• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a bending machine (1) with a work area image acquisition device (2). A longitudinal extension (5) and the direction of movement (8) of the press beam (6) span a working plane (32) which defines a front work and manipulation space (33) and a rear engine room (34) delimited therefrom and in particular closed off. In the working and manipulation space (33) and above the machine table (4), an image acquisition device (2) is arranged in a middle section of the longitudinal extension (9) of the press beam, which is connected to a display means (11) which displays the acquired image The image acquisition device (2) is arranged in a pressing bar lining (12) and has two image capturing means (16), each image capturing means (16) having a partial section (19) in the direction of the machine table (4 ) detected.
    公开号:AT518895A4
    申请号:T50783/2016
    申请日:2016-09-02
    公开日:2018-02-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a bending machine (1) with a work area image capture device (2). A longitudinal extension (5) and the direction of movement (8) of the press beam (6) span a working plane (32) which defines a front working and manipulation room (33) and a rear machine room (34) which is delimited and in particular closed off. In the work and manipulation room (33) and above the machine table (4), an image capture device (2) is arranged in a central section of the longitudinal extension (9) of the press beam, which is connected to a display means (11) which is used to display the captured image of the detection area (10), the image detection device (2) is arranged in a press beam covering (12), and has two image detection means (16), each image detection means (16) detecting a partial section (19) in the direction of the machine table (4) ,
    Fig. 1
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    N2015 / 14300 AT-00
    The invention relates to a bending machine with a work area image capturing device.
    The working or viewing area of a machine operator of a bending machine, especially a free bending machine, is dominated by the machine table and, above all, by the press beam. In particular, the press beam, with the bending tools arranged therein, mostly severely restricts the view into the interior of the machine, where the backgauge device with the stop fingers is located. Furthermore, it is customary to arrange several different types of bending tools on the press beam, in order to be able to carry out different bending deformations along the press beam. To do this, the machine operator must feed the workpiece to be formed to the bending tools in the correct order and correctly aligned.
    If a bending machine is used for the series production of a large number of workpieces that are to be machined immediately, the machine operator is already familiar with the individual work steps and will therefore reliably perform the operating actions, in particular the correctly aligned feeding of the workpiece. In the case of smaller quantities to be produced in series, in particular in the case of a quantity approaching one, a machine operator lacks the necessary routine, which bears the risk that a workpiece will be bent incorrectly, particularly in the case of complex bent parts. Since a machine operator sometimes has to coordinate and monitor various actions almost simultaneously, in particular correct alignment at the correct bending station and correct contact of the workpiece with the backgauge, this leads to an unnecessarily high stress level. Because in particular the back gauge due to kon2 / 33
    N2015 / 14300-AT-00 structural conditions of the bending machine is usually not directly visible, the machine operator has to bend down in order to be able to check whether the workpiece is in contact with the backgauge when inserting the workpiece, which in addition to a physical strain due to the sharp-edged metallic sheet metal parts entails a risk of injury ,
    When operating a bending machine as intended, control and monitoring tasks are required from the machine operator, which necessitates largely simultaneous attention at locations that are sometimes spatially far apart. At the same time, it is necessary to take into account complex alignment processes of the workpiece to be formed.
    For example, EP 2 590 040 B1 discloses a bending machine in which two cameras are arranged on the press beam, which capture the front working area of the bending machine, in particular an inserted workpiece to be formed, and after determining the orientation of the workpiece, alignment information from a projector to the Workpiece is projected. The two cameras are arranged in the end areas of the press beam and in front of the press beam. With regard to the optical imaging quality, a lateral arrangement of the cameras has the disadvantage that the distance between the camera and the section to be recorded is large, which reduces the relative resolution of the camera. This problem could be largely eliminated by using telescopes, but sections in the edge areas of the bending machine can then no longer be detected. Due to the required precision mechanics, zoom optics are hardly suitable in terms of service life and the operating environment. However, an arrangement of elements such as a camera or a projector in front of the press beam has yet another decisive disadvantage that there is a great risk of damage for objects arranged in this way. Sheet metal parts are often fed to the bending machine by means of an indoor crane, which can easily lead to damage to devices arranged in front of the press beam. The bent sheet metal can also strike the press beam and damage devices attached there.
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    A plate division system is known from DE 10 2008 014 869 A1, in which a longitudinal working area is recorded by a camera and evaluation information is projected by a laser projector onto workpieces that move along the device. As can be seen from the document, the camera has to cover a large area, which places high demands on the optical system and the resolution of the camera. In particular, wide-angle lenses are required for this, which are known to have significant image distortions, especially in the edge areas. The camera is located above the processing path, since there is no risk of manipulation or bending deformations.
    A sheet insertion aid is known from JP 5856860 B2, in which a camera in the machine room is aimed at the rear stop and the inserted sheet. A sheet edge or a striking point of the sheet is determined in the captured image and compared with a target position. In the event of a deviation, a marker is projected onto the sheet by a projector, onto which the sheet must be aligned in relation to the backgauge. The camera and the projector are attached to a device which can be moved parallel to the press beam. Devices are known from the prior art in which cameras are arranged on a bending machine in such a way that the optical conditions for the cameras are disadvantageous due to this arrangement. In particular, however, the prior art shows arrangement positions which are in the direct danger zone in front of a bending machine.
