Workpiece processing machine and method for operating the workpiece processing machine

专利摘要:
The invention relates to a workpiece processing machine and a method for operating a workpiece processing machine. The workpiece processing machine comprises an automatically adjustable stop finger, and has for monitoring adjusting movements of the stop finger on a monitoring device, which comprises a lighting device and at least one optical detection device. During operation of the workpiece processing machine, a light beam is blasted into an area leading the stop finger in the direction of adjustment during an automatically controlled adjustment movement of the stop finger. Upon detection of a first light image imaged by the first light beam on an object surface, a safety measure is triggered.
公开号:AT518639A4
申请号:T50677/2016
申请日:2016-07-26
公开日:2017-12-15
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 method for operating a workpiece processing machine, and a workpiece processing machine according to the wording of the claims.
In the technical field of workpiece machining nowadays mostly automated controlled processing machines are used. To improve productivity, as many machine components as possible are usually automatically adjusted or moved by a control device in such machines. A typical and frequently used example of such a control is the so-called CNC control (computerized numeric control).
In such automated or CNC-controlled processes, machine components are adjusted, for example, along predeterminable or pre-programmable positions in the respective machine coordinate system along driven displacement or adjustment axes. However, such computer-controlled or program-controlled adjustments of machine components entail an inherent danger potential due to the automation of the executed movement or adjustment movements. For example, there is always a certain risk of collision between machine components with each other or with other objects, which can lead to damage to a particular machine. Such collisions are, for example, due to programmatically incorrect specification of target or. Approach positions, improper operation or operator errors, not intended or erroneously placed obstacles, etc. possible.
In the case of partially or fully automated processes, the safety of operating personnel or, in general, personal safety must be considered. In particular, in the case of automated adjustment or movement movements, there is a certain risk potential with regard to a collision of a moved or displaced machine component with the operator or a body part of a person, for example due to carelessness of an operator. In the worst case, serious injuries can be caused by such collisions, in particular in the automated process or adjustment of heavy machine components driven by high-performance drive components.
In the past, some solutions for monitoring partially or fully automated processes have already been proposed. In JP 2006061959 A, for example, a monitoring of the working range of a press brake is proposed. This document discloses a method in which a laser line in the bending area of the press is projected onto a flat surface of an already positioned workpiece, and this area is monitored with a camera. If an object or an obstacle, for example the hand of a person, penetrates into the area between the line light source and the workpiece surface, this obstacle can be detected by a visually detectable interruption of the light line projected onto the workpiece by means of the camera. After detection or detection of an obstacle in the monitoring area can be stopped immediately in the given case, a lowering of the press ram of the press brake. However, this method can not monitor automated adjustment movement of a machine component. In particular, this can not be monitored adjusting movement of a stop finger. Frequently automated controlled on workpiece processing machines. movable machine components are so-called stop devices. Such stop devices are primarily used for positioning a workpiece to be machined in a working position. Usually, such stop devices have one or more adjustable or movable stop fingers with contact surfaces and / or bearing surfaces on which surfaces a workpiece for positioning on the stop finger on or can be placed on the stop finger. For the intended positioning of the workpieces such stop fingers are hereby adjusted in proper operation first in a specific stop position. Subsequently, a workpiece to be machined can be automated, but often also manually positioned by an operator on the stop finger. In particular, in bending machines such stop devices are often designed as so-called backgauge.
To avoid collisions of such a stop finger with other objects in the course of an automated controlled movement there are solutions in which the speed of movement of a stop finger, especially when approaching the stop or target position is greatly reduced, and / or the adjusting movement when approaching the stop position drive technology is executed force-reduced. Furthermore, it has been proposed in the past to stop an automated adjustment movement in the vicinity of the stop position, and to carry out the final, driven adjustment of the stop finger in the stop position only after deliberate release by an operator. Also proposed were sensor technology solutions to monitor an automated adjustment of a stop finger, such as monitoring the power consumption of a drive member for the stop finger.
WO 2012/151600 discloses a sensor arrangement for monitoring an automatically controlled approach movement of a stop finger into a stop position along a driven CNC axis. The sensor arrangement may in this case comprise a sensor element attached to the stop finger. Disclosed on the stop finger self-mounted mechanical contact switch, force measuring elements and proximity switches. Alternatively, a camera can also be used in conjunction with an object or structure recognition system for the structural recognition of specific objects. Each of these known sensor systems, however, has disadvantages, such as late detection of an obstacle only in contact, imprecise detection, limited detection range, or require considerable computational effort for the detection of obstacles.
In the technical field of workpiece processing machines, there is therefore still room for improvement with regard to the monitoring of automatically controlled movements of stop fingers.
It was therefore an object of the present invention to provide an improved method for operating a workpiece processing machine, as well as a corresponding workpiece machine.
This object is achieved by a method for operating workpiece processing machines and a workpiece processing machine according to the claims.
The method for operating a workpiece processing machine, in particular a bending machine, comprises automatically controlled adjustment or movement of at least one stop finger of a stop device along at least one driven movement or adjustment axis, for example a CNC axis, into a stop position provided for positioning a workpiece to be machined.
Furthermore, the method comprises positioning the workpiece by applying the workpiece to a contact surface of the stop finger.
It is essential that during an automatically controlled movement or adjustment movement of the stop finger along the at least one adjustment axis, by means of a motion-coupled with the stop finger along the at least one adjusting axis lighting device, a first light beam is irradiated in a stop finger in the direction leading the range. Furthermore, by means of at least one fixed optical detection device, a monitoring area for adjustment movements of the stop finger is monitored. The at least one optical detection device is in this case designed to detect a first light image imaged by the first light beam on an object surface.
Upon detection of a first light image imaged by the first light beam on an object surface, an automatically controlled safety measure is immediately initiated or triggered.
By the proposed measures, a method improved in terms of detection and safety can be provided for operating a workpiece processing machine. By the measures specified, obstacles, for example a human hand or a finger, in the adjustment range of the stop finger, in particular in the particularly safety-relevant adjustment direction of the stop finger, in which adjustment direction particularly high risk of collision with obstacles, can be detected reliably and quickly. Elaborate and time-consuming arithmetic operations for object or. Structure recognition is not required in this case, and yet an extensive, in principle unrestricted area of the workpiece processing machine can be monitored for traversing movements of a stop finger with respect to obstacles. Furthermore, cycle-time-delaying measures, such as a reduction in the travel or adjustment speed when approaching the stop position or a force-reduced approach of the stop finger can be made without having to compromise in terms of safety, in particular with regard to personal safety. As a result, the machining of the workpieces with the lowest possible cycle or cycle times, and thus the highest possible productivity can be performed. Furthermore, by means of the specified method measures, a collision of the stop finger during an automatically controlled adjusting movement can not only be weakened but, in principle, completely prevented.
Particularly advantageously, the specified measures for the operation of bending machines, in particular for the operation of Gesenkbiegemaschinen or press brakes can be used, since in such machines often automatically controlled stop fingers are used.
As a safety measure, for example, an immediate stop the adjustment of the stop finger can be triggered, or even an immediate shutdown of the entire workpiece processing machine can be initiated. Alternatively and / or additionally, for example, a warning or alarm can be triggered.
The first light beam emitted by the illumination device can be formed, for example, by a light cone, light cylinder or other light bundle structure, by which light beam structure are imaged onto an object surface located in the beam path as a first light image, for example a circular or elliptical surface, or a circular or elliptical line can. In principle, any suitable optical elements in connection with the illumination device can be used to generate the light bundle, as long as it is ensured that the light bundle can be irradiated into a region leading the stop finger during an adjustment movement, without a first light image on a surface of the machine or a machine component is caused.
It is essential here that the first light image on a surface can be recognized as quickly as possible and reliably by the at least one optical detection device. In particular, the light emitted by the illumination device may be monochromatic. In this context, the at least one optical detection device can be designed, for example, specifically for the reliable detection or detection of the light or light beam emitted by the illumination device, in particular for the most reliable detection of light with the radiated wavelength.
In principle, it is of course possible that several monitoring areas are provided for monitoring the adjustment movements of stop fingers or for detecting obstacles. For this purpose, several detection devices can be arranged on the workpiece processing machine. Several monitoring areas of individual, optical detection devices can be computationally combined to form an extensive monitoring area. As a result, the most complete possible monitoring of the adjustment movements of the stop finger in the area of the entire workpiece processing machine even in the presence of detection technology obstructive, constructive
Elements of the machine, such as struts and the like, are performed. For safety-friendly areas of the workpiece processing machine, monitoring may be unnecessary at best.
In a further development of the method, provision may be made for the lighting device to be adjusted in motion-coupled manner along at least two traversing or adjusting axes with the stop finger.
In this way, it can be realized in a simple manner that during an adjustment movement of the stop finger along the at least two adjustment axes, the first light beam is blasted into the region leading the stop finger. For this purpose, the lighting device can be arranged or mounted, for example, on a surface of the stop device, for example on a console. As a result, positioning errors with regard to the beam path of the first light bundle in the area leading the stop finger in the adjustment direction can also be at least largely avoided. In the case of operating a bending machine, in particular a press brake, motion coupling of the lighting device along two adjustment axes is particularly expedient, since in this way particularly safety-relevant or collision-prone, automated adjustment movements of a stop finger can be monitored. This applies in particular both to adjustment movements along a so-called X-axis, ie horizontally along an adjustment axis pointing in the direction of a workpiece supply side or a bending plane, as well as along a so-called Z-axis, ie along a horizontal, parallel to a work surface or a table beam a folding press extending adjustment axis of the workpiece processing machine.
However, it can also be provided that the first light beam is directed via an optical mirror surface, in particular a flat mirror surface, into the region leading the stop finger in the adjustment direction.
