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EP2846943B1 - Procédé de manipulation automatisée d'un outil de cintrage et dispositif de fabrication - Google Patents

Procédé de manipulation automatisée d'un outil de cintrage et dispositif de fabrication Download PDF

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Publication number
EP2846943B1
EP2846943B1 EP13731256.7A EP13731256A EP2846943B1 EP 2846943 B1 EP2846943 B1 EP 2846943B1 EP 13731256 A EP13731256 A EP 13731256A EP 2846943 B1 EP2846943 B1 EP 2846943B1
Authority
EP
European Patent Office
Prior art keywords
bending
tool
reference light
light beam
approach
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.)
Active
Application number
EP13731256.7A
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German (de)
English (en)
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EP2846943A1 (fr
Inventor
Kabir SECIBOVIC
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.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
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.)
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Publication date
Application filed by Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Publication of EP2846943A1 publication Critical patent/EP2846943A1/fr
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Publication of EP2846943B1 publication Critical patent/EP2846943B1/fr
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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
    • B21D5/02—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

Definitions

  • the invention relates to a method according to the preamble of claims 1 and 2 and to a production device according to the preamble of claims 10 and 11.
  • WO 2012/027770 discloses a method according to the preamble of claim 1 and AT508923 discloses a method according to the preamble of claim 2.
  • the object of the invention is to provide a method with which the accuracy requirements for handling devices can be reduced or to provide a production device in which the use of industrial robots as a handling device is possible.
  • the positioning accuracy can be further increased if the approach movement of the handling device is continued during the calculation of the remaining distance to the holding position or the holding section without stopping, as this further sources of error by braking and accelerating the moving members of the handling device can be avoided.
  • the accuracy can be increased since dynamic influences in the referencing and the remaining approaching movement are thereby substantially reduced.
  • the local referencing in the area of the tool holder can be applied for a limited time by using the position determined by a positioning control of the handling device again for a subsequent distance movement of the handling device at a predefined distance from the holding position of the control device for the calculation of the subsequent subsequent trajectory.
  • the global coordinate system of the handling device remains unchanged in this case. In this case, if the positioning accuracy should be too small, the local referencing according to the invention can be made possible in places where a high positioning accuracy is required by providing additional light barrier arrangements.
  • the actual position in two different coordinate directions can be detected by successive interruptions of two reference light beams spaced apart in both coordinate directions by two measuring edges, thereby achieving the same advantages in positioning.
  • One possibility for correcting angular misalignments of the bending tool is that two measuring edges which are parallel and distant relative to one another on a surface plane of the bending tool which run at right angles to the approaching direction and the reference light beam are detected with a reference light beam.
  • the bending tool is rotated by a first helix angle relative to the reference light beam during the approach movement before reaching the reference light beam through a perpendicular to the approach direction and the reference light beam oriented axis of rotation of the handling device, whereby the first measuring edge forms a front edge.
  • the approaching movement is stopped and then the bending tool is rotated by a relative angle in the opposite direction until the second measuring edge interrupts the reference light beam.
  • Based on the detected by a positioning control of the handling device position deviations of the two measuring edges and the known distance of the measuring edges to each other an angular deviation of the surface plane is determined by the target orientation, which is then compensated by a correction rotation about the axis of rotation.
  • the advantages of the invention are achieved in a generic production device, if on the tool holder, in particular on the handling device facing side, at least one coupled to the control device and a reference light beam in a known measuring distance to a holding position for a bending tool or to a bending position for a workpiece emitting and monitoring light barrier arrangement is arranged.
  • the light barrier arrangement comprises a laser beam generator, in particular a laser diode.
  • a laser beam with its high luminous intensity and low scattering can be monitored very closely for interruption.
  • the light barrier arrangement can advantageously emit two relatively distant and parallel reference light beams in a structural unit.
  • the light barrier arrangement can be provided at many positions within the production facility if the light barrier arrangement comprises a transmitter unit and a receiver unit which is distant therefrom, wherein the receiver unit monitors the impact of the reference light beam emanating from the transmitter unit and is signal-connected to the control apparatus.
  • the arrangement of the light barrier arrangement if it comprises a combined transmitter-receiver unit and a beam deflection arrangement, in particular a mirror, which is distanced to this.
  • Referencing is particularly easy when the tool holder has an elongate receiving groove and the reference light beam is parallel to the receiving groove.
