• 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 calibration methods for a bending machine with a bending angle measuring device (1), wherein the bending machine is assigned a machine-fixed first coordinate system (15), and wherein during the execution of a bending deformation, from the bending angle measuring device, a determination of the current actual bending angle , In a calibration process, a light pattern (10) is emitted by the illumination device (9) onto a reference feature (6) of the bending machine or the bending tool arrangement (2), and the image of the light pattern (10) is detected by the image acquisition device (11) on the reference feature (6) , From the evaluation module (12), a reference point (13) of the reference feature (6) is determined from the acquired image, which reference point (13) is defined in the first coordinate system (15). Furthermore, the evaluation module (12) determines from the coordinates of the reference point (13) in the first coordinate system and a second coordinate system permanently assigned to the bending angle measuring device (1) a transformation matrix (17) which is transmitted to a machine controller of the bending machine and from this is taken into account in the bending model of the bending deformation.
    公开号:AT516146A4
    申请号:T50643/2014
    申请日:2014-09-15
    公开日:2016-03-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a calibration method for a bending machine with a bending angle measuring device, in particular a contactless acting bending angle measuring device.
    When bending sheet metal parts, in particular when bending and pivoting bending, but also during embossing bending, it may happen that the required bending angle is not maintained due to variations in the material parameters. According to a mathematical model of bending deformation, from the material parameters, in the Substantially the hardness of the material and the sheet thickness, and knowledge of the bending tool arrangement, the bending force or the pivoting angle are calculated, which leads with these the desired material parameters to the desired bending angle. However, since there will always be slight variations in these material parameters in real terms, a different bending angle would be bent while maintaining the determined bending parameters.
    Therefore, it is advantageous if, during the current bending process, the more recent bending angle can be determined in order to end the bending process when the desired bending angle is reached.
    For this purpose, a method is known, for example, from EP 1 102 032 B1, in which distance points between the measuring system and the bending sheet metal surface are determined by means of an optical illumination and detection system. From this distance profile of the currently formed bending angle is ermit¬telt.
    The disadvantage of this known method lies in the fact that the distances between the measuring instrument and the sheet metal surface are determined in relation to the coordinate system of the measuring instrument. It is assumed that the coordinate system of the measuring instrument and the coordinate system of the bending machine are in fixed relation to each other. In particular, it is assumed that the original coordinate assignment established between the bending machine and the measuring instrument when the bending machine was put into operation has not changed. In order to be able to determine the angle of the bending sheet, the bending angle measuring device has to be arranged in the working range of the bending machine and in particular in the pivoting range of the sheet that is bending. In this area, there is always the risk that the originally defined assignment of the coordinate system of the bending machine and of the coordinate system of the bending angle measuring device changes for the bending angle measuring device even when used as intended. For example, when inserting the sheet into the tool assembly, it may abut the bending angle measuring device and thus change the specified assignment without apparent immediate manifestation. Also, it may be due to shock that the bending machine has a small and slight bending angle measuring device that changes its orientation relative to the bending machine. However, a change in the relative position between the bending angle measuring device and the bending machine directly leads to the formation of faulty bending angles and, although a supposedly correct bending angle is determined by the bending angle measuring device.
    The object of the invention is now to improve a method for determining the bending angle during the bending process to the effect that a correct determination of the current bending angle is ensured.
    The object of the invention is achieved by a calibration method for a bending machine with a bending angle measuring device, wherein the bending machine is assigned a machine-fixed first coordinate system and the bending machine further comprises a bending tool arrangement. During the execution of a bending deformation, a light pattern is emitted by a lighting device of the bending angle measuring device onto a surface of a sheet metal part inserted in the bending tool arrangement. Furthermore, the image of the light pattern on the sheet metal surface is detected by an image detection device of the bending angle measuring device, and the detected image of the light pattern is analyzed by an evaluation module and a current bending angle is determined therefrom. If the current bending angle coincides with a desired bending angle determined according to a mathematical bending model, the bending deformation is stopped. In a calibration process, a light pattern is emitted by the illumination device onto a reference feature of the bending machine or the bending tool arrangement and the image capture device acquires the image of the light pattern at the reference feature. From the evaluation module, a reference point of the reference feature is determined from the detected image, which reference point is defined in the first coordinate system. Furthermore, a transformation matrix is determined by the evaluation module from the coordinates of the reference point in the first coordinate system and a second coordinate system permanently assigned to the bending angle measuring device, which transformation matrix is transmitted to a machine control of the bending machine and is taken into account by this in the model of bending conversion.