    However, it is not known from the prior art to capture the entire working area of a bending machine, in particular the working area in front of the bending machine, the image capturing means being arranged to be estimated from damage due to manipulation work during the delivery or removal of the workpiece and from damage during the bending process ,
    The object of the invention is therefore to capture the working area of a bending machine, a high detail resolution being achieved and, at the same time, in the intended operation, a very good protection of the image capture device
    N2015 / 14300-AT-00 directions is given without restricting the working area of the bending machine.
    The object of the invention is achieved by a bending machine with a work area image capturing device. The bending machine has a machine frame, an elongated, fixed machine table and an elongated press beam, the press beam being guided in the machine frame and being movably received by a drive means relative to the latter. Furthermore, the machine frame has two side parts which are spaced apart from one another in the direction of the longitudinal extent of the machine table by a machine width. The longitudinal extent and the direction of movement of the press beam span a working plane, the working plane defining a front working and manipulation room and a rear machine room which is delimited and in particular closed off. An image capture device is arranged in the work and manipulation space above the machine table, in a central section of the longitudinal extent of the press beam, with a capture area of the image capture device being oriented in the direction of the machine table. The image capture device is connected to a display means, which is designed to display the captured image of the capture area. The image capturing device is arranged in a press beam cladding and has two image capturing means, each image capturing means capturing a partial section in the direction of the machine table.
    The particular advantage of this embodiment is that on the one hand the image capturing device is arranged in an area in front of the machine in which the risk of damage from manipulation work with the workpiece or from the bending process is largely reduced. On the other hand, in this arrangement position there is a good view of the work area, in particular of the machine table, with the inserted sheet metal to be formed and / or of the lower tools used, as well as of the upper tools used in the press beam. This unobstructed view in particular in no way limits the sheet metal manipulation space or the usable space for the sheet which is bent open.
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    The design with two cameras also ensures that machine tables with a large longitudinal extension can also be recorded.
    A further development is that the image capturing means is formed by a 2D camera, for example by CCD cameras with a resolution of at least 3Mpx. The camera preferably has a resolution of 5Mpx. This means that even wide bending machines with a length of the machine table greater than 1m can be covered by the detection area and detected in a sufficiently good spatial resolution. The required resolution is essentially determined by the spatial resolution, according to which a pixel must correspond to a real area with a dimension of less than 1 mm.
    A further development also consists in the fact that the image capturing means is formed by a laser scanner. In contrast to a 2D camera, which captures the entire image area with the camera-specific resolution, the area to be captured can be selected precisely with a scanner and can in particular also have a format that deviates from the rectangular format. An inserted sheet usually shows a noticeable difference in the degree of reflection compared to the surroundings. Therefore, by means of a scanning process based on the determination of a difference in the intensity of the reflected scanning beam, the outer shape of the sheet can also be determined very quickly. Also, for example, several areas can be sequentially recorded along the longitudinal extent, if necessary also with different or varying resolution.
    A further development consists in the two partial sections forming a first overlap area which covers a common section of the detection area. This area is preferably provided in the middle area of the machine table and ensures that, despite the division of the detection area into two, the entire detection area is continuously recorded.
    One embodiment also consists in the fact that the ratio of the normal distance between the image capturing device and the longitudinal extent of the machine table is less than 1, in particular in the range from 1 to 0.25. Because of more common
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    Embodiments of bending machines and with regard to ensuring or reaching the object detection area, the normal distance between the machine table and the image capture device is limited. According to the embodiment in question, the image capture device can also be used for wide, in particular very wide (up to approx. 6 m) bending machines.
    A further development is that the normal distance between the image capturing device and the machine table is 60 cm to 150 cm. With regard to a good spatial resolution of the image capturing device or the individual image capturing means, this configuration is advantageous since it reduces the requirements for the physical resolution of the individual image capturing means. In particular, no ultra-high-resolution image acquisition means are required. This also applies to the optics used - standard (consumer) optics are sufficient.
    A further development also consists in the fact that the optical centers of the two image capturing means coincide, in comparison to the longitudinal extent of the machine table, in particular are arranged at a distance of less than 10 cm from one another. Due to the mechanical and structural conditions, the optical centers of both image acquisition means can only be arranged in the same way with very complex special solutions. The advantage of the advanced training according to the claims is that the image capture of the entire detection area is possible with simple standard components. Compared to the longitudinal extent of the detection area, which is in the meter range, e.g. 1-6m, an arrangement at a distance of 10cm can be regarded as a matching arrangement. The resulting display errors can be neglected compared to the longitudinal extent of the entire detection area.
    Another embodiment also consists in that the opening angle of an image capturing means, parallel to the working plane, is at least 60 °, in particular 66 °. This further development has the advantage that this detection area can be detected using customary, readily available and, in particular, inexpensive optics. These optics mostly have only slight distortion errors, which means that
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    N2015 / 14300-AT-00 there is no time-consuming image correction. Alignment parallel to the working plane means that the surface spanned by the legs of the angle is aligned parallel to the working plane.
