WO2019020333A1 - Emporte-pièce robotique - Google Patents

Emporte-pièce robotique Download PDF

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Publication number
WO2019020333A1
WO2019020333A1 PCT/EP2018/068107 EP2018068107W WO2019020333A1 WO 2019020333 A1 WO2019020333 A1 WO 2019020333A1 EP 2018068107 W EP2018068107 W EP 2018068107W WO 2019020333 A1 WO2019020333 A1 WO 2019020333A1
Authority
WO
WIPO (PCT)
Prior art keywords
punch
hole
die
robot
robotic
Prior art date
Application number
PCT/EP2018/068107
Other languages
German (de)
English (en)
Inventor
Ralf Vollnhals
Oliver Luxenburger
Anton GEIER
Thomas Richter
Ralf Froschmeier
Original Assignee
Audi 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 Audi Ag filed Critical Audi Ag
Priority to EP18737879.9A priority Critical patent/EP3658308B1/fr
Publication of WO2019020333A1 publication Critical patent/WO2019020333A1/fr

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
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/24—Perforating, i.e. punching holes
    • B21D28/34—Perforating tools; Die holders
    • 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
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/24—Perforating, i.e. punching holes
    • B21D28/26—Perforating, i.e. punching holes in sheets or flat parts
    • 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
    • B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/003—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass in punching machines or punching tools