    The advantage of this embodiment is that with a device both a monitoring of the bending angle, which occurs during the bending, and a calibration of the measuring system can be carried out.
    When installing a pre-calibrated optical bending angle measuring device in a bending machine tolerances can occur, which can lead to a falsification of the determined bending angle during operation. Therefore, a referencing of the bending angle measuring device in the installed position is advantageous in order to be able to compensate for these aufaufre¬tenden inaccuracies. For an exact referencing, a known reference feature which is ambiguously defined in the first coordinate system of the bending machine is required.
    According to the subject method, a referencing is performed after incorporation of the pre-calibrated angular measurement system into the bending machine. For this, a transformation matrix is determined between a reference point in the first coordinate system of the bending machine and the second coordinate system of the bending angle measurement device. This transformation matrix defines the relationship between the first and second coordinate systems and is taken into account in the mathematical model of the bend. Thus, this correction in all subsequent bending transformations flows into the determined bending parameter.
    In the first coordinate system, the essential dimensions and distances of the bending machine are fixed, in particular it is determined where the Biegeliniebefindet.
    The basic operation of a bending machine is considered herein to be known. In particular, it is known that a machine control via drive means causes a movement of the press beam or the swivel jaw and thus carries out the bending deformation. Included here is also the activation of clamping and / or holding devices which hold the metal sheet to be formed before or during the execution of the bending deformation in a defined relation to the bending tool arrangement. In particular, the control by the machine control means that it can act on the sheet metal part to be formed by means of electrical, pneumatic and / or hydraulic means or transducers, the bending tool arrangement with the determined bending parameters. The subject method is applicable to bending machines for bending, embossing bending - generally for press bending - and also swivel bending. If appropriate, terminology of free bending is used in the following, but these are to be applied to the likewise existing elements of a folding machine.
    Furthermore, the evaluation module can be integrated in the machine control or in the bending angle measuring device, or exist as a separate module. In any case, there is a connection to the machine control in order to be able to transmit the determined transformation matrix to the machine control or can the measured values with the determined transformation also be be converted in the evaluation module and then transferred to the machine control.
    According to a further development, it is provided that the reference feature is formed by a stop device, which during the calibration process is moved by the machine control into the detection range of the bending angle measuring device. During bending, the sheet metal part to be formed is inserted into the tool arrangement of the bending machine and a stop device, in particular a back gauge, is positioned by the machine control in accordance with the bending deformation to be carried out. The operator then applies the sheet metal part to the stop device and triggers the bending deformation. Since the abutment device is fixed at the start of the bending machine or at regular intervals in the first coordinate system of the bending machine, the position of the reference feature in the first coordinate system is known by the machine control during each positioning of the abutment device.
    Alternatively, it is provided according to a development that the reference feature is formed by an upper and / or lower tool of the bending tool arrangement, which is moved during the calibration process of the machine control in the Erfas¬sungsbereich the bending angle measuring device. Since the position of the upper or lower tool is also fixed in the first coordinate system, for example by means of defined dimensions of the tools, the tool is in turn fixed to the first coordinate system at each travel position.
    Since, as before, the stop device and also the tools of the bending tool arrangement have very distinctive structural features, in particular edges, and these features are defined by the geometric design of the tool arrangement, the reference point of the reference feature is also defined unilaterally in the first coordinate system.