    A further development also consists in that an optical axis of the image capturing means is pivoted in the direction parallel to the working plane by a pivoting angle relative to the normal from the image capturing means onto the machine table. Thus, each image capturing means is not directed exactly downwards, as a result of which there are two sections in the capturing area, which are each captured by only one image capturing means and an overlap portion that is captured by both image capturing means.
    According to a further development, it is provided that the pivoting angle of the two image capturing means is the same and is 20 ° to 30 °, in particular 25 °. According to this configuration, the image capture means captures the capture area symmetrically with respect to the position of the image capture device. The image capturing device is preferably arranged in the middle of the longitudinal extent of the press beam.
    According to a further development, however, it is also provided that the pivoting angle of the two image capturing means is unequal and is 20 ° to 30 ° and 40 ° to 30 °, in particular 25 ° and 35 °. According to this refinement, the image capture means detects the capture area asymmetrically with respect to the position of the image capture device. The image capturing device is preferably arranged in the center section, but outside the center of the longitudinal extent of the press beam. The opposing range specifications for the swivel angle result from the asymmetrical division and the fact that the entire detection range must be covered.
    A further development also consists in the fact that an image synthesis module is present, to which the cameras of the front image capturing device are connected, and which image synthesis module is designed to generate an overall front image of the front-side work and manipulation space. The image synthesis module can be present in the machine control that is inevitably required
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    N2015 / 14300-AT-00, but it is also possible that this module is intended as an independent image processing module. The image synthesis module preferably has a data processing device optimized for image processing or image processing and is designed, in particular, for superimposing or for merging the two individual images of the image capturing means to form an overall image.
    A further development also consists in the fact that in the machine room above the machine table, in a central section of the longitudinal extent of the press beam, there is a further image capture device which has at least two further image capture means, which are preferably designed as cameras, and that the cameras are directed in the direction of an Machine room existing backgauge are aligned. Due to the design of the bending machine, a machine operator usually has no direct view of the machine room. This further development ensures that this area, which is not directly visible, is also shown to the machine operator on the display means.
    A further embodiment also consists in the fact that an image synthesis module is present, to which the cameras of the further rear image capturing device are connected, and which image synthesis module is designed to generate an overall rear image of the rear machine room. The properties previously described for the overall front picture are to be applied analogously to this training.
    An advantageous further development is that the image synthesis module is designed to generate an overall image of the front work and manipulation room and the rear machine room. This enables the machine operator to see an image of the area in front of the bending machine and, at the same time, an image of the area inside the bending machine on the display means.
    According to a further embodiment, it is provided that an image analysis module is present, which is connected to the image synthesis module, and which image analysis module for recognizing a structure of a sheet to be machined from 9/33
    N2015 / 14300-AT-00 is formed. In this way it can be achieved that a workpiece arranged in the detection area is recognized, in particular that an outer contour of the sheet metal is recognized. The image analysis module can analyze the captured image, for example by means of a contrast analysis and / or a reflection analysis, and thus recognize the inserted sheet. It is particularly advantageous if edges and / or striking structures of the inserted sheet metal are recognized, since a check for correct insertion can thus be carried out.
    The object of the invention is also achieved by methods for displaying an overall image of a longitudinal working area of a bending machine, which method is carried out on a bending machine in question. In this case, an area along the machine table as the front recording area is recorded by the image capture device arranged in the work and manipulation room and displayed as a live image on a display means. A first section is captured by the first camera of the image capturing device as a first partial image and a second portion is captured by the second camera of the image capturing device as a second partial image along the front recording area. The first and second sections of the front receiving area are recorded overlapping in a partial section, which forms a first overlapping area. The image synthesis module carries out image alignment and image scaling of the first and second partial images. Furthermore, the image synthesis module carries out image synthesis of the first and second partial images in the first overlap region and the live image is formed.
    In order to be able to combine the captured images of the two cameras to form an overall image, there is the possibility of joining the images to one another without processing the content, but this has disadvantages. For this purpose, it is particularly necessary that the two cameras are arranged and adjusted very precisely with respect to one another, and that this alignment must remain upright despite the vibrations during the intended operation of the bending press.
    The embodiment in question ensures that a common area of the front recording area is captured by both cameras in the overlap area. After aligning and scaling the drawing files to
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    Compensation for any inaccuracies in the camera orientation and an equalization and, if necessary, an exposure adjustment, the partial images are brought together in the overlay area - for example by means of a gradient function. In the synthesized overall picture, the origin of two partial pictures is largely no longer recognizable.
    According to a further embodiment, it is provided that an area along the machine table as the rear recording area is recorded by the further image capturing device arranged in the machine room and is displayed as a live image on a display means. In this case, the first camera of the further image capture device captures a first section as a third partial image and the second camera of the further image capture device captures a second section as the fourth partial image along the rear recording area. The first and second sections of the rear receiving area are recorded in a partial section overlapping, which forms a second overlapping area. The image synthesis module carries out image alignment and image scaling of the third and fourth partial images. In the second overlap area, an image synthesis of the third and fourth partial image is carried out and the live image is formed.
    The description of the previous variant is to be applied analogously to the sophisticated version.
