NL2034516A - Bending tool for connection to a tool exchange device mounted on a robot. - Google Patents

Bending tool for connection to a tool exchange device mounted on a robot. Download PDF

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Publication number
NL2034516A
NL2034516A NL2034516A NL2034516A NL2034516A NL 2034516 A NL2034516 A NL 2034516A NL 2034516 A NL2034516 A NL 2034516A NL 2034516 A NL2034516 A NL 2034516A NL 2034516 A NL2034516 A NL 2034516A
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NL
Netherlands
Prior art keywords
tool
oval
bending
exchange device
bore
Prior art date
Application number
NL2034516A
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Dutch (nl)
Other versions
NL2034516B1 (en
Inventor
László Koncz Edvárd
Major István
Pekárik János
Somodi Viktor
Original Assignee
Pmt Szerszamgep Kereskedelmi Es Szerviz Zartkoeruen Mukoedo Reszvenytarsasag
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
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Application filed by Pmt Szerszamgep Kereskedelmi Es Szerviz Zartkoeruen Mukoedo Reszvenytarsasag filed Critical Pmt Szerszamgep Kereskedelmi Es Szerviz Zartkoeruen Mukoedo Reszvenytarsasag
Publication of NL2034516A publication Critical patent/NL2034516A/en
Application granted granted Critical
Publication of NL2034516B1 publication Critical patent/NL2034516B1/en

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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
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/04—Movable or exchangeable mountings for tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • B21D5/0236—Tool clamping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • B21D5/0254—Tool exchanging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1556—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of non-rotary tools

Landscapes

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

Abstract

The present invention discloses a bending tool for connection to a tool exchange device mounted on a robot, with a shoulder, a tool holder groove, and a toolclamping groove on the 5 tool body, and characterised by that the bending tool has i) an oval bore going through the tool body below the shoulder, ii) the tool holder groove side of the tool body has an oval seat extending into the oval through-bore, at the end of which — the end going into the tool body — is a flange extending vertically beyond the oval through-bore, iii) the clamping groove side of the tool body has a conical seat with cylindrical end sections extending into the oval 10 through-bore, the centre line of which intersects the flange above the upper edge of the oval through-bore. Dimensions of the oval through-bore, the conical seat, and the oval seat match the connected structural elements of the tool exchange device.