    A further development consists in the fact that a brightness distribution with a high local contrast is emitted as a light pattern. In order to be able to detect the position of the reference feature clearly and in particular very accurately, it is advantageous in the case of an optical detection device if the feature to be detected or found stands out clearly from the surroundings.
    Due to the longitudinal extent of the tool arrangement, the bending line along which a sheet metal part can be bent is also defined in a bending machine. Due to adjustment inaccuracies and / or due to misalignment during the bending process
    In operation, it can happen that the distance between the bending angle measuring device and the bending machine changes along this extent. Therefore, according to a development, it is provided that the bending angle measuring device is moved parallel to a longitudinal extent of the tool arrangement and a plurality of transformation matrices is determined along this longitudinal extent. Thus, along the bendline, a grid of transformation matrices can be determined which infiltrate the bend model and allow for correct bending.
    Since it can occur due to the mechanical loads during the bending process that the geometric assignment between the first and the second coordinate system changes, it is provided according to a development that the determination of the transformation matrix is carried out periodically before a bending operation. Thus, for example, it can be determined that the calibration is carried out again after a number of bending operations. This is particularly automatable, so that the operator does not have to set any additional action.
    The bending angle measuring device is preferably aligned in the direction of the sheet and is thus possibly not optimally aligned for the detection of the reference feature. It is therefore provided according to a development that the Biegewinkel measuring device is pivoted during the calibration process, preferably about an axis parallel to the longitudinal extent of the tool assembly axis. Thus, optimum positioning of the illumination and the image acquisition device is ensured in both detection positions. This pivoting preferably takes place by means of a drive means, which is controlled by the machine control.
    A further development consists in that a light-section method is carried out by the evaluation module by means of the bending-wedge-measuring device. Such a method is particularly well suited to find edges. Since a bending machine has a plurality of edges in a bending machine due to the structural or operational conditions, in particular in the area of the bending tool arrangement, the bending line or the inserted sheet part, the claimed method is advantageous.
    Since for the detection of the bending angle of the aufbiegenden sheet optionally different light pattern is advantageous than for the implementation of the calibration, is provided according to a development that the light pattern of the lighting device for the bending and for the calibration process is selectively selected. It is thus also possible to adapt the light pattern to the specific surface structure of the sheet or reference feature to be detected.
    The object of the invention is also achieved by a bending machine with a bending angle measuring device, which bending angle measuring device has a lighting and an image detection device. Furthermore, the bending machine has a bending tool arrangement, which in one working step carries out the bending deformation on the sheet inserted into the bending tool arrangement. The bending machine is associated with a machine-fixed first coordinate system, furthermore, the bending machine has a reference feature with a reference point, which reference point is coordinate-fixed with respect to the first coordinate system. The bending angle measuring device is associated with a second coordinate system, wherein after carrying out the subject Kalibrier¬verfahren, between the reference point and the second coordinate system consists of a transformation matrix.
    In a bending machine, there are a plurality of machine components moving relative to one another before or during the execution of the bending deformation, irrespective of whether it is a bending press or a bending machine. By constructive means, however, it is ensured that the position of the individual components relative to one another and in particular to the stationary machine frame is known at all times, and in particular also during a movement, in a one-way manner. In particular, the position of the components of Biegemaschi¬ne in the first coordinate system, which is associated with the bending machine, set. Thus, the machine control can perform a bending process reproducible.
    A backgauge and the upper or lower tool are used in the particular use of a bending machine, in particular, these components are decisive for the formation of a correct Bückumfor¬mung. Therefore, the geometrical dimensions of these components are exact, furthermore specific features of these components are defined exactly in the first coordinate system. For example, the working edge of a Biege¬ stamp must be known exactly in the first coordinate system, otherwise it would come to Fehl¬biegungen. In addition, a special calibration tool can also be provided, which can be arranged in the bending machine and, likewise, is defined uniquely in the first coordinate system by its structural or geometrical details.
