• 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 gripper system (16) for a press brake (2) with a gripping device (11) for manipulating a bending tool (6). The gripper device (11) comprises a first gripper arm (21) and a second gripper arm (22) displaceable in the clamping direction (26) relative to the first gripper arm (21), which gripper arms (21) engage in a gripper groove (17, 18). a bending tool (6) and for clamping the bending tool (6) are formed. The gripping device (11) is arranged on a carriage system (46), which carriage system (46) comprises a horizontal linear guide (47), by means of which the gripping device (11) is arranged in the longitudinal direction (35) of the gripping arms (21, 22). to the gripping groove (17, 18) towards or away from the gripping groove (17, 18) is displaceable.
    公开号:AT517712A4
    申请号:T50937/2015
    申请日:2015-11-04
    公开日:2017-04-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    The invention relates to a gripper system for a bending press, as well as a bending press equipped with this, as indicated in the claims 1 and 12.
    From AT 511 078 B1 a tool change system is known, wherein the tool change is performed with the backgauge.
    The tool change system of AT 511 078 B1 has the disadvantage that the backgauge is not ideally suited for a tool change due to the requirement of its accuracy.
    The present invention has for its object to provide an improved tool changing system with which the tool change can be performed as quickly as possible.
    This object of the invention is solved by the features according to claim 1.
    According to the invention, a gripper system for a press brake is designed with a gripping device for manipulating a bending tool. The gripping device comprises a first gripping arm and a second gripping arm which can be displaced in the clamping direction relative to the first gripping arm, which gripping arms are designed to engage in a gripping groove of a bending tool and to clamp the bending tool. The gripping device is arranged on a carriage system, which carriage system comprises a horizontal linear guide, by means of which the gripping device is displaceable in the longitudinal direction of the gripping arms towards the gripping groove or away from the gripping groove.
    An advantage of the inventive design of the gripper system is that the gripping device can be held and guided by the carriage system, in particular the insertion of a bending tool in the tool holder is handled by the gripper system with the least possible use of time. As a result, the non-productive times, in particular the setup time, the bending machine can be kept as short as possible.
    Furthermore, it may be expedient that two of the horizontal linear guides are arranged on the vertical linear guide, on each of which a gripping device is formed. The advantage here is that for bending tools which are used in the upper beam and for bending tools which are used in the lower pressing beam, a separate gripping device is formed. As a result, a synchronous setup of the upper press beam and the lower press beam can be achieved and thus the non-productive times can be further shortened.
    Furthermore, it can be provided that the vertical linear guide is arranged on a further horizontal linear guide, by means of which the gripping device in the horizontal displacement direction of a tool holder of the press brake is displaceable. The advantage here is that can be achieved by the further, horizontal linear guide that the bending tools can be positioned in different positions in the longitudinal direction of the tool holder.
    In addition, it can be provided that the horizontal linear guide comprises a guided on a guide rail carriage, on which the gripping device is received, wherein the guide carriage by means of an actuator, preferably a pneumatic cylinder, between an ejected insertion position and a retracted position of rest can be positioned. The advantage here is that by such an arrangement, the gripping device can be arranged on the guide carriage and thus a pushing or pulling the gripping device can be achieved.
    Also advantageous is an expression, according to which it can be provided that a cylinder tube of the pneumatic cylinder is coupled to the guide rail and that a piston rod of the pneumatic cylinder is coupled to the guide carriage. In particular, the pneumatic cylinder is oriented so that the best possible functionality of the gripper system can be achieved.
    According to a development, it is possible that between the guide rail and the pneumatic cylinder, a further actuator is arranged by means of which the pneumatic cylinder is displaceable and thus the ejected insertion position of the pneumatic cylinder is variable. The advantage here is that thereby the gripper system can be adapted to different bending tools. In particular, can be achieved by adjusting the insertion position that the Pneumaitkzylinder which is designed to move the gripping device between position and rest position, only in these two positions must be moved. This allows the pneumatic cylinder to be as simple as possible or have a high travel speed.
    Furthermore, it may be expedient if the cylinder tube of the pneumatic cylinder is arranged on a positioning slide, which is horizontally displaceable by means of the further actuator relative to the vertical linear guide. The advantage here is that the gripper system is given a certain stability to allow accurate positioning of the gripping device.
    In addition, it can be provided that the further actuator is designed as a servo motor, which is continuously displaceable between a minimum position and a maximum position. The advantage here is that thereby the gripper system can be adapted not only to two different bending tools but to an unlimited number of different bending tools.
