EP1944103A2 - Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique - Google Patents

Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique Download PDF

Info

Publication number
EP1944103A2
EP1944103A2 EP08005314A EP08005314A EP1944103A2 EP 1944103 A2 EP1944103 A2 EP 1944103A2 EP 08005314 A EP08005314 A EP 08005314A EP 08005314 A EP08005314 A EP 08005314A EP 1944103 A2 EP1944103 A2 EP 1944103A2
Authority
EP
European Patent Office
Prior art keywords
workpiece
handling
forming
handling devices
during
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08005314A
Other languages
German (de)
English (en)
Other versions
EP1944103A3 (fr
Inventor
Frank Reissenweber
Harald Barnickel
Lothar Bauersachs
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Langenstein and Schemann GmbH
Original Assignee
Langenstein and Schemann GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=28799076&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1944103(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Langenstein and Schemann GmbH filed Critical Langenstein and Schemann GmbH
Priority claimed from EP04735197A external-priority patent/EP1631401B1/fr
Publication of EP1944103A2 publication Critical patent/EP1944103A2/fr
Publication of EP1944103A3 publication Critical patent/EP1944103A3/fr
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators

Definitions

  • the invention relates to a method and a device for forming a workpiece.
  • Beating forming machines comprise a working area in which two tools, generally rectilinear, are movable relative to each other. The workpiece is placed between the two tools and then reshaped by the impact or impact energy as the tools strike the workpiece and the forming energy caused thereby.
  • a scraper hammer comprises a scraper (or: a carrier, an anvil) as a tool fixed relative to the workpiece, and a striker or, in short, bears, relative to the workpiece and scraper, usually a vertical, moving tool.
  • a counter-hammer has two against each other and in each case relative to the ground or the hammer frame, vertically or horizontally, moving striker on.
  • the drives for the bears of blacksmith hammers are generally hydraulic or pneumatic.
  • the hammer frame and the hammer drives of a forging hammer are relieved of the forming force, so that forging hammers are not overloaded.
  • this is called the moving tool mostly pestles.
  • the plunger is moved rectilinearly to the stationary tool by a spindle.
  • the drive of the spindle and thus of the plunger via a drive motor and / or a flywheel as energy storage ( VDI Lexicon aaO )
  • the forming pressure and the forming temperature depend on the material of which the workpiece is made, as well as on the requirements for dimensional accuracy and surface quality.
  • Forgettable materials are basically all malleable metals and metal alloys, including both ferrous materials such as steels and non-ferrous metals such as magnesium, aluminum, titanium, copper, nickel and alloys thereof.
  • the temperatures occurring during forging can be in the range of room temperature for a so-called cold forming, between 550 ° C. and 750 ° C. for a warm forging and above 900 ° C. for a so-called hot forming.
  • the forming temperature is usually also placed in a temperature range in which the formability or flowability of the material required for forming is present as well as recovery and recrystallization processes can take place in the material and also undesirable phase transformations are avoided.
  • Industrial robots are universally applicable motion machines with a sufficient number of degrees of freedom of movement, realized by a corresponding number (5 to 6) of axes of motion, and a freely programmable controller for the realization Virtually any movement trajectories of the workpiece within the retractable or reachable by the industrial robot space area.
  • a problem with the use of such handling devices are the high impact forces in a beating forming machine, which can significantly burden and damage the handling device during forming blow when the handling device holds the workpiece when the bear or tappet blows.
  • a handling device for holding a forging in the forging process in which a chassis carries a gripper device via a sleeve, which has a forging part during the forging gripping gripping tongs detected.
  • the collar is hydraulically selectively in a yielding state and a rigid state brought.
  • Out DE 100 60 709 A1 is a trained as a manipulator or robotic handling device for handling a forged part in the forging process known with a grasping forceps and gripping tongs carrying the gripper arm, which is connected via a resilient block piece of an elastically deformable material with an arm portion which by means of a first electric motor and can swing from pivoting and can raise and lower by means of a second electric motor. These two movements of the arm area are synchronized by a control device. Due to the flexibility of the block piece, the front area of the gripper with the gripper arm and the gripper tongs is opposite the rear area with the gripper arm Arm region and the drive motors in the block piece as a kind of hinge pivot.
  • the gripper sets a forging workpiece on a die of a forging hammer and the striker strikes the workpiece from above, vibrations or shocks generated thereby in the elastic block piece can be damped and trapped, so that the drives are relieved.
