• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a bending press (1) and a method for operating such, with a control device (17) and a stop device (16) for positioning a workpiece (3) for a bending deformation between a first bending tool (12) and a relative thereto adjustable second bending tool (11), in which at least one stop finger (19) with a stop surface (20) by means of a drive arrangement (23) with at least one driven CNC axis (24) a position-controlled approach movement (39) towards a vertical bending plane (22 ) in a stop position (21) can perform. It is provided that the control device (17) activates a retraction drive (42), the immediate retraction movement (41) of the stop finger (19) or at least of the bending plane (22) nearest the end portion (45) of the stop finger (19) from the bending plane (22) effects when an obstacle (40) in the path of movement of the stop finger (19) is detected during the approaching movement (39) before reaching the stop position (21) by means of a sensor arrangement (38) encompassed by the control device (17).
    公开号:AT511107A4
    申请号:T6502011
    申请日:2011-05-09
    公开日:2012-09-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh；
    IPC主号:
    专利说明:

    25 Μ · 4 * ♦ 4 *. * * 16: 20: 37 03-05-2011 • * * · • ♦ * · · 5/33 • 4 · * -1-
    Dte invention relates to a method for operating a bending press according to the preamble of claim 1 and a bending press according to the preamble of claim 13.
    In order to assist an operator in positionally accurate loading of workpieces with respect to the bending plane defined by the bending tools, bending presses are often equipped with a workpiece positioning device having one or more impacting devices with an abutment surface against which a workpiece is struck by the operator. Thus, different bending telt lengths can be made without manual Umrüstvorgänge the stop device, the stop surfaces are advantageously formed on CNC-controlled stop fingers. During the adjusting movements of the stop fingers, there may be a risk of injury to an operator if the stop face is approached very close to the lower tool on which a work piece is placed, for in this case the fingers of an operator between the stop finger and the lower tool, a pre-positioned part of the work or any other obstacle could be trapped.
    For the avoidance of resulting crushing injuries, there are solutions in which the speed of movement of a stop finger in an approximation area near the bending plane or close to the lower tool, a prepositioned on it, any other fixed component of the press or any other obstacle is greatly reduced or at an approximation a predetermined safety distance, for example, less than 100 mm to the bending plane, the approaching movement is interrupted and must be released by the operator, in both cases, the positioning of the stop fingers is delayed in the stop position and thereby reduces the productivity of working on such a bending press , N2011 / D3S00 25 • Ψ 00 • 00 + 0.: 16: • • 0 «• 0 • s • a # 0 • • 0 0 • · 0 * a 0 · • 0 0 · • * • 1 ·» 0 • 0 0 * 0 0 0 »• ·· * ♦ 0 0 * 2- 09-05-2011 b.'33
    The object of the invention is to provide a method for operating a Btegepresse, in which the positioning movement of a stop finger mH high speed and still can be done without increasing the risk of injury to an operator. A further object of the invention is to provide a bending press with which the method according to the invention can be carried out.
    The object of the invention is achieved by a method with the measures of claim 1 and a bending press with the features of claim 13, wherein the sensor arrangement monitors the approach of the stop finger in the stop position and in the event of a potentially dangerous collision, the approach movement not only stopped but additionally a sudden withdrawal movement is initiated immediately. The activated retraction drive ensures correspondingly high acceleration values in the movement sequence of the stop finger or its end section.
    This additional retraction movement causes a surprised by the contact with the Anschlagfmger operator who reflexively and jerkily retracts the body part concerned, ie with great acceleration and high speed of movement, is not exposed to the risk that the body part by this evasive movement injuries from sharp-edged parts of the stopped stop finger are caused. In order to strike even thin Werkfeile on the stop surfaces, they are often performed very sharp, so that an inserted part of the work does not unintentionally by chamfering or rounding the stop surface up or down evades and the stop surface is positioned beyond. Due to the retraction movement of the stop finger according to the invention, tear-out or cut injuries are effectively prevented by reflexive retraction of body parts.
    A bending press according to the invention reduces the risk of injury to an operator, since the approach movement through the sensor array was constantly detected at a possible collision monitoring or an incoming collision immediately and the stop finger is not only stopped, but s.divizügiich a retraction movement is subjected and the risk of break-out injuries or cuts is substantially reduced or eliminated at the reflexively retracted by an operator body parts.
    In order to achieve high dynamics of the retraction movement, it is advantageous if, according to claim 2, the retraction movement is essentially limited to the stop finger or its end section, whereby lower masses are braked and reduced to N2D11 / 03500, 25 ......... .... 16:22:01 09-05-2011 7 133 • «• fr · fr« * * fr · fr ··· * ·· fr • ·· ··> * * * * · II * · II fr «fr« fr fr fr «fr * fr ·· - 3 -
    The opposite direction must be accelerated, resulting in lower requirements for the retraction drive. The abutment finger can therefore also be designed in several parts, and in the case of activation of the retraction movement only the bending plane adjacent end portion is pulled back jerkily. By this measure, the mass that must be moved in the retreat case is minimized, and thereby high accelerations and high speeds of the stop finger can be accomplished even with relatively low drive power of the retraction drive.