    According to a development, it is now provided that the reference feature is formed by one of the group of backgauge, upper or lower tool, Kalibrierwerk¬zeug. In this embodiment, the reference point is formed by a marked edge.
    However, it may also be provided that the reference feature is formed by one of the group of back gauge and lower tool, lower tool and sheet metal part, and upper and lower tool. With this design, an increase in the detection reliability and thus the accuracy is achieved, since in each case a reference point of two reference features is determined.
    The term reference point is to be understood in particular not only as the geometrical embodiment of a point, but generally as that characteristic point of a reference feature which is used to determine it in the first coordinate system. Thus, a reference point may also be formed by an edge, for example the backgauge.
    To increase the detection reliability is provided according to a development that the reference feature a reflective area is present, in which the reference point is arranged. Since a bending machine or the Referenz¬ features are predominantly made of metal, these may have critical optical properties due to the Oberflächen¬ condition. By way of example, backscattering that fluctuates locally can occur so that the analysis of the detected projected light pattern becomes difficult and thus inaccurate. With the claimed embodiment it is achieved that an area with clearly defined reflection properties is present and thus the readout accuracy is improved. The reflective region can not be finally formed, for example, by a colored background or a mirror surface.
    To increase the detection reliability, it can also be provided that the light pattern emitted by the illumination device onto the reference feature has at least one sharply delimited light line. For example, a laser may project a line, multiple parallel lines, or a grid. Thus, a very high contrast is achieved in the illuminated portion of the reference feature.
    Since for the reference point on the reference feature preferably those structures are suitable which have a sudden change in the surface gradient, it is provided according to a development that an edge oriented in the direction of the bending angle measuring device is arranged on the reference feature.
    A further development also consists in that the reference feature or the reference point is designed as a retroreflector. Such a retroreflector may for example be formed by a reflection prism or a triple mirror and has the advantage that each incoming light beam is reflected back in substantially the same direction. Thus, the reference feature or the reference point can be determined very accurately.
    Another advantage is a further development, according to which the illumination device has a device for emitting a selective light pattern. Thus, an optimal pattern of light can be selected for performing bend forming and for calibration. Also, the light pattern can be adapted to the specific surface properties of the surface to be illuminated.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    Fig. 1 shows a possible embodiment of the subject calibration method using a stop device;
    FIG. 2 shows another possible embodiment of the subject calibration method using the bending tool arrangement; FIG.
    3 shows another possible embodiment of the subject calibration method using the sheet inserted into the bending tool arrangement.
    The situation for a bending press for bending and / or embossing bending is shown in FIGS. 1-3, wherein the bending tool arrangement 2 comprises at least one top tool 3 and one bottom tool 4. For reasons of simplification, only the lower tool 4 is shown in FIGS. 1 and 3. The Biegewerkεzeuganordnung 2 is arranged on the machine position 5, which, also wie¬der sake of simplification, in FIGS. 1-3 is shown in a highly schematized. In particular, all machine components of the bending machine which are required for carrying out the bending deformation are not shown for reasons of simplification.
    1 shows a possible embodiment of a bending machine with a bending angle measuring device 1, wherein the bending machine has a bending tool arrangement 2. The reference feature 6 is formed in this embodiment by a stop device 7, in particular a backgauge. To carry out the calibration method, the stop device 7 has been moved by the machine control of the bending machine into the detection area 8 of the bending-angle measuring device 1. During the execution of the bending deformation of a Beleuchtungsvor¬ device 9, a light pattern is emitted to the sheet metal surface to be detected. The sheet surface illuminated by the light pattern is detected by an image acquisition device 11, and an evaluation module 12 also determines a current actual bending angle from the acquired image.