  • the elastic block piece is bridged by means of a start adjusting rod which establishes a rigid connection between the gripper arm and the arm portion over the block piece.
  • the rigidity rod is fixed in parallel position of the front gripper arm and the rear arm area and detachable when the workpiece resting on the die of the forging hammer by lifting the rear arm portion.
  • the forgings may in part have significant variations in shape, particularly at the ends gripped by the handling equipment , Therefore, it can come when gripping with the known automatic gripping devices to significant deviations of the position of the forging relative to the handling device and thus also relative to the tool of the forming machine, which can have a high rejection and in extreme cases even damage to the tools result.
  • the position of the workpiece in the tool of the forming machine could now be detected for example by an image recognition and the handling device can be controlled accordingly to correct a deviation of the position of the workpiece relative to the tool from a target position.
  • this is quite expensive and functioning systems are not yet available for practical use.
  • the invention is based on the object at least partially to reduce or completely avoid the above problems in the prior art.
  • the movement of the tools in the forming machine relative to each other involves both the case of only one of the two tools moving relative to the ground or machine frame or other external frame of reference and the other remaining fixed to that external system, such as a top hammer or a hammer Monkey or a screw press, as well as the case that both tools move relative to the external reference system, such as a counter-impact hammer.
  • the forming position of the workpiece refers to its absolute and adjustable geometric position in space with respect to a external coordinate system.
  • a change of the forming position is thus generally composed of translatory and / or rotational position changes or movements, ie the workpiece can be moved and / or rotated.
  • the work area of the forming machine is the area between the tools where the actual forming takes place. It can also be formed several work areas between two tools, which can be defined for example by different engravings in a die.
  • the movement takes place in accordance with a predefined or predetermined movement sequence or movement profile or a corresponding stored control program (no feedback "open-loop-control"), while the movements of the handling devices are metrologically detected during the regulation and predetermined set movements (reference variables of the movement ) are adjusted or regulated (feedback, "closed-loop-control").
  • Automatically means that at least during the forming step itself no human intervention or holding the workpiece is required, but this is done automatically by the handling devices (or: automatic actuators) under control of the control device. Coordinated with one another are the movements or positions of the handling devices in order to be able to handle the workpiece exactly, in particular in order to be able to fix it in the forming position during the impact of the forming machine. So there is a kinematic coupling between the two handling devices provided when handling the workpiece during its transformation.
  • the invention is based on the consideration, at least during the impingement of the tool or tools, in particular percussion tools (s), the forming machine during the forming step to hold at least two locations, each with a handling device hold or gripped.
  • Another advantage is that kinking of a longer workpiece on one side can be prevented because the handling devices can fix the workpiece on both sides and stabilize it during forming.
  • a particular advantage of the invention is the possibility of compensating a deviation of the position of the workpiece relative to the tools due to a corresponding deviation of the shape of a workpiece in an area in which a first of the handling devices engages. This is accomplished by gripping and holding the workpiece in a second area by means of the second handler.
  • the workpiece is brought by the measures according to the invention between the two handling devices in a kind of middle layer, while it is moved or twisted when gripping with only one handling device as in the handling devices in the prior art due to the tolerances.
  • this problem of prefabrication tolerances is not relevant because the human easily corrects a deviation of the position of the workpiece and inserts the workpiece correctly.
  • the kinematic coupling of the handling devices can be accomplished mechanically, but is preferably realized electronically or control or control technology via a coupling of the control of their drive systems.
  • the two handling devices are moved synchronously and / or along mutually substantially constantly spaced trajectories and / or at substantially the same speed, at least in a part of the manipulations of the workpiece by two handling devices
  • the control device controls or regulates the two handling devices, in particular their respective drive devices, in one embodiment according to a master-slave control principle, wherein a serving as a slave handling device follows a master serving as a handling device in the movements.