  • the light barrier arrangement can be integrated in one of the tool holders and the reference light beam perpendicular to the main plane or working plane of the bending press, whereby the exact positioning of the bending tool in the longitudinal direction of the receiving groove and / or in the direction of the depth of the receiving groove can take place.
  • a simple and at the same time accurate mounting of the light barrier arrangement can take place if it comprises a fastening portion, whereby it can be fastened to the tool holder like a bending tool.
  • FIG. 1 1 shows a production device 1 for producing bent-formed workpieces with a bending press 2, a handling device 3, in particular in the form of a multi-axis robot, and a tool storage 4.
  • a machine frame 5 of the bending press 2 comprises essentially two spaced apart via a transverse dressing, not shown, parallel to each other and perpendicular to a footprint 6
  • an adjustable press bar 9 is guided in guide arrangements of the side stand 7 and drive connected to the side stands 7 and the machine frame 5 drive means 10, for example, hydraulic cylinders, electric spindle drives, etc. drive-connected.
  • tool holders 11 Arranged on the two pressing bars are tool holders 11, which are opposite one another and are provided with fastening means, which have, for example, tool receiving openings 12.
  • the tool holders 11 are provided for mounting with bending tools 13 in accordance with specifications for the respective workpiece part to be formed and bending process, for example with a bending die 14 in the tool holder 11 of the fixed press beam 8 and with a bending punch 15 in the tool holder 11 of the press beam 9.
  • the production device 1 for an automated workpiece and tool transfer comprises the handling device 3, for example in the form of a multi-axis robot 16, with a gripper 17, which has at least one gripper element 18, e.g. a pliers gripper, suction pads, etc. includes.
  • the working space of the handling device 3 preferably extends over the usable working space of the bending press 2 and the tool storage 4.
  • the handling device 3 can be moved in a driving arrangement 19 in parallel to a front side 20 of the pressing beam 8 direction.
  • a stop device 22 with a stop finger 23 the CNC-controlled supports the exact positioning of workpieces to be bent.
  • the production device 1 comprises a programmable control device 24 with which the functions of the production device 1 and its components are controlled, regulated, monitored, adjusted or otherwise influenced. In particular, this also includes the detection and control of states and positions of the articulated arms and in particular of the gripping element 18 of the handling device 3 or manipulated therewith workpieces or bending tools 13.
  • the control device 24 can also distributed over the manufacturing device 1 subsystems, each other in signal communication include, in particular a positioning control 25 for the handling device 3, with which the positions of the various movement members and adjustment axes of the handling device 3 are controlled in the execution of handling tasks.
  • the invention relates to the insertion or removal of a bending tool 13 in and out of a holding position on a tool holder 11.
  • This may relate to the tool holders 11 on the bending press 2, but alternatively or additionally also tool holders 26 on the tool storage 4, located in the working space or are within reach of the handling device 3.
  • Fig. 1 are a bending die 14 and a punch 15 shown in a respective holding position 27 on the tool storage 4, in each of which a bending tool 13 is held in a tool holder 26.
  • a bending tool 13 is shown in the form of a bending die 14, which is just approximated to the tool holder 11 on the fixed pressing beam 8 or removed from this, shown.
  • the bending tools 13 can be brought easily and smoothly in the intended holding position 27 on a tool holder 11, 26 of the handling device 3, it is necessary that the respective holding position 27 is approached with high accuracy.
  • the production device 1 comprises at least one light barrier arrangement 28, by means of which the positioning accuracy of the handling device 3 in the region of the tool holders 11, 26 equipped therewith can be substantially increased with relatively little effort ,
  • the tool holder 11 on the fixed pressing beam 8 and the tool holders 26 on the tool storage 4 are each assigned a light barrier arrangement 28.
  • the tool holder 11 on the adjustable pressing beam 9 is also possible to associate with a light barrier arrangement 28 as well.
  • Fig. 1 shows a holding portion 29 on the bending tool 13, on which by the gripping member 18, the connection between the bending tool 13 and the handling device 3 is made.
  • the light barrier arrangement 28 In the area of a tool holder 11, 26, the light barrier arrangement 28 generates a reference light beam 30, which is located in a measuring distance 31, viewed from the handling device 3, in front of the holding position 27. If the reference light beam 30 is interrupted by a predefined measuring edge on the bending tool 13 or on the gripping element 18 when the handling device 3 approaches the holding position 27, this beam interruption can be detected by the light barrier arrangement 28 and supplied to the control device 24. Since the reference light beam 30 is located in the known measuring distance 31 in front of the holding position 27, at the time of the beam interruption, an actual position of the respectively considered measuring edge can be defined, of which it is known that the remaining approximation path corresponds to the known measuring distance 31, which is relatively small is compared with the previously performed approach movement of the handling device 3.
