• 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 method for inserting or removing a bending tool (13) in the holding position (27) on a tool holder (11, 26) by means of a gripping element (18) of a handling device (3) with a programmable control device (24), one of the gripping element (27). 18) held bending tool (13) by the handling device (3) in the holding position (27) moves and in the holding position (27), the gripping member (18) from the holding portion (29) is released. In this case, the approach of the bending tool (13) to the holding position (27) by a, in the approaching direction (32) viewed in front of the holding position (27) and in a known measuring distance (31) relative to the tool holder (11, 26) located reference light beam (30 ) of a light barrier arrangement (28) and at the time of beam interruption by an approach direction (32) and the reference light beam (30) approximately rectangular measuring edge (45, 50, 51) on the bending tool (13) defines an actual position of the bending tool (13) , Subsequently, the measuring device (31) is used by the control device (24) for the remaining approach movement of the handling device (3) to the holding position (27).
    公开号:AT511959A4
    申请号:T550/2012
    申请日:2012-05-09
    公开日:2013-04-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh；
    IPC主号:
    专利说明:

    25 11:16:44 09-05-2012 5/35
    -1 -
    The invention relates to a method according to the preamble of claim 1 and to a production device according to the preamble of claim 9.
    Programmable devices for handling the workpieces as well as the bending tools are often used in the automation of bending operations. This results in high demands on the positioning accuracy of the handling equipment used, which can often not be met by conventional industrial robots and they are therefore expensive.
    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 object of the invention is achieved by a generic method with the characterizing features of claim 1 and a manufacturing device with the features of claim 9.
    Characterized in that the approach of the bending tool to the holding position or the approach of the gripping member to the holding portion of the bending tool is monitored at least in a coordinate direction by a, viewed in the approach direction before the holding position and in a known measuring distance relative to the tool holder reference light beam of a light barrier assembly and at the time the beam interruption by an approximately perpendicular to the approach direction and the reference light beam measuring edge on the bending tool or on the gripper an actual position of the bending tool N2O11 / 27B00 ηα / ης / ηΐ9 -n -iq
    Nr · p nnß / mfi 25 Π: 17:27 09-05-2012 6/35 • · «-2 or the gripping element is defined by the control device and the measuring distance as a basis for calculating the remaining approach movement of the handling device from the actual position is used to the holding position or to the holding section, resulting from the local referencing of the handling device in the vicinity of the tool holder lower positioning errors, since the reference light beam to the stop position only short distances must be moved on which only small deviations may arise and before referencing resulting positioning errors become ineffective. This results in a non-contact position detection of the handling device and thus recorded bending tools and an increase in the positioning accuracy.
    The positioning accuracy can be further increased if the approach movement of the handling device is continued during the calculation of the remaining path 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.
    If the approaching movement of the handling device is reduced in its speed before reaching the reference light beam, 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 removal movement of the handling device at a predefined distance from the holding position of the control device for the calculation of the 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 homing according to the invention can be made possible at locations where high positioning accuracy is required by providing additional light barrier arrangements. N2011 / 27800 nn / nc / omo 1 1 · 9Π Mr · R9Q9 D nn7 / D9ß 25 * * 11:18:17 09-05-2012 7/35
    -3-
    If, during the approach movement, the actual position is detected in two different coordinate directions by means of successive interruptions of the same reference light beam by two measuring edges, in particular to the respective coordinate directions, the process of inserting or gripping a bending tool can be performed even more reliably with less risk of collisions become.
    Alternatively, in the approaching movement, the position of the isl 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, whereby the same positioning advantages are achieved.
    It is advantageous for the exact insertion or gripping of a bending tool if a contour defining the holding position together with the tool holder is used as the measuring edge on the bending tool, in particular a fastening section corresponding to a receiving groove on the tool hutch, since this results in the measurement of the relevant edges Position for easy insertion or gripping is relevant.
    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. For this purpose, in a first step, before the reference light beam is reached, the bending tool is rotated by a first skew angle relative to the reference light beam through a rotation axis of the handling device oriented at right angles to the approaching direction and the reference light beam, whereby the first measuring edge forms a front measuring edge. When the reference light beam is interrupted by the first measuring 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 reaches the reference light beam! interrupts. Based on the positional deviations detected by a position control of the handling device from a position control system the two measuring edges and the known distance of the measuring edges to each other an angle 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 at least one of the handling device side facing the tool holder at least one coupled to the control device and a Referenziichtstraht in a known measuring distance to a holding position for a bending tool emitting and monitoring light barrier arrangement is arranged.