Definitions

  • the invention relates to a robotic punch, comprising a die having an interaction surface and a through hole opening therein, a punch movable along a reference axis perpendicular to the interaction surface and having an outside cross-section matched to the inside cross-section of the through-hole, and a drive device for moving the punch in a hole an initial position spaced from the die to move through the through hole, so that there is a perforation of a flat material located between the interaction surface of the die and die, wherein on the side facing away from the interaction surface of the die a collecting container for generated during perforation and pressed through the through hole wastes of the sheet material is provided.
  • master holes are introduced into the respective body, which are used as reference points for the subsequent manufacturing process - for example, the welding of Blechtenilen.
  • two master-side master holes are provided in an engine compartment of a body.
  • a master hole has a diameter of, for example, 2cm to 5cm.
  • the master holes are produced by means of hole pliers, which are rigidly mounted on welded parts and are delivered via manipulator linear units from a parking position to their processing position.
  • hole pliers which are rigidly mounted on welded parts and are delivered via manipulator linear units from a parking position to their processing position.
  • punching directly using To deliver a robot, in which case means must still be provided for deriving the forces acting during the punching process, for example a guying device.
  • a robot typically comprises a robot base with a robotic arm, at the distal end of which a punch or a robotic punch is mounted.
  • a robot may have 4, 5, 6, or 7 degrees of freedom of movement, with the working range of a robot, for example, extending 2m-3m around its robot base.
  • a robotic punch can be delivered in a flexible manner in different orientation to different positions within the engine compartment of a body shell.
  • Punching pliers typically include a die, a punch and a pincushion jaw.
  • the die usually has an interaction surface with a through hole opening into it, into which by means of a perforated movement a punch with an outer cross-section adapted to the hole cross-section can be moved.
  • a flat material arranged on the interaction surface for example a corresponding region of a bodyshell, is perforated in such a perforation process.
  • a typical hole punch for master holes has a total height in the range of 40cm to 60cm and has a typical weight in the range of greater than 50kg to 150kg.
  • a drive of a punch can include, for example, an electric motor.
  • a resulting problem is the disposal of the resulting sheet metal punching or Butzenab mechanism. According to the prior art, these can be collected in a small receptacle inside the hole forceps jaw.
  • gravity-induced falling back of the slug waste can not be ruled out, especially if the punch is used as a robotic punch and is often reoriented during delivery by the robot, so that the direction of gravity of gravity varies.
  • the utility model DE 9 318 967 U1 discloses a tool for a press or punch with punch and die and an ejector for the Butzenab constitution in the stamp, wherein the punch has an anvil detachable from the press frame.
  • a retaining device is designed such that a Butzenabfall can be pressed directly from the punch through the through hole of the die in the ideally rearward subsequent collecting container, falling out of the Butzenabfalls from the collecting container through the through hole is excluded. This is achieved according to the invention in a broader sense in that the retaining device then narrows the through-hole when the punch is not located in the through-hole of the die during a piercing operation.
  • the collecting container can be integrated as an inner cavity directly into the hole pliers jaw and does not necessarily have to be designed as a separate component.
  • the robotic punch according to the invention is also intended or suitable for being operated in an orientation in which the collecting container is located above the punch. This greatly simplifies the use of the robotic punch on a robot and reorientations of the robotic punch are unproblematic. An additional expense for suction or the like is omitted here.
  • the collecting container is adapted with its inner cross section taking into account a tolerance distance of, for example, 0.5 mm to 5 mm to the inner cross section of the through hole.
  • a tolerance distance for example, 0.5 mm to 5 mm to the inner cross section of the through hole.
  • the restraint device has at least three retention pins arranged in the region of the die and protruding in a star shape into the movement space of the punch and through the latter.
  • the through-hole is narrowed by the retaining pins that have then returned to their original position, thereby preventing the waste from falling out.
  • the retention pins are acted upon by a respective permanently acting spring force.
  • the retaining pins of the retaining device are designed as movable parts of ball pressure screws or the retaining device itself realized by ball pressure screws, which are available as standard components.
  • a ball pressure screw, as well as other retaining means also has a fixed and a movable part.
  • the movable part is intended to be at least partially pressed into the fixed part during a hole movement by the punch.
  • the fixed part may, for example, have a thread on its outer surface, by means of which the ball screw can be fastened in the area of the die or also directly on the die.
  • the fixed part may not protrude into the movement space of the punch, otherwise a perforation would damage the punch and / or the die.
  • Distance sleeves are a suitable means to prevent a correspondingly incorrect attachment of ball screws in the area of the die.
  • the retention pins are arranged at an equidistant angle to each other around the typically circular through hole of the die.
  • At least three prong-like recesses are provided along the circumference of the through-hole, to which the cross section of the punch is adapted with corresponding bulges, so that the die itself acts as a restraint.
  • the basic idea in this variant of the invention is to realize a difference between the effective diameter of the through-hole and the effective diameter of the slug waste by the serrated recesses of the through-hole of the die, whereby the alignment of the slug waste to be retained is of importance.
  • the cross-section of the typically circular trash debris is ultimately effectively increased by the bulges resulting from the prong-like recesses of the through-hole, whereby the effective diameter of the through-hole is not affected.
  • the notion of jagged recesses or recesses should theoretically be defined broadly; ultimately, in the minimum case, only a certain rotational symmetry must prevail for a corresponding cross section of the punch and die, so that its slight dropping from the slug to the die already prevents it from falling out is.
  • the robotic punch has an adapter device for mounting on a robot or on the distal end of the robotic arm of a robot.
  • the robot hole pliers can be easily mounted on a robot or its robot arm.
  • the adapter device still has coupling means for a power supply and / or for the control of the drive device of the robotic punch.
  • stamp and die for example be made of a hardened steel, which withstands the high mechanical loads when punching a body panel.
