WO2008026916A1 - Plate manipulation - Google Patents

Plate manipulation Download PDF

Info

Publication number
WO2008026916A1
WO2008026916A1 PCT/NL2007/000212 NL2007000212W WO2008026916A1 WO 2008026916 A1 WO2008026916 A1 WO 2008026916A1 NL 2007000212 W NL2007000212 W NL 2007000212W WO 2008026916 A1 WO2008026916 A1 WO 2008026916A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
lower beam
upper beam
processing station
engagement
Prior art date
Application number
PCT/NL2007/000212
Other languages
French (fr)
Inventor
Teunis Slot
Original Assignee
Safan B.V.
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 Safan B.V. filed Critical Safan B.V.
Publication of WO2008026916A1 publication Critical patent/WO2008026916A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom

Definitions

  • the invention relates to a method for manipulating a plate during processing thereof with a processing station having an upper beam and lower beam movable toward each other.
  • a processing station with upper beam and lower beam movable toward each other is for instance a folding press or shears.
  • processing stations there are arranged in the upper beam and lower beam different tools with which a plate, such as a steel plate, can be shaped or cut.
  • the operative In manual operation of such a processing station the operative will manipulate and arrange the plate in the desired manner in the processing station so that the necessary operations can be performed.
  • the operative must here take into account the dimensioning and accuracy of the processes to be performed.
  • Such manual operations are usually automated to thus enable a higher precision and a higher throughput speed.
  • a robot arm Placed for this purpose in front of a processing station is a robot arm which engages and subsequently places the plate between the upper beam and lower beam in order to thus perform the desired processes.
  • the control of the robot can place the plate at all times with the desired precision in the processing station.
  • the robot must then first calibrate the position by laying the plate against two fixed surfaces, so that the robot can once again compute the origin. Further operations can then be performed. Such an interim calibration takes time.
  • a further preferred method according to the invention comprises the step of engaging the plate at a second point of engagement.
  • the manipulation of the plate is synchronized with the movements of the upper beam and lower beam of the processing station.
  • the plate will bend and outer ends will be displaced relative to the processing station while the upper beam and lower beam move toward each other. It is desirable here to synchronize the manipulation of the plate with the movement of the upper beam and lower beam, so that undesired bending of the plate is prevented.
  • the invention further comprises a device for performing the method according to the invention, which device comprises:
  • a first manipulator arranged on a base, this base being displaceable between the upper beam and lower beam from a first side to a second opposite side.
  • the plate can hereby be carried easily between the upper beam and lower beam from the one side to the other side.
  • a preferred embodiment of the device according to the invention comprises a second manipulator arranged on a base, this base being displaceable independently of the first manipulator between the upper beam and lower beam from the first side to the second opposite side.
  • this second manipulator it is possible for instance to perform preparatory operations, such as the calibration of the plate, after which the plate can be taken over by the first manipulator, although it is also possible to jointly process elongate products.
  • both manipulators manufacture products simultaneously from the plates, wherein the operations of the two manipulators are synchronized with the movements of the upper beam and lower beam. The production of such a processing station can thus be increased considerably.
  • the manipulator is a robot arm.
  • a robot arm provides many degrees of freedom, thereby enabling optimum manipulation of the plate.
  • Figure 1 shows a perspective view of a device according to the invention.
  • FIGS 2A-2D show schematically four different steps of the method according to the invention.
  • Figure 1 shows a folding press 1 with a fixed upper beam 2 in which tools 3 are arranged, and a displaceable lower beam 4 with tools 5 therein.
  • Each robot arm 10, 11 has a gripper 12, 13 with which a plate 14 can be held fast.
  • Figure 1 shows the embodiment wherein both robot arms 10, 11 together hold one plate 14.
  • one of the robot arms 10, 11 carry out preparatory operations or to have each carry out the same bending operations simultaneously on a separate plate.
  • FIG. 2A show schematically a first step of the method according to the invention.
  • the schematic parts are here indicated with the same reference numerals as in figure 1.
  • Lower beam 4 is subsequently moved downward again so that base 8 with robot arm 10 and the plate 14 arranged thereon can be displaced between upper beam 2 and lower beam 4 over guide 6 to the other side. It is thus possible to once again arrange plate 14 against upper tool 3 and bend an angle therein in the opposite direction without rotation around gripper 12, as shown in figure 2D. Lower beam 4 is then moved downward again and the bent plate part 14 can be set down in a discharge buffer on the side where robot arm 10 is situated, or the plate can once again be displaced between upper beam 2 and lower beam 4 in order to be set down again on the first side.