  • Fig. 1 is a measuring distance 31 shown, which extends in the direction of the horizontal X-axis 32, but it is also possible to set a known measuring distance in the direction of the vertical Y-axis 33, whereby, alternatively or in addition to the horizontal X-direction 32, a reference also in the direction of the vertical Y-axis 33 can take place.
  • the measuring distance 31 is selected from a range of a few millimeters to a few centimeters, and is thus relatively short compared to the entire range of the handling device 3, the range of such a manufacturing device in the form of a bending cell is usually several meters.
  • the mechanical deformations of the handling device 3 and / or the tool storage 4 depend to a great extent on the masses of the bending tools 13 used and, because of the local referencing in the vicinity of the tool holders 11, 26, it is not necessary. the computationally consuming masses or thermal influences computationally by the positioning control 25 to be considered.
  • the reference light beam 30 extends at right angles to the plane of the drawing and also at right angles to the approaching direction, which in the exemplary embodiment shown extends in the direction of the X-axis 32.
  • the reference light beam 30 extends from a transmitter unit to a receiver unit, wherein the receiver unit monitors the impact of emanating from the transmitter unit reference light beam 30 and signal connected to the control device 24 and thereby the interruption of the reference light beam 30, the detection of the actual position or the subsequent recalculation can trigger the rest of the approach movement.
  • the referencing of the handling device 3 on the reference light beam 30 is performed with a measuring edge on the gripper element 18 and in this case the measuring distance 31 extends from the reference light beam 30 to the holding section 29 of FIG the tool holder 11, 26 located bending tool 13th
  • a bending tool 13 is shown in a tool holder 11, 26, wherein the remaining parts of the manufacturing device 1 have been omitted for simplicity.
  • Fig. 2 shows a bending tool 13 which is held by a gripping element 18 of the gripper 17 of the handling device 3 and in a tool holder 11, 26, which is arranged for example on the lower, fixed pressing beam 8 or on a tool storage 4, to be used.
  • the holding portion 29, on which the gripper 17 with the gripping element 18, coupled here in the form of a forceps gripper, is formed in the illustrated embodiment by a gripping groove 34, in which the pliers-like gripping element 18 engages.
  • a gripping groove 34 in which the pliers-like gripping element 18 engages.
  • a two-part shown in dashed lines approaching movement 35 is required, with the bending tool 13 is positioned vertically aligned over the tool holder 11, 26 and then with a vertical lowering a mounting portion 36 of the bending tool 13 in a receiving groove 37 of the tool holder 11, 26 are introduced in a first step can. Subsequently, by fixing means, not shown, for example, a terminal block, a fixing of the bending tool 13 to the tool holder 11, 26th
  • the receiving groove 37 has a clear width 38, which must be greater than the outer dimension 39 of the attachment portion 36. Depending on the given positioning accuracy or repeatability of the handling device 3, the clear width 38 must be chosen so large that a sufficient clearance for insertion of the attachment portion 36 is present so that when lowering the bending tool 13 no unforeseen collision with the tool holder 11, 26 can take place.
  • the task of the handling device 3 is to position the center plane 40 of the bending tool in the main plane 41 of the tool holder 11, 26, this being done using the light barrier arrangement 28 with the reference light beam 30.
  • the horizontal portion of the approaching movement 35 in the direction of the horizontal X-axis 32 must be at a height at which the lower edge 42 of the bending tool 13 is located above the upper edge 43 of the tool holder 11,26.
  • a measuring position is defined, which is in the measuring distance 31 relative to the tool holder 11, 26 and which defines a current position with respect to the tool holder 11, 26 for a body which interrupts the reference light beam 30 at this time .
  • a reference point on the tool holder 11, 26 seen in the illustrated embodiment of the handling device 3 from the rear side surface 44 of the receiving groove 37 is used, but it can also be any, other reference point can be used.
  • the selected in the embodiment side surface 44 is advantageous since, for example, the attachment portion 36 is pressed by a terminal strip against this side surface 44.
  • a measuring edge 45 is selected on the bending tool 13, which is located on the mounting portion 36 of the bending tool 3.