    If the existing for the positioning of the stop finger without existing CNO axes with their corresponding drives can cause a sufficient jerky retraction of the stop finger, it is advantageous if according to claim 3 or claim 16, this serves as a retraction drive or at least forms a part thereof. The retraction movement consists primarily in an increase in the distance of the stop finger to the bending plane, which is why the active in the horizontal X-axis CNC axes are activated here. CNC Acheen in the sense of this application include corresponding guide elements for guiding relative movements, actuators for applying the necessary adjustment forces and functions of the control device with which the Verstellbewe-tions can run programmatically and controlled.
    In order to further increase the dynamics of the retraction movement, it is possible according to claim 4 and claim 20 to activate by the control device acting on the stop finger additional drive means. This can support or replace a retracted motion activated CNC axis. Furthermore, the Rückzugbewegung can also affect only the foremost part of the stop finger, which is decoupled when triggering the retraction movement from the rest of the stop finger, and is withdrawn by the drive assembly for the positioning of the stop finger and / or the auxiliary drive means, if necessary. By such an additional drive means, a rapid retraction movement can be achieved, even if the dynamics of the positioning drive for the stop finger should not be sufficient. Therefore, a retrofitting existing stop devices is possible by subsequently provided for the retraction drive an additional drive means.
    Since the additional drive means only needs to be activated in the event of triggering, that is rarely activated in normal operation, this can according to claim 21 store the kinetic energy stored for the retraction movement in various forms, such as N2011 / 03500 -4- 25 * · · .... 16:22:47 09-05-2011 B / 33 for example in the form of a pyrotechnic propellant charge, a mechanically biased spring, a gas spring, etc. The aforementioned options for an auxiliary drive means provide reliable solutions for ensuring a quick retraction movement.
    One possible embodiment of the sensor arrangement according to claim 5 and claim 14 is that the obstacle is detected by a sensor element arranged on the stop finger in the form of a mechanically actuable contact switch, a force measuring element or a contact sensor acting as a contact. Capacitive, inductive, optical proximity switches can be used as non-contact sensors. The use of object recognition on an optical basis or structure recognition is also possible, in which the trajectory of the stop finger is checked for the presence of obstacles by means of at least one camera and an object recognition system or structure recognition system connected to the control device. The arrangement on the stop finger ensures that an obstacle is detected independently of the movement path of the stop finger present during the approach movement. The sensor element is advantageously arranged on the stop finger so that its detection direction points in the direction of the most probable location of a possible obstacle.
    A further embodiment consists in that the sensor arrangement according to claim 6 or claim 15 comprises a force control loop of the control device. Due to the additional overlay of the position control with a VerateHkraft regulation via the force control loop even very snowy adjustment and approach movements can still be performed very sensitively and, as soon as the stop finger encounters an unforeseen obstacle, the approach movement reversed within a very short time and the stop finger from Obstacle withdrawn. This force control can be provided in addition to a sensor element on the stop finger, whereby the operator safety further increasing redundancy for the detection of an obstacle is effected.
    The adjusting force exerted by a drive motor of the positioning drives on a Anschiagftnger can be controlled in the course of the approach movement in the stop position with a preprogrammed Verstellkraftverlauf and can for example by measuring the current consumption of the drive motor or the drive motors, a deviation, in particular an increase in reaching the stop position N2011 / 03500 25 ............. 16:23:32 09-05-2011 9/33 t «I * * * · · • I« · * ·· ** «* * * * * * <* * · * * * * * * * * * * -5 -digen adjusting force is detected immediately and the return movement of the stop finger is triggered. The determination of the Verstellkraftveriaufes preferably takes into account the friction of the stop finger in the linear guides on the finger carrier and the inertial forces occurring during delays or accelerations of the stop finger due to the mass of the stop finger. The stop finger, which is driven, for example, by means of a servomotor, can perform rapid dynamic positioning movements and nevertheless respond sensitively to unforeseen obstacles by virtue of the force control.
    The Verstellkraftverlauf can be partially constant or variable or continuously variable. The trigger value can be set so that exceeding the programmed Verstellkraftverlaufes by a certain percentile or by a fixed amount initiates the triggering of the withdrawal movement.
    A further increase in user safety is achieved in carrying out the method according to claim 7. In order to minimize the force on a body part of the user forces in case of contact or collision, it is conducive if the moving masses of Anschlagvomchtung are minimized and the triggering of the Retraction movement activated CNC axes of the positioning drive or the drive motors used here can exert high drive and braking torques. The adjustment force to be provided depends on the dynamics of the drive, the moving masses, the drive power or braking power of the second drive arrangement, etc. The actually acting force can be determined by measurement, for example, by performing a starting movement with collision on a force measuring device.
    The execution of the method according to claim Θ causes the stop finger outside the approach area, in which a risk to an operator can take place, with high adjustment force and, consequently, also with a high positioning speed, ie time-saving moves. Preferably, outside the range of approach, the full capability of the drive assembly of the stop device or CNC axes is utilized.
    A definition of the approach area according to claim 9 causes this is sufficiently large for many applications and the most vulnerable fingers of an operator are not exposed to crushing danger between stop finger and lower tool. N2011 / 03500 25 • »» · · 9 · * «» 9 * · · »*%« I · «(* * * * * * · · t I · 16:24:16 09-05-2011 10 / 33 • * · Μ * -6
    The use of the current intensity acting on the at least one CNC axis drive active for the approaching motion as the glazing value for the currently acting adjusting force according to claim 10 makes it possible to establish contact with an obstacle without an additional force measuring device and to trigger the retraction movement.