    Furthermore, it can be provided that a locking mechanism is formed, by means of which the position of the cylinder tube of the pneumatic cylinder, which is adjustable by means of the further actuator, can be fixed. The advantage here is that thereby the position of the ejected insert position or the retracted position of rest can be fixed in order to achieve a high repeatability. In addition, it can be provided that the pneumatic cylinder increased travel speeds are driven and by the locking mechanism, the forces that occur due to the inertia of the gripping device at high speeds, do not need to be absorbed by the other actuator. As a result, the further actuator, which is designed primarily for setting the end positions and thus must have a high positioning accuracy, have only a small actuating force. In particular, it can be achieved that the further actuator can be designed as small as possible and also as inexpensively as possible.
    According to a particular embodiment, it is possible that the locking mechanism comprises a locking pin which is displaceable by means of a locking cylinder, wherein the locking pin has a toothed surface on the end face and cooperates with a toothed bar, wherein in the extended state of the locking cylinder, the toothed surface in the rack intervenes. The advantage here is that such a locking pin can be arranged to save space in the gripper system. By the toothed surface of the locking pin or in engagement of the locking pin in a corresponding tooth bar can be achieved that between the locking pin and rack a positive connection is realized and thus by the locking mechanism, a large holding force can be applied.
    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 is a side view of a schematically illustrated processing plant;
    Fig. 2 is a perspective view of a bending tool;
    Fig. 3 is a plan view of the bending tool;
    4 shows a perspective view of a gripping device for manipulating the bending tool;
    5 shows a perspective view of the gripping device in half section;
    Fig. 6 is an illustration of the gripping device in half section;
    Fig. 7 is a perspective view of the gripper system from a first viewing angle;
    Fig. 8 is a perspective view of the gripper system from a second viewing angle;
    9 is a perspective view of the gripper system from a third viewing angle;
    Fig. 10 is a front view of the gripper system;
    Fig. 11 is a sectional view of the gripper system along the section line XIXI of Fig. 10;
    Fig. 12 is a perspective view of the gripper system;
    13 is a view of the gripping device with bending tool in a sectional view, wherein the gripping device is positioned in receiving step one on the second gripping groove.
    14 shows a view of the gripping device with bending tool in a sectional representation, the gripping device being positioned in the receiving step two on the second gripping groove;
    15 is a view of the gripping device with bending tool in a sectional view, wherein the gripping device is positioned in the receiving step three at the second gripping groove.
    16 shows a view of the gripping device with bending tool in a sectional view, wherein the gripping device is positioned in the receiving step one at the first gripping groove;
    17 is a view of the gripping device with bending tool in a sectional view, wherein the gripping device is positioned in the receiving step two at the first gripping groove.
    18 is a view of the gripping device with bending tool in a sectional view, wherein the gripping device is positioned in the receiving step three at the first gripping groove.
    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, 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 these position information in a change in position mutatis mutandis to transfer to the new location.
    Fig. 1 shows a schematic representation of the side view of a processing plant 1. The processing plant 1 comprises a press brake 2, which is provided for bending a sheet 3.
    The press brake 2 further comprises a first adjustable pressing bar 4, in which a tool holder 5 is formed for receiving a first bending tool 6. Furthermore, the press brake 2 comprises a second fixed pressing beam 7 on which also a tool holder 5 for receiving a bending tool 6 is formed.
    The sheet 3 to be bent is inserted for the bending operation between the bending tools 6 of the first 4 and the second pressing beam 7. The fixed in the first press bar 4 bending tool 6 respectively the first adjustable pressing bar 4 is moved by a press drive unit 8 in the vertical direction upwards or downwards. For controlling the press drive unit 8, a computer unit 9 is provided, which can be coupled to an input and / or display unit 10.
    Furthermore, as shown in FIG. 1, it can be provided that the processing installation 1 comprises a gripping device 11 which serves for manipulation of the bending tool 6.
    From Fig. 1 it is further seen that the bending tool 6 has a tool body 12 which deforms the bending sheet 3 to be bent during bending. The bending tool 6 can be positioned in the tool holder 5 in the horizontal displacement direction 13 along the clamping portion of the tool holder 5. For this purpose, the bending tool 6 in the horizontal displacement direction 13 must be inserted laterally into the tool holder 5 of the press bar 4.
    Alternatively, it is also possible that the bending tool 6 is inserted in the vertical direction of insertion 14 in the tool holder 5. For this possibility to introduce the bending tool 6 in the tool holder 5, it is necessary that the bending tool 6 has an insertion mechanism.
    In the tool holder 5, a plurality of bending tools 6, which are of similar construction, can be positioned next to one another and connected to one another. Thus, it can be achieved that bending edges 15 of individual bending tools 6 form a correspondingly long machining edge.
