WO2016187633A1 - Procédé de cintrage - Google Patents

Procédé de cintrage Download PDF

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Publication number
WO2016187633A1
WO2016187633A1 PCT/AT2016/050156 AT2016050156W WO2016187633A1 WO 2016187633 A1 WO2016187633 A1 WO 2016187633A1 AT 2016050156 W AT2016050156 W AT 2016050156W WO 2016187633 A1 WO2016187633 A1 WO 2016187633A1
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WO
WIPO (PCT)
Prior art keywords
bending
tool
movement
sensor
bending tool
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.)
Ceased
Application number
PCT/AT2016/050156
Other languages
German (de)
English (en)
Inventor
Gerhard Angerer
Klemens Freudenthaler
Florian Hausmann
Matthias HÖRL
Nenad KOVJENIC
Florian Maier
Verena STEININGER
Helmut Theis
Manfred WALDHERR
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.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
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
Application filed by Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Priority to EP16735974.4A priority Critical patent/EP3302839B1/fr
Publication of WO2016187633A1 publication Critical patent/WO2016187633A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/006—Bending sheet metal along straight lines, e.g. to form simple curves combined with measuring of bends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths

Definitions

  • the invention relates to a method for the controlled pivoting bending of workpieces for the production of molded parts according to the wording of claim 1.
  • Bending is a mechanical forming method, which is particularly suitable for processing sheet metal.
  • a Schwenkbiegean at least a portion of a workpiece to be deformed, for example, the flat sheet or a sheet semi-finished, held by a hold-down tool in position, while a bending leg of the workpiece by at least one adjustable bending means or at least one adjustable bending tool by bending relative to the detained Part is angled.
  • the hold-down tool may for example be made in two parts, and consist of a fixed and a vertically adjustable tool between which at least a portion of the workpiece can be clamped.
  • the at least one bending tool can be subjected to a force-induced displacement movement, and thus acts on a contact surface of the bending leg of the workpiece, whereby the workpiece is reshaped.
  • swing bending is sometimes defined differently.
  • swing bending is understood to mean a method for forming workpieces, in which the bending tool itself does not execute or execute any intended pivoting movements about a stationary axis of rotation.
  • 'Swivel bending' is understood in particular to mean a process in which the at least one bending tool performs a substantially elliptical adjustment movement or trajectory or so acts on a bending leg of the workpiece to be deformed, wherein essentially a linear contact and no planar contact between the bending tool and bending leg takes place.
  • the at least one bending tool is arranged in an adjustable tool carrier, which has at least two degrees of freedom.
  • the orientation of the at least one bending tool, apart from undesirable, deformation-related tilting or the like, is constant during an adjustment movement.
  • the bending geometry, in particular the bending angle and the leg length, can at This type of pivoting bending are basically influenced or determined by corresponding path movements or adjusting movements of the at least one bending tool.
  • CNC-controlled machines In industrial practice often electronically controlled folding machines, in particular CNC-controlled machines are used.
  • a control device based on various input parameters, for example, the workpiece, the molding or the bending tool (s) used, based on mathematical model calculations of the bending deformation train coordinates and trajectories or trajectories for the bending tool or (e) calculate in order to achieve the bending geometry, for example the desired bending angle or the desired bending length.
  • Such controlled methods are usually combined under the term "path control”.
  • path coordinates and / or path motion data for the adjustment movement to be executed and composed of individual movement sections are interpolated or generated on the basis of predetermined bending geometries or desired position coordinates before carrying out the bending operation, and the calculated path coordinates and path motion data are transmitted to at least one adjustment drive of the bending tool or a tool carrier, in which one or more bending tool (s) are arranged, transmitted.
  • the bending tool or the tool carrier by a suitable guide arrangement has the required mobility.
  • the calculated adjustment movements can be carried out usually with different, predetermined feed rates.
  • the movement path or path trajectory of the at least one bending tool resulting from the sequence of movement sections can have a general course, for example, depending on the type of machine used or depending on the requirements for the respective bending deformation. In principle, both simple circular paths or linear feed movements are possible, as well as a complex course of the path or feed movements of the bending tool or tools (e).
  • the object of the invention is to provide a method for pivoting bending, wherein impairments of the surface in the contact region between the bending tool and the bending leg is minimized as far as possible.
  • the object of the invention is achieved by providing a method for producing molded parts by controlled bending of a workpiece by a swivel bending arrangement with at least one bending tool acting on a contact surface of a bending element of the workpiece.
  • the method comprises the generation of path coordinates and / or path movement data for the adjustment movement of the at least one bending tool by means of a control device, wherein the adjustment movement is composed of a sequence of movement sections.
  • the generated path coordinates and / or path movement data are then transmitted to at least one adjusting drive for the at least one bending tool or the tool carrier. This is a basic function of programmable adjustment drives for swing bending machines.
  • the swiveling bending arrangement comprises at least one sensor device connected to an evaluation logic.
  • This at least one sensor device is designed for the direct or mathematically indirect detection of a relative movement between the bending leg and the at least one bending tool.
  • the relative movement comprises a change in the angular orientation between the bending leg and the at least one bending tool or a sliding movement of the at least one bending tool along the contact surface of the bending tooth.
  • the path coordinates and / or path motion data are generated for a downstream motion section.
  • the path coordinates and / or path movement data for a downstream movement section are generated in such a way that correction values or factors are calculated on the basis of the relative movement data determined in an upstream movement section and used for the generation of the path coordinates or movement data in a downstream movement section.
  • the path coordinates or path movement data are generated in such a way that sliding movements of the at least one bending tool along the contact surface of the bending element during the entire bending process are minimized as far as possible.