By this measure, in particular movement coupling of the lighting device or the first light beam with the stop finger can be accomplished easily and efficiently. The illumination device can in turn be arranged on a console of the stop device, for example, and the first light beam can be deflected during a movement movement of the stop finger over the mirror surface into the region leading the stop finger. Due to the flat mirror surface also a positionally accurate deflection of the first light beam in the stop finger in the advance direction leading region is possible. Here, the beam path of the first light beam can also be passed through a protected or at least largely inaccessible interior of the workpiece processing machine, so that accidental or unwanted triggering a security measure due to improper interruption of the first light beam can be effectively prevented. In this case, the dimensions of the optical mirror surface can be chosen to be large enough in order to be able to ensure that the first light bundle is irradiated into the entire area to be monitored or at least into a safety-relevant area of the workpiece processing machine, depending on the arrangement of the illumination device.
In a further method measure can be provided, the first light beam at least largely parallel light beam whose beam path forms a first, planar light surface is irradiated in the leading edge of the stop finger. The first light beam is hereby irradiated as at least only slightly divergent light beam whose beam path is in at least the first light surface.
When using a suitably formed lighting device or light source, a spatially limited, first light beam can be blasted in the area leading the stop finger. The advantage in this case is that an unintentional irradiation of an object surface in the region of the machine by the first light beam, and thus an unwanted detection of the first light image by the at least one detection device can be effectively prevented. As a result, an unwanted shutdown of the stop finger, or the entire workpiece processing machine can be obstructed. In this embodiment, the first light bundle or its beam path is, as it were, irradiated as a planar light surface, that is to say in a plane. The shape of the first light image on a flat, horizontally oriented object surface is given by a light stripe or a light line.
In a further consequence, it may be expedient for the first light bundle to be blasted in the region leading the stop finger in the adjustment direction, such that a transverse light beam transverse to or perpendicular to the beam path of the first light surface is oriented at least substantially parallel to a contact surface of the stop finger.
In this way, the first light beam can be spatially limited primarily in the direction of the adjustment movement of the stop finger. Nevertheless, an obstacle in the direction of adjustment can be surely and quickly detected by detecting the first light image on a surface of the obstacle.
In this context, it may also be advantageous if the first light bundle is irradiated in the region leading the stop finger in the adjustment direction such that a width extension of the first light surface parallel to the light bundle transverse axis is greater in the region of the stop finger than extending between two side edges Width of the stop finger.
By this measure, obstacles can be detected laterally with respect to the adjustment of the stop finger by means of at least one detection device. This is advantageous, for example, for detecting improper or improper engagement of a person from a lateral engagement side with respect to the adjustment direction of the stop finger.
In a preferred variant of the method, it can be provided that the first light bundle is irradiated by means of a lighting device comprising a line laser into the region leading in the direction of the adjustment of the stop finger.
As a result, the first light beam is irradiated by means of a light source, which on the one hand generates a sufficiently high light intensity of a first light image on an obstacle surface. Thereby, the detection accuracy or speed of the first light image can be increased by the at least one detection device. In addition, narrow, parallel, at least predominantly monochromatic light beams can be generated with such a light source.
In a development of the method, provision may be made for the first light bundle to be blasted into the region leading the stop finger in the movement or adjustment direction at least at a minimum distance from a stop edge of the stop finger which initially protrudes in the adjustment direction.
The minimum distance can be given at least by a control and drive technology-related, maximum stopping distance for the stop finger, plus a maximum possible position error of the stop finger or the edge boundary of the stop finger.
With such a procedure, the risk of collisions of the stop finger with obstacles in the adjustment direction can be further minimized. In particular, drive-related, computing-time-dependent or control-related, and measurement-related delay or error for a stop of the stop finger in the event of detection of the first light image can be considered in this way. In this case, the stopping distance may include or take into account a drive-related braking distance, as well as a reaction path. The reaction path in turn can be determined by the measurement time or measurement cycle time, ie the maximum possible elapsed time from the appearance of the first light image on an obstacle surface until detection of the first light image, and by delays caused by bus cycles and calculation cycles of a control device.
In principle, it may be expedient for a lighting device which is arranged or fastened directly to a stop finger to be associated in a motion-coupled manner with the stop finger during each adjustment movement of the stop finger. In such cases, for example, the lighting device may have a plurality of light sources, each of which emits a beam of light in the area leading the stop finger. As a result, each Verstellbewe movement or each adjustment of a stop finger can be monitored for obstacles.
However, it can also be advantageous if the illumination device is not adjusted in the direction of a vertical adjustment axis aligned perpendicular to a contact surface.
Such vertically executed movement movements or height adjustments of a stop finger take place, for example, when a specific application and / or support surface of the stop finger with a work surface are to be brought to the same height. In particular, in the case of bending machines or press brakes this Vertikalverstellachse is referred to as R-adjustment axis. Vertikalverstellbewegungen along the R-adjustment usually take place only over very short distances. Furthermore, vertical adjustments of a stop finger are usually carried out in a not particularly relevant safety-related area of a machine, which is why monitoring in such cases can advantageously be eliminated.
In a preferred development, it can be provided that a second light image is projected onto a detectable by means of the at least one optical detection device surface of the stop finger by means of the movement with the stop finger, the second light image permanently at least at the stop finger motion-coupled adjusting movements of the lighting device permanently on the Surface of the stop finger is projected.
This measure has the advantage that a second light image on the surface of the stop finger can thereby be generated, which light image is permanently detectable by the at least one detection device, at least in the monitoring area (s). As a result, a safety-relevant measure for functional testing of the lighting device and / or the at least one optical detection device is provided. The second light image can be generated by a second, illuminated on the surface of the stop finger light beam. For this purpose, the illumination
Device basically a further light source in addition to the light source, which generates the first light beam include. However, it can also be provided a light source for generating both the first and the second light beam and the projection of the second light image. In principle, the second light image can be projected onto each surface of the stop finger, which surface lies within the monitoring region (s) of the at least one optical detection device during the adjustment movements of the stop finger, and thus permanently detectable by the optical detection device (s) is. For example, it can be provided that the second light image is projected onto a front area of the surface of the stop finger pointing in the direction of the workpiece feed side of the workpiece processing machine. If, for example, the stop finger concerned has bearing surfaces for laying on a workpiece to be machined, it can also be provided that the second light image is projected onto an uppermost surface of the stop finger.
As a result, in the event that the second light image is not detected during operation of the workpiece processing machine, a safety measure can be initiated immediately. For example, a measure may comprise at least triggering of an alarm by the control device. In a further consequence, it is also conceivable that the workpiece processing machine or at least the relevant stop finger, on which no second light image is detected, immediately stopped or stopped or at least put in a safe state. Subsequently, repair measures or repair measures to remedy a malfunction can be initiated or carried out.
In a further consequence, it can also be provided that, in the event of a non-detection of the second light image, once again a safety measure is initiated, for example, the operation of the workpiece processing machine is stopped. Then, for example, a functional test of the relevant lighting device and the relevant optical detection device can be made, and it can be initiated or carried out in the event of malfunction repair or repair.
It can also be provided that the second light image is projected onto the surface of the stop finger in the form of a second light strip extending or aligned parallel to a contact surface of the stop finger.
Furthermore, it may be expedient that a parallel to the second light stripe extending or aligned, third light strip is projected spaced from the second light strip on the surface of the stop finger by means of the motion-coupled with the stop finger lighting device, the third light strip in turn at least coupled to the stop finger motion Adjusting movements of the lighting device is permanently projected onto the surface of the stop finger. The second and the third light stripes are hereby detectable on a flat surface of the stop finger, independently of the viewing angle or the viewing position of the detection apparatus, as rectilinear light stripes or light lines oriented parallel to one another.
In this context, it may be advantageous for the monitoring area to be monitored by means of at least one stationary, image-capturing camera, in particular by means of at least one CCD camera.
By providing an image-capturing camera, the position of a second light image or second light strip permanently projecting onto the surface of a stop finger and / or a third light strip can basically be determined in the field of vision of the respective image-capturing camera, since the attachment and alignment coordinates of such a stationary, image-capturing camera are known. In this way, in the motion-coupled with the stop finger adjustment movements of the lighting device and the position of the stop finger can be determined. The second and / or third light strip serve as well-detectable reference lines or strips for the image-capturing camera.
In particular, it can be provided that a position of the stop finger is determined by calculation from the position of the second and / or third light strip in the monitoring area, which image or image is captured by the camera.
As a result, the position of the second and / or third light strip, for example along the so-called Z-axis, ie along a horizontal, parallel to a work surface or a table beam of a press brake extending adjustment axis for the stop finger, are determined. In the case of along the Z-axis with the stop finger motion coupled arrangement of the lighting device so the position of the stop finger along the Z-axis can be determined. The same naturally also applies to all adjusting axes, along which the stop finger can be adjusted, provided that the lighting device is adjusted in a motion-coupled manner with the stop finger along the respective adjusting axis.
However, it can also be advantageous that a distance of a workpiece supply-side edge boundary of the stop finger to the camera from a figuratively recorded, apparent normal distance between the second light strip and the third light strip, is determined by calculation.
In particular, it is expedient to monitor or visually track adjusting movements of the stop finger in the so-called X direction, that is to say horizontally along an adjustment axis pointing in the direction of a workpiece feed side or a bending plane. Finally, due to the knowledge of the real normal distance between the second and the third light strip, as well as knowledge of the position and orientation of the at least one fixed camera, from the figuratively recorded, detected from the point of view of the fixed camera, apparent normal distance between the two light stripes, also a Distance to reference points, such as a distance to the coordinates of a stop position to be approached are calculated.
In a further variant of the method can be provided that the first light beam at an automatically controlled start of an adjustment movement of the stop finger is activated immediately in a stop position.
This can ensure that the monitoring of the corresponding adjustment is activated immediately, and the reliability is guaranteed.
But it can also be provided that the first light beam is deactivated immediately upon reaching a control-technically predetermined stop position.