  • the measuring edge 45 lies in a surface plane 46 of the attachment portion 36 and is perpendicular to the approach direction 32 of the handling device 3 and perpendicular to the reference light beam 30. Since the receiving groove 37 forms a contour that defines the holding position 27 of the bending tool 13, it is advantageous if However, it is also possible to use, for example, an edge on the front surface 47 of the bending tool 13 for the referencing.
  • Fig. 3 shows the time of approach movement, in which the measuring edge 45 interrupts the reference light beam 30 and the measuring edge 45 is in the known measuring distance 31 to the side surface 44 of the receiving groove 37.
  • the control device 24 can calculate the remaining approaching movement for the handling device 3 relative to this actual position, whereby this residual approaching movement can be performed with high accuracy due to the short distance to be traveled.
  • the remaining approaching movement is determined, for example, so that the measuring edge 45 of the attachment portion 36 is located slightly in front of the side surface 44, that is, there is little play for the subsequent lowering.
  • FIG. 4 shows that position of the bending tool 13 is shown in which the horizontal tale approaching movement in the direction of the X.-axis 32 is completed and the measuring edge 45 is just before the side surface 44 of the receiving groove 37 and then the bending tool 13 only in the vertical direction 33 must be lowered into the receiving groove 37.
  • Fig. 5 shows the bending tool 13 positioned in the final holding position 27, with its fixing portion 36 by means of a clamping force 48 indicated by an arrow is, can be fixed in the receiving groove 37 and thereby the surface plane 46 of the mounting portion 36 is brought into contact with the side surface 44 of the receiving groove 37 and an exact holding position 27 of the bending tool 13 is achieved.
  • Fig. 6 shows another possible embodiment of a light barrier assembly 28, the two spaced apart and parallel reference light beams 30 and 49 generate and monitor for interruption.
  • the reference light beam 30 With the reference light beam 30, the actual position of the bending tool 13 in the direction of the X-axis 32 and with the reference light beam 49, the actual position of the bending tool 13 in the direction of the Y-axis 33 can be detected.
  • the bending tool 13 is thereby first approximated by the handling device 3, not shown, in the horizontal direction to the tool holder 11, 26 until the first measuring edge 45 interrupts the first reference light beam 30 and then lowered in the vertical direction until the lower edge 42 as the second measuring edge 50 of the bending tool 13 interrupts the second reference light beam 49.
  • the horizontal approach movement is continued after the interruption of the first reference light beam 30 for a short distance, so that not one corner of the bending tool 13 must trigger the interruption of the second reference light beam 49, but a measuring point for the vertical actual position lies within the lower edge 42.
  • a detection of the actual position can also be done with reversed flow, in which first the horizontal lower edge 42 is detected as the measuring edge and then the vertical measuring edge.
  • the approach movement is accordingly modified to program.
  • any further horizontal movement of the bending tool 13 is already part of the remaining approaching movement in the direction of the X-axis 32 calculated by the control device 24 and from the first interruption of the second reference light beam 49 any further vertical movement of the bending tool 13 already a part of the remaining approaching movement in the direction of the Y-axis 33, which is also calculated by the control device 24.
  • the rest of the approaching movement of the reference light beams 30, 49 to the holding position 27 can be performed with increased accuracy, since a referencing of the position of the bending tool 13 can be done in two directions.
  • the approach movement of the bending tool 13 may be programmed to provide a short stoppage upon interruption of a reference light beam 30, 49, however, the approach movement is preferably continued uninterrupted, whereby the positioning accuracy can be further increased as strong braking and acceleration operations, the more Error sources can be reduced.
  • Fig. 7 It is shown that with the light barrier arrangement 28, the accuracy when removing a bending tool 13 from its holding position on the tool holder 11, 26 can be increased. This is achieved in that during the approach movement 35 to the attachment portion 36 of the bending tool 13, the gripper 17 is guided so that upon approach of the gripping member 18 to the holding portion 29, for example in the form of the gripping groove 34, a referencing of the handling device 3 on the reference light beam 30th the light barrier assembly 28 can be performed. For this purpose, a further measuring edge 51 is fixed on the gripping element 18, which preferably extends at right angles to the reference light beam 30 and at right angles to the approaching direction.