    A very accurate detection of the position of the measuring edges is possible if the Uchtschrankenanordnung 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.
    To be able to carry out a referencing in two different coordinate directions easily, the Uchtschrankenanordnung can advantageously send out in a structural unit two relatively distant and parallel reference light beams.
    Referencing can be particularly simple if 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 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 unit. N2011 / 27800 nn / ni / irm 1 i o 1
    Mr R9Q9 p nnninQc 25 * · Μ I * · · * 9 > * * 9 9 * · m »« * * · * • 9 · * · * ·· »* 11:19:51 09-05-2012 9/35 -5-
    It is likewise advantageous for 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.
    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.
    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:
    1 shows a manufacturing device according to the invention in a simplified representation;
    Figure 2 shows a phase in the inventive insertion of a Biegewerkzeu-ges in a tool holder.
    3 shows a further phase when inserting a bending tool;
    4 shows a further phase when inserting a bending tool;
    5 shows a further phase when inserting a bending tool;
    6 shows a possible embodiment of the light barrier arrangement with two reference light beams;
    7 shows a phase when gripping a bending tool or after inserting a bending tool;
    8 shows a possible embodiment of the light barrier arrangement with a fastening section;
    Fig. 9 shows a possible variant of the method for inserting a bending tool. N2011 / 27800 nn / nciomo 1100 no R9Q9 p nm / mc * ♦ · # I 25 11:20:29 09-05-2012 10/35 • * * * * * * * * * * * * * »* * * · F «** ft ft -6-
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be 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 ranges of values in the description of the present invention should be understood to include any and all sub-ranges 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.
    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 essentially comprises two spaced-apart upper ones illustrated transverse association associated, parallel to each other and in a footprint 6 vertical planes extending side stand 7 and connected to these fixed Pressbaiken 8 or press table. Relative to the fixed pressing beam 8, in a direction perpendicular to the contact surface 6 is an adjustable clamping bar 9 is guided in guide arrangements of the side stand 7 and drive connected to the side stand 7 and the Maschinengesteli 5 drive means 10, for example, hydraulic cylinders, electric spindle drives, etc. drive-connected. N2011 / 27800 λο / nn ioni 9 11-9-3 Nr P9Q p m 1 25 11:21:18 09-05-2012 Π / 35 -7- Αη the two press beams are arranged opposite each other, provided with fastening tool holders 11 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 operation, 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.
    Depending on the respectively to be produced for a series of workpieces or a maintenance of the bending tools 13 a reassembly and thus replacement of the bending tools 13 is required at different time intervals.
    Furthermore, 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. umlasst. 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.
    On the back 21 of the press bar 8 can further be provided 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 influenced in some other way. In particular, this also includes the detection and control of states and positions of Geienkannen and in particular of the gripping element 18 of the handling device 3 or the manipulated therewith workpieces or bending tools 13. The control device 24 can also distributed over the manufacturing device 1 subsystems, which are interconnected in signal communication N2011 / 27800 00/0 (5/9019 11-9 / 1 Mr R9Q9 P 019/096 25 11:22:09 09-05-2012 12/35 * · • * · -8th
    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 or out of a holding position on a tool housing 11. This may affect the tool holders 11 on the bending press 2, but alternatively or additionally also tool holders 26 on the tool storage 4, which in the working space or are within reach of the handling device 3. In Fig. 1, a bending die 14 and a punch 15 are 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. At the bending press 2, 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
    Thus, 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. In practice, this always results in problems due to insufficient positioning accuracy of a handling device 3 or by the position tolerances of Werkzeughaltern gen 11, 26. Possible causes of positioning errors on the handling device 3, for example, a faulty workpiece position relative to the gripping element 18, zero position error of the joints the handling device 3, arm lengths and angle errors, thermal influences, gear play, elasticities and eccentricities, arm elasticities and limited measuring resolution of the displacement measuring the positioning 25. Similar causes may cause inaccuracies and changes of the holding positions 27 on the tool storage 4 or on the bending press 2.