In this way, inadvertent triggering of security measures can be effectively prevented. For example, it may be noted that in the event of a hand of an operator entering the beam path of the first light bundle, for example, to manually position a workpiece on a contact surface of the stop finger, the first light image is detected and a safety measure is triggered. The specified measure here represents no security risk, since there is no risk of collision by an adjustment, as long as the stop finger is in the stop position.
In addition, it may be expedient if the first light beam is deactivated during an adjustment movement into a stop position, in a controllable technically pre-definable distance from the respective stop position during the adjustment movement until reaching the respective stop position.
As a result, unwanted triggering of safety measures, for example, be obstructed if it is known due to the given coordinates of a stop position that inevitably an object or an object surface in the beam path of the first light beam will be located on approach of the stop finger to the stop position. Such an object may, for example, be another machine component of the workpiece processing machine.
Furthermore, it may be advantageous if the first light beam is basically deactivated when the stop finger is at a standstill.
In a preferred embodiment of the method can be provided as an automatically controlled safety measure an immediate return movement of the stop finger is triggered.
By means of this method measure, the operational safety, in particular personal safety, can be further increased, since a stop finger can be removed immediately from a potential danger zone. The return movement can in this case be carried out by means of a respective drive of the corresponding adjustment axis. Alternatively and / or additionally, separate drive means can also be provided for executing a return movement for a stop finger, which separate return drive means are preferably designed to be rapidly releasable, above all.
Furthermore, it may be expedient that, in principle, no automatically controlled safety measure is triggered when the stop finger is at a standstill.
This also makes it possible to effectively prevent an unplanned or unintentional interruption of the operation of the workpiece machine.
Finally, it may be advantageous if the first light bundle is blasted into a stop position, into a region leading the stop finger, during an adjustment movement of the stop finger running along a horizontally extending adjustment axis in the direction of a workpiece feed side.
As a result, an easily implemented but nevertheless efficient measure for monitoring an adjustment movement of a stop finger can be provided directly in a stop position.
However, the object of the invention is also achieved by providing a workpiece processing machine, in particular a bending machine, according to the features of the claims.
The workpiece processing machine has an automatically controlled stop device comprising at least one automatically controlled controlled along at least one driven adjustment axis movable stop finger with at least one provided for applying the reshaping tool Anle-gefläche on.
For automated control of adjustment or movement movements of the stop finger along the at least one adjustment axis, the workpiece processing machine has a control device.
It is essential that the workpiece processing machine has a monitoring device signal-connected to the monitoring device, which comprises a lighting device and at least one optical detection device. It is envisaged here that the lighting device is arranged in a motion-coupled manner with the stop finger, and is formed during operation of the workpiece processing machine during an automatically controlled adjustment movement of the at least one stop finger for emitting a first light beam into an area leading the stop finger in the direction of adjustment.
In addition, it is provided that the at least one detection device is designed to detect a first light image caused by the first light beam when hitting an object surface, and is arranged stationary for monitoring a monitoring region.
When activated, the first light beam and a detection of the first light image by the at least one optical detection device during the adjustment movement of the stop finger, the control device for immediate triggering of at least one security measure is formed.
These technical features make it possible to provide a safety-optimized workpiece processing machine. In particular, obstacles in the adjustment range of the stop finger, in particular in the particularly safety-relevant adjustment direction of the stop finger can be detected reliably and quickly. In the adjustment of the stop finger there is a particularly high collision potential with obstacles. Depending on the monitoring range of the at least one detection device, and / or number and arrangement or orientation of detection devices, in this case, for example, a specific, safety-relevant area of the tool processing machine, or an entire, possible Verfahr- or adjustment of the stop finger monitored for obstacles become. Due to the specified features, the workpiece processing machine can be operated highly productive with low cycle times, since about a reduction of the adjustment of a stop finger in particularly safety-relevant areas can be eliminated. In particular, in a workpiece processing machine with the cited features, a collision of the stop finger during an automatically controlled adjustment not only attenuated, but in principle be completely prevented.
The specified features are particularly suitable for use on bending machines, in particular for use in Gesenkbiegemaschinen or press brakes, as often automated stop fingers are used in such machines.
The illumination device may, for example, comprise a light source which is designed to emit a light cone, light cylinder or another light bundle structure. In principle, any suitable optical elements in connection with the illumination device can be used to generate the light bundle, as long as it is ensured that the light bundle can be irradiated into a region leading the stop finger during an adjustment movement, without a first light image on a surface of the machine or a machine component is caused.
In this case, it is advantageous if the at least one detection device is adapted to the light emitted by the illumination device in a detection or recognition manner. For example, the light emitted by the illumination device may be monochromatic. In this context, the at least one optical detection device can be designed, for example, specifically for the reliable detection or detection of the light or light beam emitted by the illumination device, in particular for the most reliable detection of light with the wavelength radiated by the illumination device.
Of course, it is also possible that a plurality of optical detection devices are arranged on the workpiece processing machine. In this case, the individual detection devices can each detect or cover different monitoring areas, which monitoring areas can overlap. Several monitoring areas of individual, optical detection devices can be computationally combined to form an extensive monitoring area. This allows a workpiece processing machine with the most complete possible monitoring of the adjustment movements of the stop finger in the area of the entire workpiece processing machine even in the presence of detection technology obstructive, constructive elements of the machine, such as struts and the like provided. For safety-friendly areas of the workpiece processing machine, monitoring may be unnecessary at best.
Both the illumination device and the optical detection device (s) can each be adjustably arranged on the workpiece processing machine for the purpose of any adjustment of the beam path or a monitoring area. Such an adjustment may be required, for example, in the case of a conversion or, for example, a replacement of the machine with other machine components or machining tools.
In a further development of the workpiece processing machine, it can be provided that the illumination device is arranged so that it can move in an adjustable manner coupled with the stop device, at least along two driven displacement or adjustment axes.
For this purpose, the illumination device can be arranged or mounted, for example, on a console or surface of the stop device, which console is adjusted along the two axes during operation of the workpiece processing machine. With a suitable adjustment or alignment of the lighting device can be realized in a simple manner that Be in operation during an adjustment movement of the stop finger along the two adjustment axes, the first light beam is blasted into the leading edge of the stop finger. In the case of a bending machine, in particular a press brake, the movement coupling of the lighting device along two adjustment axes is particularly expedient, since in this way particularly safety-relevant or collision-prone, automated adjustment movements of a stop finger can be monitored. This applies in particular both to adjustment movements along a so-called X-axis, ie horizontally along an adjustment axis pointing in the direction of a workpiece supply side or a bending plane, as well as along a so-called Z-axis, ie along a horizontal, parallel to a work surface or a table beam a folding press extending adjustment axis of the workpiece processing machine.
In principle, it can also be provided that a lighting device is arranged or fastened directly to a stop finger, so that the lighting device is associated with the stop finger in a motion-coupled manner with each adjusting movement of the stop finger. In such cases, for example, the lighting device may have a plurality of light sources, each of which emits a beam of light in the area leading the stop finger. As a result, each adjustment movement or each adjustment direction of a stop finger can be monitored for obstacles.
However, it may also be expedient for an optical mirror surface, in particular a flat mirror surface, to be arranged in order to align the first light bundle in the region leading the stop finger.
In this way, the lighting device can be in a simple manner, for example, on a surface on the stop device. During operation of the workpiece processing machine, the first light bundle can be deflected via the mirror surface into the region leading the stop finger. In this case, the dimensions of the optical mirror surface can be chosen to be large enough in order to be able to ensure that the first light bundle is irradiated into the entire area to be monitored or at least into a safety-relevant area of the workpiece processing machine, depending on the arrangement of the illumination device.
In a preferred embodiment variant of the workpiece processing machine, it can be provided that the illumination device comprises a line laser, which is designed to emit an at least largely parallel, first light beam whose beam path is in a first, planar light surface, in the region leading the stop finger.
As a result, an at least predominantly monochromatic light source with high light intensity can be provided for generating the first light bundle, so that the detection accuracy of a first light image during operation of the workpiece processing machine can be increased. In this embodiment, the first light bundle can be emitted as a flat light surface, that is to say in a plane, as a result of which a spatially limited, first light bundle can be radiated into the region leading the stop finger.
In addition, it may be expedient that the line laser is arranged such that, in operation of the workpiece processing machine, a light bundle transverse axis of the first light surface extending perpendicular to the beam path or to the radiation direction of the first light bundle is oriented at least substantially parallel to a contact surface of the stop finger.
During operation of the workpiece processing machine, the first light bundle can thereby be spatially limited primarily in the direction of the adjustment movement of the stop finger. Nevertheless, an obstacle in the direction of displacement can be securely and quickly detected by detecting the first light image on a surface of the obstacle or an object surface.
It can also be provided that the line laser is arranged such that in operation of the workpiece processing machine extending parallel to the light beam transverse axis width extension of the first light surface in the region of the stop finger is greater than an extending between two side edges width of the stop finger.
By means of a line laser arranged and aligned in this way, during the operation of the workpiece processing machine, obstacles can also be detected laterally with respect to the adjustment direction of the stop finger by means of the at least one detection device. In addition, it is also possible to detect obstacles or objects which, in the case of an adjustment movement of the stop finger, emerge in the adjustment direction along an adjustment axis extending parallel to the light bundle transverse axis. In these adjustment directions, irradiation of further light bundles in the respectively preceding direction in the adjustment range can therefore be dispensed with in such a configured first light bundle since such a first light bundle is also irradiated into these adjustment directions in the region leading the stop finger.
In a preferred embodiment variant of the workpiece processing machine can be provided that the line laser for the projection of a parallel to a contact surface of the stop finger extending second light strip is formed on the surface of the stop finger.