  • a removal movement 52 of the gripper 17 is indicated by a dashed arrow, and it is possible that the referencing on the light barrier arrangement 28 which occurred during the approach movement is canceled again after the bending tool 13 has been deposited in the holding position 27 and the actual position of the gripper 17 is again determined based on the detected by the positioning controller 25 coordinates, so the unchanged coordinates of the handling device 3 are used.
  • the local referencing on the tool holder 11, 26 is effectively canceled in this case.
  • Fig. 8 shows a possible embodiment of a light barrier assembly 28 having a mounting portion 36 and thereby like a bending tool 13 directly into the receiving groove 37 of the tool holder 11, 26 can be used. Furthermore, as in the case of a bending tool 13, a fixing can take place by means of a clamping force 48. By this type of attachment of the light barrier assembly 28 to the tool holder 11, 26 can be done easily and quickly change the light barrier assembly 28, wherein nevertheless an exact positioning of the reference light beam 30 is given.
  • Fig. 7 is further indicated that the light barrier assembly 28 as described above can generate a second reference light beam 49 and thus can be done with a structural unit and simple approach movement a referencing in two different coordinate directions.
  • Fig. 9 shows in plan view a possible further variant of the method for inserting a bending tool 13 in a tool holder 11, 26 by means of a in Fig. 9 3.
  • the individual phases of the approach movement are identified by the letters a to e.
  • the reference light beam 30 extends parallel to the receiving groove 37 of the tool holder 11, 26 and is monitored by the light barrier assembly 28 for interruption.
  • the light barrier arrangement 28 comprises a transmitter unit 53 at the left end of the tool holder 11, 26, from which the reference light beam 30, preferably in the form of a laser beam 54, is emitted to a receiver unit 55.
  • the transmitter unit 53 comprises a laser light source, for example in the form of a laser diode 56
  • the receiver unit 55 comprises, for example, a photocell 57, with which the interruption of the laser beam 54 can be monitored and is signal-connected to the control device 24, not shown.
  • the light barrier arrangement 28 it would also be possible for the light barrier arrangement 28 to comprise a combined transmitter-receiver unit 58 and a mirror 59 spaced therefrom, between which the reference light beam 30, here in the form of the laser beam 54, extends.
  • Fig. 9 shows the bending tool 13 in position a parallel to the receiving groove 37 and the reference light beam 30.
  • a positional deviation 65 between the target position and the actual position defined by the reference light beam 30 is detected. Subsequently, an opposite rotation of the bending tool 13 takes place, for example counterclockwise, (phase d) until the second measuring edge 61 causes an interruption of the reference light beam 30 (phase e). Also at this time, a position deviation 66 between the desired position and the actual position of the measuring edge 61 is determined.
  • the determined angular misalignment of the bending tool 13 can then be corrected by the control device 24, whereby the insertion of the bending tool 13 can be carried out with higher accuracy.
  • Fig. 10 shows a further alternative or additional possible embodiment of the manufacturing device 1, in which the light barrier assembly 28 is integrated in the lower tool holder 11.
  • the reference light beam 30 extends in this embodiment perpendicular to a main plane 41 and can be monitored by this arrangement, the approaching movement of the bending tool 13 in the direction of the Y-axis 33.
  • the insertion into the receiving groove 37 can thereby also be controlled as in the previously described directions and with little mechanical stress.
  • the positioning in the longitudinal direction of the receiving groove 37 can be improved in its accuracy by the approaching movement is monitored by means of the reference light beam 30 in this direction.
  • Fig. 11 is shown in plan view, the application of the invention for positioning a workpiece 68 in a direction indicated by dashed lines bending position 69 relative to a bending tool 13 used in a tool holder 11.
  • the light barrier arrangement 28 generates a reference light beam 30, which runs in the direction of the Y-axis 33 at right angles to the plane of the drawing and to the surface of the workpiece 68 to be bent. This direction is also parallel to the main plane 41.