    By carrying out the method according to claim 11 with a very rapid initiation of the retraction movement away from the bending plane, the risk of injury when retracting a body part is turned off even with very responsive operators. The stop finger has through the sensor assembly and the highly dynamic retraction drive, so to speak, a shorter reaction time than the operator and has already performed a portion of the retraction before an operator can even make contact with the stop finger and react to it reflexively.
    The embodiment according to claim 12 ensures that the stop finger is within a very short time at a sufficient distance from the body part of the operator whereby this retraction of the body part can no longer hurt on sharp edges of the stop finger. The greater the retraction travel of the stop finger taken immediately after the detected contact, the less danger for the operator, even if the reflex movement should occur in an unforeseen or unexpected direction.
    An advantageous embodiment of the bending press according to claim 17 is that the stop finger is adjustably mounted on a finger carrier and the acting in the X-axis CNC axis of the retraction drive is arranged on the finger carrier, because thereby the to be accelerated in a retraction movement mass is minimized. In addition, the finger carrier, which itself can be adjusted by means of another CNC axis in the X axis direction, contribute to the retraction movement by the corresponding further CNC axis is activated. The retraction movement may further comprise a movement component in the vertical R-axis direction, in particular if the approach movement also contains a vertical component. Furthermore, it may be advantageous if the retraction movement represents a reversal of the approach movement, wherein the movement speed of the retraction movement can be substantially higher than that of the approach movement.
    The embodiment of the bending press according to claim 19 is advantageous, since by a Ver-steiibereich of the stop finger of at least 200 mm, the small and medium-sized N2011 / 03500 -7-. 25, 16: 25: 01 09-05-2011 11/33 ** ·· * · * «*« I * t «« ·
    Working parts occurring bending lengths are covered with high dynamics of movement, without traversing movements of other axes of the stop device are required.
    If the stop device of the bending press is equipped on its at least one CNC axis with an actuator, in particular an electric drive motor selected from a group comprising servomotor, linear motor rapid automated positioning movements are possible and this can be effective as a retraction drive.
    The design of the bending press according to claim 22 ensures a very high dynamics of the retraction movement, whereby even with operators with very quick reflexes in a collision of the stop finger is removed from the danger area before the evasive movement of the operator begins.
    The embodiment according to claim 23 also gives a high dynamite of the Rückzugbe-movement, wherein the skilled person depending on the mass of the stop finger can select a suitable retraction drive with which the specified values can be achieved.
    An embodiment of the bending press according to claim 24 represents a proven solution with which the inventive dynamics of the retraction movement can be realized.
    The embodiment of the bending press according to claim 25 represents a structural solution for a stop finger, which causes a high mechanical strength and at the same time a low weight to achieve a high dynamic motion.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Each shows in a highly schematically simplified representation:
    Fig. 1 is a view of a bending press with a Werkteil-stop device according to the present invention;
    FIG. 2 shows a side view of a stop device showing the method during operation of the bending press; FIG. N2011 / 03500 25
    · ** "» .16: 25: 38 • «*» * »h · * * • * · • * t # IM 09-05-2011 12/33 -8-
    3 shows a diagram of the Ver-stelikräfte acting in the adjustment of a stop finger in a sensor arrangement in the form of a force control loop;
    Fig. 4 is a partial section through a bending press with a possible embodiment of the workpiece stop device.
    By way of introduction, it should be noted that in the differently described embodiments, identical parts are provided with the same reference numerals or identical component designations, wherein the disclosures contained in the entire description can be transferred mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions. All statements on value tables in the present description should be understood to include any and all subregions thereof, e.g. the indication 1 to 10 should be understood to include all sub-ranges, starting from the lower limit 1 and the upper limit 10, i. all subregions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10.
    FIG. 1 shows a bending press 1 in the form of a press brake 2 for a bending deformation of workpieces 2.
    The bending press 1 comprises a fixed table beam 4, with an orientation perpendicular to a footprint 5 and a relative thereto by drive means 6, e.g. in the form of hydraulic cylinders, adjustable pressing beam 7. On one end face 8 of the pressing beam 7 and an end face 9 of the table beam 4 bending tools 11 and 12, approximately in the form of a punch and a bending die, are arranged in tool holders 10.
    In the exemplary embodiment shown, a tool set 13 formed from the bending tools 11, 12 is provided, it also being possible to use several of the tool sets 13 over an overall length 14 of the table beam 4 and press beam 7 as N2011 / 03S00 25 16: 3 ^: 20 09- 05-2011 13/33 ► * ♦ ψ ψ · · · · •--------------------
    Provide tooling to perform in subsequent operations different bending operations on the workpiece 3 can. At a press room 15, at least one impact device 16, in the exemplary embodiment shown, two stop devices 16 for positioning the work piece 3 between the bending tools 11, 12 are provided on a rear side of the table beam 4.
    The bending press 1 and the stopper 16 are supplied by a centrally arranged or distributed control device 17 with power and control signals, with other measurement and control circuits 16, such as position controls, force control circuits, etc. in the controller 17 or externally to the stopper 16 or integrated in an operator terminal of the bending press 1 can be provided with other switching and display elements.
    The bending press 1 in FIG. 1 shows two stop devices 16, but the method according to the invention can also be carried out with only one stop device 16 or with more than two stop devices 16. For a forming operation, a workpiece part 3 between the bending tools 11,12 inserted by an operator from the front of the bending press 1, wherein the stop devices 16 adjusted CNC-controlled stop finger 19 in an Anschfagposition in which a work piece 3 struck by the operator against stop surfaces 20 and thereby occupies a precisely defined position with respect to the bending tools 11, 12.