As a result, during operation of the machine with a motion-coupled line laser, a light strip which can be detected permanently on the surface of the stop finger during an adjustment movement can be generated. This embodiment variant is advantageous above all because a safety-relevant measure for functional testing of the lighting device and / or the at least one optical detection device can be provided.
In a further consequence, it can also be provided that the line laser is designed to project a parallel to the second light strip extending or aligned, third light strip spaced from the second light strip on the surface of the stop finger.
The line laser may comprise, for example, diffractive optical elements and so-called Powell lenses for producing the plurality of light beams or light strips.
In addition, an embodiment of the workpiece processing machine may be advantageous in which the at least one optical detection device comprises a stationary, image-capturing camera, in particular a CCD camera.
During operation of the workpiece processing machine, the position of a second light strip permanently projected onto the surface of a stop finger and / or of a third light strip can basically be determined in the field of vision or in the surveillance area of the respective image-capturing camera by means of a stationary, image-capturing camera. and alignment coordinates of such a stationary, image-capturing camera are known. In this manner, the position of the abutment finger can also be determined when the adjustment movement of the illumination device is motion-coupled with the stop finger, wherein the laser lines or the second and / or the third light strip can be used as reference strips on the surface of the abutment finger.
In the case of a bending machine, in particular a press brake, for example, the position of the second and / or third light strip along the so-called Z-axis, ie along a horizontal, parallel to a work surface or a table bar of a press brake extending adjustment axis for the stop finger, be determined. In the case of along the Z-axis with the stop finger motion coupled arrangement of the lighting device so the position of the stop finger along the Z-axis can be determined.
The permanently visible reference strips or the second and the third laser or light line, which are projected from one another at an apparent normal distance, can also be used for the pictorial tracking of adjustment movements of the stop finger in a so-called X-direction, ie horizontally along a workpiece feed side or a bending plane facing adjustment axis can be used. For example, it can be provided in the operation of a press brake that a distance of a workpiece side edge boundary to the camera and / or any reference position in the machine coordinate system is determined from a figuratively recorded, apparent normal distance between the second light strip and the third light strip.
Furthermore, an embodiment variant of the workpiece processing machine may be advantageous in which the mirror surface extends over the entire length of a table beam formed on the workpiece processing machine.
In this way, a workpiece processing machine can be provided in which adjusting movements of a stop finger can be monitored or tracked over the entire working surface of the machine.
It can also be expedient to use an embodiment in which the illumination device is not arranged in a motion-coupled manner with the stop finger along a vertical adjustment axis oriented perpendicular to a contact surface.
Such Vertikalverstellbewegungen a stop finger usually take place only over very short distances, in the case of press brakes for example along the so-called R-axis. Furthermore, vertical adjustments of a stop finger are usually carried out in a not particularly relevant safety-related area of a machine, which is why monitoring in such cases can advantageously be eliminated.
Finally, it may be expedient if at least one horizontally extending, driven adjustment axis for automatically controlled adjustment of the at least one stop finger in the direction of a workpiece supply side is provided in a stop position.
As a result, a simply configured, linear adjustment axis is provided for transferring a stop finger into the stop position, which movement or adjustment axis can be monitored particularly easily with regard to obstacles, but nevertheless efficiently.
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:
1 shows an exemplary embodiment of a workpiece processing machine with stop fingers, in a perspective view;
FIG. 2 shows a side view of a press brake showing the method during operation of the press brake; FIG.
3 shows a detail of a monitoring area for adjusting movements of a stop finger, in plan view from above;
4 a detail of a monitoring area for adjusting movements of a stop finger, with light images on a surface of the stop finger, in plan view from above.
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.
Hereinafter, a workpiece processing machine, as well as a method for operating a workpiece processing machine with reference to a bending machine or press brake as an exemplary embodiment will be described in detail. It should be noted at this point that the following information is of course also applicable to other types of workpiece processing machines in which automated controlled stop devices are used with stop fingers for positioning of workpieces, or that a person skilled in the art from the following description Teaching can also apply to other types of workpiece processing machines.
1, a bending machine 2, in particular a press brake 3 is shown as an example of a workpiece processing machine 1. The workpiece processing machine 1 or press brake 3 is provided for processing, in particular for bending a workpiece 4. The press brake 3 has a perpendicular to a footprint 5 aligned, fixed table bar 6. For machining workpieces 4, the bending machine 2 or the illustrated press brake 3 comprises a press beam 7, which is adjustable or movable relative to the table beam 6 in the vertical direction by means of drive means 8, for example hydraulic cylinder 9.
The machining or forming of a workpiece 4 is accomplished in the press brake 3 according to the embodiment shown in FIG. 1 by means of a lower bending tool 10 and an upper bending tool 11. In this case, a lower bending tool 10, for example a so-called bending die, can be arranged in a lower tool receptacle 12 on an end face 13 of the table beam 6. An upper bending tool 11 or a so-called bending punch can be arranged in an upper tool holder 14 on an end face 15 of the pressing beam 7. Usually, the bending tools 10, 11 are arranged and held interchangeable in the tool holders so that suitable bending tools 10, 11 can be selected or used for a respective machining or forming of a workpiece 4. Of course, it is also possible that in each case a plurality of lower bending tools 10 and upper bending tools 11 are arranged in the operation of the press brake 3 in the tool holders, for example, in order to make 4 different bending operations in successive forming or bending operations on a workpiece.
For reasons of clarity, only one lower bending tool 10 and one upper bending tool 11 are shown in the exemplary embodiment according to FIG. 1.
In the case of the press brake 3 illustrated as an exemplary embodiment in FIG. 1, at least one automatically controlled stop device 16 is also shown with at least one stop finger 17. In the illustrated embodiment, for example, two stop devices 16 are each shown with a stop finger 17, it being understood that a workpiece processing machine 1, only one stop finger 17 and a stopper 16, or more than two stop fingers 17 and more than two Stop devices 16 may have.
The two stop devices 16 or stop fingers 17 shown in FIG. 1 are arranged in a press space 18 on a rear side of the table beam 6 of the bending machine 2 or press brake 3 shown as an exemplary embodiment. The one or more stop fingers 17 can each be adjusted or moved in a provided for positioning a workpiece 4 stop position 19. When an abutment finger 17 is moved into a stop position 19, a workpiece 4 to be machined can then be applied from a front facing away from the press room or a workpiece feed side 20 of the workpiece processing machine 1, on a contact surface 21 of a stop finger 17, and thus defined as exactly as possible between the two Bending tools 10, 11 are positioned for processing or deformation by bending. The stop fingers 17 exemplified in FIG. 1 have only one contact surface 21. In principle, embodiments of stop fingers 17 may also include more than one contact surface 21, as well as additional bearing surfaces for workpieces 4.
The stop devices 16 or the stop fingers 17 shown in FIG. 1 are usually controlled by means of drive arrangements (not shown in FIG. 1) comprising, for example, guideways, as well as actuators such as electric motors, in particular servomotors, automatically controlled along respective driven adjustment axes 22 proceed. Here, the at least one stop finger 17 along at least one driven Ver- resp. Adjusting axis 22 adjusted in a provided for positioning or applying a workpiece 4 stop position 19, as illustrated by the stop finger 17 shown on the left in Fig. 1.
To control the movement or adjustment movements of a stop device 16 or a stop finger 17 along the at least one adjustment axis 22, a control device 23 may be provided. As indicated in FIG. 1, the control device 23 may comprise a plurality of components, for example a plurality of processors or computer components, input means for inputting control commands, output means for displaying information, etc. Furthermore, it is also possible for the control device 23 is connected to other control components, for example with mobile input and output means over a network, or over the Internet. In principle, the type and configuration or the electronic and data architecture of the control device 23 can be made arbitrarily by a person skilled in the art. The control device 23 may preferably be formed by a CNC control, which supplies or acts upon the workpiece processing machine 1 or the abutment press 3 and its components, in particular drive members of the stop devices 16, with energy and control signals.
In the case of bending machines 2 or press brakes 3, an adjustment or an automated method of stop fingers along at least one traversing or adjusting axis 22 or CNC axis can in principle be provided. Usually, a stop finger is at least along two horizontal CNC axes, namely along a so-called X-axis alignment and a so-called Z-axis alignment made adjustable. In many cases, an adjustment of a stop finger 17 along a vertical axis, namely along a so-called R-axis alignment can be provided. The orientation of this, in a press brake 3 usual adjustment axes 22 is illustrated in the perspective view of FIG. 1 based on the inserted X-axis alignment 24, Z-axis alignment 25 and R-axis alignments 26 and coordinate axes. In this case, at least one horizontally extending, driven adjustment axis 22 is provided for automatically controlled adjustment of the at least one stop finger 17 in the direction of a workpiece supply side 20, into a stop position 19.
2, an embodiment of a press brake 3 is shown in side view. 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.
2, a stop device 16 is shown with a stop finger 17. In this embodiment, the stop finger 17 has two abutment surfaces 21 and a support surface 27 for a respective workpiece 4. The stop device 16 or the stop finger 17 can be adjusted by means of drive arrangements 29 along the adjustment axes 22 in X-axis alignment 24, Z-axis alignment 25, and R-axis alignment 26.
The illustrated stop finger 17 or the stop device 16 can on the one hand along the horizontal, in the X-axis alignment 24 perpendicular to a bending plane 28 and working plane of the bending tools 10, 11 of the press brake 3 aligned adjustment axis 22, are adjusted. For this purpose, the stop device 16 may be movably mounted on a guide track 30. As an actuator for the adjustment of the stop device 16 and the stop finger 17, for example, an electric motor, in particular a servomotor 31 may be provided, which can be controlled by the control device 23, see Fig. 1. The rotational movements of the servomotor 31 may be transmitted to a rack assembly or other motion transmitting device of the stopper 16, for example by means of a pinion 32 or other transfer device, whereby the stopper 16 and the stopper finger 17 can be positioned along the adjustment axis 22 aligned in X-axis orientation 24.
To adjust the stop device 16 and the stop finger 17 along the aligned in Z-axis alignment 25 adjustment axis 22 can basically an analog drive assembly 29, comprising a further guide track 30, another servo motor 31, another pinion 32 and another rack assembly or other corresponding Bewegungsübetragungsvorvor Directions are provided, as illustrated in the embodiment of FIG. 2. An adjusting movement of the stop device 16 and the stop finger 17 along the arranged in Z-axis alignment 25 adjustment axis 22 corresponds in the side view of the press brake 3 as shown in FIG. 2, a horizontal adjustment motion perpendicular to the plane of the technical drawing of FIG.
Furthermore, a further, corresponding drive arrangement 29 with guide tracks 30, servo motor 31 Bewegungsübetragungsvorrichtungen also for adjusting a stop finger 17 and / or a stop device 16 along a vertical, parallel to the bending plane in R-axis alignment 26 extending adjustment axis 22 may be provided. In the embodiment of a press brake 3 according to FIG. 2, an additional guide track 33 is provided on a bracket 34 of the stop device 16 so that the illustrated stop finger 17 can be adjusted on the relative to the console 34 in R-axis alignment 26. In this case, the bracket 34 of the stopper 16 is adjusted along the adjustment axes 22 aligned in the X-axis orientation 24 and the Z-axis orientation 25, but not along the adjustment axis 22 extending in R-axis alignment. In the illustrated embodiment, in R-axis orientation 26 thus only the stop finger 17, and not the entire stopper 16, in particular not the console 34 adjusted.