  • the method for positioning the workpiece 68 is thus performed as the previously described method for positioning the bending tool 13 by means of a contactless referencing in the vicinity of the target position to be approached and mutatis mutandis all method variants described in connection with the tool positioning can also be used for workpiece positioning.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (19)

  1. Procédé d'insertion ou d'enlèvement d'un outil de cintrage (13) dans ou hors d'une position de retenue (27) sur un porte-outil (11, 26) au moyen d'un élément de préhension (18) d'un dispositif de manipulation (3) doté d'un dispositif de commande programmable (24), dans lequel un outil de cintrage (13) retenu par l'élément de préhension (18) est déplacé par le dispositif de manipulation (3) dans la position de retenue (27), et l'élément de préhension (18) est détaché de la section de retenue (29) dans la position de retenue (27), ou l'élément de préhension (18) du dispositif de manipulation (3) se déplace sur la section de retenue (29) de l'outil de cintrage (13) se trouvant dans la position de retenue (27), et l'outil de cintrage (13), après que l'élément de préhension (18) ait saisi la section de retenue (29), est retiré de la position de retenue (27), caractérisé en ce que le rapprochement de l'outil de cintrage (13) dans la position de retenue (27) ou le rapprochement de l'outil de cintrage (13) sur la section de retenue (29) est surveillé dans au moins une direction de coordonnées (32, 33) via un rayonnement de lumière de référence (30) d'un agencement de cellule photoélectrique (28) se trouvant dans une direction de rapprochement (32) avant la position de retenue (27) et à une distance de mesure connue (31) par rapport au porte-outil (11, 26), et une position réelle de l'outil de cintrage (13) ou de l'élément de préhension (18) va être définie au moment de l'interruption du rayonnement par une arête de mesure (45, 50, 51) à peu près orthogonale à la direction de rapprochement (32) et au rayonnement de lumière de référence (30) sur l'outil de cintrage (13), ou plutôt sur l'élément de préhension (18), et le dispositif de commande (24) va utiliser la distance de mesure (31) comme base de calcul pour le mouvement de rapprochement résiduel du dispositif de manipulation (3) depuis la position réelle jusqu'à la position de retenue (27), ou plutôt jusqu'à la section de retenue (29).
  2. Procédé de positionnement d'une pièce à usiner à cintrer (68) dans une position de cintrage (69) sur un outil de cintrage (13) inséré dans un porte-outil (11) au moyen d'un élément de préhension (18) d'un dispositif de manipulation (3) doté d'un dispositif de commande programmable (24), dans lequel une pièce à usiner (68) supportée par l'élément de préhension (18) va être déplacée par le dispositif de manipulation (3) par rapport à l'outil de cintrage (13) jusque dans la position de cintrage (69), caractérisé en ce que le rapprochement de la pièce à usiner (68) jusque dans la position de cintrage (69) est surveillé dans au moins une direction de coordonnées (32, 70) via un rayonnement de lumière de référence (30) d'un agencement de cellule photoélectrique (28) se trouvant dans une direction de rapprochement (32, 70) avant la position de cintrage (69) et à une distance de mesure connue (31) par rapport au porte-outil (11), et une position réelle de la pièce à usiner (68) va être définie au moment de l'interruption du rayonnement par une arête de mesure (71, 72) sur la pièce à usiner (68) à peu près orthogonale à la direction de rapprochement (32, 70) et au rayonnement de lumière de référence (30), et le dispositif de commande (24) va utiliser la distance de mesure (31) comme base de calcul pour le mouvement de rapprochement résiduel du dispositif de manipulation (3) depuis la position réelle jusqu'à la position de cintrage (69).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le mouvement de rapprochement du dispositif de manipulation (3) lors du calcul du mouvement de rapprochement résiduel est poursuivi sans interruption.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le mouvement de rapprochement du dispositif de manipulation (3) voit sa vitesse diminuer avant d'atteindre le rayonnement de lumière de référence (30).
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que pendant un mouvement d'éloignement ultérieur du dispositif de manipulation (3) à une distance prédéfinie de la position de retenue (27) du dispositif de commande (24), la position déterminée par une commande de positionnement (25) du dispositif de manipulation (3) va être utilisée pour le calcul de la trajectoire de déplacement ultérieure supplémentaire.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que pendant le mouvement de rapprochement, la position réelle dans deux directions de coordonnées différentes (32, 33, 70) est détectée par des interruptions survenant successivement du rayonnement de lumière de référence (30) via deux arêtes de mesure (45, 50, 71, 72), en particulier orthogonales aux directions des coordonnées respectives (32, 33, 70).
  7. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que pendant le mouvement de rapprochement, la position réelle dans deux directions de coordonnées différentes (32, 33, 70) est détectée par des interruptions survenant successivement de deux rayonnements de lumière de référence (30, 45) à distance l'un de l'autre dans deux directions de coordonnées, via deux arêtes de mesure (45, 50, 71, 72).