Abstract

The invention relates to a method for manipulating a plate (14) during processing threreof with a processing station (1) having an upper beam (2) and lower beam (4) movable toward each other: which method comprises the steps of: providing a plate (14), engaging the plate (14) at a first point of engagement, positioning the plate (14) between the upper beam (2) and lower beam (4) from a first side for the purpose of performing operations on the plate with the processing station (1) and, carrying the plate between the upper beam (2) and lower beam (4) from the first side to the opposite other side. The invention further relates to a device for performing the method according to the invention, comprising: a processing station (1) with upper beam (2) and lower beam (4) movable toward each other, wherein tools (3, 5) are arranged on the upper beam (2) and lower beam (4), a first manipulatior (10, 12) arranged on a base (8), this base (8) being displaceable between the upper beam (2) and lower beam (4) from a first side to a second opposite side.

Description

PLATE MANIPULATION
The invention relates to a method for manipulating a plate during processing thereof with a processing station having an upper beam and lower beam movable toward each other. A processing station with upper beam and lower beam movable toward each other is for instance a folding press or shears. In such processing stations there are arranged in the upper beam and lower beam different tools with which a plate, such as a steel plate, can be shaped or cut.
In manual operation of such a processing station the operative will manipulate and arrange the plate in the desired manner in the processing station so that the necessary operations can be performed. The operative must here take into account the dimensioning and accuracy of the processes to be performed.
Such manual operations are usually automated to thus enable a higher precision and a higher throughput speed. Placed for this purpose in front of a processing station is a robot arm which engages and subsequently places the plate between the upper beam and lower beam in order to thus perform the desired processes. As long as the engagement of the robot on the plate does not change, the control of the robot can place the plate at all times with the desired precision in the processing station. However, as soon as the engagement must be released, for instance because the plate must be rotated and the robot must engage on another part , the robot must then first calibrate the position by laying the plate against two fixed surfaces, so that the robot can once again compute the origin. Further operations can then be performed. Such an interim calibration takes time.
Another drawback of performing operations from one side of the processing station is that the feed of plates and the discharge of processed products is difficult to fit into the logistic system. A material flow from the front to the rear is often desirable, while in an above described processing station with robot arm the material flow normally takes place at the front of the processing station. This represents a limitation, certainly in view of the limited reach of a robot arm in combination with required buffers.
It is now an object of the invention to provide a method which alleviates, or even obviates, the above stated drawbacks.
This object is achieved with a method according to the invention which comprises the steps of:
- providing a plate; - engaging the plate at a first point of engagement ;
- positioning the plate between the upper beam and lower beam from a first side for the purpose of performing operations on the plate with the processing station; and
- carrying the plate between the upper beam and lower beam from the first side to the opposite other side.
By now engaging the plate at a first point of engagement and first positioning the plate between the upper beam and lower beam from a first side and subsequently carrying the plate between the upper beam and lower beam to the opposite other side, further operations can there be performed without the point of engagement on the plate having to be changed. This moreover provides the further advantage that the processing station can be placed in line more readily with the material flow, wherein the feed takes place on the first side of the processing station while the discharge takes place on the other side.
A preferred embodiment of the method according to the invention comprises the step of positioning the plate between the upper beam and lower beam from the other side for the purpose of performing operations on the plate with the processing station. Because the plate, held fast at the first point of engagement, is now situated on the other side of the processing station, the movement options are mirrored, whereby more options for processing the plate are available. Yet another embodiment of the method according to the invention comprises the step of releasing the engagement of the first point of engagement.