    A further development provides that the front and the rear recording area are recorded in an overlapping manner and form a third overlap area, and in the third overlap area an image synthesis of all four partial images is carried out and the live image is formed. This development has the advantage that a single overall image is generated from the individual partial images and is displayed to the machine operator on the display means. The machine operator thus receives an overall view of the area in front of the bending machine and the machine interior, which is usually not directly visible.
    A further development is also advantageous, according to which the image synthesis module displays a stored reference image of the workpiece in the live image on the display means. This provides the machine operator with a representation of the correct alignment
    N2015 / 14300-AT-00 the workpiece. The stored reference image can include both the correct alignment of the workpiece and the correct position in relation to the bending tools (upper or lower tool).
    According to a further embodiment it is provided that the orientation of a workpiece to be machined is recognized by the image analysis module by means of a pattern analysis in the live image, and transformation information is formed by comparison with a stored reference image of the workpiece and is displayed in the live image on the display means.
    The image analysis module, like the image synthesis module, is preferably arranged integrated in the machine control of the bending machine, or is also provided as an independent module. It is also possible that the machine control has a data connection to a production planning system. Reference images can now be stored in the independent module, in the machine control or in the production planning system. A reference image is understood to be a representation of the workpiece to be machined, this can also be CAD design data. The reference image is preferably superimposed on the captured live image in order to be able to give the machine operator visual feedback about the correct insert position.
    The transformation information can be formed, for example, by edges highlighted in the live image, so that the machine operator can recognize how the workpiece is to be aligned. However, it is also possible for the transformation information to include directional arrows or movement instructions.
    A further development can also consist in that the transformation information is generated as animation. For example, the transformation can be formed by a VR module from the current and the correct target alignment by traces of movement, or by a moving representation of the workpiece in order to achieve the correct alignment.
    A further development also consists in that from the image analysis module via a data connection to a Refe12 / 33 stored in a production planning system
    N2015 / 14300-AT-00 reference picture of the workpiece is accessed, it is therefore possible to directly access the latest design or manufacturing data.
    A further development is also advantageous, according to which the image analysis module uses a pattern analysis in the live image to read and evaluate an identifier of a bending tool arranged in the press beam and / or in the machine table. With this development, it is possible to check whether the correct tool set has been set up, or whether the workpiece for the next machining step is arranged at the correct position along the press beam.
    Further advantageous embodiments relate to further developments of the display means. For example, it can be provided that the display means is formed by a flat screen, which is arranged on the press bar, in particular on the front. Due to the shallow depth and the low weight, a flat screen can be easily installed in the operator's field of vision. A flat screen also achieves a brightness of the displayed image that it can be easily recognized even in daylight in a production hall. This embodiment explicitly includes a variant in which the display means is also formed by more than one flat screen. Depending on the width of the machine, designs are conceivable in which a plurality of flat screens are arranged along the press beam and form the overall display means.
    A further advantageous embodiment also consists in that the flat screen is arranged in a mounting device, which mounting device enables the flat screen to be positioned along the longitudinal extent of the press beam. A bending press usually has a large longitudinal extension, so that a central positioning of the display is only advantageous for bending work in the center area of the bending press. With this development, the flat screen can be moved along the bending press and in particular positioned in the immediate vicinity of the bending deformation to be carried out. A further embodiment can also consist in that the positioning is carried out by means of an adjusting means, so that the machine operator has no hand
    N2015 / 14300-AT-00 is required. The machine control then moves the display to the location of the next bending operation.
    Flat screen is preferably understood to mean an active, self-illuminating display, for example a TFT display or an OLED display. However, passive displays can also be used, for example an ePaper display. This has the advantage that it is easy to read even in very bright ambient light.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Each show in a highly simplified, schematic representation:
    1 shows an overview of the bending machine with a work area image capturing device according to an embodiment variant;
    2 a) and b) the geometric situation of the image acquisition according to two possible design variants;
    3 shows a plan view of the bending machine with a further embodiment of an image capturing device;
    4 shows the formation of an overall image from captured partial images;
    5 shows a further possible embodiment with an overlay of transformation information.
    1 shows an embodiment of the bending machine 1 in question with a work area image capturing device 2. The bending machine 1 has a machine frame which comprises two side parts 3, the longitudinal machine table 4 being arranged between these side parts 3, and the longitudinal extension 5 of the machine table 4 defines a machine width. Furthermore, a press beam 6 is arranged in a guided manner in the machine frame, and is moved by a drive means 7 relative to the machine frame and carries out the bending deformation in particular when moving downwards. The direction of movement
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    N2015 / 14300-AT-00 of the press beam 6 and its longitudinal extension 9, which is parallel to the longitudinal extension 5 of the machine table 4, span a working plane. The working level defines a working and manipulation room located in front of the bending machine 1 and a rear machine room that is separate from it and in particular closed off. It is noted that the bending line, i.e. the line on which the upper tool contacts the workpiece and presses into the lower tool, lies in the working plane. The image capture device 2 has a capture area 10 which is aligned in the direction of the machine table 4. The captured section is displayed on a display means 11 connected to the image capturing device 2.