    Another possibility for the arrangement of bending tools 6 is that in the tool holder 5 a plurality of different bending tools 6 are positioned. These different bending tools 6 are then used for various bending operations and can also be replaced individually. If bending tools 6 of different types are used for different working steps, then it is usual for them to be arranged at a certain distance from each other.
    In order to provide the most flexible processing plant 1 available, it is necessary that the bending tools 6 can be easily and quickly clamped in the tool holder 5 and taken out of this again.
    From Fig. 1 it can be clearly seen that the gripping device 11 is arranged on a gripper system 16. The gripper system 16 may, for example, be coupled to the second pressing beam 7. It is conceivable that, as shown in Fig. 1, the gripper system 16 is arranged on the outside of the press bar 7. However, it can be provided for reasons of space or to improve the usability of the bending machine Bie that the gripper system 16 is disposed on the inside of the press bar 7.
    Fig. 2 shows the bending tool 6 in a perspective view. It can be clearly seen that the main component of the bending tool 6 is formed by the tool body 12.
    Furthermore, it can be provided that the tool body 12 has a first gripping groove 17 and a second gripping groove 18, which are formed in the tool body 12. The gripping grooves 17, 18 may be arranged opposite each other on the tool body 12, wherein they extend in a direction parallel to the bending edge 15 longitudinal direction. The gripping grooves 17, 18 in this case have such a shape that the gripping device 11 can engage in the bending tool change in this, and thus equip the bending tool 6 on the press brake 2 and, if necessary, can disarm again.
    However, it is not mandatory that the gripping grooves 17, 18 are formed in the form of a groove, but it is also conceivable that they are formed, for example, in the form of simple holes into which a gripping device 11 can engage.
    The bending tool 6 can optionally be accommodated on the first gripping groove 17 or on the second gripping groove 18 of the gripping device 11.
    Furthermore, the bending tool 6 has a receiving portion 19, which is used in the tool holder 5. As a result, the bending tool 6 is held in the press brake 2.
    Fig. 3 shows a plan view of the bending tool, wherein in conjunction with Fig. 2 is clearly visible that in the tool body 12 both in the first gripping groove 17 and in the region of the second gripping groove 18, a centering recess 20 may be formed. The centering recess 20 can facilitate the reception of the bending tool 6 by the gripping device 11. In particular, correct positioning of the bending tool 6 relative to the gripping device 11 is facilitated by the centering recess 20.
    FIGS. 4 to 6 show an embodiment of a gripping device 11 in various views, wherein the same reference numerals or component designations are used for the same parts as in the respective preceding figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
    4 shows a perspective view of the gripping device 11, which is designed for manipulating the bending tool 6, in particular for inserting the bending tool 6 into the tool holder 5 or for removing the bending tool 6 from the tool holder 5.
    Fig. 5 also shows a perspective view of the gripping device 11, which is shown in a half-section to release the view of internal parts.
    6 shows a half section of the gripping device 11.
    The structure of the gripping device 11 will be explained and explained with reference to a combination of FIGS. 4, 5 and 6.
    As can be seen from FIG. 4, the gripping device 11 has a first gripping arm 21 and a second gripping arm 22. The first gripping arm 21 is in this case arranged on a first gripping arm receiving means 23 and the second gripping arm 22 is arranged on a second gripping arm receiving means 24. It can be provided that the second Greifarmaufnahme 24 has a first actuator 25, whereby the second gripping arm 22 in a clamping direction 26 relative to the first gripping arm 21 is displaceable. In other words, by the first actuator 25, the two gripping arms 21, 22 are moved towards each other or removed from each other.
    In an alternative variant can also be provided that the actuator 25 acts on both gripping arms 21,22 and that they are moved symmetrically by the actuator 25 to each other or away from each other.
    Furthermore, it can be provided that the gripping device 11 has an unlocking member 27, which is received between the two gripping arms 21, 22. It can be provided that a recess 28 is formed both on the first gripping arm 21 and on the second gripping arm 22, wherein the unlocking member 27 is movable in the space formed by the recess 28. The recess 28 may extend from a gripping portion 29 or a front end portion 30 to a rear gripping arm region 31.
    In particular, it can be provided that in each case two gripping fingers 32 are formed by the recess 28 in the gripper arms 21,22 on the gripping portion 29. The gripping fingers 32 have, as can be seen particularly well in FIG. 8, a dovetail-like shape, so that they can engage in the first gripping groove 17 or in the second gripping groove 18 of the bending tool 6. Characterized in that the second gripping arm 22 relative to the first gripping arm 21 in the clamping direction 26 is displaceable, in this case the bending tool 6 can be grasped or released again either. Furthermore, it can be provided that the first gripping arm 21 and the second gripping arm 22 are formed substantially symmetrically with respect to a median plane 33, wherein the two gripping fingers 32 of a gripper arm 21, 22 are respectively arranged at the same distance from the median plane 33 and the recess 28 exactly is arranged centrally on the center plane 33.