    Since these sources of error or their effects can often only be eliminated with great effort, the production device 1 according to the invention comprises N2011 / 27800 nn / nc t om o 11.9 / 1 Mr B9Q9 dm 9 ir Qß -9- 25 11: 22: S8 09 At least one light barrier arrangement 28, by means of which the positioning accuracy of the handling device 3 in the area of the tool holders 11, 26 equipped therewith can be substantially increased with relatively little effort. In FIG. 1, for example, 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. Of course, it is also possible to associate the tool holder 11 on the adjustable pressing beam 9 with a light barrier arrangement 28,
    Fig. 1 shows a Haiteabschnitt 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.
    In the area of a tool holder 11, 26, the light barrier arrangement 28 generates a reference light beam 30, which is viewed in a measuring distance 31 r from the handling device 3, in front of the holding position 27. If, when the handling device 3 approaches the holding position 27, the reference light beam 30 is interrupted by a predefined measuring edge on the bending tool 13 or on the gripping element 18, 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 before 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 compared with the previously performed approach movement of the handling device. 3
    Since the positioning inaccuracies of a handling device 3 are at least partially always proportional to the length of the path covered, also the distance traveled by the actual position defined by the reference light beam 30 up to the holding position 27 is relatively short and only a relatively small positioning error can arise here. N2011 / 27800 nfwncorm ii-oc No R9Q P nu / mfi 25 11:23:47 09-05-2012 14/35 * * «• *
    • · «ι» -10-
    By the reference light beam 30, the coordinate system of the handling device 3 can be newly referenced at a short distance to the holding position 27 and thereby a possible occurring before the reference light beam 30 at a larger movement of the handling device 3 positioning error or positional deviation of the tool memory 4 are rendered ineffective. In Fig. 1, a measuring distance 31 is 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, as an alternative or in addition to the horizontal X-direction 32 a referencing can also take place in the direction of the vertical Y-axis 33. 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.
    In a common industrial robot can result in a range of a few meters positioning inaccuracy, which is in the order of +/- 1 mm, since many Bewegungsgiieder and axes of movement of the handling device 3 are involved and add the individual errors here to a considerable extent can occur during the short, remaining approach movement from the reference light beam 30 to the holding position 27 only a very small positioning error, since on this relatively short path less moving members and axes of movement of the handling device involved or at least have to perform relatively low relative movements.
    As a result of this referencing of the handling device 3 in the vicinity of the holding position 27 to be approached, many of the above-mentioned sources of error in the positioning of a bending tool 13 during insertion or when gripping a bending tool 13 can be rendered ineffective by the gripper element 18. The rest of the approach movement from the reference light beam 30 to the holding position 27 takes place to a certain extent in the local coordinate system of the respectively considered tool casing 11, 26 and can therefore result in positioning inaccuracies due to mechanical or thermal deformations of the hand-held components N2011 / 27000 nn / iid / imo 11 9K Nr Rpqo pm ^ / rnfi 25 11:24:39 09-05-2012 15/35 I * -l-1 -bungseinrichtung 3 and / or the tool memory 4 are eliminated. The mechanical deformations of the handling device 3 and / or the tool storage 4 depend to a large extent on the masses of the bending tools 13 used and it is not required due to the local referencing in the vicinity of the tool holding rings 11,26, computationally consuming each mass or thermal influences to be considered by the positioning controller 25.
    In FIG. 1, 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 in this case runs from a transmitter unit to a receiver unit, wherein the receiver unit monitors the impact of the reference light beam 30 emanating from the transmitter unit and is signal-connected to the control apparatus 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. However, it is also possible to deflect the reference light beam 30 by means of a mirror and thereby combine the receiver unit with the transmitter unit to form a structural unit.
    In order to increase the accuracy of grasping a bending tool 13 with the gripping element 18, 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
    2 to 5, the insertion of a bending tool 13 in a tool holder 11, 26 is shown, wherein the remaining parts of the manufacturing device 1 have been omitted for the sake of simplicity.