  • control device controls the two handling devices, in particular their respective drive devices, independently of one another, with respective control processes matched to one another.
  • each handling device or its point of attack on the workpiece moves during a movement and / or handling of the workpiece along a previously determined trajectory with a predetermined velocity profile and / or trailing successive trajectory points at regular time intervals.
  • the associated trajectory of the handling device or its point of application on the workpiece is preferably taught in advance, but can also be calculated or simulated.
  • the trajectory of at least two handling devices or its point of application is taught on the workpiece and the trajectory of the at least one further handling device or its point of attack on the workpiece is calculated in advance from the learned trajectory of the first handling device and stored or calculated in real time ,
  • the associated trajectory When teaching the trajectory of a handling device or its point of attack on the workpiece, the associated trajectory is generally traversed, and at regular time intervals, the trajectory points are sequentially recorded and stored.
  • the speed course during training is preferably predetermined according to the later speed course in the process. With any velocity course during teach-in, the actual speed profile during operation can also be considered later and new trajectory points can be calculated and stored.
  • the handling device or its point of application on the workpiece during the movement and / or handling of the workpiece in each case follows the teach-in, possibly after speed correction, stored trajectory points at the same time intervals and in the same order as when learning.
  • the two handling devices are preferably located on opposite sides of the working area or the tools of the forming machine. Furthermore, the handling devices can preferably also be moved to a parking position in order to make the working area or areas of the forming machine (s) accessible
  • the device is then preferably further developed by absorbing a flexible connection of carrier device and transport device in a flexible state at least partially shocks or vibrations that are transmitted during the forming process from the workpiece in the forming machine to the handling device, thus protecting the transport device from these mechanical loads and that a rigid connection or position of carrier and transport means in a rigid state, however, is used when handling the workpiece during transport or during rotation or pivoting before or after Umformschtitten.
  • a preferred application of the invention is with a forging hammer or a screw press as a forming machine.
  • first handling device with 2 and a second handling device designated 2 '.
  • Each of the handling devices 2 and 2 ' can be designed as a manipulator or robot.
  • the two handling devices 2 and 2 ' are formed substantially identical and each comprise a gripping device (or: gripper tongs) 3 and 3', a support shaft 4 and 4 ', a support means (or: Starr eins Bran) 5 or 5 ', a bearing part 6 or 6', a flexible element 7 or 7 ', a rotary actuator (or: rotary drive) 8 and 8', a joint 9 or 9 ', a Actuator 11 or 11 'and a transport device 16 or 16'.
  • Each gripping device 3 or 3 ' comprises two gripping levers 32 and 33 or 32' and 33 'each having an associated gripping jaw (or: gripping element, jaw jaw) 30, 31, 30' and 31 ', which by means of the actuating device 11 or 11 'to each other about a pivot axis E and E' in a pivot bearing 34 and 34 'are pivotable to open and close the gripping device 3 and 3'.
  • the actuating device 11 or 11 ' engages in an attack bearing 35 or 35' on the gripping lever 33 or 33 'and is in a pivot bearing 14 or 14' about a pivot axis D and D 'pivotally mounted on a holding part 61 and 61st 'of the bearing part 6 and 6' stored
  • the gripping lever 32 or 32 'of the gripping device 3 or 3' is connected via the carrier shaft 4 or 4 'with an intermediate part 60 or 60' of the bearing part 6 or 6 'coaxially along an axis M.
  • the flexible element 7 or 7' is arranged, and via a respective flange 67 and 87 or 67 'and 87' is connected to the intermediate part 60 or 60 'and the pivot drive 8 or 8' and consists of an elastic material, preferably an elastomer.
  • the flexible element 7 or 7 ' are now the front unit of the handling device 2 or 2', namely the gripping device 3 or 3 ', the support shaft 4 or 4' and the bearing part 6 or 6 'and the actuator 11th or 11 ', on the one hand and the rear unit of the handling device 2 or 2', namely the pivot drive 8 or 8 'and the hinge 9 or 9' and the transport device 16 or 16 ', and thus also their axes M and N mutually pivotable.
  • FIG. 3 and 4 show in a sectional view through the lifting cylinder of the actuator 11 and the support shaft 4 and the support means 50 of the manipulator 2 according to FIG. 1 an embodiment of a pivoting movement.
  • FIG. 3 shows a vertical position in which a center axis B of the support member 50 of the support means 5 and a central axis C of the actuator 11 and the bearing part 6 coincide, the actuator 11 is thus seen in the direction of gravity G above the intermediate part 60 of the bearing part 6 is arranged.
  • FIG. 4 is now the front unit of the handling device 2 pivoted by a pivot angle ⁇ to the right in a clockwise direction or rotated.