    FIG. 2 shows, in a side view of a stop device 16, schematically the implementation of the method according to the invention on a bending press 1.
    For positionally accurate insertion of a workpiece 3, the stop finger 19 is adjusted by the stopper 16 so that a stop surface 20 of the stop finger 19 is positioned at a stop position 21. The distance between the stop position 21 and the bending plane 22 determines the bending length of the finished workpiece 3 and is therefore of great importance for the production of accurate bending workpieces.
    The adjustment movements and the positioning of the stop finger 19 are effected by a drive arrangement 23 which comprises at least one, in the exemplary embodiment, several driven CNC axes 24. In the illustrated embodiment, the N2011 / 03500 includes 25 • 4 ........ 16:27:02 09-05-2011 14/33 ·· »· *« * f 4 ·· 6 · * * * J * ···· «···· *« 4 4 4 · 4 · * «·« · 4 «* * * 44 · -10-
    Drive assembly 23 a finger carrier 25 carrying the stop finger 19, which is mounted for vertical adjustment of the stop finger 19 as a vertical CNC axis 24 in the so-called R-axis direction 26 along a vertical guide track 27 adjustable.
    The CNC axis 24 in the R-axial direction 26 includes as an actuator, for example, an electric motor 28, preferably a servo motor, with a flanged pinion 29 and a cooperating rack assembly 30. The electric motor 28 is connected in Fig. 2 with the fixed guide rail 27 and the Rack assembly 30 disposed on the finger carrier 25, while the rack assembly 30 is connected to the vertical guide track 27. Of course, the electric motor 28 may alternatively be arranged on the finger carrier 25 and the rack assembly 30 may be connected to the fixed guide track 27. The control of the CNC axis 24 in R-axis direction 26 and the electric motor 28 is effected as shown in FIG. 2 recognizable by the control device 17, which is designed as a CNC control and includes a position control 31. The vertical guide track 27, as shown in Fig. 2, at its base by means of further CNC axes 24 in the horizontal direction rechtwinkefig be adjustable to the bending plane 22 to cover a wide range of workpiece dimensions. In addition, an adjustment of the finger 25 is parallel to the total length 14 of the table-4 bar possible.
    The stop finger 19 is mounted for the adjustability in the horizontal X-axis direction 32 at right angles to the bending plane 22 on a guide track 33 and its adjustment Mitteis the horizontal CNC axis 24 accomplished in the X-axis direction 32. As an actuator, this advantageously likewise comprises an electric motor, in particular a servomotor 34, which is likewise controlled by the control device 17, the measuring and control circuit 18 and the position control 31. The rotational movement of the servo motor 34 is transmitted, for example, by means of a pinion 35 on a Zahnstangenan order 36 on stop finger 19, whereby exact positioning operations in the X-axis direction 32 can be performed with high dynamics of movement. Alternatively, ball screws can be used for the CNC axes.
    In addition to the position control 31, the control device 17 additionally comprises a force control loop 37 overlapping this with which, in addition to the position control of the stop finger 19, regulation of the adjusting forces acting on these can also be performed. The force control circuit 37 is a part of N2011 / G3500 in this embodiment
    25 fr · 16: ^: 47 09- (ft * 2U1l 1 b / yy * * «* * * * * * * *« * * * * * · · ·· * · «« * · »·· Sensor arrangement 38 which, in the event of an impending or successful collision of the stop finger 19 with an obstacle, triggers a return movement of the stop finger caused by a retraction drive and the operation of which is described in more detail below.
    According to the invention, an adjustment movement 39 of the stop finger 19 of the position control is additionally superimposed by the position control 31 a force control by the force control circuit 37 and the stop finger 19 is adjusted by the servo motor 34 in the X direction 32 until the stop surface 20 is in the Anschiagposition 21 , If the stop finger 19 in this approach movement 39, as shown in dashed lines, meet an obstacle 40, which may for example consist of the fingers of an operator, the approaching movement 39 is stopped as quickly as possible and immediately a retraction movement 41 of the stop finger 19th triggered. By a sensitive force control 39 shock or crushing injuries of an operator can be avoided even with fast approach movements, since the highly dynamic drive by means of the servo motor 34 and the limited adjustment force acting on an obstacle 40 contact forces in an unforeseen collision can be kept low overall. Due to the retraction movement 41, an operator can not be injured during the reflexive retraction of the contacted body part on the stop finger 19.
    The retraction movement 41 is accomplished by the CNC axis 24 in the X-axis direction 32 with the servo motor 34, whereby it forms a retraction drive 42. At the same time, the CNC axis 24 in the X-axis direction 32 is a part of the sensor assembly 38, with a collision can be determined by an activated by the approach movement 39 force control circuit 37 an unforeseen increase in the required adjustment festgestl and in the event of a collision of the Control device 17 of the retraction drive 42 of the CNC axis 24 in the X-axis direction 32 is activated.