Description

Bending tool for connection to a tool exchange device mounted on a robot.
[0001] The subject of the utility model is a bending tool for connection to a tool exchange device mounted on a robot, allowing the tool exchange device mounted on the robot to quickly and easily grip and move various types of bending tools, using the connection points retrofitted in the tools.
[0002] An essential step in the sheet metal working process is selecting the appropriate design for the upper and lower bending tools and inserting and clamping them in the tool holder, which should be done by a robot in high performance production systems. Currently, the devices developed for exchanging the bending tools in robotic bending machines are not designed to be compatible with all commercially available types of bending tools and their various clamping systems. Two thirds of the bending machines worldwide are marketed using a US {European Standard} tooling system, which is not compatible with any robotic solution, and the situation is similar for other tvpes of bending tools as well. A considerable number of users are thus excluded from automation.
[0003] US patent specification no. US 7,632,224 B2, known from the state of the art, describes an exchangeable tool consisting of a tool body equipped with a receiving end, where the receiving end is used to secure the tool in a receiving device. Coupling elements are arranged in the tool body in such a way as to provide non-rotating connections for the manipulator that inserts the tool into and removes the tool from the receiving device.
[0004] Patent document US 6,656,099 B1 describes a plate bending machine furnished with a bending tool and a tool exchange device equipped with a hook including a spline and a clench.
The bending tool is equipped with a locking device supplemented with a clamping element.
The bending machine constitutes a single unit with the upper and lower tool holders that are responsible for moving the bending tools. The tool exchange device transfers the bending tools into the tool clamp.
[0005] Different designs of commercially available bending tools can be found, inter alia, at
URLs https eordiissatia ndtenmei/rolieri-slhggio-sesszamol/ and https://www.toolsystems24. de/en/, where it can be seen that the tool bodies are not designed
[0006] with a gripping solution allowing for attachment to a robotic gripping device. One such known solution is illustrated in Figure 1, where the tool body of the bending tool 1 is furnished with a shoulder 1.1 supporting the tool holder, a tool holder groove 1.2 and a clamping groove 1.3: these structural parts are necessary to secure the bending tool 1 in a tool holder.
[0007] A drawback of the tools as described and used in practice is that they do not provide the operator with a workable solution for modifying the raw bending tool in order to allow the tool to be safelv gripped and moved by a tool exchange device mounted on a robotic arm.
[0008] Having identified this deficiency, we set ourselves the task of retrofitting a gripping point on a bending tool of known state-of-the-art design, allowing the tool to be gripped and moved safely by a known tool exchange device mounted on a robotic arm.
A further task of our utility model is the development of a bending tool on which the gripping point can subsequently be manufactured in a cost-effective way, while keeping the tool easy to use and maintain.
[0009] During the tests carried out during the design process for the utility model, we recognized that a bending tool can only be gripped firmly by a robot and moved accurately via robotic control if the bending tool has an aperture for gripping, wherein the gripping structural element of the tool exchange device can be impacted against a support surface on the tool, and another structural element of the bending tool can be clamped onto the support surface providing the impact.
[0010] For our experiments, we used a robotic arm mounted tool exchange device. with a clamp stem that can be moved linearly back and forth by means of compressed air for clamping and releasing the bending tool.
[0011] With the set task in mind, the object of our utility model is a bending tool that can be safely attached to a tool exchange device mounted on the robotic arm of a robot. The commercially available “raw” bending tool has a shoulder, a tool holder groove and a clamping groove on the tool body for mounting it in the tool holder. In order to allow attaching the tool to the tool exchange device, a gripping point is formed on the bending tool with an oval bore going through the tool body under the tool shoulder. The tool holder groove side of the tool body has an oval seat extending into the oval through-bore. At one end of the oval seat—the end going into the tool body—is a flange extending vertically beyond the oval through-bore.
On the clamping groove side of the tool body, there is a conical seat with cylindrical end sections extending into the oval through-bore, the centre line of which intersects the flange above the upper edge of the oval through-bore.
[0012] The tool exchange device has a cylindrical clamp stem with a conical end, and a grip stem for picking up and clamping the bending tool. An oval support head for the holding the bending tool is attached to the end of the grip stem. This support head hits the flange of the bending tool's oval seat when the bending tool is gripped by the robot. Compressed air can be used to move the clamp stem linearly backwards and forwards, allowing it to extrude from or retract into the device. When the support head hits the flange of the oval seat on the bending tool and the conical end of the advancing clamp stem is pressed into the conical seat on the bending tool, the bending tool is securely clamped to the tool exchange device. With regard to therobotically moved tool exchange device, the conical seat, the oval seat and the oval through- bore made at the gripping point on the tool body of the bending tool are prepared with dimensions and arrangements matching the connected structural elements of the tool exchange device.
[0013] The objectives of the invention can be achieved by the bending tool described in Claim 1. and its beneficial methods of implementation are described in the sub-claims.
[0014] Our invention is described in detail with reference to the accompanying drawings, where: - Figure 1 shows the design of a known bending tool, - Figure 2 shows the design of the gripping point on the bending tool, - Figure 3 shows the connection between the robotic arm mounted tool exchange device and the bending tool before clamping, - Figure 4 shows a bending tool clamped on the robotic arm mounted tool exchange device.
[0015] Figure 1 illustrates the design of a known bending tool 1 furnished with a shoulder 1.1, a tool holder groove 1.2 and a clamping groove 1.3, where the aforementioned structural parts are used to store the bending tool 1 in a tool holder, and to accommodate it in the tool holder of abending machine. As shown in the figure, the bending tool 1 is not equipped with a gripping point that would allow it to be safely gripped by a tool exchange device.