    Furthermore, it can be provided that the unlocking member 27 is arranged by means of a torsionally rigid longitudinal guide 34 on the second gripping arm 22 so that it can be displaced in the longitudinal direction 35 relative to the first gripping arm 21 and the second gripping arm 22. The torsionally rigid longitudinal guide 34 can be realized by means of two guide pins 36 which transversely project through the second gripping arm 22 and cooperate with a slot 37 in the unlocking member 27. In addition, it can be provided that the gripping device 11 comprises a second actuator 38, by means of which the unlocking member 27 can be moved in the direction of movement 35 relative to the second gripping arm 22.
    Both the first actuator 25 and the second actuator 38 can be realized for example in the form of a pneumatic or hydraulic cylinder. Alterna tive to this, it is also conceivable, for example, that an electric actuating cylinder cider a linear motor is used as an actuator.
    The unlocking member 27 is adapted to be able to actuate an actuating element of the bending tool 6 and thus to be able to achieve that the bending tool 6 in the vertical insertion direction 14, the tool holder 5 can be inserted and removed from this again.
    Furthermore, as can be seen particularly well in FIG. 6, it may be provided that a centering projection 40, which can engage in the centering recess 20 of the bending tool 6, is arranged on the second gripping arm 22, in particular in the gripping section 29. As a result, the bending tool 6 can be positioned relative to the gripping device 11. Preferably, the centering projection 40 is formed so that it has a chamfer 41 on both sides, which corresponds to the expansion in the centering recess 20. Furthermore, it can be provided that the centering projection 40 is formed in the form of a flat iron with corresponding bevels and is fastened by means of a fastening means 42 on the second gripping arm.
    Furthermore, it is possible that the gripping device 11 comprises a wear protection element 43, which is arranged in the front end region 30 of the first gripping arm 21. The wear protection element 43 has a surface 44. Furthermore, it can be provided that the wear protection element 43 is fastened by means of fastening means 45 on the first gripping arm 21. The wear protection element 43 may be formed from a plastic, in particular rubber material, and thus act as a damper.
    FIGS. 7 to 9 show a carriage system 46 of the gripper system 16, each in a perspective view from different viewing angles, again using the same reference numerals or component designations for the same parts as in the respective preceding figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
    The carriage system 46 is used to manipulate the gripping device 11. The following description of the structure of the carriage system 46 and the gripping device 11 will be described with reference to a combination of FIGS. 7 to 9.
    The carriage system 46 comprises a horizontal linear guide 47 on which the gripper system 16 is arranged. The horizontal linear guide 47 may have one or preferably two guide rails 48, on which a guide carriage 49 is mounted horizontally displaceable. In the embodiment shown here, the horizontal linear guide 47 comprises two guide rails 48, wherein in the guide carriage 49, two corresponding rail receivers 50 are formed. By forming two guide rails 48 or rail receptacles 50 spaced apart from one another, it can be achieved that an increased bending moment can be transmitted by the guide carriage 49 and thus the stability of the carriage system 46 can be increased.
    The rail receptacle 50 is guided in a form-fitting manner in the guide rail 48. In this case, it is possible for the rail receptacle 50 to be guided in the guide rail 48 by ball bearings. In a further alternative embodiment, it is conceivable that a sliding guide is formed between the rail receptacle 50 and the guide rail 48.
    By the horizontal linear guide 47, the gripping device 11 can be moved in the longitudinal direction 35 of the gripping arms 21,22. Thus, the gripping device 11 can be moved away from the bending tool 6 used in the tool holder 5 or from this. In particular, it can be provided here that the gripping device 11 is arranged directly on the guide carriage 49 and is connected by means of fastening means, such as screws, with this.
    Furthermore, an actuator 51 can be provided, which moves the guide carriage 49 in the longitudinal direction 35 of the gripping arms 21, 22. The actuator 51 may be formed, for example, as an electric motor drive, as an electromotive spindle drive, as a hydraulic cylinder and the like. In the currently shown embodiment, the actuator 51 is in the form of a pneumatic cylinder 52. By means of the pneumatic cylinder 52, the gripping device 11 can be moved into an ejected insertion position 53 and into a retracted rest position 54.
    The pneumatic cylinder 52 is in particular designed to be able to move the gripping device 11 as fast as possible between these two positions.