    The image capturing device 2 is arranged in a press beam cladding 12, which press beam cladding 12 is located in front of the press beam 6 from the point of view of the machine operator and in particular thus also offers protection from the moving press beam 6. For constructional reasons to achieve the largest possible free bending space, the press beam cladding is arranged as close as possible to the press beam and thus has a very small horizontal distance from the bending line 13 in plan view. The bending line is the line on which an upper tool 14 arranged in the press beam 6 contacts a workpiece to be formed and presses it into a lower tool 15 arranged on the machine table 4.
    The image capture device 2 has two image capture means 16, which are preferably formed by 2D cameras. In particular, a portion of the machine table 4 is captured by each of these image capturing means 16. It is noted that this detection area or each of these sections can include both a surface of the machine table 4 and the area along the bending line 13. In particular, this means that both a workpiece to be reshaped on the machine table 4 lies in the detection area 10 and thus is detected, and furthermore that a workpiece placed on the lower tool 15 for bending also falls into the detection area 10.
    For technological reasons, there will be a distance 18 between the optical centers 17 of the two image capturing means 16, since this distance 18, however
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    N2015 / 14300-AT-00 is a few centimeters, in particular 10 cm, it is negligible compared to the machine width or the longitudinal extent 5. It can thus be assumed that the optical centers 17 of the two image capturing means 16 have an identical arrangement.
    It is also shown in the figure that the entire capture area 10 is captured by each image capturing means 16 only in a partial section 19, the partial sections 19 overlapping in a first overlap area 20.
    The two image capturing means 16 of the image capturing device 2 are connected to an image synthesis module 21, which is designed to prepare the captured first and second partial image and to carry out a synthesis of the two images in the captured first overlap area 20, so that an entire image is generated, which is then on the display means 11 is shown. The image synthesis module 21 will preferably be arranged in a machine control 22 which carries out and monitors the sequence control of the bending machine 1. This machine control 22 can also be connected to a central production planning system, so that the machine control and thus the further modules arranged therein can directly access the design data of the workpiece to be formed. An image analysis module 23 can also be present in the machine control 22, for example, which is connected to the image synthesis module and can recognize a sheet to be formed, in particular the orientation of the sheet, in the captured image.
    2a and 2b show two possible embodiments of the arrangement or the alignment of the image capturing means. The elements of the bending machine are not shown in order to simplify the illustration and in particular to clarify the optical conditions.
    2a shows the optical conditions of the two image capturing means in a first configuration, in which the two partial sections are formed symmetrically to the normal distance of the image capturing device on the machine table.
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    The optical axes of the two image capturing means 16 of the image capturing device 2 are arranged at a distance from one another, this spacing being negligible in relation to the longitudinal extent of the detection area 10, so that a coincident arrangement of the optical axes can be assumed. The minor differences that actually exist due to the really distant arrangement are not important in the overall view. According to a preferred embodiment, the image capturing means 16 is formed by a camera, so that a first camera 24 captures a first section 25 as a first partial image and a second camera 26 captures a second section 27 as a second partial image.
    Each image capturing means 16 has an image opening angle 28 which is arranged symmetrically to the optical axis 29 of the image capturing means.
    The detection area of the image detection means 16, viewed in the direction of the optical axis 29, is usually rectangular, the opening angle 28 being understood here such that the angle, or the area formed by the angle, parallel to the longitudinal extent of the detection area and thus parallel to the longitudinal extent of the press beam is aligned, and thus defines the largest longitudinal extent of the detection area.
    In the embodiment according to FIG. 2a, the two optical axes 29 are pivoted symmetrically by a pivoting angle 30 with respect to the normal distance 31. In this embodiment, the swivel angle is between 20 and 30 °, an angle of 25 ° being preferred. With an opening angle 28 of at least 60 °, but preferably 66 °, at a normal distance 31 of 60 cm to 150 cm, a detection range 10 of approximately 1 to approximately 6 m can be detected.
    FIG. 2b shows a further possible embodiment in which the optical axes 29 are pivoted asymmetrically with respect to the normal distance 31. The pivoting angle 30 is 20 ° to 30 ° for the second camera 26 and 40 ° to 30 ° for the first camera 24. A pivoting angle of 25 ° for the second camera 26 and 35 ° for the first camera 24 is preferred.
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    Here, too, a first section 25 is captured by the first camera 24 and a second section 27 by the second camera 26, the two sections overlapping in a first overlap region 20.
    3 shows a plan view of the bending machine 1 in question, in particular the machine table 4, the side parts 3 and the press bar 6 which can be moved by the drive means 7. The press beam 6 and its direction of movement span (in the normal direction to the sheet) a working plane 32, which working plane 32 defines a front working and manipulation room 33 and a rear machine room 34 which is delimited from it, and in particular closed off.
    An image capture device 2 with two image capture means 16 is arranged in the front work and manipulation space 33. In particular, this image capturing device 2 is arranged in the press beam cladding 12.
    According to a further embodiment, however, a further image capture device 35 is also arranged in the machine room 34 above the machine table 4 in a central section of the longitudinal extent 9 of the press beam 6. This further image capture device 35 also has two image capture means 16, which are also preferably designed as 2D cameras. The rear machine room 34 is captured by this further image capturing device 35, in particular a rear stop 36 arranged there with a stop finger 37 for placing the workpiece to be formed.