[0016] Figure 2 shows several views of the layout of the gripping point on the tool body. Below the shoulder 1.1 of a given bending tool 1 of width L, essentially in the central part of the tool body, is an oval through-bore 1.7 of width a: and height a2, with centre line x2. The width a: and height az shall be such that the tool exchange device’s 2 grip stem 2.2 equipped with the support head 2.3 (see Figures 3 and 4) can be inserted through the oval bore 1.7 without obstruction, and with a gap of at least 1 mm.
[0017] On the tool holder groove 1.2 side of the bending tool’s 1 tool body, there is an oval seat 1.8 penetrating into the oval through-bore 1.7. The oval seat 1.8 is designed to accommodate the support head 2.3 mounted on the grip stem 2.2 of the tool exchange device 2, and is shaped to fit the support head 2.3. At the end of the oval seat 1.8 extending into the tool body, there is a flange 1.9 which is used to hold the support head 2.3, which is gripped by the end of the grip stem 2.2 of the tool exchange device 2 and inserted into the oval seat 1.8.
The depth 1: of the oval seat 1.8 is the same as the length of the support head 2.3. The rear height Is of the gripping point of the bending tool 1 shall be such that the height of the flange 1.9 extending vertically bevond the oval through-bore 1.7 should be at least 8 mm.
[0018] On the clamping groove 1.3 side of the tool body, there is a conical seat 1.4 with centre line x1, cone angle 4, diameter D, and cylindrical end sections 1.5 and 1.6, partially penetrating into the oval through-bore 1.7. The centre line x1 of the conical seat 1.4 is parallel to the centre line x2 of the oval through-bore 1.7. but their arrangement is eccentric. The conical seat 1.4 is designed to accommodate the end of the cylindrical clamp stem 2.1 of the tool exchange device 2 (see Figures 3 and 4) and fits snugly against it. therefore its cone angle 2. is the same as the cone angle of the end of the clamp stem 2.1, but its diameter D should be at least 1 mm larger than the diameter of the end of the clamp stem 2.1. The frontal height 1; of the bending tool’s 1 gripping point shall be determined so that the centre line x1 of the conical seat 1.4 should intersect the flange 1.9 at least 3 mm above the top edge of the oval through-bore 1.7, thereby ensuring that the clamp stem 2.1, when pressed into the conical seat 1.4, presses the support head 2.3 mounted on the grip stem 2.2 against the flange 1.9.
Figure 3 shows the tool exchange device 2 and the bending tool 1, before they are connected.
The bending tool 1 is hooked into a tool holder 3 and secured by a tool clamp 4. The clamp stem with the conical end 2.1 is pulled into the tool exchange device 2, while the grip stem 2.2 extends from the tool exchange device 2 and its end is inserted into the bending tool 1. A 5 support head 2.3 is affixed to the end of the grip stem 2.2 with a recessed head bolt 2.4, which is positioned in abutment with the flange 1.9 of the bending tool’s 1 oval seat 1.8 (see Figure 2).
Figure 4 shows the tool exchange device 2 and the bending tool 1 in the final clamping position of the tool. The compressed air supplied into the tool exchange device 2 ejects the clamp stem 2.1 from the tool and presses it into the conical seat 1.4 of the bending tool 1 in a form-locking manner (see Figure 2), whereby the bending tool 1 is firmly clamped on the tool exchange device 2 with a double-sided impact.
[0019] When changing tools on the bending machine, the tool exchange device 2 must be connected to the robotic arm in order to move the bending tool 1 with the robot. The grip stem with the support head 2.3 on the tool exchange device 2 shall be inserted into the oval through- bore 1.7 of the bending tool 1, which is designed to guide the grip stem 2.2. The support head 2.3 is then inserted into the oval seat 1.8 of the bending tool 1, and is butted against the flange 1.9 providing a support surface. Then, using the pneumatic equipment of the tool exchange device 2, the clamp stem with the conical end 2.1 must be pressed into the conical seat 1.4 of the bending tool 1 in a form-locking manner, and the bending tool 1 must be pressed onto the support head 2.3 butted against the flange 1.9. The tool exchange device 2 will then firmly hold the bending tool 1.
[0020] Next, by controlling the tool exchange device 2 with the robot, the bending tool 1 can be lifted out of the tool holder 3 and transferred to the tool clamp of the bending machine, by having the robot position the tool holder groove 1.2 of the bending tool 1 in the tool clamp.
After gripping the bending tool 1 in the tool clamp, the clamp stem 2.1 of the tool exchange device 2 must be pulled back by means of compressed air and, moving the support head 2.3 outwards from the oval seat 1.8 of the bending tool 1, the grip stem 2.2 must be pulled out of the bending tool 1.
[0021] The advantage of our utility model is that it offers a gripping point on a commercially available “raw” bending tool, allowing the tool to be safely gripped and moved on a robotic arm-mounted tool exchange device equipped with a fixed grip stem and a linearly movable clamp stem. The gripping point on the bending tool can be subsequently manufactured in a cost-effective way, and the tool is easy to use and maintain.
[0022] In the following paragraphs, clauses are provided.
[0023] Clause 1. A bending tool for connection to a tool exchange device mounted on a robot, with a shoulder (1.1). a tool holder groove (1.2) and a toolclamping groove (1.3) on the tool body. and characterised by the following: - having an oval bore (1.7) going through the tool body below the shoulder (1.1), - the tool holder groove (1.2) side of the tool body having an oval seat (1.8) extending into the oval through-bore (1.7), at the end of which—the end going into the tool body—is a flange (1.9) extending vertically beyond the oval through-bore (1.7), - The clamping groove (1.3) side of the tool body having a conical seat (1.4) with cylindrical end sections (1.5, 1.6) extending into the oval through-bore (1.7), the centre line (x1) of which intersects the flange (1.9) above the upper edge of the oval through-bore (1.7), - the oval through-bore (1.7), the conical seat (1.4) and the oval seat (1.8) having dimensions and shapes matching the connected structural elements of the tool exchange device.
[0024] Clause 2. A bending tool according to clause 1, characterized in that the height of the flange (1.9) is at least 8 mm.
[0025] Clause 3. A bending tool according to either clause 1 or clause 2, characterised in that the centre line (x1) of the conical seat (1.4) intersects the flange (1.9) at least 3 mm above the upper edge of the oval through-bore (1.7).