    The retraction drive 42 may further comprise an additional drive means 43 which is also triggered by the force control circuit 38 and can cause the retraction movement 41 of the stop finger 19. The additional drive means 43 can assist the servo motor 34 or else perform the rock pull movement 41 instead of this. For example, a pyrotechnic propellant charge, a preloaded mechanical spring or a prestressed gas spring can serve as additional drive means 43. Furthermore, it is possible that in the case of a retraction movement 41 not all the stop finger 19 of N2011 / 03500 25 ............. 16:) 8:32 09-05-2011 16/33 • « « 22 is moved away, but only the front part with the stop surface 20, whereby an even lower mass must be withdrawn, and therefore the movement can proceed even faster.
    As an alternative or in addition to the force control loop 37, the sensor arrangement 36 can also comprise a sensor element 44, which is arranged on the stop finger 19, in particular on its end section 45 closest to the bending plane 22. The approach of the stop finger 19 to an obstacle 40 can be detected by the sensor element 44 in a touching or non-contact manner and, based thereupon, a retraction movement 41 can also be triggered by means of the retraction drive.
    In order to increase the dynamics of the retraction movement, it is possible to restrict the retraction movement of the stop finger 19 on the end portion 45, whereby a lower mass is to accelerate, as if the entire stop finger must be stopped and put into a Zückzugbewegung.
    3, an embodiment of the method according to the invention with a sensor arrangement 38, which is based on a force control circuit 37, explained in more detail using a force-displacement diagram
    In the horizontal direction while the movement of the stop finger is applied in the X-axis direction 32 and the vertical direction are applied to the stop finger 19 acting adjusting forces.
    The stop finger 19 can cover by means of the CNC axis 24 in the X-axis direction 32 a certain, depending on the length of the guide Verstelibereich 46, which is for example at least 200 mm. Within the adjustment range 46 is the stop position to be approached 21, in which a workpiece 3 is positioned against the stop surface 20 for a forming process. Starting from a left starting position of the stop finger 19, this approaches in an approaching movement 39 to the stop position 21 at. During this approach movement 39, the servomotor 34 exerts an adjusting force on the stopper 19, which corresponds to a preprogrammed adjusting force course 44. In the first part of the approaching movement 39, the adjustment force is for example chosen to be very high and in particular can correspond to the nominal force 48 which can be provided by the servomotor 34 and becomes a smooth force due to this high adjustment force. N2011 / 03500 25 17/33, 16: 23: 14 09-05-2011 »· I ··-le adjustment movement of the stop finger 19 causes. When the stop finger 19 in the further course of the approaching movement 39 reaches a proximity region 49 at a certain distance to the stop position 21, the adjusting force exerted by the servomotor 34 on the stop finger 19 is lowered to a relatively low approaching force 50, this control by the force control circuit 38 the control device 17 is performed. During the entire approach movement 39 or else only within the approach area 49, the required adjustment force is monitored by the force control circuit 37, which is used to detect a collision with an unforeseen obstacle 40. In this case, in addition to acting in the guideway 33 and determined in preliminary tests frictional force an additional inhibiting force acts on the stop finger 19, which can be determined by the force control circuit 37 and from the collision with an obstacle 40 can be derived. In FIG. 3, the force increase 51 occurring in the event of a collision with an obstacle 40 is indicated, and as soon as the adjustment force rises above an exposure value 52 during an approach movement 39, this is evaluated as a collision with an obstacle 40 and a retraction movement 41 is initiated immediately.
    In order for the retraction movement 41 to take place as quickly as possible, the highest possible retraction force 53 is applied to it, which corresponds, for example, to the nominal force 48.
    By using an additional drive means 43 described with reference to FIG. 2, a retraction force 53 exceeding the nominal force 48 is also possible.
    FIG. 4 shows a further embodiment of a stop device 16, wherein components which correspond to previously described components are identified by the same reference numerals and reference is made to the above description parts.
    At the back of the table beam 4, two linear guides 54,55 are arranged, which extend to each other at a distance parallel to the bending plane 22 and in the horizontal direction.
    In the embodiment shown, the linear guides 54, 55 are formed by strip-shaped guide profiles, wherein a large number of differently ausgestalteter profiles are possible from the prior art and the execution is not limited to the embodiment shown with Gleitbahnführungen. N2011 / 03500 25 * * fr * «+ **« .16: 28: 57 09-Over-2011 er / dj * * * * fr * I «I * t« «* * f * * ·« · 4 I fr * * * -14-
    These linear guides 54,55 adjustably mount a stop device 16 bearing Sch litten module 56 on this provided, with the linear guides 54, 55 cooperating guide elements 57 and the stopper 16 is thereby adjustable also in Tischbalkenlängsrichtung, the so-called Z-direction.
    An adjustment of the carriage module 56 along the linear guides 54, 55 by means of a slide module 56 arranged on the electric drive means 58 which is provided with a pinion 58 and which is engaged with a rack 60 which is fixed to the table bar 4, whereby a pinion 61st is formed as a drive arrangement 62 for an adjustment of the stop device 16 in the Z axis direction, ie in the table beam longitudinal direction. The electric drive means 58 is preferably a servomotor and the drive arrangement 62 is designed as a CNC positioning axis 24.
    On the slide module 56, the finger carrier 25 is displaceably mounted in a linear guide track 27 in a R-axis direction 26 which runs perpendicular to the Z-axis direction
    For this purpose, the finger carrier 25 has a further, arranged on this, electrical drive means which is in driving connection with a pinion 28 with a linear tooth formation 30 on the carriage module 56 and thus the CNC axis 24 of the vertical R-axis direction 26 of the stop device 16 is formed , The electric drive means is formed by an electric motor 28, in particular a servomotor
    The finger carrier 25 supports on its upper side in a linear guide path 33 in a bending plane 22 perpendicular extending X-axis direction 32 a stop finger 18 adjustable and forms this stop finger 18 at least one of the bending plane 22 facing stop surface 20 for positioning the workpiece 3 with respect to the Bending plane 22.