    In the calibration process, a light pattern 10 is now also directed by the illumination device 9 onto the reference feature 6 moved into the detection area 8 of the bending angle measuring device 1 and the projected image of the light pattern 10 is detected by the image capture device 11. From the evaluation module 12, a reference point 13 of the reference feature 6 is then detected in the acquired image, this reference point 13 being characterized in that it is reliably detectable as a unique feature on the reference feature 6. In the case of the illustrated stop device 7, this may be, for example, an edge of a stop finger 14 of the stop device 7. It should be pointed out once again that the reference point is not just a single point in the mathematical sense, but rather a marked feature is and thus, as in the present case, it may be an edge or line. When commissioning the bending machine, a first coordinate system 15 is assigned to the bending machine. Thus, the reference feature 6 and in particular the reference point 13, uniquely determined in the first coordinate system 15. Likewise, the bending angle measuring device 1 is assigned a second coordinate system 16, whereby each detected point in the detection area 8 is uniquely determined in the second coordinate system 16. After the objective method, a transformation matrix 17 is now determined between the first 15 and the second 16 coordinate system.
    Due to the fixed assignment of the reference point 13 in the first coordinate system 15 of the bending machine and the determined transformation matrix 17, the bending angle detected by the bending angle measuring device 1 around the transformation matrix 17 can now be corrected in all subsequent bending transformations, so that positional deviations of the bending angle measuring device 1 from the expected or stored relative position in relation to the bending machine, can be corrected.
    Fig. 1 shows a further possible embodiment, in which not only the Anschlagvor¬richtung 7 serves as a reference feature 6, but where the lower tool 4der Biegewerkzeuganordnung 2 is used as a reference feature with a reference point. For example, an edge of the bending recess of the lower tool 4 can additionally be used as a reference point and thus increases the calibration accuracy. The use of the lower tool 4 as a reference feature further has the advantage that this lower tool 4 is also located during the execution of the bending deformation in the detection area 8 of the bending angle measuring device 1 and thus also during the execution of the bending forming a test of Calibration is possible.
    FIG. 2 shows a further possible embodiment in which the upper 3 and the lower tool 4 of the bending tool arrangement 2 serve as a reference feature. Since the tools of the bending tool assembly 2 are mostly mechanically very well-machined and are known exactly with respect to their geometric dimensions, the reference points 13 in the first coordinate system 15 of the bending machine are thus also precisely known. For example, the upper tool 3 can now be positioned by the bending machine at a defined distance from the lower tool 4, whereupon subsequently the two or more reference points 13 in the second coordinate system 16 of the bending angle measuring device 1 are determined by the bending angle measuring device 1 in the calibration process. Thus, in turn, a transformation matrix 17 can be determined and, during the execution of the bending transformation, be applied to the bending angle determined by the bending angle measuring device 1.
    FIG. 3 shows a further possible embodiment of how the subject calibration method can be performed on a bending machine. In the illustrated embodiment, the reference feature 6 is formed, for example, by the lower tool 4 and the sheet metal part 18 to be formed therein. In particular, a very prominent reference point 13 forms here, precisely at the edge between the lower tool 4 and the sheet metal part 18, which appears well when illuminated with the luminous pattern 10. The area of the reference point 13 is covered by the sheet metal part 18 in relation to the ambient light incident from above, whereby the reference point 13 is lifted by a high contrast contrast.
    Not shown is the situation on a folding machine, since the basic characteristics and arrangements are similar or very similar to those in a bending press, so that a person skilled in the art could convert the Ausfüh¬rungsvarianten shown in Figs. 1-3 on a folding machine. The sheet is held in a swing bending machine between the upper and lower hold-down tool and bent by an upper or lower Biegewangenwerkzeug in the desired direction. Since during the execution of the bending deformation of the bending angle measuring device the sheet surface bent by the upper or lower bending beam tool is detected and the current bending angle is determined therefrom, the reference point in the first coordinate system of the folding machine can also be referred to with the subject calibration method a determined transformation matrix in the second coordinate system of the bending angle measuring device or. in relation to this second coordinate system.