  • the successive movement sections of a preprogrammed adjustment movement or movement path are already changed or corrected taking into account the relative movements between the bending tool and the contact surface or bending leg determined during the bending process during the bending process.
  • the extent of relative movements, in particular of sliding movements between the bending tool (s) and the contact surface of the bending tooth of the workpiece can be minimized as far as possible.
  • a low-pressure performing a swivel bending process allows, in particular so that the formation of grooves, grooves and the like on the bending leg of the workpiece can be minimized at least as far as possible, or the geometric extent of such damage can be reduced.
  • the method allows a low-pressure pivoting bending independent of, for example, thickness and type of material to be bent workpiece.
  • An upstream movement section is understood to mean in each case a movement section in which a relative movement between the bending leg and the at least one bending tool is determined by means of the at least one sensor device connected to the evaluation logic.
  • a subordinate movement section is understood to mean in each case a movement section in which the path coordinates and / or path movement data are executed using the determined relative movement data. Consequently, for the person skilled in the art, in the course of executing the method or a bending operation, the individual movement sections except the first and last movement section are to be considered both upstream and downstream movement sections, an assignment of a movement section as an upstream or downstream movement section Consequently logically results from the chronological sequence of the bending process.
  • the at least one sensor device is designed to determine the change in the angular orientation between the bending leg and the at least one bending tool, and the path coordinates and / or path movement data for a downstream movement section are generated in such a way that an adjustment movement or web movement of the at least one bending tool in a downstream movement section substantially perpendicular to the contact surface.
  • the path movements in a downstream movement section can be linear or curved, for example, or the path movements or adjustment movements can also have a complex course. It is advantageous in this case that sliding movements of the bending tool on the bending leg can at least largely be prevented, and it is predominantly merely a rolling of the bending tool on the bending leg.
  • the required bending force can be minimized as possible by this approach, since the bending force is applied at least largely normal or perpendicular to the bending leg. Losses in the applied bending force due to undesirable sliding movements along the contact surface of the bending gift can be reduced.
  • the sensor device designed to determine the change in the angular orientation, and with the knowledge that the movement is as normal as possible. times on the bending leg, can also be closed on the current bending angle.
  • the at least one sensor device is formed by an optical reflection measuring device, which comprises at least one illumination device, an optical detection means with a light detection surface and a rotationally symmetrical reflection body with a reflective surface.
  • an optical reflection measuring device which comprises at least one illumination device, an optical detection means with a light detection surface and a rotationally symmetrical reflection body with a reflective surface.
  • a center axis of the rotationally symmetrical reflection body is aligned parallel to a working edge of the at least one bending tool, and a first light beam emitted by the illumination device is reflected by the bending leg and passed as a second light beam to the rotationally symmetric reflection body and the second light beam is reflected at the rotationally symmetric reflection body and as a third light beam directed to the optical detection means, in particular on the light detection surface, wherein a change in the angular orientation is determined by determining the position of light intensity maxima on the light detection surface by an evaluation logic.
  • a change in angular orientation between bending leg and the at least one bending tool can be carried out very accurately and safely, since a sensor device formed in this way has no moving parts. Therefore, a change in the angular orientation can be performed as error-free.
  • a sensor device designed in this way a non-contact detection of a change in the angular orientation is also made possible, so that dirt and / or signs of wear can be avoided.
  • the optical reflection measuring device can in this case be arranged on the tool carrier, and be carried along with the tool carrier during the adjustment movement.
  • the optical reflection measuring device may also be useful for the optical reflection measuring device to be fastened in at least one bending tool in a front end facing the contact surface, and to be carried along with the at least one bending tool during the adjustment movement.
  • a change in the angular orientation can be carried out by means of a space-saving arrangement of the optical reflection measuring device in a bending tool.
  • a separately arranged sensor device is unnecessary.
  • error susceptibility or accuracy losses due to too long beam paths, for example, by dust or particles in the air traversed by the light of the light source can be reduced, since the optical reflection measuring device is disposed during an entire bending process in the immediate vicinity of the bending mandrels, or is carried by the bending tool itself with the bending leg.
  • the optical reflection measuring device may also be expedient for the optical reflection measuring device to be fastened in a front end, facing the contact surface, of a sensor tool arranged separately in the tool carrier, and to be carried along with the sensor tool during the adjustment movement.
  • the sensor tool can be arranged as required or spaced apart from the bending leg.
  • the optical reflection measuring device can be tracked without contact to the bending leg. As a result, measurement errors during the determination of a change in the angular orientation can be minimized since no deformation of the sensor tool occurs during a bending operation.
  • the at least one bending tool or the sensor tool another sensor device is positively and or non-positively connected, by means of which simultaneously with the determination of the change in the angular orientation of a deformation-induced change of a position angle of the at least one bending tool or the sensor tool in With respect to the Lot is determined, the determined attitude angle data are transmitted to the control device, and the path coordinates and / or path motion data for a downstream movement section are generated using this determined attitude angle data.
  • measurement inaccuracies in particular inaccuracies due to deformations of the bending tool or tools, can be compensated, and thus a further improvement in the precision of the method can be achieved again.
  • the respective current bending angle or deformation angle can be determined with high accuracy in this way.
