape. projected, whereby the projection is defined by the shortest path to the expected sheet shape and is thus perpendicular to the expected sheet shape. If the projection of a bending point in the direction of the neutral fiber lies outside the sheet, i.e. the sheet is too short, the neutral fiber is extrapolated accordingly for the calculation of the distance 9.
  • the actual distance 10 of the sheet 2 from the point of contact with the top roller and thus the actual length already conveyed is determined by means of the camera 7 as soon as the sheet has been conveyed by the distance to the expected distance 9. Based on the determined actual distance 9, at least the value of the distance of the bending point 2d from the point of contact with the top roller 3 stored in the bending machine 1 is corrected by the determined deviation from the expected distance value.
  • the slip between the top roller 3 and the sheet 2, which can be determined from the determined deviation, can be taken into account for the conveying of the sheet 2.
  • the sheet 2 is conveyed further in the same direction 2a based on the corrected value until the entire section to be bent is bent, i.e. the bending point 2d is in contact with the top roller 3, see Fig.6 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
EP23203982.6A 2022-10-20 2023-10-17 Machine de pliage avec correction automatique de la position de la tôle Pending EP4357042A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022127712.7A DE102022127712A1 (de) 2022-10-20 2022-10-20 Biegemaschine mit automatischer Korrektur der Blechposition

Publications (1)

Publication Number Publication Date
EP4357042A1 true EP4357042A1 (fr) 2024-04-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP23203982.6A Pending EP4357042A1 (fr) 2022-10-20 2023-10-17 Machine de pliage avec correction automatique de la position de la tôle

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EP (1) EP4357042A1 (fr)
DE (1) DE102022127712A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0477752A1 (fr) 1990-09-28 1992-04-01 Promau S.R.L. Dispositif programmable pour rouler les tôles
EP1644140A1 (fr) 2003-07-10 2006-04-12 Ortic Ab Machine a cintrer des produits longs et procede de commande de ladite machine
JP2007083260A (ja) * 2005-09-20 2007-04-05 Kikukawa Kogyo Kk 金属板加工装置及びこれを用いた風車用ブレードの製造方法
WO2009101649A2 (fr) 2008-02-12 2009-08-20 Cml International S.P.A. Procédé pour vérifier et commander une machine de cintrage à rouleaux pour cintrer en continu une pièce de fabrication allongée à des rayons de courbure variables, et machine ainsi commandée
WO2012092909A1 (fr) * 2011-01-07 2012-07-12 Technische Universität Dortmund Procédé pour la transformation incrémentielle de structures en tôle, en particulier pour la transformation de tubes ou similaires
US20130147093A1 (en) * 2010-08-23 2013-06-13 Uros Turanjanin Bending pvc profiles using laser and plc controlling system
US20170333968A1 (en) * 2014-12-12 2017-11-23 Uros Turanjanin The application of the 3d cameras to the profile bending process on the bending machine with three and four rollers

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1218253B (de) 1961-12-14 1966-06-02 Uerdingen Ag Waggonfabrik Verfahren und Vorrichtung zum Biegen von Ringen auf Dreirollen-Biegemaschinen
DE102019007606B4 (de) 2019-11-02 2022-02-24 Albrecht Noll Verfahren zur messtechnischen Regelung von Metallumformmaschinen

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0477752A1 (fr) 1990-09-28 1992-04-01 Promau S.R.L. Dispositif programmable pour rouler les tôles
EP1644140A1 (fr) 2003-07-10 2006-04-12 Ortic Ab Machine a cintrer des produits longs et procede de commande de ladite machine
JP2007083260A (ja) * 2005-09-20 2007-04-05 Kikukawa Kogyo Kk 金属板加工装置及びこれを用いた風車用ブレードの製造方法
WO2009101649A2 (fr) 2008-02-12 2009-08-20 Cml International S.P.A. Procédé pour vérifier et commander une machine de cintrage à rouleaux pour cintrer en continu une pièce de fabrication allongée à des rayons de courbure variables, et machine ainsi commandée
US20130147093A1 (en) * 2010-08-23 2013-06-13 Uros Turanjanin Bending pvc profiles using laser and plc controlling system
WO2012092909A1 (fr) * 2011-01-07 2012-07-12 Technische Universität Dortmund Procédé pour la transformation incrémentielle de structures en tôle, en particulier pour la transformation de tubes ou similaires
US20170333968A1 (en) * 2014-12-12 2017-11-23 Uros Turanjanin The application of the 3d cameras to the profile bending process on the bending machine with three and four rollers

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DE102022127712A1 (de) 2024-04-25

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