    A CNC axis 24 for the horizontal X-axis direction 32 for the stop finger 18 is formed by an electric servomotor 34 arranged on the finger carrier 25 which is in driving connection with a pinion 35 with a linearly extending rack formation 36 of the stop finger 18. The servomotor 35 is achieved with a rotary encoder 63 and thus an NC control for adjusting the stop finger 19 in the X-axis direction 32.
    The drive means 26, 34, 58 are connected to the control device 17 via upper lines and an interface 64. N2011 / 03500 -15- 25 »», 16:30:39 09-05-2011 19/33
    The three CNC axes 24 for the positioning operations of the stop device 16 in the R, X and Z axis directions are formed NC controlled and thus each axis required exactly positioned and each position and / or position change for further control and regulation measures exactly detectable.
    According to the embodiment shown, the bending tool 12 forms a Auflageebe-ne 65 for the immediate bending for a forming process of the workpiece 3 from. As can be seen further, the stop finger 19 is graduated in its region facing the bending tool 12, for example. two in the adjustment of the stop finger 19 spaced stop surfaces 20th
    In the case of thin workpieces, the graduated design offers the possibility of supporting the free end region of the work piece 3 projecting beyond the bending tool 12 onto a support surface 66 of the stop finger 19 brought into alignment alignment with the support plane 65.
    A positioning operation in the X-axis direction 32 is carried out programmatically by setting an approaching movement 39 into a stop position 21. During this approach movement of the stop finger 19, the servomotor 34 is controlled in a speed-controlled and power-controlled manner in particular as a result of the approach of the stop finger 19 to the stop position 21, the further movement sections of the stop device 16 and the stop finger 19 in which there is no danger to an operator is possible, preferably carried out under full power and the highest possible speeds.
    This is done by a speed control of the servomotor 34 of the stop finger 19 and control of the motor torque e.g. by the decentralized measurement and control circuit 18 with the position control 31 and the force control circuit 37, e.g. By controlling the motor current of the servo motor 34. So it is preferably both the approach speed of the stop finger 19 to the stop position 21 as well as the driving force or the adjusting regulated, which is selected for safety reasons that in the end region of the approach to the stop position 21, approximately starting from less than 50 mm on a possible obstacle a contact force is exercised, which should not exceed 150 N.
    It should also be mentioned that the force limitation via the motor current control is preferably only in an approximation region 49 (see FIG. 3) to the stop position u 4 4 mcnh 25 * * * * * * · · · II · * * · · · *
    14: 31; 22, 09-Db-2üli • * · t »4« * »« · • Μ I * I -16-21 is activated and the other movements are carried out at high speeds, ie at full load to reduce the non-productive time ,
    An advantage according to the structural design of the Anschlagvonichtung 16 is a small, moving mass of the stop finger 1Θ over conventional stop devices generally relatively high moving masses. Accordingly, the stop fingers 19, which are driven directly, preferably made of lightweight materials such as aluminum, plastic, GRP, CFRP, etc. formed.
    This adjustment movement set the stop fingers 19 by appropriate Lelstungs-control of the servo motor 34, preferably by one of the measuring and Regetschaltung 18 and the force control circuit 37 caused motor current control, contrary to a system and Werkteilparametem of selectable and adjustable adjustment.
    As a result, a position control is achieved with underlayed force control in almost any regulation of the adjustment. For the approach movement 39, a programmed displacement force curve 47 (see FIG. 3) is applied and its compliance is monitored. Considered in determining a Verstellwiderstandes addition to part parameters and system parameters are taken into account that the system parameters, in particular the power required for adjusting the stop fingers and takes into account the internal friction forces are determined by calibration Verstellvorgänge. Taking into account a basic power requirement determined in this way, the adjusting resistance, which is to be set against the stop finger 19 by an adjustment into the stop position 21, can be regulated very sensitively in accordance with the workpiece part parameters.
    Due to the achievable sensitive control of the drive power and thus of Verstellwiderständen the drive arrangements of the stop fingers, the most essential system and part parameters such as body mass, strength, bending stiffness, system friction, Werkteil- Auflagereibung be taken into account in the positioning of the workpiece 3 and also giving rise to false system vibrations Both the stopper 16 are suppressed during the positioning process.
    According to the invention, in an approaching movement 39, the monitoring already described with reference to FIGS. 2 and 3 is carried out for collision with an obstacle 40 and, if required, a return movement 41 of the stop finger 19 is triggered. To unnecessary N2011 / 03500 25 ......... 16:34:06. 09-05-2011 21/33 • * * * * * * * * * 4 4 4 * * * * • * * 4 4 * 4 4 4 · f • «4 ··· 4 4 44 4« 4 * 4 * 4 444 -17-
    In order to avoid any repetition, the above description of the initiation and execution of the withdrawal movement 41 is referred to
    It should, however, be pointed out that the regulation of the stop device 16 or the drive means 28, 34, 58 for all axial directions-preferably the X and Z axis directions-is speed-controlled and / or torque-controlled or adjustment-force-controlled the previously described criteria is or can be done.