  • the further sensor device is formed by an inclination sensor, by means of which a deformation-related change in the positional angle of the at least one bending tool or the sensor tool relative to the solder is determined. Due to their microelectronic structure, inclination sensors of this kind, despite their small dimensions, for example of a few millimeters, allow good angle measurements. measurement resolutions. Despite space-saving installation possibility in a bending tool, this makes it possible to determine sufficiently precise correction data for the generation of the path coordinates or adjusting movements of the at least one bending tool in a downstream movement section.
  • the further sensor device is formed by a gyroscope, by means of which a deformation-related change in the positional angle of the at least one bending tool or the sensor tool is determined.
  • a gyroscope deformation-dependent position angle changes between the bending leg and the at least one bending tool can be determined with high accuracy in particular.
  • the path coordinates and / or path movement data generated for a downstream movement section may be corrected using the determined change in the positional angle become.
  • This enables a generation or correction of the path coordinates or path motion data for a downstream movement section with improved precision or accuracy.
  • deformation-related tilting of the bending tool can be determined, and the path coordinates or path movement data for a downstream movement section can be corrected or compensated in consideration of this detected tilting error.
  • the current bending angle is determined or transmitted to the control device by means of the at least one sensor device and the further sensor device.
  • the measurement of the current bending angle can be measured at certain times or even continuously, wherein the thus determined, current bending angle can be used in different ways depending on the measurement procedure.
  • the measurement of the current bending angle or deformation angle is helpful in order to be able to achieve the target value for the bending angle as precisely as possible.
  • a probe element such as a Tastusion with a flat side
  • the flat side abuts during an adjustment of the contact surface of the bending gift
  • at least a sensor device is assigned to the feeler element.
  • tactile or the bending leg-contacting variants for determining the change in the angular orientation allows, or other, in particular relatively inexpensive and cost sensor devices can be used to determine a change in the angular orientation.
  • sensor devices can be arranged in the probe element, in which detection of a change in the angular orientation is possible by transmitting the bending angle from the probe element to the sensor device.
  • the at least one sensor device is formed by a rotary encoder, wherein changes in the angular orientation between the bending leg and the at least one bending tool are transmitted during an adjustment by the probe element to the rotary encoder.
  • a rotary encoder By using a rotary encoder a particularly cost-effective, but nevertheless sufficiently accurate process control is possible.
  • the at least one sensor device may be formed by a tilt sensor connected to the feeler element, wherein changes in the angular orientation between the bending limb and the at least one bending tool are transmitted to the tilt sensor during an adjustment movement by the feeler element.
  • tilt sensors allow angle measurement resolutions of up to 0.001 °, and thus enable a high-precision process control, since changes in the angular orientation between the bending leg and the at least one bending tool can be determined with high accuracy.
  • the change in angle between the bending leg and the bending tool is determined by the change in angle between the bending leg and the vertical direction contained in the inclination sensor, whereby any deformations and angular changes of the bending tool caused by the bending force can be disregarded.
  • the at least one sensor device for determining the sliding movement of the at least one bending tool along the contact surface of the bending leg is formed, and the path coordinates and / or path movement data for a downstream movement section are generated such that the downstream movement section is superimposed with a counteracted to a determined in an upstream movement section sliding movement compensation movement. Also in this way, in a preceding movement section, a relative movement between
  • the path coordinates and / or path motion data for a downstream movement section are generated using the determined relative movement data.
  • the adjustment movement for a downstream movement section is generated in such a way using a determined sliding movement in a specific direction along the contact surface, or the path movement data or path coordinates of the at least one bending tool are modified such that the adjustment movement for the Subordinated movement section with a compensating movement, which leads in the opposite direction to the determined in the upstream movement section sliding movement is superimposed. In this way, a continuous balancing of detected or detected
  • Allows sliding movements, and the method for controlled pivoting bending can be performed as low as possible.
  • the path coordinates or path movement data for a downstream movement section can also be generated in such a way that an adjustment movement is possible as normal or perpendicular to the contact surface of the bending element.
  • a probe element such as a Tastusion is rotatably or pivotally mounted with a flat side, wherein the flat side abuts the adjustment surface of the bending surface during the adjustment, and the at least one sensor device the Tastelement is assigned.
  • the at least one sensor device is formed by an optical motion sensor comprising an illumination device and an image capture device, and during an adjustment movement by the optical motion sensor determines sliding movements of the at least one bending tool along the contact surface, and via the evaluation logic be transmitted to the control device.
  • the lighting device is designed as an LED or laser.
  • the pictures- Measuring device may be formed as a 2D image sensor.
  • Such optical image acquisition or tracking systems are known, for example, from computer technology, and are used there, for example, in optical 'mice'.
  • One advantage of such a sensor for detecting sliding movements is that because of the wide distribution, very compact and also cost-effective sensor modules are available.
  • These modules illuminate an er vomab section and capture in rapid succession images of the illuminated section. These images can be fed by an evaluation logic of further processing or processing.
  • the relative movement data and / or the generated path coordinates and / or path movement data which are sensory in the course of a swivel bending process, to be stored in one or more data storage devices connected to the control device for use in subsequent, identically executed bending processes.
  • information about the bending processes that have been carried out can be obtained. For example, error influences, such as irregularities in the material of the workpiece, but also process errors, such as asymmetrical workpiece feed, frictional influences, etc., can be detected, at least estimated. This knowledge can subsequently be used to improve future swing bending processes.