  • the carrier shaft 4 rotates about the rotation axis R in its support bearing 54 of the support means 5.
  • the center axis C of the front unit, in particular the bearing part 6 and the actuator 11, and thus the gripping device 3 are now to the pivot angle ⁇ with respect to the central axis B of Supporting device 5 pivoted. This allows a workpiece 10 to rotate about the corresponding pivot angle ⁇ .
  • the support device 5 or 5 'of the handling devices 2 and 2' comprises a longitudinal connecting rod 53 or 53 ', on which a transversely extending first fastening part 51 or 51' for connecting the connecting rod 53 or 53 'with the pivot drive 8 or 8' and further behind a transversely extending second Fastening part 52 or 52 'for connecting the connecting rod 53 or 53' with the joint 9 or 9 'and in the front region a transversely to the connecting rod 53 or 53' upwardly projecting support member 50 and 50 'for fixing or supporting the Carrier shaft 4 and 4 'are arranged.
  • the support member 50 and 50 ' has an incision as a support bearing (or: a shaft seat) 54 and 54' for the support shaft 4 and 4 '(see 3 and 4 ).
  • the handling devices 2 and 2 ' are moved from both sides onto a workpiece 10 or 10' in the direction of the illustrated arrows, the axes M and N being coaxial and horizontal, ie perpendicular to the gravitational force G, and the flexible one Element 7 or 7 'is substantially undeformed.
  • the connecting rod 53 or 53 ' now extends parallel to the axes M and N and the support member 50 and 50' supports the support shaft 4 and 4 'and thus the associated gripping device 3 and 3' in its support bearing 54 and 54 'down.
  • the support device 5 or 5 'thus represents a mechanical bridging over the flexible element 7 or 7' and thus eliminates in the position according to FIG.
  • the rigid connection is maintained solely by the weight of the parts of the handling device 2 and 2 '.
  • the gripping means 3 and 3 ' Upon reaching the workpiece 10, the gripping means 3 and 3 'are closed and thus the workpiece 10 is gripped at its ends 10A and 10B and transported by the transport means 16 and 16' to a forming machine and placed there in the forming position for forming on a tool.
  • the handling device 2 or 2 ' is held in a rigid state via the support device 5 or 5'.
  • FIG. 2 shows the workpiece 10 in the mounted state on the lower tool or die 12 of a forging hammer.
  • the impact tool 13 now strikes the workpiece 10 on the impact hammer A (not shown) in the direction of impact A.
  • the impact movement produces considerable shock and vibration loads which are transmitted via the workpiece 10 to the handling devices 2 and 2 '.
  • the elastic elements 7 and 7 ' now decouple these shocks or vibration largely from the transport device 16 or 16' and the pivot drive 8 or 8 ', so that these drive devices are protected against overloading.
  • the Wetk Georgia 10 to rotate before placing on the die 12, in particular a running through the workpiece 10 axis of rotation, for example, its longitudinal axis.
  • the gripping means 3 and 3 'with the gripped workpiece 10 in the supported state ie when engaged in the support shaft 4 support means 5 to the desired pivot angle ⁇ in the same direction of rotation and with the same rotation or Angular velocity pivoted to rotate the workpiece without torsion in its desired forming position.
  • a rotational movement of an output shaft of a in the drive housing 80 or 80 'of the rotary actuator 8 and 8' arranged drive motor possibly via a transmission, via the drive flange 87 and 87 'and the flexible member 7 and 7' on the Connecting flange 65 and 65 'transmitted, which in turn rotates the intermediate part 60 and 60', the support shaft 4 and 4 'and the gripping device 3 and 3'.
  • Such pivotal movements occur, for example, during bending of a workpiece in a first forging or forging step and subsequent flat forming or forging.
  • the Rotatability of the gripping devices 3 and 3 ' can be omitted if rotation is not desired.
  • FIG. 5 shows, starting from FIG. 2 , The situation shortly after the striking tool 13 strikes the workpiece 10 and the surrounding areas of the tool 12.
  • the impact tool 13 is again in a direction away from the tool 12 upward movement in a return direction RH by the recoil and possibly by a drive.
  • the workpiece 10 is raised or released by the tool 12 by a distance d.
  • This release movement of the two handling devices 2 and 2 'and the workpiece 10 held by them thus follows the upwardly moving impact tool 13 in the same direction as the return direction RH.
  • scale material is blown out of the lower die 12 by means of a blower.
  • the venting also shortens the contact time of the workpiece 10 with the lower die or die 12.
  • either the workpiece 10 can now be placed again on the tool 12 or on another die or another engraving of the tool 12 and be reshaped with the striking tool 13. But it can also be completed the forming process and the workpiece 10 from the in FIG. 5 shown ventilated position of the two handling devices 2 and 2 'moved out of the work area of the forming machine between the two tools 12 and 13 and transported to a storage device.
  • FIG. 6 shows an embodiment of a handling of a workpiece 10 with two handling devices 2 and 2 ', starting from the recording on a supply device 41 to laying on a tool 12 of a hitting forming machine.