    The bending angle measuring device lighting device directs a pattern of light on the sheet surface of the sheet metal part to be formed during the execution of the bending deformation, and a light pattern on the reference feature during the calibration process. In both cases, this can be the same pattern of light patterns, but it is also possible for the calibration process to use a different deviating pattern of light, for example a line of light which has a strong local contrast and is thus preferred for de ¬traction of lines and edges is suitable.
    Finally, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, wherein the disclosures contained in the entire description mutatis mutandis to the same parts with the same Bezugsbe or. same component names can be transferred. Also, the location information chosen in the description, such as up, down, laterally, etc. related to the directly described and illustrated figure and these conditions are to be transferred in a change in position mutatis mutandis to the new situation.
    FIGS. 2 and 3 show further and, if appropriate, separate embodiments of the calibration method, again with reference numerals or component designations as in the preceding FIG. 1 can be used. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding figures.
    The exemplary embodiments show possible variants of the calibration method, wherein it should be noted at this point that the invention is not limited to the specific embodiments of the same, but rather also various combinations of the individual embodiments are possible with each other and this possibility of variation is based on the teaching technical acting by objective invention in the skill of those working in this field technical expert.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described may also represent independent, inventive or inventive solutions.
    The problem underlying the independent inventive solutions can be taken from the description. All statements on ranges of values in the description given herein are to be understood as including any and all subsections thereof, for example, the indication 1 to 10 should be understood as encompassing all subranges, starting from the lower bound 1 and the upper bound 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.
    Above all, the individual embodiments shown in FIGS. 1 to 3 can form the subject of independent solutions according to the invention. The related objects and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of order, it should finally be pointed out that in order to better understand the construction of the calibration method on a bending machine, this is the case. the components of which have been shown partly out of proportion and / or enlarged and / or reduced in size.
    LIST OF REFERENCES 1 bending angle measuring device 2 bending tool arrangement 3 upper tool 4 lower tool 5 machine frame 6 reference feature 7 stop device 8 detection area 9 illumination device 10 light pattern 11 image acquisition device 12 evaluation module 13 reference point 14 stop finger 15 first coordinate system 16 second coordinate system 17 transformation matrix 18 sheet metal part
    权利要求:
    Claims (17)
    [1]
    1. Calibration method for a bending machine with a bending angle measuring device (1), wherein the bending machine is associated with a machine-fixed first coordinate system (15), and the bending machine further comprises a bending tool assembly (2), wherein during the execution of a bending deformation: • of a Lighting device (9) of the bending angle measuring device (1) a light pattern (10) is discharged onto a surface of a sheet metal part inserted in the Biegewerkzeuganordnnung (2); • the image of the light pattern (10) on the sheet metal surface is detected by an image acquisition device (11) of the bending angle measuring device (1); • and analyzed by an evaluation module (12) the detected image of the light pattern (10) and from this a current actual bending angle is determined; And if the actual bending angle agrees with a set bending angle determined according to a mathematical bending model, the bending deformation is stopped; characterized in that in a calibration process: • the light pattern (10) is emitted by the illumination device (9) onto a reference feature (6) of the bending machine or the bending tool arrangement (2); • the image capture device (11) captures the image of the light pattern (10) at the reference feature (6); • and from the evaluation module (12) from the detected image, a reference point (13) of the reference feature (6) is determined, which reference point (13) in the first coordinate system (15) is fixed; And a evaluation matrix (17) is determined by the evaluation module (12) from the coordinates of the reference point (13) in the first coordinate system and a second coordinate system fixedly assigned to the bending angle measuring device (1); • And the transformation matrix (17) is transmitted to a machine control of the bending machine and is considered by this in the bending model of Biegeumfor-mung.
    [2]
    Calibration method according to claim 1, characterized in that the reference feature (6) is formed by a stop device (7) which during the calibration process is moved by the machine control into the detection zone of the bending angle measuring device (1).
    [3]
    3. Calibration method according to claim 1, characterized in that the reference feature (6) by an upper (3) and / or lower tool (4) of the Biege¬werkzeuganordnung (2) is formed, which during the calibration of the machine control in the detection area the bending angle measuring device (1) is moved.