    For a description of the optical conditions relating to this further image capturing device 35, reference is made to the description of FIGS. 1 and 2, which should also be applied analogously to the further image capturing device 35. In particular, the first camera 24 of the further image capturing device 35 captures a first section as a third partial image 42 and the second camera 26 of the further image capturing device captures a second section as the fourth partial image 43 along the rear recording area. A portion of the detection area is also captured by both image capture means 16, whereby a second overlap area 44 is formed.
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    It is explicitly pointed out that the terms first and second image capture device and first and wide camera are used both for the front image capture device (in the work and manipulation room) and for the rear additional image capture device (in the machine room). It is not to be assumed that these are the same devices, but rather to simplify the description, the terms have been chosen identically.
    4 shows an illustration of how the captured partial images are combined to form a common live image. The elements of the bending machine and the elements of the image capturing devices are not shown for the sake of simplicity. The first 38 and second 39 partial images are captured by the image capturing means of the image capturing device in the press beam cladding, that is to say in the front work and manipulation space 33. Because of the arrangement of the image capturing means of the image capturing device, the front capturing area 40 is captured by the image capturing means in such a way that the same section of the front capturing area 40 is shown in a first overlap area 20 in both captured partial images.
    A rear recording area 41 is captured as a third 42 and fourth 43 partial image by the image capturing means of the further image capturing device which are arranged in the rear machine room 34. Here too, the partial images are recorded again in such a way that a section of the rear recording area 41 is shown as a second overlap area 44 in both partial images.
    As for the front recording area 40, the image synthesis module performs image alignment and image scaling of the third 42 and fourth 43 partial images, and image synthesis of the two partial images is carried out in the second overlap area 44 and the live image is formed therefrom.
    In addition, according to one embodiment, it is provided that the front 40 and rear 41 recording areas are also recorded overlapping, in particular that the first 38 and third 42 partial images and the second 39 and fourth 43 partial images overlap, with all four partial images overlapping in a central section. By
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    N2015 / 14300-AT-00 this embodiment, a third overlap area 45 is formed, in which the image synthesis module carries out a synthesis of all four partial images and that
    Live picture is formed. With this embodiment, the machine operator is shown a live image of the conditions in the front work and manipulation room 33 and at the same time in the rear machine room 34 on the display means.
    FIG. 5 shows a further possible embodiment in which the orientation of a workpiece 46 to be formed is determined, the determined orientation is compared with a stored target orientation and, in the event of a deviation, transformation information 47 is displayed. During the bending deformation, the workpiece 46 to be machined is fed to the bending machine and mostly deposited on the lower tool 15 and aligned in such a way that the next bending deformation corresponds to the bending line 13. Particularly in the case of small lot sizes, the machine operator may insert the workpiece 46 into the bending machine in an incorrectly aligned manner, as a result of which the next bending step would be carried out incorrectly. The arranged workpiece can be recognized by means of a pattern recognition by means of an image analysis of the live image or of the individual partial images. In particular, the outline can be seen, and after comparison with a stored reference image, the correct target alignment can be shown as transformation information 47 in the live image. This means that the machine operator can easily see whether the workpiece has been inserted correctly and whether the bending is to be carried out. The transformation information 47 can also be partially animated, for example direction instructions on how to manipulate the workpiece can be superimposed on the live image. Based on the instructions, the machine operator can very quickly establish the correct alignment of the workpiece, which means that the bending process is significantly less delayed.
    However, it is also possible, without determining the alignment and comparing it with a stored target alignment, to only display the target position and / or the target alignment as transformation information.
    FIG. 1 shows a further possible embodiment, according to which an identification identifier 48 is attached to the bending tools, which identification identifier 48 is shown in the captured partial image
    20/33
    N2015 / 14300-AT-00 or in the generated live image. The identification identifier can be designed, for example, as a 1D or 2D code. By reading and
    If this identification code is analyzed, for example by the image analysis module, the image analysis module or the machine control can also determine whether the correct tools have been set up at the correct position.
    The advantage of the bending machine in question is that the machine operator can be given a complete overview of the operating process at any time. In particular, the machine operator is supported in the production of small batch sizes by displaying relevant information regarding the bending process directly in the live image on the display means.
    In conclusion, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component designations, and the disclosures contained in the entire description can be applied analogously to the same parts with the same reference numerals or the same component designations. The location information selected in the description, e.g. above, below, to the side, etc., referring to the figure described and illustrated immediately, and if the position is changed, these are to be applied accordingly to the new position.
    FIGS. 1, 3 and 5 show further and possibly independent embodiments of the bending machine with a work area image capture device, the same reference numerals or component designations being used for the same parts as in the previous figures. In order to avoid unnecessary repetitions, reference is made to the detailed description in the previous figures.
    The exemplary embodiments show possible design variants of the bending machine with a work area image capturing device, it being noted at this point that the invention is not restricted to the specially illustrated design variants of the same, but rather various combinations of the individual design variants with one another are also possible
    21/33
    N2015 / 14300 AT-00
    Possibility of variation due to the teaching of technical action through the subject invention lies in the ability of the person skilled in this technical field.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    The object on which the independent inventive solutions are based can be found in the description.