  • the trajectories or trajectories of the two handling devices 2 and 2 ' are denoted by S and S', the directions of movement are indicated by arrows.
  • the two handling devices 2 and 2 ' are each started at a time t0 from a parking or starting position S (t0) and S' (t0) and move toward the workpiece 10 on the supply device 41.
  • the handling devices 2 and 2 ' respectively reach the ends 10A and 10B of the workpiece 10 at the respective positions S (ti) and S' (ti).
  • the gripping devices 3 and 3 ' grip the respective end 10A and 10B of the workpiece 10 and the handling devices 2 and 2' now transport the workpiece 10 along the trajectories S and S '.
  • the two trajectories S and S ' run parallel to each other and the handling devices 2 and 2' are moved synchronously with each other.
  • the workpiece 10 is moved substantially only translationally and not rotatotically.
  • the difference vector ⁇ S '(tj) -S (tj) is always the same.
  • the handling devices 2 and 2' introduce the workpiece 10 into the working area between the tools 12 and 13 of the striking forming machine and move the workpiece 10 down to a predetermined forming position on the tool 12 to an end position S. (tn) for the handling device 2 and S '(tn) for the handling device 2' at an end time tn on opposite sides of the working area or tool 12 of the forming machine.
  • the dashed workpiece 10 is now in the forming position on the tool 12 and can be reshaped.
  • the handling devices 2 and 2 ' which are likewise indicated by dashed lines, hold the ends 10A and 10B of the workpiece 10 firmly again.
  • a release movement by the handling devices 2 and 2 'take place can now as in FIG. 5 a release movement by the handling devices 2 and 2 'take place.
  • the workpiece 10 can additionally or alternatively be implemented by being engraved from one tool into another or also from the forming machine to a depositing or discharging device.
  • the tools 12 and 13 are usually forming tools, so-called dies with customized according to the desired shape of the workpiece engraving.
  • the handling devices generally hold the workpiece 10 throughout the forging cycle and perform all of the handling movements necessary for the forging process jointly and synchronously.
  • handling movements are, inter alia, Lsymmetricterrorismen within an engraving and Umsetzzien of the feeder in the first engraving of the die, Umsetzzien between engravings of Gesenkes and Umsetzdochen of an engraving of Gesenkes in a discharge device.
  • workpieces are preferably also forged whose ends, on which the handling devices hold the workpiece during handling, are not symmetrical to the workpiece axis. These workpieces are stretched in previous steps, wherein it happens that the ends of the workpiece are formed asymmetrically. As a result of the workpiece 10 being grasped at both ends 10A and 10B by a respective handling device 2 and 2 ', the workpiece 10 is aligned automatically, so that the workpiece 10 is placed in its correct position in the engraving or the tool 12.
  • the common and synchronous driving of the two handling devices 2 and 2 ' is achieved via an electrical coupling between the two handling devices 2 and 2', wherein the coupling via the master-slave operation of electric drives or by the simultaneous start of independently operating drives is reached.
  • the start signal for the individual handling steps is supplied by a control device which controls the sequence between the beating forming machine and the two handling devices 2 and 2 '.
  • This control device can additionally carry out the complete signal exchange.
  • the control device operates with the aid of at least one digital processor, in particular a microprocessor or a digital signal processor, and corresponding memory in which the sequence programs, control algorithms and data for the movements are stored.
  • a master-slave operation known per se master-slave control units can be used.
  • For independently operating drives the same distances and speeds as well as error feedback and error responses between the independent drives are provided in order to ensure an exact and in case of failure safe operation.
  • a workpiece is fed by means of a feeder or providing device.
  • both handling devices 2 and 2 'grip the workpiece 10 and insert the workpiece 10 together and synchronously into an engraving of the die of the striking die-forming machine.
  • the beating die-forming machine is triggered at a variable time during or at the end of the handling movement and after triggering the further handling of the workpiece is initiated at a variable time during or at the end of the impact movement.
  • This further handling is again together and synchronously by both handling devices 2 and 2 'and may be a release movement of the workpiece in the same engraving, a common and synchronous conversion of the workpiece in a further engraving or the common and synchronous transfer of the workpiece in a storage device for the finished formed workpiece.
  • the second handling device 2 also grips the workpiece 10 at a later time of the forging cycle and both handling devices 2 and 2' forge from this point in time together and synchronously as already described.