A further preferred method according to the invention comprises the step of engaging the plate at a second point of engagement. By engaging the plate at a second point of engagement the calibration can be retained since the plate is also being held fast at the first point of engagement. Once the plate is held fixedly at the second point of engagement, the first point of engagement can optionally be released. This creates additional possibilities for manipulation and processing of the plate.
It is further possible to use both points of engagement so that elongate products can hereby be processed easily. Possible sagging as a result of the length can hereby be reduced or even prevented. In yet another embodiment of the method according to the invention the manipulation of the plate is synchronized with the movements of the upper beam and lower beam of the processing station. In for instance a folding press the plate will bend and outer ends will be displaced relative to the processing station while the upper beam and lower beam move toward each other. It is desirable here to synchronize the manipulation of the plate with the movement of the upper beam and lower beam, so that undesired bending of the plate is prevented.
The invention further comprises a device for performing the method according to the invention, which device comprises:
- a processing station with upper beam and lower beam movable toward each other, wherein tools are arranged on the upper beam and lower beam;
- a first manipulator arranged on a base, this base being displaceable between the upper beam and lower beam from a first side to a second opposite side.
Because the first manipulator is arranged on a base which is displaceable from the first side to the other side of the device, the plate can hereby be carried easily between the upper beam and lower beam from the one side to the other side.
A preferred embodiment of the device according to the invention comprises a second manipulator arranged on a base, this base being displaceable independently of the first manipulator between the upper beam and lower beam from the first side to the second opposite side. With this second manipulator it is possible for instance to perform preparatory operations, such as the calibration of the plate, after which the plate can be taken over by the first manipulator, although it is also possible to jointly process elongate products. In addition, it is optionally also possible to have both manipulators manufacture products simultaneously from the plates, wherein the operations of the two manipulators are synchronized with the movements of the upper beam and lower beam. The production of such a processing station can thus be increased considerably.
In a further preferred embodiment of the device according to the invention the manipulator is a robot arm. Such a robot arm provides many degrees of freedom, thereby enabling optimum manipulation of the plate.
These and other features of the invention are further elucidated on the basis of the accompanying drawings . Figure 1 shows a perspective view of a device according to the invention.
Figures 2A-2D show schematically four different steps of the method according to the invention.
Figure 1 shows a folding press 1 with a fixed upper beam 2 in which tools 3 are arranged, and a displaceable lower beam 4 with tools 5 therein. Arranged on either side of upper beam 2 and lower beam 4 are guides 6, 7 on which is arranged a displaceable base 8, 9 respectively having thereon a robot arm 10, 11. Each robot arm 10, 11 has a gripper 12, 13 with which a plate 14 can be held fast. Figure 1 shows the embodiment wherein both robot arms 10, 11 together hold one plate 14. As already stated above, is also possible to have one of the robot arms 10, 11 carry out preparatory operations or to have each carry out the same bending operations simultaneously on a separate plate.
Figure 2A show schematically a first step of the method according to the invention. The schematic parts are here indicated with the same reference numerals as in figure 1.
In figure 2A the base 8 of robot arm 10 is displaced wholly to the left on guide 6. Using gripper 12 the robot arm 10 holds a plate 14 against tool 3 in the fixed upper beam 2. The displaceable lower beam 4 with tool 5 is then moved upward so that plate 14 (see also figure 2B) is bent. As a result of the bending the point of engagement of gripper 12 on plate 14 will have to be moved in order to prevent undesirable bending of plate 14. By synchronizing the movement of lower beam 4 and robot arm 10 it is possible during bending of plate 14 to follow this plate with robot arm 10.
Lower beam 4 is subsequently moved downward again so that base 8 with robot arm 10 and the plate 14 arranged thereon can be displaced between upper beam 2 and lower beam 4 over guide 6 to the other side. It is thus possible to once again arrange plate 14 against upper tool 3 and bend an angle therein in the opposite direction without rotation around gripper 12, as shown in figure 2D. Lower beam 4 is then moved downward again and the bent plate part 14 can be set down in a discharge buffer on the side where robot arm 10 is situated, or the plate can once again be displaced between upper beam 2 and lower beam 4 in order to be set down again on the first side.