  • the object according to the invention is also achieved by a robot system comprising an industrial robot with a control device and a robot arm, to the distal end of which a robot punch according to the invention is attached.
  • a control device is provided for controlling the drives of a robot arm in such a way that, with a reference point at its distal end, it executes a desired movement determined in a robot program.
  • control device of the industrial robot is designed to control the movements of the robot arm and the robot punch in a coordinated manner.
  • the opening and closing movement of the pincers can then be regarded as a further degree of freedom of movement of the robot.
  • a separate control device for the robotic punch is avoided and, moreover, a coordinated movement of the robotic arm and the robotic punch thereon is enabled.
  • FIG. 5 is a punch in a die.
  • FIG. 1 shows a first exemplary robot hole pliers 10 in a three-dimensional view.
  • a disk-like die 12 having an interaction surface and a through hole is disposed opposite to a punch 16 movable along a reference axis 14.
  • On the side of the die 12 facing away from the interaction surface there is also provided along the reference axis 14 a collecting container 18 for wastes formed on a perforation and pressed through the through-hole of the die 12.
  • the punch has an exemplary height of about 40cm and is provided in its rear area with an adapter device 20, in this case a perforated plate for Versch rob with a counterpart of a manipulator, in particular an industrial robot.
  • the collecting container 18 is located above the die 12 in this example, so that there is the risk of gravitational falling out of waste in the collecting container 18 of flat material through the passage hole of the die 12. To avoid this, a retaining device 22 indicated in this figure is provided.
  • Figure 2 shows a second exemplary Roboteriochzange 30 in a sectional view.
  • a punch 36 is mounted in a sleeve-like guide 38 along which it is movable 52 by means of a drive device, not shown, along the reference axis 34.
  • a drive device can be realized for example by an electric motor.
  • the punch 36 with its guide 38 is transferred relative to the die 32 into a hole position, from which the actual punching process is started.
  • the die 32 has a ring-like construction and has a through hole, which Inner diameter is adapted to the outer diameter of the punch 36.
  • the punch 36 can be moved in a hole movement at least partially through the through hole of the die 32.
  • the punch 36 is partially located in the through-hole, wherein above the punch 36, a plurality of disc-like wastes 44, 46, 48 of a perforated sheet 54, which is located between the interaction surface of the die 32 and the guide 38 of the punch 36, are shown .
  • an exemplary restraint device 40 is shown, in this case a ball pressure screw.
  • a ball pressure screw due to the sectional view, only a single ball thrust screw is shown, but in this case three spherical pressure screws arranged in a star shape at the same angle about the reference axis 34 are to be assumed to be present.
  • the retaining device 40 represents the lower boundary of the collecting container 50. This essentially consists of a cavity integrated into the hole-pliers jaw of the punch-pliers, which at least in this example merges to a small extent into the through-hole of the die 32.
  • the retaining device 40 or the ball pressure screw has a fixed part with external thread, by means of which it is fixable in a corresponding threaded bore of the die 32, wherein the fixed part of the ball pressure screw does not protrude into the movement space of the punch 36.
  • the movable part of the ball screw protrudes into this movement space insofar as it is not pressed by the punch 36 in the direction indicated by the reference numeral 42 movement direction out of this, as is the case in this illustration.
  • the resulting disc-like waste 44, 46, 48 is at least partially passed through the through-hole of the die 32 to behind the retaining device 40. suppressed.
  • the movable part of the retaining device 40 or the ball pressure screw moves radially out of the movement space of the punch 36, so that the restriction caused by the retaining device 40 of the through hole temporarily no longer exists and the disc-like waste 44, 46, 48 can be pressed into the collecting container ,
  • a return movement of the punch 36 to the restraint device 40 whose moving parts are pressed by spring force back into the now released movement space of the punch 36 and the cross section of the through hole narrows again.
  • a falling out of the disc-like waste 44, 46, 48 from the collecting container 50 is avoided.
  • FIG. 3 shows a die 60 in a three-dimensional representation.
  • the die 60 is constructed like a sleeve and has an interaction surface 62 with a through hole 64 opening in it.
  • a plurality of retaining devices 66, 68 which project into the through-hole 64 with a movable part or a respective retaining pin and which are intended to be moved radially rearward by means of a punch pressed through the through-hole 64 ,
  • FIG. 4 shows a further embodiment 70 of a robotic punch according to the invention.
  • a stamp 86, a die 72 and a collecting container 76 are arranged with an interior 78.
  • the punch 86 is mounted in a sleeve-like guide 88, along which it can be moved by means of a drive device, not shown, along the reference axis 74.
  • the through hole of the die 72 is formed so as to serve as a retainer. Namely, the through hole of the die 72 has three longitudinally on its circumference extending serrated recesses 80, which correlate with three arranged around the circumference of the punch 86 serrated bulges 89 of the punch 86.
  • FIG. 5 shows in a representation 90 a punch 94 in the through hole of a die 92.
  • three serrated recesses 96 are provided, to which the cross section of the punch 94 is adapted by means of corresponding serrated bulges 98, so that the Matrix 92 itself acts as a retention device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un emporte-pièce robotique (10, 30, 70), comprenant une matrice (12, 32, 60, 72, 92) présentant une surface d'interaction (62) et un trou traversant (64) qui y débouche. Un poinçon (16, 36, 86) mobile (52) présentant une section transversale externe adaptée à la section transversale interne du trou traversant (64) est disposé le long d'un axe de référence (14, 34, 74) s'étendant perpendiculairement par rapport à la surface d'interaction. Un dispositif d'entraînement est prévu pour déplacer le poinçon (16, 36, 86) dans un mouvement de perforation (52) depuis une position initiale éloignée de la matrice (12, 32, 60, 72, 92) à travers son trou traversant (64), de telle sorte qu'il se produit une perforation d'un matériau plat (54, 82) se trouvant entre la surface d'interaction (62) de la matrice (12, 32, 60, 72, 92) et le poinçon (16, 36, 86). Un récipient de réception (50, 76) pour les déchets (44, 46, 48, 84) du matériau plat (54, 82) formés lors de la perforation et poussés à travers le trou traversant (64) est disposé au niveau du côté de la matrice (12, 32, 60, 72, 92) opposé à la surface d'interaction (62). Un dispositif de retenue (22, 40, 66, 68, 80, 96) est disposé dans la region du trou traversant (64) pour éviter une chute des déchets hors du récipient de réception (50, 76). L'invention concerne également un système robotique présentant un emporte-pièce robotique (10, 30, 70) selon l'invention.
PCT/EP2018/068107 2017-07-26 2018-07-04 Emporte-pièce robotique WO2019020333A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18737879.9A EP3658308B1 (fr) 2017-07-26 2018-07-04 Emporte-pièce robotique