  • the partial reacting or forging with only one handling device is particularly useful when more than two handling devices are used, since this or the other handling devices already pick up a new workpiece and possibly even forge if the other two handling devices forge the previous forging finished or insert into a discharge device.
  • FIG. 7 shows another embodiment of an apparatus for handling a workpiece during a forging process.
  • This device again comprises two handling devices 2 and 2 'with respective gripping devices 3 and 3', which are shown schematically as industrial robots.
  • the two handling devices 2 and 2 ' receive a workpiece 10 from a supply device 41, for example a feed conveyor belt or another automated feed device, and place the workpiece in a first engraving 17 of a tool 12 of a striking die-forming machine.
  • the counter tool or impact tool of this die-forming machine is not shown and would be in the illustrated plan above the plane of the drawing.
  • the impact tool of the forming machine is triggered.
  • a new sequence for the further handling of the workpiece 10 is initiated by a time during or at the end of the impact movement of the impact tool.
  • the workpiece 10 is fixed in its forming position on the engraving 17 of the two handling devices 2 and 2 'to the impact and during the impact of the impact tool and held at both ends.
  • the workpiece 10 is handled jointly and synchronously by the two handling devices 2 and 2 'according to the stored further handling routine.
  • the workpiece 10 is released, as indicated by FIG. 5 already explained, and then either processed again in the first engraving 17 or immediately implemented in the second engraving 18 of the tool 12.
  • FIG. 8 shows a park or rest position of the two handling devices 2 and 2 'in a device according to FIG. 7 , In the park position of the handling equipment access to the tools 12 and 13 of the forming machine for tool change, for post-processing or philt a manual test operation of the beating forming machine is possible.
  • the movement of the handling devices 2 and 2 'and thus the handling movements for the workpiece 10 are usually taught.
  • the workpiece 10 is guided along the intended trajectory and possibly rotational movements using the two handling devices 2 and 2 'and the individual spatial points or the corresponding motion parameters in the movement system of the handling devices 2 and 2' are measured at regular intervals, typically 16 ms. saved.
  • the trajectors S and S 'of the handling devices 2 and 2' are each in the form of discrete data sets which each belong to a point on the trajectories, starting from the track points S (t0) and S '(t0) via S (ti). or S '(ti), S (tj) or S' (tj) up to the end point S (tn) or S '(tn).
  • the movement is guided along the stored trajectories S and S '.
  • the handling devices 2 and 2 ' may have independent drive systems and control systems from the hardware, but are electrical or electronically coupled by the matched control programs and processes that enable the synchronous movements.
  • This embodiment has the advantage over a master-slave operation that no following error between the two handling devices 2 and 2 'by stepwise succession as in the master-slave operation more arises, but the two handling devices 2 and 2' at each time tm are located on synchronous or parallel track points.
  • handling devices 2 and 2 'can in addition to the basis of the 1 to 4 described embodiments, other manipulators or industrial robots are used, preferably a good damping of the movement joints and other movement mechanisms is provided to relieve the drives of the recoil and the vibrations when hitting the impact tool of the forming machine.
  • the handling devices mentioned in accordance with DE 42 20 796 A1 or DE 100 60 709 A1 be used.
  • handling movements may also be provided by the handling devices 2 and 2 'with or without a workpiece 10.
  • the distance between the gripping devices is usually dependent on the length or along this distance measured dimension of the workpiece and remains constant during the synchronous common handling usually.
  • the movement trajectories of the two handling devices can also deviate from one another in an adapted manner, for example in an offset or a correction, for example if the workpieces have different burrs or other different shape at the engagement areas.
  • the workpiece can also be rotated about an axis of rotation, in particular with the aid of the 1 to 4 described embodiments of the handling devices. Furthermore, of course, rotary movements or portions of rotational movements for transporting the workpiece 10 are possible, for example, to pass through narrow areas on the transport path.
  • the error communication about the in FIGS. 7 and 8 shown control device makes it possible to interrupt the process in an impermissible deviation of the handling devices of the prescribed trajectory at a certain time, especially to stop the handling equipment.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Forging (AREA)
EP08005314A 2003-06-06 2004-05-28 Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique Withdrawn EP1944103A3 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10326105 2003-06-06
DE10333394A DE10333394A1 (de) 2003-06-06 2003-07-23 Verfahren und Vorrichtung zum Umformen eines Werkstücks mit automatischer Handhabung
EP04735197A EP1631401B1 (fr) 2003-06-06 2004-05-28 Procede et dispositif pour faconner une piece par manipulation automatique