    The pushed-insertion position 53 is the position in which the bending tool can be used in the vertical direction of insertion 14 in the tool holder 5.
    When the gripping device 11 is in the retracted rest position 54, the bending tool 6 can be moved in the horizontal displacement direction 13 to the other recorded in the tool holder 5 bending tools 6.
    The carriage system 46 may also include a vertical linear guide 55, by means of which the gripping device 11 and the horizontal linear guide 47 in the vertical direction of insertion 14 is adjustable. Analogous to the horizontal linear guide 47 already described, it can be provided that the vertical linear guide 55 has one or more guide rails 56 on which a guide slide 57 is guided. Analogous to the embodiment variant already described, the guide carriage 57 may have one or more rail receivers 58 which interact with the guide rails 56.
    In particular, it may be provided that the guide rails 48 of the horizontal linear guide 47 are arranged on the guide carriage 57 of the vertical linear guide 55 and thereby are vertically displaceable.
    In the embodiment variant shown here, it can further be provided that an actuator receptacle 59 is formed which serves to receive the actuator 51, in particular the pneumatic cylinder 52. In particular, it can be provided that a cylinder tube 60 of the pneumatic cylinder 52 is fastened to the actuator receptacle 59. The piston rod 61 of the pneumatic cylinder 52 can be coupled by means of a fastening receptacle 62 with the guide carriage 49 of the horizontal linear guide 47.
    Furthermore, it may be provided that a further actuator 63 is formed which is coupled to the guide carriage 57 of the vertical linear guide 55 and to the actuator receptacle 59. It can thereby be achieved that the Aktoraufnahme 59 can be moved in the longitudinal direction 35 of the gripping fingers 21,22. Thus, the entire actuator 51 can be moved in the longitudinal direction 35, whereby the insertion position 53 between a minimum position 65 and a maximum position 66 can be varied.
    Furthermore, it may be provided that the Aktoraufnahme 59 is formed in the form of a positioning slide, wherein the carriage 62 may be formed analogous to the carriage systems already described a slide receptacle 67, which is guided in a guide rail 68. The further actuator 63 is preferably designed as an actuating cylinder, for example in the form of an electric spindle drive. Preferably, the further actuator 63 is formed such that the positioning slide 64 and the Aktoraufnahme 59 can be adjusted continuously between the minimum position 65 and the maximum position 66.
    Furthermore, a locking mechanism 69 may be provided, by means of which the position of the positioning carriage 64 and the Aktoraufnahme 59 can be fixed. By the locking mechanism 69 can thus be achieved that a possibly occurring in the longitudinal direction 35 oriented force does not have to be absorbed by the further actuator 63. Such a force can, for example, by the inertia of the gripping device 11 and the guide carriage 49 of the horizontal linear guide 47, especially at high speeds, occur.
    The adjustment system by means of the further actuator 63 brings with it in particular the advantage that the insertion position 53 of the gripping device 11 can be adapted to the geometry of the respectively to be used bending tool 4 and to the geometry of the tool holder 5.
    10 shows the gripper system 16 in a front view. As can be seen from FIG. 10, it can be provided that the gripper system 16, in particular the carriage system 46 of the gripper system 16, has a further horizontal linear guide 70, by means of which the vertical linear guide 55 can be displaced in the horizontal displacement direction 13. In particular, it can be provided that the horizontal linear guide 47, the vertical linear guide 55 and the further horizontal linear guide 70 are each arranged at right angles to each other and thus represent the three main axes of a Cartesian coordinate system. 10 that it can be provided that two of the gripping devices 11 are arranged on the gripper system 16, wherein a first of the gripping devices 11 is used for manipulating the upper bending tool and a second one of the gripping devices 11 for manipulating the lower bending tool.
    11 shows a sectional view of the gripper system 16 corresponding to the section line XI - XI of Fig. 10. As can be seen from a combination of Figs. 10 and 11, it can be provided that the locking mechanism 69 comprises a locking pin 71 which on an end face 72nd a serrated surface 73 which can cooperate with a rack 74. This can be created in the extended state of the locking pin 71, a positive connection between the locking pin 71 and rack 74, whereby the positioning slide 64 can be locked or secured.
    The toothed surface 73 may have any toothing. In particular, it appears advantageous if the toothed surface 73 has a micro-toothing, which theoretically any position of the positioning carriage 64 can be secured.
    In the illustrated embodiment, the locking pin 71 is moved by means of a locking cylinder 75 between the release position and locking division.