    N2011Q780Q p no less no / m; ion o 11 oi. i 25 11:25:27 09-05-2012 16β5 i t -12-
    In this case, the same reference numerals or component designations as in the preceding Fig. 1 are used for the same parts. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding FIG
    Fig. 2 shows a bending tool 13 which is held by a gripping member 18 of the gripper 17 of the handling device 3 and in a Werkzeugaufhah-me 11, 26, which is arranged for example on the lower, fixed pressing beam 6 or on a tool storage 4, are used should. The holding portion 29, on which the gripper 17 is coupled to the gripper element 18, here in the form of a gripper gripper, is formed in the illustrated embodiment by a gripping groove 34 into which the gripper-like gripper element 18 engages. As can be easily seen, is for inserting the bending tool 13 in the tool holder 11, 26 in Fig. 2 a two-part dashed approaching movement 35 is required, with the bending tool 13 is positioned vertically aligned over the tool holder 11, 26 and in a first step Subsequently, with a vertical lowering movement, a fixing portion 36 of the bending tool 13 in a receiving groove 37 of the tool holder 11, 26 can be introduced. Subsequently, by fixing means, not shown, for example, a terminal block, a fixing of the bending tool 13 to the tool holder 11,26.
    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 Weikzeughal sion 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; t om o 1 1 oö Nr R9Q5 P ηΐ7 / η * 5β -13- 25 11:26:15 09-05-2012 17/35 using the light barrier arrangement 28 with the reference light beam 30.
    As can be readily appreciated, the horizontal portion of the approaching movement 35 must be in the direction of the horizontal X-axis 32 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. By the reference light beam 30, 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 , As 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 side surface 44 selected in the exemplary embodiment is advantageous, since, for example, the fastening section 36 is pressed against this side surface 44 by a clamping strip.
    For detecting the actual position of the bending tool 13, this is approached by the handling device 3 to the painting position 27 until the reference light beam 30 is interrupted by a predetermined part of the bending tool 13 or another part of the handling device 3. In dargesteliten embodiment, 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 Oberfiächenebene 46 of the mounting portion 36 and is perpendicular to the approach direction 32 of the handling device 3 and at right angles to Referenzlichtstrahi 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. N2D11 / 27BD0 nn ine (ίλπ -m oq Mr [1909 p niss / mc 25 11:27:03 09-05-2012 18/35 25 11:27:03 09-05-2012 18/35 • · fe IX * * 9 9 II «*> i · 9 · $ M · * -14-
    FIG. 3 shows that time of the approaching 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. Thereby, an actual position of the bending tool 13 is defined, and now 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. in Fig. 4 that position of the bending tool 13 is shown, in which the horizontal 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 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, which can be fixed with its mounting portion 36 by means of a clamping crest 48, which is indicated by an arrow in the receiving groove 37 and thereby the surface plane 46 of the mounting portion 36 in abutment with the Side surface 44 of the Aufhahmenut 37 is brought and an exact holding position 27 of the bending tool 13 is achieved.
    FIG. 6 shows a further possible embodiment of a light barrier arrangement 28 which can generate and monitor for interruption two reference light beams 30 and 49 which are spaced apart from each other and parallel. 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 approached by the handling device 3, not shown, first 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 in vertical N2011 / 27800 rm / n * w Ni 11
    Mr. RQ9
    p niQ / HRR 25 ··· «« • «k · 11:27:54 09-05-2012 19/35 •« · · · «· * · · φ ·« ··· «-15-
    Direction lowered until the lower edge 42 interrupts the second reference edge 50 of the bending tool 13, the second reference light beam 49. The horizontal approaching 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 instead 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.
    From the interruption of the first reference light beam 30, 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. By this query of the actual position of the bending tool 13 both in the horizontal X-direction 32 and in the vertical Y-direction 33, the remaining approaching movement from the reference light beams 30, 49 to the holding position 27 can be carried out with increased accuracy, since a referencing of the position of the bending tool 13 can be done in two directions. It would also be possible to carry out a referencing in both coordinate directions 32, 33 by using only a single reference light beam 30 and determining the approaching movement so that the first measuring edge 30 is detected first and then the second measuring edge is also detected with the same reference light beam 30 50 is detected.
    The approaching 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 approaching movement is preferably continued uninterrupted, thereby further increasing the positioning accuracy N2011 / 27800 in int t om o 11 in 16- 25 11:28:45 09-05-2012 20/35 ·· «· • *. · ≫ • can be reduced, since heavy braking and Beschieunigungsvorgänge, which can represent further sources of error, can be reduced.