    All information on value ranges in the objective description is to be understood so that it includes any and all sub-areas, e.g. the information 1 to 10 is to be understood so that all sub-areas, starting from the lower limit 1 and the upper limit 10, are included, i.e. all sections start with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or
    5.5 to 10.
    Above all, the individual designs shown in the figures can form the subject of independent solutions according to the invention. The relevant tasks and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of order, it should finally be pointed out that, in order to better understand the structure of the bending machine with a work area image capturing device, these or their components have been partially shown to scale and / or enlarged and / or reduced.
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    N2015 / 14300 AT-00
    LIST OF REFERENCE NUMBERS
    bending machine 31 normal distance Image capture device 32 working level side panels 33 Labor and manipulation machine table room longitudinal extension 34 engine room pressing bars 35 further image capture device drive means tung movement direction 36 back gauge longitudinal extension 37 stop finger detection range 38 first drawing file display means 39 second drawing file Crosshead panel 40 front recording area elastic line 41 rear recording area upper tool 42 third drawing file lower tool 43 fourth drawing file Image capture means 44 second overlap area optical center 45 third area of overlap distance 46 workpiece part Of 47 Transformation information first overlap area 48 identification tag
    Image synthesis module machine control Image analysis module First camera first section Second camera second section Opening angle optical axis Swivel angle
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    权利要求:
    Claims (24)
    [1]
    claims
    1. Bending machine (1) with a work area image capture device (2), the bending machine (1) having a machine frame, an elongated, fixed machine table (4) and an elongated press beam (6), which press beam (6) is guided in the machine frame and is movably received by a drive means (7), and the machine frame further has two side parts (3) which are spaced apart from one another in the direction of the longitudinal extent (5) of the machine table (4), and wherein the longitudinal extent ( 5) and the direction of movement (8) of the press beam (6) span a working plane (32), the working plane (32) defines a front working and manipulation room (33) and a separate, and in particular closed, rear machine room (34), and wherein in the work and manipulation room (33) above the machine table (4), in a central section of the longitudinal extent (9) of the Press bar an image capturing device (2) is arranged, wherein a detection area (10) of the image capturing device (2) is aligned in the direction of the machine table (4), and wherein the image capturing device is connected to a display means (11) which is used to display the captured image of the Detection area (10) is formed, characterized in that the image capture device (2) is arranged in a press beam covering (12), and that the image capture device (2) has two image capture means (16) and that each image capture means (16) has a partial section ( 19) in the direction of the machine table (4).
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    N2015 / 14300 AT-00
    [2]
    2. Bending machine according to claims 1, characterized in that the image capturing means (16) is formed by a 2D camera.
    [3]
    3. Bending machine according to claim 1, characterized in that the image capturing means (16) is formed by a laser scanner.
    [4]
    4. Bending machine according to one of claims 1 to 3, characterized in that the two sections (19) form a first overlap area (20) which covers a common section of the detection area (10).
    [5]
    5. Bending machine according to one of claims 1 to 3, characterized in that the ratio of normal distance (31) between the image capturing device and the longitudinal extent (5) of the machine table (4) is less than 1, in particular in the range from 1 to 0.25.
    [6]
    6. Bending machine according to one of claims 1 to 5, characterized in that the normal distance (31) between the image capturing device and the machine table (4) is 60cm to 150cm.
    [7]
    7. Bending machine according to one of claims 1 to 4, characterized in that the optical centers of the two image capturing means (16), in comparison to the longitudinal extent (5) of the machine table (4), match, in particular with a distance (18) from each other of less are arranged as 10cm.
    [8]
    8. Bending machine according to one of claims 1 to 6, characterized in that the opening angle (28) of an image capturing means (16), parallel to the working plane (32), is at least 60 °, in particular 66 °.
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    N2015 / 14300 AT-00
    [9]
    9. Bending machine according to one of claims 1 to 7, characterized in that an optical axis (29) of the image capturing means (16) in the direction parallel to the working plane (32) by a pivoting angle (30) relative to the normal distance from the image capturing means (16) the machine table (4) are pivoted.
    [10]
    10. Bending machine according to claim 8, characterized in that the pivoting angle (30) of both image capturing means (16) is the same, and is 20 ° to 30 °, in particular 25 °.
    [11]
    11. Bending machine according to claim 8, characterized in that the pivoting angle (30) of the two image capturing means (16) is unequal, and is 20 ° to 30 ° and 40 ° to 30 °, in particular 25 ° and 35 °.
    [12]
    12. Bending machine according to one of claims 1 to 11, characterized in that an image synthesis module (21) is present, to which the cameras of the front image capture device are connected, and which image synthesis module (21) for generating a front overall image of the front work and manipulation space (33 ) is trained.
    [13]
    13. Bending machine according to one of claims 1 to 12, characterized in that a further image capturing device (35) is also arranged in the machine room (34) above the machine table (4), in a central section of the longitudinal extent (9) of the press bar (6), which has at least two further image capturing means (16), which are preferably designed as cameras, and that the cameras are oriented in the direction of a rear stop (36) present in the machine room (34).