  8. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que comme arête de mesure (45, 50) au niveau de l'outil de cintrage (13), un contour fixé ensemble avec le porte-outil (11, 26) dans la position de retenue (27), en particulier une partie de fixation (36) faisant saillie dans une rainure de réception (37) sur le porte-outil (11, 26), est utilisé(e).
  9. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que deux arêtes de mesure (60, 61) parallèles entre elles et espacées vont être détectées par un rayonnement de lumière de référence (30) sur une surface supérieure (63) de l'outil de cintrage (13), s'étendant perpendiculairement à la direction de rapprochement (32) et au rayonnement de lumière de référence (30), dans lequel l'outil de cintrage (13), au moment du mouvement de rapprochement avant d'atteindre le rayonnement de lumière de référence (30), au moyen d'un axe de rotation du dispositif de manutention (3) orienté perpendiculairement à la direction de rapprochement (32) et au rayonnement de lumière de référence (30), va être tourné sur un premier angle d'hélice (62) par rapport au rayonnement de lumière de référence (30), de sorte que la première arête de mesure (60) forme une arête de mesure avant (64), le mouvement de rapprochement est arrêté lors de l'interruption du rayonnement de lumière de référence (30) par l'intermédiaire de la première arête de mesure (60), puis l'outil de cintrage (13) est mis en rotation sur un angle relatif dans le sens opposé, jusqu'à ce que les deux arêtes de mesure (61) interrompent le rayonnement de lumière de référence (30), et sur la base des écarts de position (65, 66) des arêtes de mesure (60, 61) détectés par une commande de positionnement (25) du dispositif de manipulation (3), et de la distance connue (67) des arêtes de mesure (60, 61) l'une par rapport à l'autre, un écart angulaire du plan de surface supérieure (63) est déterminé à partir de l'orientation souhaitée.
  10. Dispositif de fabrication (1), en particulier cellule de pliage, comprenant une presse plieuse (2), un dispositif de manipulation (3) doté d'un dispositif de commande programmable (24), un élément de préhension (18) sur le dispositif de manipulation (3) pour la manipulation d'outils de cintrage (13) ou de pièces à usiner (68), un porte-outil (11, 26) agencé dans la zone de travail du dispositif de manipulation (3) sur une poutre de pressage (8, 9) de la presse plieuse (2) ou un magasin d'outils (4) destiné à supporter un outil de cintrage (13) dans une position de retenue, et au moins un agencement de cellule photoélectrique (28) couplé au dispositif de commande programmable (24), caractérisé en ce que l'agencement de cellule photoélectrique (28) est agencé sur le porte-outil (11, 26), et un rayonnement de lumière de référence (30) est envoyé et surveillé sur une distance de mesure connue (31) vers une position de retenue (27) pour un outil de cintrage (13), dans lequel le dispositif de commande (24) va utiliser la distance de mesure (31) comme base de calcul pour un mouvement de rapprochement résiduel du dispositif de manipulation (3) depuis une position réelle définie d'après un rayonnement de lumière de référence (30) jusqu'à la position de retenue (27).
  11. Dispositif de fabrication (1), en particulier cellule de pliage, comprenant une presse plieuse (2), un dispositif de manipulation (3) doté d'un dispositif de commande programmable (24), un élément de préhension (18) sur le dispositif de manipulation (3) pour déplacer des pièces à usiner (68) dans une position de cintrage (69), un porte-outil (11) agencé dans la zone de travail du dispositif de manipulation (3) sur une poutre de pressage (8, 9) de la presse plieuse (2) pour supporter un outil de cintrage (13) dans une position de retenue, et au moins un agencement de cellule photoélectrique (28) couplé au dispositif de commande programmable (24), caractérisé en ce que l'agencement de cellule photoélectrique (28) est agencé sur le porte-outil (11), et un rayonnement de lumière de référence (30) est envoyé et surveillé sur une distance de mesure connue (31) vers une position de cintrage (69) d'une pièce à usiner (68), dans lequel le dispositif de commande (24) va utiliser la distance de mesure (31) comme base de calcul pour un mouvement de rapprochement résiduel du dispositif de manipulation (3) depuis une position réelle définie d'après un rayonnement de lumière de référence (30) jusqu'à la position de cintrage (69).
  12. Dispositif de fabrication (1) selon la revendication 10 ou 11, caractérisé en ce que l'agencement de cellule photoélectrique (28) comprend un générateur de faisceau laser, en particulier une diode laser (56).