    12 shows a further embodiment of the gripper system 16. In the embodiment according to FIG. 12, the actuator 51, which serves to displace the guide carriage 49 with the gripping device 11 arranged thereon, is designed in the form of an electric motor. Such an electric motor may be, for example, a stepping motor or a servomotor. In this case, a gear 76 is formed, which is driven by the electric motor or actuator 51.
    The gear 76 engages in a rack 77, whereby an adjustment of the guide carriage 49 can be achieved. In particular, it can be provided that the actuator 51 is arranged directly on the guide carriage 49.
    In FIGS. 13 to 18, an interaction of the bending tool 6 according to the invention and the gripping device 11 is shown in different views, wherein the same reference numerals or component designations are used for the same parts as in the respective preceding figures. In order to avoid unnecessary repetition, reference is made to the detailed description in the respective preceding figures.
    The centering projection 40 is designed such that it cooperates with the centering recess 20 and thereby the bending tool 6 can be positioned in the horizontal displacement direction 13 to the gripping device 11.
    FIGS. 13 to 15 show, in a side view, the method sequence for picking up the bending tool 6 by the gripping device 11 in a step-by-step manner or will be explained in a step-by-step manner.
    In a first method step, the gripping device 11 is moved to the bending tool 6, that the gripping fingers 32 of the first and the second gripping arm 21,22 are positioned within the second gripping groove 18. In this case, the gripping device 11 is displaced downwards by means of the carriage system 46 in a subsequent method step, so that the gripping fingers 32 of the first gripping arm 21 engage with the second gripping groove 18 and touch each other.
    Subsequently, in a further method step, as shown in FIG. 14, the second gripping arm 22 is moved upwards in the clamping direction 26 by means of the first actuator 25 and thereby displaced relative to the first gripping arm 21, so that both the gripping fingers 32 of the first gripping arm 21 Also, the gripping fingers 32 of the second gripping arm 22 with the second gripping groove 18 are engaged. In this case, at the same time the attached to the second gripper arm 22 unlocking member 27 is moved upward.
    In an alternative variant can also be provided that the two gripping arms 21.22 are positioned centrally of the gripping groove 18 and moved symmetrically apart by means of the first actuator 25.
    In a further method step according to FIG. 15, the unlocking member 27 can now be pulled away by the second actuator 38 in a direction away from the bending tool 6, whereby an actuating element 78 arranged in the bending tool 6 and coupled thereto a locking element 79, which is relatively secure for securing the bending tool 6 used for tool holder 5, is moved from its locking position to its unlocked position.
    Now, the bending tool 6 can be freely moved out of the tool holder 5 against the vertical insertion direction 14 or used in this.
    Subsequently, the bending tool 6 can be moved by means of the horizontal linear guide 47 in the longitudinal direction 35 of the gripping arms 21,22 from the insertion position 53 in the rest position 54 so that it then by means of the other horizontal linear guide 70 in the horizontal direction of displacement 13 on the other bending tools 6 over to the tool storage can be transported.
    To store the bending tool 6, the actuating element 78 can now be brought back into its basic position in the reverse order and the gripping device 11 can be brought out of engagement with the bending tool 6.
    16 to 18, a further process sequence for clamping or unlocking a bending tool 6 is shown, in which case the gripping device 11 engages in the first gripping groove 17 of the bending tool 6. In other words, it is described here how the bending tool 6 can be gripped from the opposite side.
    In a first method step, the gripping device 11 is moved to the bending tool 6, that the gripping fingers 32 of the first and the second gripping arm 21.22 are positioned within the first gripping groove 17. The gripping device 11 is thereby moved step by means of the carriage system 46 in a subsequent process step down so that the gripping fingers 32 of the first gripper arm 21 with the first gripping groove 17 are engaged and touching each other.
    Subsequently, in a further method step, as shown in FIG. 17, the second gripping arm 22 is moved upwards in the clamping direction 26 by means of the first actuator 25 and thereby displaced relative to the first gripping arm 21, so that both the gripping fingers 32 of the first gripping arm 21 Also, the gripping fingers 32 of the second gripping arm 22 with the first gripping groove 17 are engaged. In this case, at the same time the attached to the second gripper arm 22 unlocking member 27 is moved upward.
    In a further method step according to FIG. 18, the unlocking member 27 can now be pressed by the second actuator 38 in a direction facing the bending tool 6, whereby the actuating element 78 and coupled thereto the locking element 79 is moved from its locking position into its unlocked position.
    Now, the bending tool 6 can be freely moved out of the tool holder 5 or used in this.
    Analogous to the process sequence already described, the bending tool 6 can be moved to the tool train storage.