  • the respective first bending process of a series of bending processes to be carried out identically is carried out with a lower adjustment speed for the at least one bending tool.
  • Measurements for determining relative movements between bending leg and the at least one bending tool per unit time or per degree bending angle can be increased. Consequently, an improvement in the accuracy for the generation of path coordinates or path motion data for the respective downstream movement sections can be achieved, which improvement can advantageously be used for the following, identical bending formations.
  • the following bending processes, which are to be carried out in the same way, can be carried out with a higher adjustment speed, wherein the sensory measurements for determining relative movements in the subsequent pivoting bending processes for correction are deviating. influencing factors such as different material strengths of the workpieces and the like can be used.
  • FIG. 1 shows a detail of a pivoting bending arrangement for carrying out the subject method, in a greatly simplified, schematic and perspective view;
  • FIG. 2 shows a greatly simplified, stylized principle illustration for an embodiment variant of the subject method
  • FIG. 3 is a perspective, schematic representation of an exemplary embodiment of an optical reflectance measuring device arranged in a bending tool
  • Fig. 5 shows an embodiment and arrangement variant for a sensor device for
  • FIG. 6 shows a further embodiment and arrangement variant for a sensor device for carrying out the subject method
  • Fig. 7 shows another, highly simplified, stylized schematic representation of an embodiment of the subject method.
  • Fig. 1 is a detail of a swivel bending assembly 1 for forming or
  • Such pivoting bending arrangements are basically devices for the production of molded parts by forming workpieces.
  • such Schwenkbiegean extract numerous other components may have, such as stops, positioning tools, monitoring devices, etc.
  • the hold-down device 2 according to the embodiment in FIG.
  • the hold-down tool 1 consists of a lower hold-down tool 4 and an upper hold-down tool 5, between which the workpiece 3 to be machined, for example a sheet metal is clamped.
  • the hold-down tools 4, 5 is made adjustable in order to position and clamp the workpiece 3 to be bent.
  • the swivel bending arrangement 1 shown in FIG. 1 has a tool carrier 6 with at least two degrees of freedom. At least one bending tool 7 is arranged in the tool carrier 6, two bending tools 7 being illustrated by way of example in FIG.
  • a deformation of the workpiece 3 can be achieved during the pivoting bending by means of the swiveling bending arrangement 1 in that the bending tools 7 are moved by an adjusting drive for the tool carrier 6 in the direction of a bending tooth 8 of the workpiece.
  • a bending tool 7 acts on a contact surface 9 of the bending mandrel 8, and the swiveling bending process can be carried out.
  • the adjusting drive (not shown) can be designed in various ways according to the prior art. It is essential that the adjustment for the at least a bending tool 7 and the tool carrier 6 in conjunction with a suitable guide arrangement allows adjustment movements with at least two degrees of freedom.
  • adjusting movements for the at least one bending tool 7 or the tool carrier 6 are carried out automatically by means of a control device 10.
  • a control device 10 For example, so-called CNC controllers are used.
  • the control device 10 generates path coordinates and / or path movement data for an adjustment movement of the at least one bending tool 7, wherein the entire adjustment movement for a pivot bending process can be composed of a sequence of movement sections.
  • the adjustment movement is carried out by transferring the path coordinates or path movement data generated by the control device 10 to at least one adjustment drive for the at least one bending tool 7.
  • a swivel bending operation is performed with the aid of a sensor, in order to adapt adjusting movements for the at least one bending tool 7 in subsequent movement sections during a bending operation by means of detected relative movements between bending leg 8 and the at least one bending tool 7, and undesired To minimize sliding movements along the bending gift 8 as possible.
  • the swiveling bending arrangement 1 for this purpose comprises at least one sensor device 11 which is connected to an evaluation logic and which is used for the direct or indirect determination of a relative movement between the bending limb 8 and the adjacent at least one bending tool 7 is formed.
  • the evaluation logic can be arranged in the sensor device 11 or structurally separate from the sensor device 11.
  • the evaluation logic may also be part of the control device 10.
  • different sensor devices 11 can be used for carrying out the method, in order to determine relative movements between bending leg 9 and the at least one bending tool 7. Therefore, the at least one sensor device 11 shown in FIG. 1 is to be regarded as exemplary for sensor devices suitable for detecting or determining relative movements, and therefore the sensor device 11 in FIG.
  • a relative movement between the bending leg 8 and the at least one bending tool 7 that can be detected or determined by means of specific sensor devices 11 is a change in the angular orientation between the bending leg 8 and the at least one bending tool 7.
  • Another detectable relative movement is a sliding movement of the at least one bending tool 7 along the Contact surface 9 of the bending gift 8.
  • FIG. 2 The highly simplified and schematic diagram of the process flow in Fig. 2 shows a swivel bending process, which is divided into individual movement sections. For reasons of clarity or to better illustrate the method, only a few, partial sections of the bending process are shown in FIG. 2. Of course, such a bending operation can be subdivided into a plurality of movement sections in reality in terms of control technology. The maximum possible incremental subdivision into individual movement sections depends, inter alia, on the available computing capacity of the control device.
  • relative motion data determined by the at least one sensor device 11 in an upstream movement section for example a change in the angular orientation between bending leg 8 and the at least one bending tool 7, are transmitted to the control device 10 .
  • These relative movement data determined in an upstream movement section are used by the control device 10 in order to generate the path coordinates and / or path movement data for a downstream movement section.
  • the path coordinates or path movement data can in particular be generated such that the adjustment movements for the at least one bending tool are carried out so that sliding movements along the contact surface 9 of the bending element 8 are minimized as far as possible.
  • the path coordinates or path movement data are generated by the control device 10 for a downstream movement section such that the adjustment movement of the at least one bending tool 7 in a downstream movement section is substantially perpendicular to or normal to the contact surface 9, as indicated by arrow 14 in Fig. 2 schematically and stylized.