    The embodiments show possible embodiments of a bending press for carrying out the method according to the invention, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching to technical action by objective invention in the skill of those working in this technical field expert
    For the sake of order, it should finally be pointed out that, for a better understanding of the structure of the bending press 1, these or their components have been shown partially unevenly and / or enlarged and / or reduced in size.
    The task underlying the independent inventive solutions can be taken from the description.
    Above all, the individual in Figs. 1; 2; 3; 4 embodiments form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures. N2011 / 03500 25 09-05-2011 J $ * 3.5: 42 27/33 • *
    Reference numeral 1 bending press 36 rack assembly 2 press brake 37 force control circuit 3 workpiece 38 sensor assembly 4 table bar 39 approaching movement 5 contact surface 40 obstacle 6 drive means 41 retraction movement 7 pressing beam 42 retraction drive 8 end face 43 additional drive means g end face 44 sensor element 10 tool holder 45 end section 11 bending tool 46 adjustment 12 bending tool 47 Displacement Force Relief 13 Tool Set 48 Nominal Force 14 Total Length 49 Approximation Area 15 Press Room 50 Approach Force 16 Stop Device 51 Crack Rise 17 Controller 52 Trigger Value 18 Measurement and Control Circuit 53 Retraction Force 19 Stop Finger 54 Linear Guide 20 Stop Surface 55 Unearth 21 Stop Position 56 Carriage 22 Bend Plane 57 Guide 23 Finger Carrier 58 Drive 24 R-axis direction 59 pinion gear 25 guide track 60 toothed rack 26 first drive arrangement 61 pinion 27 electric motor 62 Drive arrangement 28 Pinion 63 Rotary encoder 29 Rack arrangement 64 Interface 30 Position control 65 Support plane 31 Position control 66 Support surface 32 X-axis direction 33 Guideway 34 Servo motor 35 Pinion
    权利要求:
    Claims (25)
    [1]
    -1 . 1. A method for operating a bending press (1) with a control device (17) and an Anschiagvorrichtung (16) for positioning a Werkteiis (3) for a Bie deformation between a first bending tool (12) and a second bending tool (11) which is adjustable relative thereto, in which at least one stop finger (19) is provided with a stop face (20) by means of a drive arrangement (23) with at least one driven CNC axis (24). a position-controlled approaching movement (39) towards a vertical bending plane (22) into a stop position (21), characterized in that the control device (17) activates a retraction drive (42) which effects an immediate withdrawal movement (41) of the stop finger (41). 19) or at least of the bending plane (22) nearest the end portion (45) of the stop finger (19) from the bending plane (22) causes away when bet the approach movement (39) before reaching the Anschl agposition (21) an obstacle (40) in the trajectory of the stop finger (19) is detected by means of one of the control device (17) comprised sensor assembly (38).
    [2]
    2. The method according to claim 1, characterized in that the retraction movement (41) is essentially limited to the stop finger (19) or its end portion (45).
    [3]
    3. The method according to claim 1 or 2, characterized in that for the retraction movement (41) a stop finger (19) in the plane (22) right angle, horizontal X-axis direction (32) adjusting the CNC axis (24) as a retraction drive ( 42) becomes effective.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that in the ROckzugbewegung (41) an additional drive means (42) acts on the stop finger (19) which is activated in addition to or instead of at least one CNC axis (24).
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that the obstacle (40) by a stop finger (19) arranged on the sensor element (44) 25 .... W33-.1 »09-05-2011 23/33

    -2- the sensor assembly (38) is detected in the form of a mechanically actuated contact switch, a force measuring element or a non-contact proximity sensor.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that the sensor arrangement for detecting an obstacle (40) during the approach movement (39) comprises a force control circuit (37) of the control device (17), wherein for the adjustment of the Stop finger (1Θ) exerted adjusting the at least one CNC axis (24) is controlled by a preprogrammed Verstellkraftverlauf (47) and caused by an obstacle (40) increase in the adjusting force on a programmed trigger value (52) the retraction movement (41) triggers.
    [7]
    7. The method according to claim 6, characterized in that the trigger value (52) is set so that during a approach movement (39) occurring contact of the stop finger (19) with the obstacle (40) on this until the beginning of the retraction movement ( 41) from the stop finger (19) a maximum force of 150 N is exercised.
    [8]
    8. The method according to claim 6 or 7, characterized in that outside of a preprogrammed approach region (49) of the force control loop (37) is deactivated and the at least one CNC axis (24) is operated without force control or the force control loop (37 ) uses a higher trip value (52) than within the proximity range (49).
    [9]
    9. The method according to claim 8, characterized in that the approach region (49) at a distance of at least 50 mm to the stop position (21) or to a in the control device (17) deposited solid object of the bending press (1) or to a trajectory section the stop finger (19) in which an obstacle (40), in particular a body part of an operator or a work part (3) can be located, begins. -3- 25 14:33 = 56 • · 09-05-2011 24/33
    [10]
    10. The method according to any one of claims 6 to 9, characterized in that the power control circuit (37) acting on the drive motor of the at least one CNC axis current is used as a comparison value for the currently acting adjusting.
    [11]
    11. The method according to any one of the preceding claims, characterized in that when triggering a Rückzugbewegung (41), the direction of movement of the stop finger (19) within a human reaction time in reflex movements corresponding time, preferably within 0.1 s, in particular 0.075 s is reversed ,
    [12]
    12. The method according to claim 11, characterized in that the stop finger (19) within the time period a RQckzugweg of at least 5 mm, in particular at least 10 mm, preferably covers at least 25 mm.