Claims

1. Method for manipulating a plate during processing thereof with a processing station having an upper beam and lower beam movable toward each other: which method comprises the steps of: - providing a plate;
- engaging the plate at a first point of engagement;
- positioning the plate between the upper beam and lower beam from a first side for the purpose of performing operations on the plate with the processing station; and
- carrying the plate between the upper beam and lower beam from the first side to the opposite other side .
2. Method as claimed in claim 1, further comprising the step of:
- positioning the plate between the upper beam and lower beam from the other side for the purpose of performing operations on the plate with the processing station.
3. Method as claimed in claim 1 or 2, comprising the step of:
- releasing the engagement of the first point of engagement .
4. Method as claimed in any of the foregoing claims, comprising the step of:
- engaging the plate at a second point of engagement.
5. Method as claimed in claim 4, comprising the step of: - releasing the engagement of the first point of engagement .
6. Method as claimed in any of the foregoing claims, wherein the manipulation of the plate is synchronized with the movements of the upper beam and lower beam of the processing station.
7. Device for performing the method as claimed in any of the foregoing claims, comprising:
- a processing station with upper beam and lower beam movable toward each other, wherein tools are arranged on the upper beam and lower beam;
- a first manipulator arranged on a base, this base being displaceable between the upper beam and lower beam from a first side to a second opposite side.
8. Device as claimed in claim 7, comprising:
- a second manipulator arranged on a base, this base being displaceable independently of the first manipulator between the upper beam and lower beam from the first side to the second opposite side.
9. Device as claimed in claim 7 or 8, wherein the manipulator is a robot arm.
PCT/NL2007/000212 2006-08-31 2007-08-31 Plate manipulation WO2008026916A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1032400A NL1032400C2 (en) 2006-08-31 2006-08-31 Plate manipulation.
NL1032400 2006-08-31

Publications (1)

Publication Number Publication Date
WO2008026916A1 true WO2008026916A1 (en) 2008-03-06

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Application Number Title Priority Date Filing Date
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WO (1) WO2008026916A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITBO20110065A1 (en) * 2011-02-15 2012-08-16 Metal Work Srl BENDING MACHINE
WO2015198294A1 (en) * 2014-06-27 2015-12-30 Bystronic Laser Ag Method for producing a bent part, and device for producing a bent part using a bending press or press brake and using a robot
JP2016163921A (en) * 2015-03-06 2016-09-08 ファナック株式会社 Robot system having robot operating synchronously with bending machine
US20220314298A1 (en) * 2019-08-01 2022-10-06 Trumpf Maschinen Austria Gmbh & Co. Kg. Transfer method, manipulation system designed therefor, and bending installation

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5568127A (en) * 1978-11-13 1980-05-22 Shin Meiwa Ind Co Ltd Automatic bending device for plate-form body
JPS6027421A (en) * 1983-07-25 1985-02-12 Shin Meiwa Ind Co Ltd Automatic bender for plate-shaped body
US4594870A (en) * 1982-11-25 1986-06-17 Shin-Meiwa Industry Co., Ltd. Automatic bending apparatus
NL1028129C2 (en) * 2005-01-26 2006-07-27 Safan Bv Press for bending sheet material comprises manipulators that can be operated independently to insert the sheet material in a desired position
NL1029319C2 (en) * 2005-06-22 2006-12-27 Safan Bv Press is for bending plate-form material and has frame which supports lower and upper beams movable vertically relatively to each other

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5568127A (en) * 1978-11-13 1980-05-22 Shin Meiwa Ind Co Ltd Automatic bending device for plate-form body
US4594870A (en) * 1982-11-25 1986-06-17 Shin-Meiwa Industry Co., Ltd. Automatic bending apparatus
JPS6027421A (en) * 1983-07-25 1985-02-12 Shin Meiwa Ind Co Ltd Automatic bender for plate-shaped body
NL1028129C2 (en) * 2005-01-26 2006-07-27 Safan Bv Press for bending sheet material comprises manipulators that can be operated independently to insert the sheet material in a desired position
NL1029319C2 (en) * 2005-06-22 2006-12-27 Safan Bv Press is for bending plate-form material and has frame which supports lower and upper beams movable vertically relatively to each other

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITBO20110065A1 (en) * 2011-02-15 2012-08-16 Metal Work Srl BENDING MACHINE
WO2015198294A1 (en) * 2014-06-27 2015-12-30 Bystronic Laser Ag Method for producing a bent part, and device for producing a bent part using a bending press or press brake and using a robot
JP2016163921A (en) * 2015-03-06 2016-09-08 ファナック株式会社 Robot system having robot operating synchronously with bending machine
US20220314298A1 (en) * 2019-08-01 2022-10-06 Trumpf Maschinen Austria Gmbh & Co. Kg. Transfer method, manipulation system designed therefor, and bending installation

Also Published As

Publication number Publication date
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