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP04735197A Division EP1631401B1 (fr) 2003-06-06 2004-05-28 Procede et dispositif pour faconner une piece par manipulation automatique

Publications (2)

Publication Number Publication Date
EP1944103A2 true EP1944103A2 (fr) 2008-07-16
EP1944103A3 EP1944103A3 (fr) 2008-07-30

Family

ID=28799076

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08005314A Withdrawn EP1944103A3 (fr) 2003-06-06 2004-05-28 Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique

Country Status (2)

Country Link
EP (1) EP1944103A3 (fr)
DE (2) DE10333394A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009057898A1 (de) 2008-12-12 2010-08-19 Langenstein & Schemann Gmbh Be- und Entschickungseinrichtung für Schmiedeanlagen, Schmiedeanlage und Verfahren zum Schmieden von Werkstücken
DE102009016215A1 (de) 2009-04-03 2010-10-14 Volkswagen Ag Verfahren zur Herstellung eines Bauteils sowie zur Herstellung des Bauteils verwendbare Spanneinrichtung, Klapprahmen sowie Presswerkzeug
DE102010037890A1 (de) 2010-09-30 2012-04-05 Langenstein & Schemann Gmbh Be- und Entschickungseinrichtung für Umformanlagen, insbesondere Schmiedeanlagen und Verfahren zum automatischen Umformen, insbesondere Schmieden, von Werkstücken
CN112536416A (zh) * 2020-12-04 2021-03-23 重庆江东机械有限责任公司 锻造压机
EP4094861A1 (fr) * 2021-05-28 2022-11-30 Langenstein & Schemann GmbH Dispositif et procédé de formage à chaud, en particulier de forgeage d'une pièce

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005053874A2 (fr) * 2003-12-01 2005-06-16 Knipex-Werk C. Gustav Putsch Kg Procede de forge et d'estampage, et dispositif d'estampage pour la mise en oeuvre de ce procede
DE102004028378B4 (de) * 2003-12-01 2005-09-15 Knipex-Werk C. Gustav Putsch Kg Verfahren zum Gesenkschmieden und Schmiedevorrichtung zur Durchführung des Verfahrens
AT501483B8 (de) * 2004-05-26 2007-02-15 Gfm Beteiligungs & Man Gmbh Vorrichtung zum schmieden eines werkstückes
DE102004035797B9 (de) 2004-07-23 2006-07-13 Langenstein & Schemann Gmbh Verfahren und Vorrichtung zum Überführen eines Werkstücks
DE102009034541B3 (de) * 2009-07-23 2011-04-07 Langenstein & Schemann Gmbh Verfahren und Vorrichtung zum Streckschmieden von gedrallten Teilen
CN102335714A (zh) * 2011-10-09 2012-02-01 北京机电研究所 基于多关节机器人的锻压工业用多工位步进送料方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2554227A1 (de) 1975-12-03 1977-06-16 Grasser Kurt Verfahren zur ausloesung der entfaltungsvorrichtung von reservefallschirmen
US4227394A (en) 1977-09-26 1980-10-14 "Wefoba" Werkzeug-Und Formenbau Gesellschaft Mbh & Co., Kg Process for the automatic manufacture of drop forging
DE4220796A1 (de) 1992-06-25 1994-01-05 Langenstein & Schemann Gmbh Handhabungsgerät zum Halten eines Schmiedeteiles beim Schmiedevorgang
DE10060709A1 (de) 2000-12-07 2002-06-27 Langenstein & Schemann Gmbh Handhabungsgerät zum Halten eines Schmiedeteiles beim Schmiedevorgang

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2554277A1 (de) 1975-12-03 1977-06-16 Banning Ag J Vorrichtung zum manipulieren eines schmiedestuecks in einer maschine, insbesondere in einer schmiedepresse oder in einem schmiedehammer
IT1129497B (it) * 1980-12-29 1986-06-04 Teksid Spa Impianto automatico per stampaggio a caldo e sbavatura di particolari metallici
DE3422810A1 (de) 1984-06-20 1986-01-02 Maschinenfabrik Andritz Ag, Graz Schmiedepresse

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2554227A1 (de) 1975-12-03 1977-06-16 Grasser Kurt Verfahren zur ausloesung der entfaltungsvorrichtung von reservefallschirmen
US4227394A (en) 1977-09-26 1980-10-14 "Wefoba" Werkzeug-Und Formenbau Gesellschaft Mbh & Co., Kg Process for the automatic manufacture of drop forging
DE4220796A1 (de) 1992-06-25 1994-01-05 Langenstein & Schemann Gmbh Handhabungsgerät zum Halten eines Schmiedeteiles beim Schmiedevorgang
DE10060709A1 (de) 2000-12-07 2002-06-27 Langenstein & Schemann Gmbh Handhabungsgerät zum Halten eines Schmiedeteiles beim Schmiedevorgang

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"Produktionstechnik Verfahrenstechnik", 1995, DI-VERLAG, pages: 1107 - 1113
"Produktionstechnik Verfahrenstechnik", 1995, VDI- VERLAG, pages: 848