    [13]
    13. bending press (1) comprising a control device (17) and a stop device (16) for positioning a workpiece (3) for a bending deformation between a first bending tool (12) and a relatively adjustable second bending tool (11), wherein the Stop device (16) at least one, by means of at least one driven CNC axis (24) towards a vertical bending plane (22) in a stop position (21) adjustable stop finger (19) with a stop surface (20), characterized in that the Control device (17) comprises an at least during an approach movement (39) of the stop finger (19) to the bending plane (22) activatable sensor arrangement (38) which can detect an obstacle (40) in the movement path of the stop finger (19) and the stop device ( 16) comprises a retracting drive (42) which can be activated by the control device (17) upon detection of an obstacle (40), with which the stop finger (19) is or can be est one of the bending plane (22) nearest the end portion (45) of the Anschfagfingers (19) immediately from the bending plane (22) is adjustable away.
    [14]
    14. bending press (1) according to claim 13, characterized in that the sensor arrangement (38) arranged on a stop finger (19), mechanically actuated contact switch or non-contact proximity sensor comprises 25 ......... JWf37, 03-05 -2011 25/33 * * * I t f * * I * * * * * * * * * * * * * * * * * * * * * * * * * 4 4 4 4 4 4 4 4 4 4 * t -4
    [15]
    15. bending press (1) according to claim 13, characterized in that the sensor arrangement (3Θ) for detecting an obstacle (40) during the approach movement (39) acting on the at least one driven CNC axis (24) force control circuit (37 ) of the control device (17).
    [16]
    16. bending press (1) according to one of claims 13 to 15, characterized in that the retraction drive (42) a the stop finger (19) in the bending plane (22) perpendicular, horizontal X-axis direction (32) adjusting CNC axis (24 ).
    [17]
    17. Bending press (1) according to one of claims 13 to 16, characterized in that the stop finger (19) is adjustably mounted on a finger carrier (25) and in the X-axis direction (32) acting CNC axis (24) of the retraction drive (42) is arranged on the finger carrier (25).
    [18]
    18. Bending press (1) according to claim 16 or 17, characterized in that the CNC axis (24) comprises an actuator, in particular an electric drive motor selected from a group comprising a servomotor, uneamriotor.
    [19]
    19. Bending press (1) according to claim 18, characterized in that the drive motor (35) äseseckte adjustment range (43) of the stop finger (19) is at least 200 mm
    [20]
    20. bending press (1) according to one of claims 13 to 19, characterized in that the retraction drive (42) acting on the stop finger (19) or the end portion (45), by the control device (17) activatable Zusalzantriebsmittel (43) for the retraction movement (41)
    [21]
    A bending press (1) according to claim 20, characterized in that the auxiliary drive means (43) comprises a pyrotechnic propellant charge or a prestressed elastic spring or a prestressed gas spring. 25

    • I · * 09-05-2011 26/33 -5-
    [22]
    22. bending press (1) according to one of claims 13 to 21, characterized in that the retraction drive (42) can cause a retraction of the stop finger (19) by at least 25 mm within 0.1 s.
    [23]
    23. Bending press (1) according to any one of claims 13 to 22, characterized in that the retraction drive (42) for the retraction movement (41) of the bending plane (22) facing away acceleration of at least 5 m / s2, preferably at least 10th m / s2, in particular at least 8 m / s2 can cause.
    [24]
    24. bending press (1) according to one of claims 13 to 23, characterized in that the retraction drive (42) for the stop finger (19) with a drive motor on (34) connected pinion (35) and a stop finger (19) trained rack assembly (36).
    [25]
    25. Bending press (1) according to any one of claims 13 to 24, characterized in that the stop finger (19) or the end portion (45) consists essentially of a lightweight construction material, in particular of light metal, plastic, fiberglass or CFRP, etc., is formed. TRUMPF Maschinen Austria GmbH &amp; Co. KG. represented by

    APPLICATION BÜrgefte & Partner Rechtsanvralt GmbH
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    引用文献:
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    DE3720412A1|1986-06-20|1987-12-23|Amada Co Ltd|Multi-step bending machine e.g. press brake|
    EP1398094A1|2002-09-11|2004-03-17|Trumpf Werkzeugmaschinen GmbH + Co. KG|Method and device for determining the arm length of bent products|
    EP2311583A2|2009-10-14|2011-04-20|TRUMPF Maschinen Austria GmbH & Co. KG.|Method for measuring the thickness of a workpiece with a bending machine and such bending machine|CN106216562A|2016-08-31|2016-12-14|天津金轮自行车集团有限公司|A kind of dot punch bed apparatus|DE3739949C1|1987-11-25|1989-03-16|Hewlett Packard Gmbh|Stop device for a plate-bending machine|
    JPH09253753A|1996-03-25|1997-09-30|Amada Co Ltd|Safety device of sheet metal working machine|AT514292A1|2013-06-20|2014-11-15|Trumpf Maschinen Austria Gmbh|Stop device for a bending machine|
    WO2015019285A1|2013-08-09|2015-02-12|Bystronic Laser Ag|Bending press|
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    AT518639B1|2016-07-26|2017-12-15|Trumpf Maschinen Austria Gmbh & Co Kg|Workpiece processing machine and method for operating the workpiece processing machine|
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