Claims (3)

ConclusiesConclusions 1. Buiggereedschap dat aansluitbaar is op een gereedschapswisselaar, gemonteerd op een robot, met een schouder (1.1), een gereedschapshouder-groef (1.2) en een gereedschapsklem-groef1. Bending tool that can be connected to a tool changer, mounted on a robot, with a shoulder (1.1), a tool holder groove (1.2) and a tool clamp groove (1.3) op de gereedschapsromp, met het kenmerk, dat - een ovaal boorgat (1.7) is voorzien dat onder de schouder (1.1) door de gereedschapsromp loopt: - de gereedschapshouder-groef (1.2) zijde van de gereedschapsromp een ovale zitting (1.8) heeft. die verbonden is met het ovale boorgat (1.7), waarbij aan een uiteinde daarvan - het uiteinde dat in het gereedschapsromp steekt - een flens (1.9) is gevormd is die verticaal voorbij het ovale boorgat (1.7) steekt; - de gereedschapsklem-groef (1.3) zijde van het gereedschapsromp een conische zitting (1.4) heeft, waarbij de conische zitting cilindrische eindstukken (1.5, 1.6) heeft. die in het ovale boorgat (1.7) uitlopen, waarbij een hartlijn (x1) daarvan de flens (1.9) snijdt boven een bovenrand van het ovale boorgat (1.7): en - het ovale boorgat (1.7), de conische zitting (1.4) en de ovale zitting (1.8) afmetingen en vormen hebben, die afgestemd zijn op afmetingen en vormen van aan te sluiten structurele elementen van de gereedschapswisselaar.(1.3) on the tool body, characterized in that - an oval bore hole (1.7) is provided that runs under the shoulder (1.1) through the tool body: - the tool holder groove (1.2) side of the tool body has an oval seat (1.8 ) has. which is connected to the oval bore hole (1.7), whereby at one end thereof - the end that protrudes into the tool body - a flange (1.9) is formed which extends vertically beyond the oval bore hole (1.7); - the tool clamp groove (1.3) side of the tool body has a conical seat (1.4), whereby the conical seat has cylindrical end pieces (1.5, 1.6). that extend into the oval bore hole (1.7), with a center line (x1) thereof intersecting the flange (1.9) above an upper edge of the oval bore hole (1.7): and - the oval bore hole (1.7), the conical seat (1.4) and the oval seat (1.8) has dimensions and shapes that are matched to the dimensions and shapes of structural elements of the tool changer to be connected. 2. Buiggereedschap volgens conclusie 1, gekenmerkt doordat de hoogte van de flens (1.9) ten minste 8 mm is.Bending tool according to claim 1, characterized in that the height of the flange (1.9) is at least 8 mm. 3. Buiggereedschap volgens conclusie | of 2, gekenmerkt doordat de hartlijn (x1) van de conische zitting (1.4) de flens (1.9) snijdt ten minste 3 mm boven de bovenrand van het ovale boorgat (1.7).3. Bending tool according to claim | or 2, characterized in that the center line (x1) of the conical seat (1.4) intersects the flange (1.9) at least 3 mm above the top edge of the oval bore (1.7).
NL2034516A 2022-04-08 2023-04-06 Bending tool for connection to a tool exchange device mounted on a robot. NL2034516B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
HUU2200062U HU5503U (en) 2022-04-08 2022-04-08 Edge bending tool for connection to a robotic tool exchange device