    [4]
    4. Calibration method according to one of claims 1 to 3, characterized gekenn¬zeichnet that as the light pattern (10) a brightness distribution is delivered with a high local contrast.
    [5]
    5. Calibration method according to one of claims 1 to 4, characterized gekenn¬zeichnet that the bending angle measuring device (1) is moved parallel to a Längserstre¬ckung of the tool assembly and along this Längsserstreckungeine a plurality of transformation matrices (17) is determined.
    [6]
    6. Calibration method according to one of claims 1 to 5, characterized gekenn¬zeichnet that the determination of the transformation matrix (17) is carried out periodically before ei¬nem bending operation.
    [7]
    7. Calibration method according to one of claims 1 to 6, characterized gekenn¬zeichnet that the bending angle measuring device (1) is pivoted during the calibration process, preferably by an axis parallel to the longitudinal extent of the tool assembly axis.
    [8]
    8. Calibration method according to one of claims 1 to 7, characterized gekenn¬zeichnet that of the evaluation module (12) by means of the bending angle measuring device (1) a light-section method is performed.
    [9]
    9. Calibration method according to one of claims 1 to 8, characterized gekenn¬zeichnet that the light pattern (10) of the lighting device (9) is selected selectively for the bending and for the calibration process.
    [10]
    A bending machine having a bending angle measuring device (1), the bending machine having a bending tool assembly (2) which performs bending tooling (2) in one operation, bending the sheet inserted in the bending tool assembly (2), and wherein the bending angle measuring device (1) an illumination and an image capture device (11), characterized in that the bending machine is a machine-fixed first coordinate system (15) is assigned, and that the bending machine further comprises a reference feature (6) with a reference point (13) which reference point (13) is coordinate-fixed with respect to the first coordinate system (15), and that the bending angle measuring device (1) is assigned a second coordinate system (16), wherein after carrying out a calibration method according to one of claims 1 to 9 , between the reference point (13) and the second coordinate system ei¬ne transformation matrix (17).
    [11]
    A bending machine according to claim 10, characterized in that the reference feature (6) is formed by one of the backgauge, upper (3) and lower tool (4), calibration tool.
    [12]
    A bending machine according to claim 10, characterized in that the reference feature (6) is formed by one of the group of stop means (7) and lower tool (4), lower tool (4) and sheet metal part, upper (3) and lower tool (4).
    [13]
    13. Bending machine according to one of claims 10 to 12, characterized gekenn¬zeichnet that at the reference feature (6) a reflective region is present, in which the reference point (13) is arranged.
    [14]
    A bending machine according to any one of claims 10 to 13, wherein a light pattern (10) is emitted from the illuminating device (9) to the reference feature (6), characterized in that the light pattern (10) has at least one sharply defined light line.
    [15]
    15. Bending machine according to one of claims 10 to 14, characterized gekenn¬zeichnet that on the reference feature (6) in the direction of the bending angle measuring device (1) aligned edge is arranged.
    [16]
    16. Bending machine according to one of claims 10 to 15, characterized gekenn¬zeichnet that the reference feature (6) or the reference point (13) is designed as a retroreflector.
    [17]
    17. Bending machine according to one of claims 10 to 16, characterized gekenn¬zeichnet that the lighting device (9) has a device for emitting einesselektiven light pattern (10).
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    同族专利:
    公开号 | 公开日
    AT516146B1|2016-03-15|
    EP2995391A3|2016-03-23|
    EP2995391A2|2016-03-16|
    EP2995391B1|2018-08-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50643/2014A|AT516146B1|2014-09-15|2014-09-15|Calibration method for a bending machine|ATA50643/2014A| AT516146B1|2014-09-15|2014-09-15|Calibration method for a bending machine|
    EP15184997.3A| EP2995391B1|2014-09-15|2015-09-14|Calibration method for a bending machine and such a bending machine|
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