  • the generated path coordinates and / or path motion data are transmitted in a respective downstream movement section for carrying out the respective adjustment movement to at least one adjustment drive of the tool carrier, as indicated in FIG. 2 by the dot-dashed arrow 15 in a stylized manner.
  • the Versteilantrieb itself is not shown in Fig. 2 and the other figures for reasons of clarity.
  • arrow 14 is shown for merely stylized and greatly simplified illustration of an adjustment movement in the normal direction or perpendicular direction to the bending leg 8. At this point it is stated that the adjustment movements or
  • Track trajectories of the at least one bending tool 7 may in principle have a general course in the individual movement sections. In principle, both simple circular paths or linear feed movements are possible, as well as a complex course of the web or feed movements of the bending tool or tools. In general, however, the adjustment movements in a downstream movement section are independent of the shape of the executed trajectory as perpendicular as possible or in the normal direction to the contact surface 9 of the bending gift 8 are executed.
  • the accuracy of the method depends on the number of movement sections into which an adjustment movement for the at least one bending tool is subdivided. In other words, the accuracy of the method can be increased by increasing the number of individual movement sections from which an entire adjustment movement of the at least one bending tool is assembled during a bending operation.
  • FIGS. 1 and 2 sensor device 11 may be formed for example by an optical reflection measuring device 16, wherein an embodiment of such a reflection measuring device 16 in FIG is shown.
  • FIG. 3 the same reference numerals or component designations as in the preceding FIGS. 1 and 2 are again used for the same parts. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figs. 1 and 2 or reference.
  • FIG. 3 for better clarity, a bending leg 8 and a bending tool 7 are shown only in sections.
  • the optical reflection measuring device 16 is fixed in a front end of at least one bending tool 7 facing the contact surface 9, and is carried along with the at least one bending tool 7 during the adjustment movement.
  • the optical reflection measuring device 16 it is also possible for the optical reflection measuring device 16 to be fastened in a front end of a sensor tool 12 arranged separately in the tool carrier 6, spaced from the bending leg 8, and carried along with the sensor tool 12 during the adjusting movement. as this is greatly simplified and stylized in Fig. 1 is shown.
  • the sensor tool also to be arranged so as not to be spaced apart from the bending leg 8, so that the sensor tool also acts on the bending leg 8 during a bending operation.
  • the optical reflection measuring device 16 comprises a lighting device 17, which has at least one light source.
  • the lighting device 17 may be formed, for example, in the form of a point light source such as an LED. Further, possible embodiments of illumination devices with different light sources can be selected by the person skilled in the art basically taking into account requirements, such as the surface condition and material of the workpiece to be bent according to the prior art.
  • the optical reflection measuring apparatus includes an optical detecting means 18 having a light detecting surface 19.
  • the light-detecting surface 19 is preferably formed by a two-dimensional image sensor, such as a CCD sensor (charge-coupled device).
  • the optical reflection measuring device 16 shown in FIG. 3 comprises a rotationally symmetrical reflection body 20, which has a reflecting surface.
  • the roughness of the surface of the rotationally symmetrical reflection body 20 is chosen or carried out in such a way that it has comparatively small roughness with respect to the wavelength of the light generated by the illumination device 17, that is, is as smooth as possible, which leads to a directed reflection a incident on the surface of the rotationally symmetrical reflection body 20 light beam comes and thus the law of reflection is to be applied.
  • the angle of incidence of a light beam incident on the surface of the rotationally symmetrical reflection body 20 is equal to the angle of reflection of a surface reflected light
  • Such a rotationally symmetrical reflection body 20 with a reflecting surface can for example be made of a metallic material such as stainless steel.
  • the rotationally symmetrical reflection body 20 has a central axis 21, which can also be referred to as the axis of symmetry and around which the surface of the reflection body 20 is arranged rotationally symmetrical.
  • the optical reflection measuring device 16 In order to be able to determine a change in the angle of orientation between the bending leg 8 and the at least one bending tool 7 by means of the optical reflection measuring device 16, it is necessary for the optical reflection measuring device 16 to be oriented in its position relative to the bending leg 8 so that the central axis 21 of the rotationally symmetrical reflection body 20 is parallel to the bending leg 8.
  • the center axis 21 of the rotationally symmetrical reflection body 20 is parallel to a working edge 22 of the at least one bending tool 7.
  • the working edge 22 is that portion of a bending tool 7, which has contact with the bending leg 8 during a swivel bending operation and thus allows the predominant part of at least one adjustment for the tool carrier on the bending tool or (e) force applied to the bending leg 8 act , and thereby performs the bending deformation.
  • the rotationally symmetrical reflection body 20 is formed in the form of a sphere. This has the advantage that any arbitrary lying or selected axis, which runs through the center of the sphere, the central axis 21 can represent.
  • Light beam shown or described which is used to determine a change in the angular orientation between bending leg 8 and the at least one bending tool 7 due to the physical laws of light.
  • the illumination device 17 can be arranged concentrically around the central axis 21.
  • the optical detection means 18 is also arranged concentrically lying around the central axis 21, wherein the light-detecting surface 19 is arranged normally standing on the central axis.
  • a first light beam 23 is emitted by the illumination device 17.
  • the first light beams 23 emanating from the illumination device 17 are reflected by the surface of the rotationally symmetrical reflection body 20 in all spatial directions in accordance with the law of reflection, whereby, as already explained, only that beam path of the light beam 23 is represented. is more relevant for determining a change in the angular orientation between bending leg 8 and the at least one bending tool 7.
  • the relevant and illustrated beam path of the first light beam 23, which is delivered to the surface of the bending gift 8, is reflected by the reflection law of the surface and irradiated as a second light beam 24 to the rotationally symmetrical reflection body 20.
  • the second light beam 24 is then again reflected by the surface of the rotationally symmetrical reflection body 20 and blasted onto the light detection surface 19 as the third light beam 25.
  • the reflections which are thrown from the rotationally symmetrical reflection body 20 as the third light beam 25 onto the light detection surface 19 form a different brightness distribution or light intensity at the light detection surface 19.