Basically, there is a risk of collisions of the stop finger 17 with other objects, such as an area of an operator in automatically controlled Verfahr- or adjustment movements of the stopper 16 and the stop finger 17. Therefore, as an integral part of the workpiece processing machine 1, a monitoring device 35 which is signal-connected to the control device 23 is provided which comprises a lighting device 36 and at least one optical detection device 37.
The lighting device 36 is in this case arranged or attached coupled with the stop finger 17 and the stop device 16, and is in the operation of the workpiece processing machine 1 during an automatically controlled adjustment of the at least one stop finger 17, for emitting a first light beam 38 in the stop finger 17 in Adjusting 39 trained leading area or arranged and aligned. Thus, during an automatically controlled adjustment movement of the stop finger 17 or the stop device 16 along the at least one adjustment axis 22, by means of the movement with the stop finger 17 along the at least one adjustment axis 22 motion-coupled lighting device 36, a first light beam 38 in a stop finger 17 in Adjusting direction 39 leading area are blasted. The first light bundle 38 is illustrated in FIG. 2 and the following figures, each with dashed lines. This is not to be understood that about the beam path of the first light beam 38 would be interrupted. Rather, the illumination device 36 may be designed to emit a continuous, first light bundle 38. In principle, of course, a radiation of a pulsed first light beam 38 is possible.
As an example of an adjustment direction is in the embodiment of FIG. 2, a horizontal adjustment movement of the stop finger 17 along the X-axis alignment 24 perpendicular to the bending plane 28 in the direction of the workpiece supply side 20 illustrated by the arrow 39. This shown adjustment direction 39 of a stop finger 17 holds a particularly high risk potential for collisions, since in the workpiece supply side region of the illustrated press brake 3 often operators work, for example, handle the workpieces to be machined 4. Therefore, it is particularly important that the first light bundle 38 is blasted into a stop position 19, into a region leading the stop finger 17, during an adjustment movement of the stop finger 17 along a horizontally extending adjustment axis 22 in the direction of a workpiece supply side 20. The adjustment direction 39 shown in FIG. 2 corresponds to an adjustment of the stop finger 17 along the adjustment axis 22 extending in the X-axis alignment 24.
As illustrated in the exemplary embodiment according to FIG. 2, the lighting device 36 can be arranged, for example, on the bracket 34 of the stop device 16, so that the lighting device 36 is common during adjustment movements along the adjustment axes 22 arranged in X-axis alignment 24 and Z-axis alignment 25 can be adjusted with the stop finger 17 and the stopper 16, so the lighting device 36 is coupled in motion with the stop finger 17.
In principle, provision may be made for the illumination device 36 to be displaced or moved along a more than one adjustment axis 22, for example, as already shown, at least along two adjustment axes 22 in a motion-coupled manner with a stop finger 17. In the embodiment for a press brake 3 according to FIG. 2, the lighting device 36 is at least along two driven adjustment axes 22 with the stop finger 17 arranged movably coupled adjustable, namely in X-axis alignment 24 and Z-axis alignment 25. The lighting device 36 is at the Bracket 34 of the stop device 16 is arranged, which console 34 is adjustable along the alignment axes X-axis alignment 24 and Z-axis alignment 25 22 together with the stop finger 17 and 17 for adjusting the stop finger.
In principle, it is also conceivable that a lighting device 36 is arranged or attached directly to a stop finger 17. In this case, of course, the lighting device 36 would move at each adjustment movement of the stop finger 17 are motion-coupled mitverstellt with the stop finger 17. In such cases, the lighting device 36 may, for example, have a plurality of light sources which in each case emit a light beam into the region leading in each case against the stop finger 17.
But it can also be provided that the illumination device 36 is arranged along a perpendicular to a footprint 5 aligned vertical adjustment axis 22 with the stop finger 17 is not motion coupled, that is not moved in the vertical direction coupled with the stop finger 17, as shown of the exemplary embodiment for a workpiece processing machine 1 shown in FIG. 2 is illustrated. In the illustrated press brake 3, the stop finger 17 is moved independently of the bracket 34 or relative to the bracket 34 along the adjustment axis 22 extending in the vertical R-axis alignment 26. Vertical adjustment movements along the adjustment axis 22 running in R-axis alignment 26 are usually carried out only over very short distances, which is why a monitoring of these vertical adjustment movements of the stop finger 17 can in principle be dispensed with.
For irradiation of the first light bundle 38 in the stop finger 17 in the direction of advance 39 vorseilenden area, an arrangement may be expedient in which the alignment of the first light beam, an optical mirror surface 40 is arranged, as shown in FIG. In particular, a flat mirror surface 40 may be formed, by means of which the first light beam 38 is directed into the region leading the stop finger 17 in the adjustment direction 39. The dimensions of the mirror surface 40 must be chosen to be large enough to irradiate the first light bundle via the mirror surface 40 as possible over an entire, possible Verstellbewegungsbereich the stop finger 17 in each of the stop finger 17 vorseilenden area. In this case, it can be provided that the mirror surface 40 extends over the entire length of a table beam 6 formed on the workpiece processing machine 1, see FIG. 1. In the embodiment shown in FIG. 2, the first light bundle 38 in principle during both adjustment movements of the stop finger 17 along the X-axis alignment 24 in the direction of the workpiece supply side 20, as well as during adjustment each along the Z-axis alignment 25 each in a stop finger 17th vorseilenden area are blasted, as will be explained with reference to FIG. 3.
As can be seen from FIG. 2, the at least one detection device 37 is arranged stationary for monitoring a monitoring region 41, and a monitoring region 41 for adjusting movements of the stop finger 17 is monitored during operation of the workpiece processing machine by means of the at least one optical detection device 37. In this case, the at least one detection device 37 is designed to detect a first light image 43 caused by the first light bundle 38 when it strikes an object surface 42, see FIG. 3. The at least one optical detection device 37 can basically be arranged to adjust the monitoring area 41 in an adjustable manner.
In FIG. 3, the same reference numerals or component designations as in the preceding FIGS. 1 and 2 are again used for the same parts. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 and 2 or reference. Fig. 3 shows a detail of a monitored by the at least one detection device 37 monitoring area 41, in plan view from above. The first light beam 38 is shown in FIG. 3 for better clarity only in the image plane of the first light image 43. For example, the first light beam 38 may be radiated at an angle into the region leading the stop finger 17, as best seen in FIG.
By the at least one detection device 37, see Fig. 2, a monitoring area 41 is monitored, in which adjusting movements of a stop finger 17 are executed. In this case, of course, a plurality of optical detection devices 37 may be used to form a monitoring area 41, wherein individual of a respective optical detection device 37 associated monitoring areas 44 overlap, and can supplement a total monitoring area 41 for monitoring adjustment movements of the stop finger (s) 17 , as illustrated in FIG.
By means of a plurality of overlapping monitoring areas 44, for example, machine-construction-related metrological gaps can be avoided by constructive obstacles, such as struts and the like. In such cases, the overlapping monitoring areas 44 of the various detection devices 37 may each be computationally coupled with each other. For example, a stop finger when passing from one monitoring area 44 to an adjacent monitoring area 44 of another detecting device 37, can be transferred quasi monitoring technology. It is important above all that all safety-relevant areas of the workpiece machine can be detected by the entire monitoring area 41.
In Fig. 3 adjusting movements of a stop finger 17 in two horizontal, mutually perpendicular adjustment directions 39, 45 are illustrated. The adjusting movement of the stop finger 17 in the adjustment direction 39, for example, along the X-axis alignment 24, see Figs. 1 and 2, take place. The adjustment movement of the stop finger 17 in the adjustment direction 45, for example, along the Z-axis alignment 25, see Figs. 1 and 2, take place.
By the stop finger 17 respectively in the adjustment direction 39, 45 leading, first light beam 38 is on a in the beam path of the first light beam 38 during the adjustment of the stop finger 17 surface object surface 42, for example, the finger of a person shown in FIG. 3, each a first Light image 43 shown. This first light image 43 can be detected by means of the at least one optical detection device 37, see FIG. 2. The optical detection device may, in principle, be formed by any detection device adapted to detect the first light image 43. Preferably, the monitoring area 41 is monitored by means of at least one fixed image-capturing camera 46. In particular, the at least one optical detection device 37 may comprise a stationary, image capturing camera 46, in particular a CCD camera. An image capturing device 37 or camera 46 in particular makes it possible to determine the position of light images in the monitoring region 41. The first light image 43 shown in FIG. 3 is merely an exemplary illustration. Of course, the shape of a respective first light image 43 recognizable or detectable for an image-capturing detection device 37 depends on a number of factors, in particular the shape of the object in the beam path of the first light bundle 38, and the respective detection angle or the position of the detection device 37.
It is essential that upon detection of a first light image 43, which is imaged by the first light bundle 38 on an object surface 42, see FIG. 3, an automatically controlled safety measure is triggered immediately or immediately. For this, the control device 23 signal-connected to the monitoring device 35 or to the optical detection device 37, see FIG. 2, for immediate triggering of at least one safety measure when the first light beam 38 is activated and detection of the first light image 43, see FIG at least one optical detection device 37 during the adjustment movement of the stop finger 17, formed.
In principle, it can be provided, for example, that the control device immediately triggers an acoustic and / or visual alarm upon detection of the first light image 43. The control device 23 is, as already described, both with the lighting device 36 and the at least one detection device 37 of the monitoring device 35, as well as with the drive assemblies 29 for the adjustment of a stop finger 17, about their servomotors 31, see Fig. 2, signal-connected. It can be provided that a stop of an adjustment movement of a stop finger 17 is triggered immediately by the control device 23 in the case of detection of the first light image 43. In particular, it can also be provided that as an automatically controlled safety measure an immediate return movement 47 of the stop finger 17 is triggered, as illustrated in FIG. 3 by arrow 47.
In principle, however, it can also be provided that at a standstill of the stop finger 17 no automatically controlled safety measure is triggered, since there is no increased risk potential with respect to a caused by an adjustment of a stop finger 17 collision. This is fundamentally independent of whether the lighting device 36 is activated or deactivated for the purpose of emitting the first light bundle 38.
Furthermore, however, it can also be provided that the control device 23 deactivates the first light bundle 38 when the stop finger 17 is at a standstill. For example, it may be useful if the first light beam 38 at
Achieve einsteuerungstechnically predetermined stop position 19, see Fig. 1, is immediately deactivated. In this context, it may in turn be provided that the first light bundle 38 is activated immediately in an abruptly controlled start of an adjustment movement of the stop finger 17 into a stop position 19. However, it may also be useful if the first light bundle 38 is deactivated during an adjustment movement into a stop position 19 in a controllable predetermined distance from the respective stop position 19 during the adjustment movement until reaching the respective stop position 19. By this measure, an unwanted triggering safety measures can be obstructed, for example, when approaching the stop finger 17 in the stop position 19, a machine component, such as the illustrated in FIG. 2, lower bending tool 10 in the beam path of the first light beam 38 and in the Monitoring range 41 of the monitoring device 35 passes.