    In Fig. 7 it is shown that with the light barrier assembly 28, the accuracy when removing a bending tool 13 from its holding position on the tool holder 11, 26 can be increased. This is done by the gripper 17 being guided during the approach movement 35 to the attachment section 36 of the bending tool 13 in such a way that when the gripping element 18 approaches the holding section 29, e.g. in the form of the gripping groove 34, a referencing of the handling device 3 to the reference light beam 30 of the light barrier arrangement 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. By interrupting the reference light beam 30 with the measuring edge 51 on the gripping element 16, an actual position of the gripping element 18 is defined, from which only a short remaining approaching movement of a few centimeters to the holding section 29, here the gripping groove 34, is required, which can be performed with comparatively high accuracy.
    In Fig. 7, a removal movement 52 of the gripper 17 is further indicated by a dotted arrow, and it is possible that the reference movement occurred at the approach movement on the light barrier assembly 28 after the bending tool 13 was discontinued in the holding position 27 is canceled again and the actual position of the gripper 17 is again determined based on the coordinates detected by the positioning controller 25, that is, the unchanged coordinates of the handling device 3 are used. In this case, the local re-emphasis on the tool holder 11, 26 is to a certain extent canceled out again. However, it is also possible to permanently maintain the referencing on the light barrier arrangement 28 until another referencing takes place elsewhere.
    Fig. 8 shows a possible embodiment of a light barrier arrangement 28, which has a fastening section 36 and thereby no.no like a bending tool N2011 / 27800; / 9Π1 0 1 1 31
    Nr p rrn / mn -17- 25 11:29:35 09-05-2012 21/35 13 can be inserted directly into the receiving groove 37 of the tool holder 11,26. 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 Lichtschrankenano-rdnung 28 on 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. In 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.
    9 shows in plan view a possible further variant of the method for inserting a bending tool 13 into a tool holder 11, 26 by means of a handling device 3, not shown in FIG. 9. The individual phases of the approaching movement are identified by the letters a to e. The reference light beam 30 jams parallel to the receiving groove 37 of the tool holder 11, 26 and is monitored by the light barrier assembly 28 for interruption. In this exemplary embodiment, 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. Alternatively, 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.
    Due to the special nature of the approach of the bending tool 13 angular misalignments can be detected and corrected by successively two measuring edges 60 and 61, which extend at right angles to the reference light beam 30, are detected. Fig. 9 shows the bending tool 13 in position a parallel to aufauf N2011 / 27800
    No · R9Q0 no ine. / oni o 11 - το -18- 25 11:30 27 09-05-2012 22/35 and the reference light beam 30. When approaching, the bending tool 13 is rotated by a helix angle 62, for example by 45 ° clockwise in position b rotated, whereby the first measuring edge 60 at the front 63 of the bending tool 13 forms a front edge 64. Subsequently, the approach of the bending tool 13 in the direction of the X-axis 32 until an interruption of the reference light beam 30 takes place (phase c). At this time of interruption, 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. From the sum of the two position deviations 65, 66 and the distance 67 between the considered measuring edges 60, 61, which here correspond to the tool length, the angular angular position α of the bending tool 13 relative to the reference light beam 30 can be calculated as follows: tang α = (position deviation 65 + Position deviation 66) / distance 67
    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.
    The embodiments show possible embodiments of the method and the manufacturing device 1, wherein it should be 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 possible with each other and this variation possibility due to the teaching technical action by objective invention in the skill of working in this technical field expert. So there are also all conceivable embodiments that by combinations N2011 / 27800 ηα / ης / M9 11 99 Mr · R9Q9 D ηοΊΐηια 25 11:31:16 09-05-2012 23/35
    Individual details of the illustrated and described embodiment variants are possible, encompassed by the scope of protection.