Publications (2)

Publication Number Publication Date
NL2034516A true NL2034516A (en) 2023-10-25
NL2034516B1 NL2034516B1 (en) 2024-01-30

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NL2034516A NL2034516B1 (en) 2022-04-08 2023-04-06 Bending tool for connection to a tool exchange device mounted on a robot.

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CZ (1) CZ37115U1 (en)
DE (1) DE202023101588U1 (en)
HU (1) HU5503U (en)
NL (1) NL2034516B1 (en)
SK (1) SK9885Y1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6656099B1 (en) 1999-01-13 2003-12-02 Amada Company, Limited Bending press system
WO2008050458A1 (en) * 2006-10-27 2008-05-02 Komatsu Industries Corporation Punch, handle usable therefor, and punch with handle
US7632224B2 (en) 2006-06-01 2009-12-15 Wila B.V. Exchangeable tool
CN106734644A (en) * 2016-12-22 2017-05-31 上海机床厂有限公司 The automatic mounting mechanism of mould on numerical control bender
IT201800006254A1 (en) * 2018-06-12 2019-12-12 TOOL FOR A BENDING PRESS
JP2020023000A (en) * 2018-07-17 2020-02-13 株式会社アマダホールディングス Tool
WO2022129964A1 (en) * 2020-12-16 2022-06-23 Pmt Szerszámgép Kft. Tool gripping device for gripping a bending tool with a robot

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6656099B1 (en) 1999-01-13 2003-12-02 Amada Company, Limited Bending press system
US7632224B2 (en) 2006-06-01 2009-12-15 Wila B.V. Exchangeable tool
WO2008050458A1 (en) * 2006-10-27 2008-05-02 Komatsu Industries Corporation Punch, handle usable therefor, and punch with handle
CN106734644A (en) * 2016-12-22 2017-05-31 上海机床厂有限公司 The automatic mounting mechanism of mould on numerical control bender
IT201800006254A1 (en) * 2018-06-12 2019-12-12 TOOL FOR A BENDING PRESS
JP2020023000A (en) * 2018-07-17 2020-02-13 株式会社アマダホールディングス Tool
WO2022129964A1 (en) * 2020-12-16 2022-06-23 Pmt Szerszámgép Kft. Tool gripping device for gripping a bending tool with a robot

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Publication number Publication date
CZ37115U1 (en) 2023-06-08
DE202023101588U1 (en) 2023-04-25
SK500212023U1 (en) 2023-06-28
SK9885Y1 (en) 2023-10-25
NL2034516B1 (en) 2024-01-30
HU5503U (en) 2022-11-28

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