In principle, the first light bundle 38 emitted by the illumination device 36, see FIG. 2, may be formed, for example, by a light cone, light cylinder or other light bundle structure, through which light bundle structure onto an object surface 42 located in the beam path as a first light image 43, for example a circle - Or elliptical surface, or a circular or elliptical line can be displayed. In principle, any suitable optical elements in connection with the illumination device 36 can be used to generate the first light bundle 38, as long as it is ensured that the first light bundle 38 can be blasted into a region that advances the stop finger 17 during an adjustment. This possible without a first light image 43 is generated on a surface of the machine or a machine component. For example, for this purpose, the mirror surface 40 shown in FIG. 2 may be arranged to deflect the beam path of the first light beam 38.
It is essential here that a first light image 43 on a surface or object surface 42 of an obstacle can be recognized as quickly as possible and reliably by the at least one optical detection device 37. in the
In particular, the light emitted by the illumination device 36 or the first light bundle 38 may be monochromatic. In this context, the at least one optical detection device 37 may be designed, for example, specifically for the reliable detection or detection of the light or first light beam 38 emitted by the illumination device 36, in particular for the most reliable detection of light with the radiated wavelength. For this purpose, for example, color sensors or photodiodes would be suitable in principle, it being noted that a sufficiently dimensioned monitoring area for monitoring the adjustment movements for the stop finger 17 is monitored by corresponding sensors. As already described, an image-capturing monitoring device 35 or a camera 46 is preferably used or used for monitoring purposes.
It can be advantageous if the first light bundle 38 is irradiated as at least substantially parallel light bundle 38, the beam path of which forms a first, planar light surface 49, in the area leading the stop finger 17. In particular, it may be expedient that a light bundle transverse axis 51 of the first light surface 49 extending transversely to the beam path 48 is oriented at least largely parallel to a contact surface 21 of the stop finger 17. Such a first light beam can form a further, at least largely parallel to the first light surface extending, light surface 50 through which light surfaces 49, 50, the first light beam 38 is limited. As described, a first light bundle 38 is preferably irradiated into the region leading the stop finger 17, whose first light surface 49 and further light surface 50 have the smallest possible standard distance from each other, so that the first light bundle 38 on a flat surface, in particular one normal to the beam path 48 and ., Plane aligned perpendicular to the beam path 48, flat or flat surface is shown as a narrow light stripe or as a light line.
The term beam path 48 also denotes the respective main radiation direction or propagation direction of the light bundle (s) emitted by the illumination device 36.
In particular, a line laser 52 is suitable for generating or emitting such a first light bundle 38. It may therefore be advantageous for the first light bundle 38 to be irradiated by means of a lighting device 36 comprising a line laser 52 into the region leading into the stop finger 17 in the adjustment direction 39, 45, as is also illustrated in FIG. 2. The illumination device 36 may thus comprise a line laser 52 which is designed to emit an at least substantially parallel, first light beam 38 whose beam path 48 is located in a first, planar light surface 49 in the region leading the stop finger 17. The line laser 52 can in this case be arranged such that during operation of the workpiece processing machine 1 a transversely to the beam path 48 extending light beam transverse axis 51 of the first light surface 49 is aligned at least largely parallel to a Anlegeflä-che 21 of the stop finger 17, as best by combining the Fig. 2 and Fig. 3 can be seen.
Furthermore, it can also be provided that the line laser 52 is arranged such that, during operation of the workpiece processing machine 1, a width extension 53 of the first light surface 49 extending parallel to the light bundle transverse axis 51 is greater in the region of the stop finger 17 than a width extending between two side edges 54 55 of the stop finger 17, as shown in FIG.
In principle, depending on the adjustment direction 39, 45, in each case further, optionally differently oriented, light bundles can be irradiated in a region leading in each case against the stop finger 17. The lighting device 36, for example a plurality of light sources for emitting a respective light bundle 38 into a region leading in each case in the adjustment direction 39, 45 can also be present in the area ahead of the stop finger.
Preferably, a first light bundle 38 is irradiated in the area leading the stop finger 17 in the adjustment direction 39 such that a width extension 53 of the first light surface 49 extending parallel to the light bundle transverse axis 51 is greater in the area of the stop finger 17 than a width 55 extending between two side edges 54 Stop finger 17. In this way Kings NEN also object surfaces 42 are detected laterally of the adjustment 39. In addition, object surfaces 42 can be detected in an adjustment of the stop finger 17 in other adjustment directions, for example in the illustrated in FIG. 3 adjustment direction 45. Therefore, if necessary, for monitoring in other adjustment directions, the irradiation of further, differently oriented light beams can be dispensed with. In particular, the first light bundle 38 shown in FIG. 3 is blasted by the illumination device 36 motion-coupled to the stop finger 17 both in the adjustment movement of the stop finger in the adjustment direction 39 and in the adjustment direction 45 in the region leading the stop finger.
In particular, in order to avoid injuries, it may be provided that the first light bundle 38 is irradiated in the region leading the stop finger 17 in the adjustment direction 39 at least at a minimum distance 56 to a marginal boundary 57 of the stop finger 17 that initially protrudes in the adjustment direction 39. The minimum distance 56 can be given at least by a control and drive-related, maximum stopping distance for the stop finger 17, plus a maximum possible position error of the stop finger 17 and the edge boundary 57 of the stop finger 17. The stopping distance may include or take into account a drive-related braking distance, as well as a reaction path. The reaction path can in turn be determined by the measuring time or measuring cycle time, ie the maximum possible elapsing time from the appearance of the first light image 43 on an obstacle or object surface 42 until detection of the first light image 43 and by the bus cycles and calculation cycles of the control device 23 Delays, be determined. Of course, the parameters mentioned for determining the minimum distance 56 must be individually taken into account or calculated, depending on the configuration of a particular workpiece processing machine 1.
FIG. 4 illustrates a further embodiment of the method or device, which may be independent of itself, wherein the same reference numerals or component designations are used again for the same parts as in the preceding FIGS. 1 to 3. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 to 3 or reference.
4, it is possible for a second light image 58 to be projected onto a surface 59 of the stop finger 17 that can be detected by means of the at least one optical detection device 37 by means of the illumination device 36 motion-coupled to the stop finger 17. Such a second light image 58 can be detected permanently in the monitoring area 41 of the optical detection device 37 when the lighting device 36 is movably coupled to the stop finger 17, see FIG. 2. In this way, the monitoring device 35 can be monitored for proper function. In the event that the second light image 58 is not detected during operation of the workpiece processing machine 1, it can be provided that a safety measure is promptly initiated or initiated.
As shown in FIG. 4, the second light image 58 in the form of a parallel to a contact surface 21 of the stop finger 17 extending second light strip 60 can be projected onto the surface 59 of the stop finger 17. For example, it may be provided that a line laser 52 is formed on the surface 59 of the stop finger 17 for projecting a second light strip 60 extending parallel to a contact surface 21 of the stop finger 17.
As further illustrated in FIG. 4, it may additionally be provided that by means of the illumination device 36 motion-coupled to the stop finger 17, see FIG. 2, a third light strip 61 extending parallel to the second light strip 60 is spaced from the second light strip 60 on the surface 59 of the stop finger 17 is projected. In turn, a line laser 52 of the illumination device 36 may be formed on the surface 59 of the stop finger 17 so as to project a third light strip extending parallel to the second light strip 60, spaced from the second light strip.
Also in the case of the second and third, line-shaped light images or light stripes 60, 61 shown in FIG. 4, it may be provided that the second
Light strip 60 and the third light strip 61 by a second light beam 62, respectively, a third light beam 63 are generated. The corresponding second light bundle 62 and the third light bundle 63 are again shown only in the image plane of the second light stripe 60, respectively the third light stripe 61, for reasons of better clarity in FIG. From the advantageous aspects already described with reference to the first light bundle 38, the second light bundle 62 and / or the third light bundle 63 can have a second width extension 64 and a third width extension 65, respectively, which width extensions 64, 65 can be selected larger than a width 55 of the stop finger 17th
The illumination device 36 or the line laser 52 shown can be adjustable in each case also with regard to position and / or orientation for aligning the first light bundle 38 and optionally for positioning the second and third light strips 61, 62 on the surface 59 of the stop finger 17.
Furthermore, it is possible to determine or position the position of the stop finger 17 from the position or position of the second light strip 60 and / or the third light strip 61 recorded in the monitoring area 41. This is possible with known position and orientation of the image capturing device (s) 37, and thus with known coordinates, such as machine coordinate system in the monitoring area 41 at least along a parallel to the surface 59 of the stop finger 17 aligned imaging plane. Any inaccuracies due to slight displacement movements or positions of a stop finger 17 in the vertical direction, for example along the R-axis alignment 26, see FIG. 1 and FIG. 2, may be considered. However, such possible position detection inaccuracies can in principle be mathematically corrected due to the control-technically known position of a stop finger 17 in R-axis alignment 26.
Finally, upon projection of a second light stripe 60 and a contraband, third light stripe 61 onto the surface 59 of the abutment finger 17, there may also be a figured, apparent normal distance 66 between the second
Light strip 60 and the third light strip 61 are used to determine a position of the stop finger 17. For example, the distance of a workpiece supply-side edge boundary 57 of the stop finger 17 to the camera 46 can be determined by calculation, since the apparent normal distance 66 can change at least in the direction of the camera 46 with the distance from the camera 46. Of course, this again applies at least for adjusting movements of the stop finger in the imaging plane for the second and third light strips 60, 61.
The embodiments show possible embodiments, it being noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to the teaching of technical action by representational invention in Can the expert working in this technical field.
The scope of protection is determined by the claims. However, the description and drawings are to be considered to interpret the claims. Individual features or combinations of features from the illustrated and described different embodiments may represent for themselves 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.
For the sake of order, it should finally be pointed out that for a better understanding of the construction, elements have been shown partially unevenly and / or enlarged and / or reduced in size.
LIST OF REFERENCE NUMBERS 1 Workpiece machining 30 Guide rail 31 Servo motor 2 Bending machine 32 Pinion 3 Bending press 33 Guideway 4 Workpiece 34 Console 5 Footprint 35 Monitoring device 6 Table bar 36 Lighting device 7 Pressing bar 37 Detecting device 8 Drive 38 Light bundle 9 Hydraulic cylinder 39 Adjusting direction 10 Bending tool 40 Mirror surface 11 Bending tool 41 Monitoring area 12 Tool holder 42 Object surface 13 End face 43 Light image 14 Tool holder 44 Monitoring area 15 End face 45 Adjustment direction 16 Stop device 46 Camera 17 Stop finger 47 Return movement 18 Press room 48 Beam path 19 Stop position 49 Light surface 20 Workpiece feed side 50 Light surface 21 Contact surface 51 Light beam transverse axis 22 Adjustment axis 52 Line laser 23 Control device 53 Width extension 24 X -Axis alignment 54 side edge 25 Z-axis alignment 55 width 26 R-axis alignment 56 minimum ab stand 27 bearing surface 57 edge limitation 28 bending plane 58 light imaging 29 drive arrangement 59 surface 60 light stripes 61 light stripes 62 light bundles 63 light bundles 64 width extension 65 width extension 66 normal distance