  13. Dispositif de fabrication (1) selon l'une quelconque des prétentions 10 à 12, caractérisé en ce que l'agencement de cellule photoélectrique (28), dans une unité structurelle, envoie deux rayonnements de lumière de référence ((30, 49) distants l'un de l'autre et parallèles.
  14. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 13, caractérisé en ce que l'agencement de cellule photoélectrique (28) présente une unité d'émission (53) et unité de réception (55) à distance de celle-ci, dans lequel l'unité de réception (55) surveille l'incidence du rayonnement de lumière de référence (30) provenant de l'unité d'émission (53), et est reliée au signal du dispositif de commande (24).
  15. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 13, caractérisé en ce que l'agencement de cellule photoélectrique (28) présente une unité émetteur-récepteur combinée (58), et un agencement de déviation à distance de celle-ci, en particulier un miroir (59).
  16. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 15, caractérisé en ce que le porte-outil (11) présente une rainure de réception longitudinale (37), et le rayonnement de lumière de référence (30) s'étend parallèlement à la rainure de réception (37).
  17. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 15, caractérisé en ce que l'agencement de cellule photoélectrique (28) est intégré dans l'un des porte-outils (11), et le rayonnement de lumière de référence (30) s'étend perpendiculairement au plan principal (41) de la presse plieuse.
  18. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 15, caractérisé en ce que des composants coopérants de l'agencement de cellule photoélectrique (28) sont agencés sur deux porte-outils (11), et le rayonnement de lumière de référence (30) couvre la distance entre les porte-outils (11) parallèlement au plan principal (41).
  19. Dispositif de fabrication (1) selon l'une quelconque des revendications 10 à 16, caractérisé en ce que l'agencement de cellule photoélectrique (28) présente une partie de fixation (36), de sorte que celui-ci est fixé au porte-outil (11, 26) comme un outil de cintrage (13).
EP13731256.7A 2012-05-09 2013-05-07 Procédé de manipulation automatisée d'un outil de cintrage et dispositif de fabrication Active EP2846943B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA550/2012A AT511959B1 (de) 2012-05-09 2012-05-09 Verfahren zur automatisierten Handhabung eines Biegewerkzeuges und Fertigungseinrichtung
PCT/AT2013/050103 WO2013166538A1 (fr) 2012-05-09 2013-05-07 Procédé de manipulation automatisée d'un outil de cintrage et dispositif de fabrication

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EP2846943A1 EP2846943A1 (fr) 2015-03-18
EP2846943B1 true EP2846943B1 (fr) 2016-07-27

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EP (1) EP2846943B1 (fr)
JP (1) JP6170137B2 (fr)
AT (1) AT511959B1 (fr)
WO (1) WO2013166538A1 (fr)

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AT515272B1 (de) 2014-01-09 2015-10-15 Trumpf Maschinen Austria Gmbh Werkzeugspeichersystem für Biegewerkzeuge
AT515781B1 (de) * 2014-10-08 2015-12-15 Trumpf Maschinen Austria Gmbh Handhabungssystem für Biegewerkzeuge
AT517712B1 (de) * 2015-11-04 2017-04-15 Trumpf Maschinen Austria Gmbh & Co Kg Greifersystem für eine Biegepresse
AT519480B1 (de) * 2017-02-08 2018-07-15 Trumpf Maschinen Austria Gmbh & Co Kg Biegewerkzeug-Speichervorrichtung
US10197219B1 (en) 2017-08-04 2019-02-05 Jason Boyer Secondary light curtain for detecting crush zone intrusion in a secondary process and associated method for use
IT201900006656A1 (it) * 2019-05-08 2020-11-08 Salvagnini Italia Spa Macchina piegatrice per lamiere metalliche
KR102429212B1 (ko) * 2022-02-03 2022-08-03 최명철 피가공물 내측 지지가 가능한 프레스 시스템

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JPS59227379A (ja) * 1983-06-09 1984-12-20 株式会社アマダ 被加工物の供給方法および装置
JP2501194B2 (ja) * 1986-04-11 1996-05-29 株式会社 アマダ 線位置検出装置
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Publication number Publication date
WO2013166538A1 (fr) 2013-11-14
AT511959B1 (de) 2013-04-15
JP2015517407A (ja) 2015-06-22
JP6170137B2 (ja) 2017-07-26
EP2846943A1 (fr) 2015-03-18
AT511959A4 (de) 2013-04-15

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