    For the sake of order, it should finally be pointed out that, for a better understanding of the structure of the production device 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, 5; 6; 7; 8th; 9 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 / 27800 no / n «; / omo n · «
    M
    QOQO t > no / i / mc 11:34:49 09-05-2012 28/35 • · · * * ··· «» »«
    REFERENCE NUMBERS
    Manufacturing facility 36 Bending press 37 Handling device 38 Tool storage 39 Machine frame 40 Footprint 41 Side stand 42 Pressing beam 43 Pressing bar 44 Drive means 45 Tool holder 46 Tool receiving opening 47 Bending tool 48 Bending counter 49 Bending brake! 50 Multi-axis robot 51 Gripper 52 Gripping element 53 Travel arrangement 54 Front 55 Rear 56 Stop device 57 Stop finger 58 Control device 59 Positioning control 60 Tool holder 61 Stop position 62 Light barrier arrangement 63 Holding section 64 Reference light beam 65 Measuring distance 66 X-axis 67 Y-axis Gripping groove Approach movement
    Mounting section Mounting groove Clear width External dimension Center plane
    holding plane
    lower edge
    top edge
    side surface
    measuring edge
    surface plane
    front surface
    clamping force
    Reference light beam
    measuring edge
    measuring edge
    Distance movement
    transmitter unit
    laser beam
    receiver unit
    laser diode
    photocell
    Transceiver unit
    mirror
    measuring edge
    Measuring edge Inclination angle Front front Measuring edge Position deviation
    position deviation
    Distance N2011 / 27800
    nn / nc / imo 11- ^ 7 No R9Q9 d noo / mR
    权利要求:
    Claims (15)
    [1]
    25 11:31:46 09-05-2012 24/35



    1. A method for inserting or removing a bending tool (13) into or out of a holding position (27) on a tool holder (11, 26) by means of a gripping element (18) of a handling device (3) with a programmable control device (24 ), wherein a bending tool (13) held by the gripping element (18) on a holding section (29) moves from the handling device (3) to the holding position (27) and in the holding position (27) moves the gripping element (18) from the holding section (29). is released or the gripping element (18) of the handling device (3) on the holding portion (29) of the Hattepositi-on (27) located bending tool (13) moves and the bending tool (13) after gripping the holding portion (29) with gripping element (18) is removed from the adhesive position (27), characterized in that the approach of the bending tool (13) to the holding position (27) or the approach of the gripping member (18) to the holding portion (29) St in a coordinate direction (32, 33) by a, in the approaching direction (32) viewed in front of the holding position (27) and in a known measuring distance (31) relative to the tool holder (11, 26) located reference light beam (30) of a light barrier assembly (28) is monitored and at the time of beam interruption by an approach direction (32) and the reference light beam (30) approximately rectangular measuring edge (45, 50, 51) on the bending tool (13) or on the gripping element (18) an actual position of the bending tool (13 ) or of the gripping element (18) is defined by the control device (24) as the basis for calculating the remaining approach movement of the handling device (3) from the actual position to the holding position (27) or to the holding section (29 ) is used.
    [2]
    2. The method according to claim 1, characterized in that the approach movement of the handling device (3) is continued during the calculation of the remaining approach movement without stopping. N2011 / 27800 λο inc ιοη 1 o 110/1 No · 0900 p no / wnofi 25 11:32:34 09-05-2012 25/35

    -2-
    [3]
    3. The method according to claim 1 or 2, characterized in that the approaching movement of the handling device (3) before reaching the Refe-renzlichtstrahles (2Θ) is reduced in speed.
    [4]
    4. The method according to any one of the preceding claims, characterized in that at a subsequent removal movement of the handling device (3) from a predefined distance from the holding position (27) of the control device (24) again from a positioning (25) of the handling device (3) determined position is used for the calculation of the further subsequent trajectory.
    [5]
    5. The method according to any one of the preceding claims, characterized in that in the approach movement, the actual position in two different coordinate directions (32, 33) by successive interruptions of the same reference light beam (28) by two, in particular to the respective coordinate directions (32, 33 ) rectangular measuring edges (45, 50) is detected.
    [6]
    6. The method according to any one of the preceding claims, characterized in that during the approach movement, the actual position in two different coordinate directions (32, 33) by successive interruptions of two in both coordinate directions mutually distanced reference light beams (30,45) by two measuring edges (45 , 50) is detected.
    [7]
    7. The method according to any one of the preceding claims, characterized in that as a measuring edge (45, 50) on the bending tool (13) together with the tool holder (11, 26) the holding position (27) defining contour, in particular into a receiving groove (37 ) on the tool holder (11, 26) projecting attachment portion (36) is used.