权利要求:
Claims (34)
[1]
claims
Method for operating a workpiece processing machine (1), in particular a bending machine (2), comprising automatically controlled adjustment of at least one stop finger (17) of a stop device (16) along at least one driven adjustment axis (22) into one for positioning a workpiece ( 4) provided stop position (19), positioning of the workpiece (4) by applying the workpiece (4) on an on-laying surface (21) of the stop finger (17), characterized in that during an automatically controlled adjusting movement of the stop finger (17) along the at least one adjustment axis (22), by means of a lighting device (36) motion-coupled to the stop finger (17) along the at least one adjustment axis (22), a first light bundle (38) into a stop finger (17) in the adjustment direction (39, 45) projecting area, and that by means of at least one stationary, optical detection device (37) a monitoring area (41) for adjusting movements of the stop finger (17) is monitored, and that upon detection of a by the first light beam (38) on an object surface (42) imaged first light image (43), a safety measure is initiated.
[2]
2. The method according to claim 1, characterized in that the illumination device (36) at least along two adjustment axes (22) with the stop finger (17) is moved coupled movement.
[3]
3. The method according to claim 2, characterized in that the first light beam (38) via an optical mirror surface (40), in particular a flat mirror surface in the stop finger (17) in the adjustment direction (39, 45) leading the area is addressed.
[4]
4. The method according to any one of the preceding claims, characterized in that the first light beam (38) as at least substantially parallel light beam (38) whose beam path (48) forms a first, planar light surface (49) into which the stop finger (17) leading area is blasted.
[5]
5. The method according to claim 4, characterized in that the first light bundle (38) in such a way that the stop finger (17) in the adjustment direction (39) leading area is blasted that a transverse to the beam path (48) extending light beam transverse axis (51) of the first Light surface (49) is at least largely aligned parallel to a contact surface (21) of the stop finger (17).
[6]
6. The method according to claim 5, characterized in that the first light bundle (38) is blasted in such a way in the stop finger (17) in the adjustment direction (39) leading region that a parallel to the light bundle transverse axis (51) extending width extension (53) of the first Light surface (49) in the region of the stop finger (17) is greater than a between two side edges (54) extending width (55) of the stop finger (17).
[7]
7. The method according to any one of claims 4 to 6, characterized in that the first light beam (38) by means of a lighting device (36) comprising a line laser (52) in the in the stop finger (17) in the adjustment (39, 45) leading Area is blasted.
[8]
8. The method according to any one of the preceding claims, characterized in that the first light bundle (38) in the stop finger (17) in the adjustment direction (39) leading region at least in a minimum distance (56) to a first in the adjustment direction (39) edge boundary ( 57) of the stop finger (17) is blasted.
[9]
9. The method according to any one of the preceding claims, characterized in that the illumination device (36) in the direction of a perpendicular to a contact surface (5) aligned, vertical adjustment axis (22) is not adjusted.
[10]
10. The method according to one of the preceding claims, characterized in that by means of the stop finger (17) motion-coupled lighting device (36) a second light image (58) on a by means of at least one optical detection device (37) detectable surface (59) of the stop finger (17), is projected.
[11]
11. The method according to claim 10, characterized in that the second light image (58) in the form of a parallel to a contact surface (21) of the stop finger (17) extending, the second light strip (60) on the surface (59) of the stop finger (17). is projected.
[12]
12. The method according to claim 11, characterized in that by means of the stop finger (17) motion-coupled lighting device (36) parallel to the second light strip (60) extending, third light strip (61) spaced from the second light strip (60) on the surface (59) of the stop finger (17) is projected.
[13]
13. The method according to any one of the preceding claims, characterized in that the monitoring area (41) is monitored by means of at least one stationary, image-capturing camera (46).
[14]
14. The method according to any one of claims 10 to 12 and claim 13, characterized in that from the imaged position of the second light strip (60) and / or the third light strip (61) in the monitoring area (41) a position of the stop finger (17) by calculation is determined.
[15]
15. The method according to claim 12 and 13, characterized in that from a figuratively recorded, apparent normal distance (66) between the second light strip (60) and the third light strip (61), a distance of a workpiece supply side edge boundary (57) of the stop finger (17 ) to the camera (46), is determined by calculation.
[16]
16. The method according to any one of the preceding claims, characterized in that the first light beam (38) in an automatically controlled start of an adjustment movement of the stop finger (17) in a stop position (19) is activated immediately.
[17]
17. The method according to any one of the preceding claims, characterized in that the first light beam (38) is deactivated immediately upon reaching a control technology predetermined stop position (19).
[18]
18. The method according to any one of the preceding claims, characterized in that the first light bundle (38) during an adjusting movement in a stop position (19), in a controllable predetermined distance from the respective stop position (19) during the adjustment until reaching the respective stop position (19) is deactivated.
[19]
19. The method according to any one of the preceding claims, characterized in that the first light beam (38) is deactivated at a standstill of the stop finger (17).
[20]
20. The method according to any one of the preceding claims, characterized in that an automatically controlled safety measure an immediate return movement of the stop finger (17) is triggered.
[21]
21. The method according to any one of the preceding claims, characterized in that at a standstill of the stop finger (17) no automatically controlled safety measure is triggered.
[22]
22. The method according to any one of the preceding claims, characterized in that the first light beam (38) during a movement along a horizontally extending adjustment axis (22) in the direction of a workpiece feed side (20) carried out adjustment of the stop finger (17) in a stop position (19 ) is blasted into a region leading the stop finger (17).
[23]
23. Workpiece processing machine (1), in particular bending machine (2), comprising an automatically controlled stop device (16), comprising at least one automatically controlled along at least one driven adjustment axis (22) adjustable stop finger (17) with at least one for applying the tool to be formed in one Abutment surface (21), a control device (23) for the automated control of adjusting movements of the stop finger (17) along the at least one adjustment axis (22), characterized in that a control device (23) signal-connected monitoring device ( 35), which comprises a lighting device (36) and at least one optical detection device (37), the lighting device (36) being arranged in a motion-coupled manner with the stop finger (17) and during operation of the workpiece processing machine (1) during an automatically controlled V Creation of the at least one stop finger (17), for emitting a first light beam (38) in a stop finger (17) in the adjustment direction (39, 45) leading the area is formed, and that the at least one detection device (37) stationary for monitoring a surveillance area (41) is arranged, and for detecting a, by the first light beam (38) upon impact with an object surface (42) caused, first light image (43) is formed, and that the control device (23) for triggering at least one safety measure when activated, first light beam (38) and a detection of the first light image (43) by the at least one optical detection device (37) during the adjustment movement of the stop finger (17) is formed.
[24]
24. Workpiece processing machine according to claim 23, characterized in that the lighting device (36) is at least along two driven adjustment axes (22) with the stop finger (17) movably coupled adjustable.
[25]
25. Workpiece processing machine according to claim 23 or 24, characterized in that in order to align the first light bundle (38) with the stop finger (17), an optical mirror surface (40), in particular a flat mirror surface, is arranged.
[26]
26. Workpiece processing machine according to claim 23, characterized in that the illumination device (36) comprises a line laser (52) which is used to emit an at least substantially parallel first light beam (38) whose beam path (48) in a first, plane light surface (49) is formed in the stop finger (17) leading the area.
[27]
27. Workpiece processing machine according to claim 26, characterized in that the line laser (52) is arranged such that during operation of the workpiece processing machine (1) a transversely to the beam path (48) extending light beam transverse axis (51) of the first light surface (49) at least substantially parallel is aligned with a contact surface (21) of the stop finger (17).
[28]
28. The workpiece processing machine according to claim 26, wherein the line laser (52) is arranged such that, during operation of the workpiece processing machine (1), a width extension (53) of the first light surface (49) running parallel to the light bundle transverse axis (51) Area of the stop finger (17) is greater than a between two side edges (54) extending width (55) of the stop finger (17).
[29]
29. Workpiece processing machine according to one of claims 26 to 28, characterized in that the line laser (52) for projecting a parallel to a contact surface (21) of the stop finger (17) extending second light strip (60) on the surface (59) of the stop finger (17) is formed.
[30]
30. Workpiece processing machine according to claim 29, characterized in that the line laser (52) for projecting a parallel to the second light strip (60) extending third light strip (61) spaced from the second light strip (60) on the surface (59) of the stop finger ( 17) is formed.
[31]
31. Workpiece processing machine according to one of claims 23 to 30, characterized in that the at least one optical detection device (37) comprises a stationary, image-capturing camera (46), in particular a CCD camera.
[32]
32. Workpiece processing machine according to one of claims 25 to 31, characterized in that extending the mirror surface (40) over the entire length of the workpiece processing machine (1) formed table beam (6).
[33]
33. Workpiece processing machine according to one of claims 23 to 32, characterized in that the illumination device (36) along a perpendicular to a contact surface (5) aligned, vertical adjustment axis (22) with the stop finger (17) is not arranged movement coupled.
[34]
34. Workpiece processing machine according to one of claims 23 to 33, characterized in that at least one horizontally extending, driven adjusting axis (22) for automatically controlled adjustment of the at least one stop finger (17) in the direction of a workpiece supply side (20), in a stop position (19). is provided.