  • a diameter of the light-detecting surface 19, at which the relevant light rays 25 can be incident, may in this case be the same size as a diameter of the rotationally symmetrical reflection body 20.
  • a center 26 of the light-detecting surface 19 lies on the center axis 21 and the light-detecting surface 19 is arranged normally on the central axis 21. It can thereby be achieved that the light beams incident on the light-detecting surface 19 are displayed without distortion.
  • the beam path which is reflected perpendicularly by the contact surface 9 of the bending beam 8 is also the beam path which, at the light detection surface 19, is the current angle orientation between the bending limb 8 and the beam. represents or indicates at least one bending tool 7, since it generates an intensity maximum of the light intensity at the light detection surface.
  • the current angular orientation between the bending leg 8 and the at least one bending tool 7 can thus be derived or determined.
  • the optical reflection measuring device 16 shown in FIG. 3 is merely an exemplary embodiment of such a measuring device.
  • deviating geometric arrangements of the individual components of the reflection measuring device may also be suitable.
  • further optical components such as mirrors, beam splitters, or optical waveguides and the like, in particular for influencing the beam path applicable. Therefore, other design variants than those exemplified in FIG. 3 are quite conceivable.
  • FIG. 3 further schematically illustrates a possible installation variant of an optical reflection measuring device 16 in a bending tool 7. It can be provided, for example, that in the bending tool 7 a parallel to the working edge 22 extending bore 27 is introduced, in which the lighting device 17 and the rotationally symmetric
  • Reflection body 20 and the detection means 18 are introduced.
  • the bending tool 7 simultaneously serves as a housing 28, so that the optical reflection measuring device 16 is protected against undesirable incidence of light or against other environmental influences.
  • a recess 29 may be provided, in which the rotationally symmetrical reflection body 20 is received.
  • the coupling is formed by a simple tubular body on a sensor tool 12 arranged separately on the tool carrier 6, so that the optical reflection measuring device 16 acts independently of the at least one bending tool 7 the swivel bending assembly tion 1 can be positioned, as shown in a highly simplified and stylized in Fig. 1.
  • FIG. 4 shows a further embodiment of the method for controlled pivoting bending, which is possibly independent of itself, wherein the same reference numerals or component designations are again used for the same parts as in the preceding FIGS. 1-3.
  • the adjusting movement for the at least one bending tool 7 can lead to deformations due to the deformation or bending of the bending mandrel 8 due to the force of movement.
  • Such a deformation can, for example, cause a tilting or a change in the position angle 43 of the bending tool or tools 7 with respect to the solder, as is also shown by way of example in FIG. 4.
  • a further sensor device 30 is positively and / or non-positively connected to the at least one bending tool 7.
  • this further sensor device 30 in addition to detecting a change in the angular orientation between the bending leg 8 and the at least one bending tool 7 (dot-dashed arrow 13), a deformation-related change in the position angle 43 of the at least one bending tool 7 or a sensor tool in relation to detecting a change in the angular orientation to the lot.
  • the determined position angle data can be transmitted to the control device 10, as indicated by the dot-dashed arrow 31 in Fig. 4. Subsequently, the path coordinates and / or path motion data for a downstream movement section can be generated with the additional use of these determined position angle data, and transmitted to at least one adjustment drive for the at least one bending tool 7 (dot-dashed arrow 15). In this way, in particular, the accuracy of the method can be increased because deformation-induced inaccuracies in the determination of a change in the angular orientation between the bending leg 8 and the at least one bending tool 7 can be compensated.
  • the path coordinates or path movement data can, in turn, in particular be generated in such a way that the adjustment movement or adjustment movements of the at least one bending tool 7 respectively run or run at least substantially at right angles to the contact surface 9 of the bending element 8.
  • An adjustment movement indicated by arrow 14 in FIG. 4 and perpendicular to the contact surface 9 can in turn have a general course.
  • basically both simple circular paths or linear feed movements are possible, as well as a complex course of the web or feed movements of the or the bending tool (s) 7.
  • the adjustment movements in a downstream movement section regardless of the shape of the executed trajectory as perpendicular or in the normal direction to the contact surface 9 of the bending jaw 8 are executed.
  • the further sensor device 30 shown in FIG. 4 may be formed by an inclination sensor 32, for example.
  • the further sensor device 30 may also be formed, for example, by a gyroscope or another inertial sensor. With both sensor types, a deformation-related change of the position angle 43 of the at least one bending tool 7 or of the sensor tool in relation to the solder can be determined.
  • the path coordinates or path data for a respective downstream movement section using the determined in an upstream movement section change the angular orientation between bending leg 8 and bending tool 7, as well as the ascertained in an upstream movement section change the position angle 43 of the bending tool 7 to the lot, to be generated.
  • FIG. 5 shows an alternative embodiment for sensor devices 11 for determining a change in the angular orientation between bending leg 8 and the at least one bending tool 7.
  • the same reference numerals or component designations are again used as in the preceding FIGS. 1-4. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding FIGS. 1-4.
  • a probe element 33 such as a touch plate 35 with a flat side 34 is arranged in one of the contact surface 9 of the bending spike 8 facing, front end of at least one bending tool 7, a probe element 33, such as a touch plate 35 with a flat side 34 is arranged.
  • the probe element 33 relative to the at least one bending tool 7 is pivotally supported about the working edge 22 or about an axis parallel to the working edge 22, wherein the working edge 22 acts on the bending leg 8 during the pivoting bending operation.
  • the flat side 34 of the feeler element 33 is or is applied to the contact surface 9 of the bending head 8, as clearly shown in FIG.
  • a change in the angular orientation between the bending leg 8 and the at least one bending tool 7 directly effects a rotary or pivoting movement of the feeler element 33, or follows the contact surface 9 abutting flat side 34 of the pivoting of the bending leg 8 in relation to the at least one bending tool 7 ,
  • the at least one sensor device 11 may be assigned to the feeler element 33 or arranged in the feeler element 33. In such cases, there is preferably a non-positive and / or positive connection between the feeler element 33 and at least parts or sections of the at least one sensor device 11.