    [8]
    8. The method according to any one of the preceding claims, characterized in that two relatively parallel and distant measuring edges (60, 61) on a surface plane (63) of the bending tool (13), which for the N-1111/27800 nn / nc / oflio i 'ϊκ Mr · 0909 d noc / mc 25 11:33:20 09-05--2012 26/35 at right angles to the reference light beam (28) run, with a reference light beam (28) are detected, wherein the bending tool (13) during the approach movement before reaching the reference light beam (28) by a direction of approach (32) and the reference light beam (28) perpendicularly oriented axis of rotation of the handling device (3) around a first skew angle (62) is rotated relative to the reference light beam (28), whereby the first measuring edge (60) forms a front measuring edge (64), stopping the approaching movement when the reference light beam (28) is interrupted by the first measuring edge (60) rd, then the bending tool (13) is rotated by a relative angle in the opposite direction until the second measuring edge (61) interrupts the reference light beam (28), and based on the position deviations (65) detected by a positioning controller (25) of the handling device (3) , 66) of the measuring edges (60, 61) and the known distance (67) of the measuring edges (60, 61) from one another an angular deviation of the surface plane (63) from the desired orientation is determined.
    [9]
    9. production device (1), in particular bending line, comprising a bending press (2), a handling device (3) with a programmable control device (24), a gripping element (18) on the handling device (3) for handling bending tools (13), a in the work area of the handling device (3) arranged tool holder (11,26) on a pressing bar (8,9) of the bending press (2) or a tool storage (4), characterized in that on the handling device (3) facing side of the tool holder ( 11, 26) at least one light barrier arrangement (28) which is coupled to the control device (24) and which emits a reference light beam (28) in a known measuring distance (31) to a holding position (27) for a bending tool (13).
    [10]
    10. Production device (1) according to claim 9, characterized in that the light barrier arrangement (28) comprises a laser beam generator, in particular a laser diode (56). N2011 / 27800 nn / ns / om 0 11-ifi no R9QO o n97 / mfi 25 11 34:09 09-05-2012 27/35 -4-
    [11]
    11. Manufacturing device (1) according to claim 9 or 10, characterized in that the light barrier arrangement (28) in a structural unit two relatively distant and parallel reference light beams (30,49) emits.
    [12]
    12. Manufacturing device (1) according to one of claims 9 to 11, characterized in that the tool holder (11) has an elongated receiving groove (37) and the reference light beam (28) parallel to the receiving groove (27).
    [13]
    13. Manufacturing device (1) according to one of claims 9 to 12, characterized in that the light barrier arrangement (28) comprises a transmitter unit (53) and a distance to this receiver unit (55), wherein the receiver unit (55) the impact of the of Transmitter unit (53) outgoing reference light beam (28) monitored and signal-connected to the control device (24).
    [14]
    14. Manufacturing device (1) according to any one of claims 9 to 13, characterized in that the light barrier arrangement (28) comprises a combined transmitter-receiver unit (58) and a distanced to this Strahlumlenkanordnung, in particular a mirror (59).
    [15]
    15. Manufacturing device (1) according to one of claims 9 to 14, characterized in that the light barrier arrangement (28) comprises a fastening portion (36), whereby it like a bending tool (13) on the tool holder (11, 26) can be fastened. TRUMPF Maschinen Austria GmbH & Co. KG.

    artner Rechtsanwalt GmbH N2011 / 27800 Mnn / Ac / nmo 1 i. oe DOüO D ΛΟβ / lV3ß
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA550/2012A|AT511959B1|2012-05-09|2012-05-09|Method for the automated handling of a bending tool and production device|ATA550/2012A| AT511959B1|2012-05-09|2012-05-09|Method for the automated handling of a bending tool and production device|
    EP13731256.7A| EP2846943B1|2012-05-09|2013-05-07|Method for automated manipulation of a bending tool, and manufacturing device|
    JP2015510572A| JP6170137B2|2012-05-09|2013-05-07|Bending tool automatic operation method and manufacturing apparatus|
    PCT/AT2013/050103| WO2013166538A1|2012-05-09|2013-05-07|Method for automated manipulation of a bending tool, and manufacturing device|
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