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同族专利:

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EP3490741A1|2019-06-05|

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EP3490741B1|2020-09-09|

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US11267037B2|2022-03-08|

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AT518639B1|2017-12-15|

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JP2019529111A|2019-10-17|

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US20190232357A1|2019-08-01|

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WO2018018058A1|2018-02-01|

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CN109475920B|2020-10-30|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA50677/2016A|AT518639B1|2016-07-26|2016-07-26|Workpiece processing machine and method for operating the workpiece processing machine|ATA50677/2016A| AT518639B1|2016-07-26|2016-07-26|Workpiece processing machine and method for operating the workpiece processing machine|

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PCT/AT2017/060188| WO2018018058A1|2016-07-26|2017-07-26|Workpiece processing machine and method for operating the workpiece processing machine|

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EP17764313.7A| EP3490741B1|2016-07-26|2017-07-26|Workpiece processing machine and method for operating the workpiece processing machine|

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US16/317,131| US11267037B2|2016-07-26|2017-07-26|Workpiece processing machine and method for operating the workpiece processing machine|

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JP2019503958A| JP2019529111A|2016-07-26|2017-07-26|Workpiece processing machine and drive method of work piece processing machine|

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CN201780046158.4A| CN109475920B|2016-07-26|2017-07-26|Workpiece processing machine and method for operating the same|