    To store the bending tool 6, the actuating element 78 can now be brought back into its basic position in the reverse order and the gripping device 11 can be brought out of engagement with the bending tool 6.
    The embodiments show possible embodiments of the gripper system 16, 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 possibility of variation due to the teaching of technical action representational invention in the skill of those skilled in this technical field.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    The task underlying the independent inventive solutions can be taken from the description. All statements of value ranges in the present description should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all sub-areas 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. 1-18 can 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.
    For the sake of order, it should finally be pointed out that for a better understanding of the structure of the gripper system 16, this or its components have been shown partially unevenly and / or enlarged and / or reduced in size.
    REFERENCE SIGNS LIST 1 processing plant 30 front end section gripping 2 press brake arm 3 plate 31 rear gripper arm region 4 first pressing bar 32 gripper fingers 5 tool holder 33 center plane 6 bending tool 34 torsionally rigid longitudinal guide 7 second pressing bar 35 longitudinal 8 press drive unit 36 guide pin 9 computer unit 37 slot 10 input display unit 38 second actuator 11 gripping device 39 front end area unlocking 12 tool body organ 13 horizontal shifting direction 40 centering projection 41 bevel 14 vertical insertion direction 42 fastening means 15 bending edge 43 wear protection element 16 gripper system 44 surface 17 first gripping groove 45 fastening means 18 second gripping groove 46 carriage system 19 receiving portion 47 horizontal linear guide 20 centering recess 48 guide rail 21 first gripping arm 49 guide slide 22 second gripping arm 50 rail receptacle 23 first gripping arm receptacle 51 actuator 24 second gripping arm receptacle 52 Pneumatic cylinder 25 First actuator 53 Insertion position 26 Clamping direction 54 Resting position 27 Unlocking element 55 Vertical linear guide 28 Recessing gripper arm 56 Guide rail vertical 29 Gripping section 57 Guide carriage vertical 58 Rail support vertical 59 Actuator support 60 Cylinder tube 61 Piston rod 62 Fixture 63 Further actuator 64 Positioning carriage 65 Minimum position 66 Maximum position 67 Rail support Positioning slide 68 guide rail positioning slide 69 locking mechanism 70 further horizontal linear guide 71 locking pin 72 end face 73 toothed surface 74 toothed bar 75 locking cylinder 76 gear 77 toothed bar 78 actuating element 79 locking element
    权利要求:
    Claims (11)
    [1]
    claims
    1. Gripper system (16) for a press brake (2) with a gripping device (11) for manipulating a bending tool (6), the gripping device (11) comprising a first gripping arm (21) and a clamping direction (26) relative to the first gripping arm ( 21) displaceable second gripping arm (22), which gripping arms (21) for engaging in a gripping groove (17, 18) of a bending tool (6) and for clamping the bending tool (6) are formed, characterized in that the gripping device (11) a carriage system (46) is arranged, which carriage system (46) comprises a horizontal linear guide (47), by means of which the gripping device (11) in the longitudinal direction (35) of the gripping arms (21,22) to the gripping groove (17, 18) towards or from the gripping groove (17, 18) is displaceable away and that the carriage system (46) comprises a vertical linear guide (55) on which the horizontal linear guide (47) with the gripping device (11) arranged thereon is arranged to be vertically displaceable.
    [2]
    2. Gripper system according to claim 1, characterized in that on the vertical linear guide (55) two of the horizontal linear guides (47) are arranged, on each of which a gripping device (11) is formed.
    [3]
    3. gripper system according to claim 1 or 2, characterized in that the vertical linear guide (55) on a further horizontal linear guide (70) is arranged, by means of which the gripping device (11) in horizontal displacement direction (13) of a tool holder (5) of the press brake ( 2) is displaceable.
    [4]
    4. Gripper system according to one of the preceding claims, characterized in that the horizontal linear guide (47) on a guide rail (48) guided guide carriage (49), on which the gripping device (11) is accommodated, wherein the guide carriage (49) by means of an actuator (51), preferably a pneumatic cylinder (52), between an ejected insertion position (53) and a retracted rest position (54) is positionable.
    [5]
    5. Gripper system according to claim 4, characterized in that a cylinder tube (60) of the pneumatic cylinder (52) with the guide rail (48) is coupled and that a piston rod (61) of the pneumatic cylinder (52) with the guide carriage (49) is coupled.
    [6]
    6. gripper system according to claim 4 or 5, characterized in that between the guide rail (48) and the pneumatic cylinder (52), a further actuator (63) is arranged by means of which the pneumatic cylinder (52) is displaceable and thus the ejected insertion position (53). of the pneumatic cylinder (52) is variable.