  • the at least one sensor device 11 may be formed by a rotary encoder 36 arranged in the feeler element 33. Changes in the angular orientation between the bending leg 8 and the at least one bending tool 7 are in this case during the Adjustment be transmitted by the probe element 33 to the encoder 36.
  • a rotary encoder 36 may in this case be designed, for example, as an incremental encoder or as an absolute encoder.
  • the use of a further sensor device for determining a deformation-induced change in position of the bending tool 7 to the solder may be useful.
  • the path coordinates and / or path movement data for a downstream movement section can in turn be generated in such a way that the adjustment movements of the at least one bending tool 7 in each case extend at least substantially at right angles to the contact surface 9.
  • the at least one sensor device 11 is formed by a tilt sensor 37 connected to the feeler element 33, as shown in FIG.
  • the same reference numerals or component designations are again used for the same parts as in the preceding FIGS. 1-5.
  • changes in the angular orientation between the bending leg 8 and the at least one bending tool 7 are transmitted to the tilt sensor 37 by the key element 33 in this case.
  • the path coordinates and / or path movement data for a downstream movement section can in turn be generated in such a way that the adjustment movements of the at least one bending tool 7 in each case run at least substantially at right angles to the contact surface 9.
  • the at least one sensor device 11 can also be designed to determine the sliding movement of the at least one bending tool 7 along the contact surface 9 of the bending mandrel 8. In this way, relative movements between bending leg 8 and the at least one bending tool 7 can be detected or determined.
  • FIG. 7 Such an embodiment variant is shown in FIG. 7, again using the same reference numerals or component designations for identical parts as in the preceding FIGS. 1-6. To avoid unnecessary repetition, reference is made to the detailed description in the preceding FIGS. 1-6.
  • path coordinates and / or path movement data for a downstream movement section can be generated in such a way that the downstream movement section is superposed with a compensatory movement directed counter to a sliding movement determined in an upstream movement section.
  • a determined in an upstream movement section sliding movement is shown in Fig. 7 by arrow 38 styled.
  • a superimposed compensatory movement in the opposite direction to a determined sliding movement in a downstream movement section is shown stylized in FIG. 7 by arrow 39.
  • the path coordinates or path motion data for a downstream movement section can also be generated in such a way that the adjustment movements of the at least one bending tool 7 each run at least substantially at right angles to the contact surface 9 of the bending element 8 (arrow 14). , As further shown in FIG. 7, it may again be provided that in one of the
  • a probe element 33 with a flat side 34, such as a Tastusion 35 is rotatably or pivotally mounted, the flat side 34 abuts the contact surface 9 of the bending gift 8 during the adjustment, and the at least one sensor device 11 in the feeler element 33 is arranged.
  • the flat side 34 of the feeler element 33 abuts against the bending leg 8 or its contact surface 9 during an adjusting movement or during a bending operation, and thus in turn follows the pivoting of the bending mandrel 8 in relation to the at least one bending tool 7.
  • the at least one sensor device 11 for determining sliding movements of the at least one bending tool 7 along the contact surface 9 may be formed by an optical motion sensor 40, for example.
  • the optical motion sensor 40 comprises a lighting device 41 and an image sensing device 42.
  • the lighting device 41 illuminates a section on the contact surface 9, which section is cyclically detected by the image sensing device 42. Due to the always present surface structure of the contact surface 9, the image acquisition device 42 moves along the contact surface 9 with respect to the optical axis during a relative movement or sliding movement of the bending tool 7 along the contact surface 9.
  • Motion sensor 40 detects a steady changing surface pattern.
  • the detected images are processed by an analysis logic, not shown, and analyzed to determine from successive images of the illuminated portion of the contact surface 9, a motion vector, which includes information regarding the direction and extent of a successful sliding movement.
  • Such an embodiment of the at least one sensor device 11 as an optical motion sensor 40 is known, for example, from optical computer mice.
  • the at least one sensor device 11 designed to determine sliding movements or the motion sensor 40 follows in its orientation the versa wenkamba of the probe element 33. This can be effected, for example, by virtue of a non-positive and / or positive connection between the at least one sensor device 11 and the feeler element 33. As a result, an always identical orientation of the motion sensor 40 is ensured to the bending leg 8, and the determined data for sliding movements can not be affected by a varying alignment between the motion sensor 40 and bending leg 8.
  • the optical motion sensor 40 which is preferably used for determining sliding movements
  • other sensor devices for this purpose are also possible or usable.
  • the at least one sensor device 11 for determining sliding movements is formed by a contact element, such as a roller or the like, which is pressed against the bending leg 8, for example by means of spring force.
  • the detection of relative movements between the bending leg and the at least one bending tool by means of a sensor device will be sufficient.
  • the use of a combination of several, different sensors may be useful.
  • the relative movement data and / or the generated path coordinates and / or path movement data sensory determined in the course of a swivel bending process are used in one or more data processes connected to the control device for use in subsequent, identically executed bending processes. storage device are stored.
  • the respective first bending process of a series of bending processes to be carried out identically is carried out with a lower adjustment speed for the at least one bending tool.
  • the sampling rate or the number of measurements for determining relative movements between bending leg and the at least one bending tool for a respective first bending operation per unit time or per degree bending angle can be increased.
  • an improvement in the accuracy for the generation of path coordinates or path motion data for the respective downstream movement sections can be achieved, which improvement can advantageously be used for the following identical bending formations.
  • FIGS. 1-7 can form the subject of independent solutions according to the invention.
  • the relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.
  • this or components for carrying out the method and its components have been shown partly unevenly and / or enlarged and / or reduced in size.
  • Control device 40 motion sensor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