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017007036.9A DE102017007036B3 (de) 2017-07-26 2017-07-26 Roboterlochzange
DE102017007036.9 2017-07-26

Publications (1)

Publication Number Publication Date
WO2019020333A1 true WO2019020333A1 (fr) 2019-01-31

Family

ID=62842107

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/068107 WO2019020333A1 (fr) 2017-07-26 2018-07-04 Emporte-pièce robotique

Country Status (3)

Country Link
EP (1) EP3658308B1 (fr)
DE (1) DE102017007036B3 (fr)
WO (1) WO2019020333A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115070079A (zh) * 2022-07-18 2022-09-20 南通佳景健康科技股份有限公司 一种基于激光定位的水疗按摩池镂孔加工机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9318967U1 (de) 1993-12-10 1994-02-10 Hans Berger Meßtechnik GmbH, 42349 Wuppertal Werkzeug für eine Presse oder Stanze und C-Gestell-Presse oder -Stanze mit dem Werkzeug
WO2006087607A1 (fr) * 2005-02-15 2006-08-24 Joachim Aronsson Dispositif flexible de poinçonnage electromecanique

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4516450A (en) 1983-03-07 1985-05-14 Wilson Tool Company Slug-retaining die
US20090314150A1 (en) 2008-06-24 2009-12-24 San Shing Fastech Corp. Die for cooperating with a punch
DE202010012396U1 (de) 2010-09-15 2010-12-30 Tox Pressotechnik Gmbh & Co. Kg Werkzeug und Vorrichtung zum Abführen von Stanzabfall
DE102011075254A1 (de) 2011-05-04 2012-11-08 Hochschule Kempten University Of Applied Sciences Schnittwerkzeug für Stanzmaschinen mit mechanischer Stanzteilentfernung
DE102012007357B4 (de) 2012-04-12 2014-04-24 Audi Ag Blechbearbeitungswerkzeug mit einer Stanz-Einpress-Vorrichtung und einem im Werkzeugoberteil angeordneten Abfallkanal zur Ausleitung von ausgestanzten Lochabfallstücken

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9318967U1 (de) 1993-12-10 1994-02-10 Hans Berger Meßtechnik GmbH, 42349 Wuppertal Werkzeug für eine Presse oder Stanze und C-Gestell-Presse oder -Stanze mit dem Werkzeug
WO2006087607A1 (fr) * 2005-02-15 2006-08-24 Joachim Aronsson Dispositif flexible de poinçonnage electromecanique

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115070079A (zh) * 2022-07-18 2022-09-20 南通佳景健康科技股份有限公司 一种基于激光定位的水疗按摩池镂孔加工机器人
CN115070079B (zh) * 2022-07-18 2024-05-28 南通佳景健康科技股份有限公司 一种基于激光定位的水疗按摩池镂孔加工机器人

Also Published As

Publication number Publication date
EP3658308A1 (fr) 2020-06-03
DE102017007036B3 (de) 2019-01-03
EP3658308B1 (fr) 2020-12-09

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