    [7]
    7. gripper system according to claim 5 or 6, characterized in that the cylinder tube (60) of the pneumatic cylinder (52) on a positioning slide (64) is arranged, which by means of the further actuator (63) horizontally relative to the vertical linear guide (55) is displaceable ,
    [8]
    8. gripper system according to claim 6 or 7, characterized in that the further actuator (63) is designed as a servomotor, which is continuously displaceable between a minimum position (65) and a maximum position (66).
    [9]
    9. Gripper system according to one of claims 6 to 8, characterized in that a locking mechanism (69) is formed, by means of which the position of the cylinder tube (60) of the pneumatic cylinder (52), which by means of the further actuator (63) is adjustable, fixable is.
    [10]
    10. Gripper system according to claim 9, characterized in that the locking mechanism (69) comprises a locking pin (71) which is displaceable by means of a locking cylinder (75), wherein the locking pin (71) on its end face (72) has a toothed surface (71). 73) and cooperates with a toothed strip (74), wherein in the extended state of the locking cylinder (75) engages the toothed surface (73) in the rack (74).
    [11]
    11. Bending press, in particular press brake (2), with pressing bars (4, 7) and on the pressing bars (4, 7) arranged or formed tool holders (5) with therein received bending tools (6), wherein the bending tools (6) has a gripping groove (17, 18) and can be manipulated by means of a gripper system (16), characterized in that the gripper system (16) is designed according to one of the preceding claims.
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    同族专利:
    公开号 | 公开日
    CN108290194A|2018-07-17|
    EP3370892A1|2018-09-12|
    US11007561B2|2021-05-18|
    EP3370892B1|2019-09-04|
    CN108290194B|2020-05-12|
    WO2017076985A1|2017-05-11|
    US20180311720A1|2018-11-01|
    AT517712B1|2017-04-15|
    引用文献:
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    AT511591B1|2012-02-07|2013-01-15|Trumpf Maschinen Austria Gmbh|BENDING TOOL WITH SAFETY DEVICE|
    WO2013166538A1|2012-05-09|2013-11-14|Trumpf Maschinen Austria Gmbh & Co. Kg.|Method for automated manipulation of a bending tool, and manufacturing device|
    AT515526B1|2014-08-12|2015-10-15|Trumpf Maschinen Austria Gmbh|Bending tool and gripping device for manipulating the bending tool|
    CN1161267A|1995-09-14|1997-10-08|邵文远|Compositions of metal-working machines|
    JP3519055B2|1999-04-16|2004-04-12|協和マシン株式会社|Die crimping device for press machine|
    US6575088B2|2000-01-27|2003-06-10|Charles J. Finkler|Press lock|
    US6938454B2|2002-05-13|2005-09-06|Trumpf Maschinen Austria Gmbh & Co. Kg.|Production device, especially a bending press, and method for operating said production device|
    JP4242204B2|2003-05-19|2009-03-25|株式会社アマダ|Bending machine|
    JP2005074446A|2003-08-29|2005-03-24|Amada Co Ltd|Die setting system for sheet folding machine|
    AT508923B1|2009-11-10|2011-05-15|Trumpf Maschinen Austria Gmbh|MANUFACTURING SYSTEM, ESPECIALLY FOR FREEFORM BENDING|
    CN102371499A|2010-08-09|2012-03-14|深圳富泰宏精密工业有限公司|Clamping device for manipulator|
    AT511078B1|2011-05-10|2012-09-15|Trumpf Maschinen Austria Gmbh|MANUFACTURING SYSTEM WITH A TOOL CHANGE SYSTEM|
    JP6371034B2|2012-10-19|2018-08-08|株式会社アマダホールディングス|Plate bending system|
    CN102975193B|2012-12-06|2014-08-27|爱马特（江苏）自动化有限公司|Mechanical hand device capable of realizing horizontal conveyance along running beam for workpiece conveyance|CN107414441B|2017-07-12|2019-04-16|北京理工大学|A kind of FRAME COMPONENTS quick-changing type clamper towards assembly|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50937/2015A|AT517712B1|2015-11-04|2015-11-04|Gripper system for a bending press|ATA50937/2015A| AT517712B1|2015-11-04|2015-11-04|Gripper system for a bending press|
    CN201680068595.1A| CN108290194B|2015-11-04|2016-11-03|Clamp system for bending press|
    PCT/EP2016/076585| WO2017076985A1|2015-11-04|2016-11-03|Gripper system for a bending press|
    EP16791383.9A| EP3370892B1|2015-11-04|2016-11-03|Gripper system for a bending press|
    US15/772,153| US11007561B2|2015-11-04|2016-11-03|Gripper system for a bending press|
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