    [14]
    14. Bending machine according to claim 13, characterized in that an image synthesis module (21) is present, with which the cameras of the rear further image capture device (35) are connected, and which image synthesis module
    26/33
    N2015 / 14300-AT-00 (21) is designed to generate an overall rear image of the rear machine room (34).
    [15]
    15. Bending machine according to claim 12 and 14, characterized in that the image synthesis module (21) is designed to generate an overall image of the front working and manipulation room (33) and the rear machine room (34).
    [16]
    16. Bending machine according to one of claims 12 to 15, characterized in that an image analysis module (23) is present, which is connected to the image synthesis module (21), and which image analysis module (23) is designed to recognize a structure of a sheet to be processed.
    [17]
    17. A method for displaying an overall image of a longitudinal working area of a bending machine (1), carried out on a bending machine (1) according to one of claims 1 to 16, wherein an area along the machine table () of the image capture device arranged in the working and manipulation space (33) 4) captured as a front recording area (40) and displayed as a live image on a display means (11), characterized in that a first section (25) of the first camera (24) of the image capture device is used as the first partial image (38) and the second camera (26) of the image capturing device captures a second section (27) as a second partial image (39) along the front recording area (40), the first and second sections of the front recording area (40) being recorded overlapping in a partial section (19) and forms a first overlap area (20), and from the image synthesis module (21) an image alignment and image scaling of the first (38) and second (39) partial image is carried out, and in the first overlap area (20) image synthesis of the first (38) and second (39) partial image is carried out and the live image is formed.
    27/33
    N2015 / 14300 AT-00
    [18]
    18. The method according to claim 17, characterized in that an area along the machine table (4) as the rear recording area (41) is recorded by the further image capturing device arranged in the machine room (34) and is displayed as a live image on a display means (11). that a first section (25) of the first camera (24) of the further image acquisition device (35) as a third partial image (42) and of the second camera (26) of the further image acquisition device (35) a second section (27) as a fourth partial image ( 43) along the rear receiving area (41), the first (25) and second (27) section of the rear receiving area (41) being recorded in a partial section (19) overlapping and forming a second overlapping area (44), and from Image synthesis module (21) an image alignment and image scaling of the third (42) and fourth (43) partial image is carried out, and in the second overlap area (44) an image synthesis of the third (4th 2) and fourth (43) partial image and the live image is formed.
    [19]
    19. The method according to claim 18, characterized in that the front (40) and the rear (41) recording area is recorded overlapping and forms a third overlap area (45), and in the third overlap area (45) image synthesis of all four partial images is carried out and that Live picture is formed.
    [20]
    20. The method according to any one of claims 17 to 19, characterized in that the image synthesis module (21) displays a stored reference image of the workpiece (46) in the live image on the display means (11).
    [21]
    21. The method according to any one of claims 17 to 20, characterized in that the orientation of a workpiece (46) to be machined is recognized by the image analysis module (23) by means of a pattern analysis in the live image and by comparison with a stored reference image of the workpiece (46) Transformation information (47) is formed and is shown in the live image on the display means (11).
    28/33
    N2015 / 14300 AT-00
    [22]
    22. The method according to claim 21, characterized in that the transformation information (47) is generated as an animation.
    [23]
    23. The method according to any one of claims 17 to 22, characterized in that a reference image of the workpiece (46) stored in a production planning system is accessed by the image analysis module (23) via a data connection,
    [24]
    24. The method according to any one of claims 17 to 23, characterized in that the image analysis module (23) by means of a pattern analysis in the live image reads and evaluates an identifier of a bending tool arranged in the press beam (6) and / or in the machine table (4).
    29/33
    N2015 / 14300 AT-00
    30/33
    31/33 η
    π
    Η
    IL m
    TRUMPF Maschinen Austria GmbH & Co. KG
    32/33
    41 42
    TRUMPF Maschinen Austria GmbH & Co. KG.
    33/33
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    同族专利:
    公开号 | 公开日
    EP3507035A1|2019-07-10|
    CN109715307A|2019-05-03|
    JP2019532818A|2019-11-14|
    AT518895B1|2018-02-15|
    US20190176201A1|2019-06-13|
    WO2018039695A1|2018-03-08|
    CN109715307B|2020-12-22|
    EP3507035B1|2020-09-23|
    JP6898433B2|2021-07-07|
    US11159730B2|2021-10-26|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50783/2016A|AT518895B1|2016-09-02|2016-09-02|Bending machine with a workspace image capture device|ATA50783/2016A| AT518895B1|2016-09-02|2016-09-02|Bending machine with a workspace image capture device|
    PCT/AT2017/060211| WO2018039695A1|2016-09-02|2017-08-30|Bending machine comprising a work area image detecting device and method for representing a work area|
    CN201780054078.3A| CN109715307B|2016-09-02|2017-08-30|Bending machine with work area image capturing device and method for representing work area|
    US16/327,485| US11159730B2|2016-09-02|2017-08-30|Bending machine comprising a work area image detecting device and method for representing a work area|
    EP17780981.1A| EP3507035B1|2016-09-02|2017-08-30|Bending machine comprising a work area image detecting device and method for representing a work area|
    JP2019512254A| JP6898433B2|2016-09-02|2017-08-30|Bending machine with work area image detector|
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