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009057898A1 (de) 2008-12-12 2010-08-19 Langenstein & Schemann Gmbh Be- und Entschickungseinrichtung für Schmiedeanlagen, Schmiedeanlage und Verfahren zum Schmieden von Werkstücken
DE102009057898B4 (de) * 2008-12-12 2021-04-29 Langenstein & Schemann Gmbh Verfahren zum automatisierten Schmieden von Werkstücken
DE102009016215A1 (de) 2009-04-03 2010-10-14 Volkswagen Ag Verfahren zur Herstellung eines Bauteils sowie zur Herstellung des Bauteils verwendbare Spanneinrichtung, Klapprahmen sowie Presswerkzeug
DE102010037890A1 (de) 2010-09-30 2012-04-05 Langenstein & Schemann Gmbh Be- und Entschickungseinrichtung für Umformanlagen, insbesondere Schmiedeanlagen und Verfahren zum automatischen Umformen, insbesondere Schmieden, von Werkstücken
CN112536416A (zh) * 2020-12-04 2021-03-23 重庆江东机械有限责任公司 锻造压机
EP4094861A1 (fr) * 2021-05-28 2022-11-30 Langenstein & Schemann GmbH Dispositif et procédé de formage à chaud, en particulier de forgeage d'une pièce

Also Published As

Publication number Publication date
EP1944103A3 (fr) 2008-07-30
DE20311306U1 (de) 2003-10-02
DE10333394A1 (de) 2005-01-05

Similar Documents

Publication Publication Date Title
DE602004010978T2 (de) Handhabungsroboter mit Greifer zur Handhabung von Werkstücken mit unterschiedlichen Formen
EP2698234B1 (fr) Dispositif et procédé de prélèvement automatisée de pièces agencées dans un récipient
EP1631401B1 (fr) Procede et dispositif pour faconner une piece par manipulation automatique
DE102006055359A1 (de) Roboter und Verfahren zur Vermeidung einer Interferenz bei vielen Robotern
WO2008064727A1 (fr) Robot avec commande pour des axes supplémentaires
EP1944103A2 (fr) Procédé et dispositif de formage d'une pièce à l'aide d'un manipulateur automatique
DE102005033767A1 (de) Vorrichtung zum Halten und Manipulieren von Werkstücken beim Massivumformen
DE112022000313T5 (de) Robotersystem und Werkstückzuführungsverfahren
EP1628791B1 (fr) Manipulateur servant a manipuler une piece pendant un processus de formage
WO2017186675A1 (fr) Procédé de transport pour la manutention de pièces
DE10336469B4 (de) Verfahren und Vorrichtung zum Umformen eines Werkstücks mit anschließendem Anheben des Werkstücks
EP3344417B1 (fr) Module de fabrication et procédé pour faire fonctionner ce module de fabrication
DE102009057898B4 (de) Verfahren zum automatisierten Schmieden von Werkstücken
DE102004035797B9 (de) Verfahren und Vorrichtung zum Überführen eines Werkstücks
DE102018009767A1 (de) Verfahren zum Bearbeiten von Objekten mittels eines industrieroboter
DE102004015675B4 (de) Handhabungsgerät zum Handhaben eines Werkstücks während eines Umformprozesses
EP3341165B1 (fr) Préhenseur de robot
DE20320904U1 (de) Vorrichtung zum Umformen eines Werkstücks mit anschließendem Anheben des Werkstücks
EP3627258B1 (fr) Planification de mouvement pour une presse servo
DE102010037896B4 (de) Verfahren und Vorrichtung zum Umformen eines Werkstücks
EP1689542A2 (fr) Procede de forge et d'estampage, et dispositif d'estampage pour la mise en oeuvre de ce procede
DE102004028378A1 (de) Verfahren zum Gesenkschmieden und Schmiedevorrichtung zur Durchführung des Verfahrens
DE102010037890A1 (de) Be- und Entschickungseinrichtung für Umformanlagen, insbesondere Schmiedeanlagen und Verfahren zum automatischen Umformen, insbesondere Schmieden, von Werkstücken

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AC Divisional application: reference to earlier application

Ref document number: 1631401

Country of ref document: EP

Kind code of ref document: P

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): DE FR

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): DE FR

RIN1 Information on inventor provided before grant (corrected)

Inventor name: BAUERSACHS, LOTHAR

Inventor name: REISSENWEBER, FRANK

Inventor name: BARNICKEL, HARALD

17P Request for examination filed

Effective date: 20081205

17Q First examination report despatched

Effective date: 20090128

AKX Designation fees paid

Designated state(s): DE FR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN

18W Application withdrawn

Effective date: 20111214