L'invention concerne un procédé de cintrage de pièces (3) par un dispositif de cintrage (1) comprenant au moins un outil de pliage (7) agissant sur une surface de contact (9) d'une branche de pliage (8) de la pièce (3). Le ou les outils de pliage (7) sont disposés dans un porte-outil positionnable qui dispose d'au moins deux degrés de liberté. Une opération de cintrage est réalisée de telle sorte que les mouvements relatifs entre la branche de pliage (8) et le ou les outils de pliage (7) sont détectés dans une portion de mouvement en amont au moyen d'un dispositif de détection (11), et les coordonnées de trajectoire et/ou les données de mouvement de trajectoire pour une portion de déplacement en aval sont générées en utilisant les données de mouvement relatif générées, de manière à réduire le plus possible les mouvements de glissement le long d'une surface de contact (9) de la branche de pliage (8).
PCT/AT2016/050156 2015-05-26 2016-05-23 Procédé de cintrage Ceased WO2016187633A1 (fr)

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EP16735974.4A EP3302839B1 (fr) 2015-05-26 2016-05-23 Procédé de cintrage

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ATA50421/2015A AT516834B1 (de) 2015-05-26 2015-05-26 Verfahren zum Schwenkbiegen
ATA50421/2015 2015-05-26

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WO2016187633A1 true WO2016187633A1 (fr) 2016-12-01

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Cited By (1)

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AT524818A1 (de) * 2021-02-23 2022-09-15 Trumpf Maschinen Austria Gmbh & Co Kg Verfahren und Vorrichtung zum Umformen eines Werkstückes

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DE102020214784A1 (de) 2020-11-25 2022-05-25 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zum Umformen eines Bauteils

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DE3441113A1 (de) * 1984-11-10 1986-05-15 Klöckner-Moeller Elektrizitäts GmbH, 5300 Bonn Biegemaschine mit nummerischer steuerung
EP0316703A2 (fr) * 1987-11-19 1989-05-24 Feintool International Holding Procédé et dispositif de pliage de pièces de travail
DE202006020110U1 (de) * 2006-10-24 2007-10-25 Hans Schröder Maschinenbau GmbH Schwenkbiegemaschine zur Messung und/oder Korrektur der Werkstückform nach dem Umformen durch Biegen
DE102008038932A1 (de) * 2008-08-13 2010-02-18 Klingel, Hans, Dr. Ing. e.h. Schwenkbiegemaschine

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ITTO20050880A1 (it) * 2005-12-16 2007-06-17 Crea Srl Macchina combinata pannellatrice-piegatrice
AT514821B1 (de) * 2013-10-04 2015-06-15 Trumpf Maschinen Austria Gmbh Biegepresse und Biegeverfahren

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Publication number Priority date Publication date Assignee Title
DE3441113A1 (de) * 1984-11-10 1986-05-15 Klöckner-Moeller Elektrizitäts GmbH, 5300 Bonn Biegemaschine mit nummerischer steuerung
EP0316703A2 (fr) * 1987-11-19 1989-05-24 Feintool International Holding Procédé et dispositif de pliage de pièces de travail
DE202006020110U1 (de) * 2006-10-24 2007-10-25 Hans Schröder Maschinenbau GmbH Schwenkbiegemaschine zur Messung und/oder Korrektur der Werkstückform nach dem Umformen durch Biegen
DE102008038932A1 (de) * 2008-08-13 2010-02-18 Klingel, Hans, Dr. Ing. e.h. Schwenkbiegemaschine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT524818A1 (de) * 2021-02-23 2022-09-15 Trumpf Maschinen Austria Gmbh & Co Kg Verfahren und Vorrichtung zum Umformen eines Werkstückes
AT524818B1 (de) * 2021-02-23 2023-01-15 Trumpf Maschinen Austria Gmbh & Co Kg Verfahren und Vorrichtung zum Umformen eines Werkstückes

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EP3302839B1 (fr) 2019-03-20
AT516834B1 (de) 2016-09-15
AT516834A4 (de) 2016-09-15
EP3302839A1 (fr) 2018-04-11

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