• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a tool handling system (1) for removing or inserting a bending tool (2) on a tool holder (3) comprising a bending tool (2) with a gripping recess (16) and a locking device (7) cooperating with the tool holder (3), which can be deactivated by means of an actuating element (10) arranged in the gripping recess (16) and accessible in it, and a gripper (11) with a gripper base body (12), with a first gripper finger (14) arranged thereon and at least a second gripper finger (15) which can be adjusted by means of a joint (20) on the gripper base body (12). The first gripper finger (14) positioned in the gripping recess (16) and the adjustable second gripper finger (15) in a release position do not contact the actuating element (10) and the second gripper finger (15) in an engaged position actuates the actuating device - element (10) contacted.
    公开号:AT515781A4
    申请号:T50718/2014
    申请日:2014-10-08
    公开日:2015-12-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a tool handling system for removing or inserting a bending tool on a tool holder according to Oberbe¬griff of claim 1 and a method for removing or inserting a bending tool on a tool holder according to the preamble of Anspru¬ches 14th
    Bending tools for bending machines are already known from the prior art, which are suitable for an automated tool change by handling devices. Since such bending tools are often equipped with locking systems that prevent an unforeseen falling out of a tool holder of the bending machine, with such a tool handling system, the activation or deactivation of the Verrieflungssystem must be accomplished.
    An example of such a tool handling system is known, for example, from WO 2013/116886 A1. In the tool handling system disclosed therein, the locking system is deactivated during the gripping of a bending tool with the handling device. The clamping of the bending tool in the tool holder must remain activated until the bending tool has been completely gripped, since otherwise an uncontrolled dropping-out of the bending tool, which has not yet been fully engaged, can occur, since the locking device can be deactivated even before complete gripping. If several bending tools have to be removed or inserted in such a tool handling system, the tool clamping must be activated or deactivated several times, which, however, can lead to positional displacements of the bending tools within the tool clamping and thereby possibly enable automatic handling or positioning is difficult.
    The object of the invention is to provide a tool handling system with which automated setup operations on bending machines can be carried out more simply and better.
    The object of the invention is achieved by a tool handling system according to patent claim 1. Due to the fact that, when the first gripper finger is fully positioned in the gripping recess, it and the adjustable second gripper finger in its release position do not contact the actuating element arranged in the gripping recess and do not deactivate the locking mechanism and the adjustable second gripper finger in the gripping position Actuator contacted or the locking device deactivates, it is ensured that an unforeseen fall out of the Biegewerkεzeuges can not occur during gripping, even if the clamping of the tool holder is not activated during gripping.
    The first gripper finger is arranged in particular above the adjustable second gripper finger and is positioned first in the gripping recess and the Hinter¬ cutting, whereby the bending tool is already protected against falling out when in contact with the actuator for deactivating the locking system and thereby the clamping of the tool is already inactive.
    The invention also relates to grippers that have no fixed Grei¬ferfinger, but at least two adjustable gripper fingers that are zwi¬schen a release position and a gripping position adjustable, one of the gripper finger is independent of other gripper fingers in its gripping position adjustable and at least one further gripper finger is subsequently adjusted to the gripping position. A gripper finger displaced earlier in the gripping position, in connection with the method that can be carried out by the tool handling system, is to be compared with the first, in particular stationary, gripper finger.
    An advantageous embodiment of the tool handling system consists in the fact that the end face of the adjustable second gripper finger is set back by an offset in the release position relative to the end face of the first gripper finger in the direction of the gripper longitudinal axis. As a result, the first gripper finger can be completely inserted into the position required for gripping the bending tool in the gripping recess, without the adjustable second gripper finger already contacting the actuating element. The offset is preferably greater than the actuating travel of the actuating element required for the deactivation of the locking system.
    The complete insertion of the first gripper finger into the gripping recess, without it contacting the actuating element, is facilitated if the end section of the first gripper finger has a recess for the actuating element on its end face. By adapting the recess to the actuating element, a greater freedom of design is also given for its shaping and positioning.
    An easy-to-manufacture embodiment of the tool handling system is that the gripping recess is formed as a gripping groove and the Hin¬terschneidungen along the gripping groove, and the gripping projections zuei¬nander parallel and strip-shaped and transverse to the gripper longitudinal axis.
    An embodiment which is also well suited for manual handling of the Biegewerkεzeuge, is characterized in that the actuating elementin the Greifausnehmung, in particular approximately centrally, is arranged between the Hinterschnei¬dungen and the actuating direction of the actuating element coincides with the gripper longitudinal direction. The actuator can be operated in den¬sem case by pressing with a finger and thereby the Verriegelungs¬ be disabled.
    An early deactivation of the locking system by contact with a gripper finger can be further avoided if the actuating element is arranged in one of the undercuts. If the actuating element is arranged in an upper undercut, the bending tool already hangs in contact with the first gripper finger on this, if the clamping of the Biege¬werkzeuges is deactivated in the tool holder.
    On proven structural designs and drive concepts can be resorted to when the adjustable second gripper finger is mounted by means of a pivot joint about a pivot axis on the gripper body. The tip of the adjustable gripper finger moves when gripping or releasing on a movement path, which depends on the position of the pivot axis. The greater the length of the gripper finger from its pivot axis to its tip, the more the trajectory resembles a straight line
    Alternatively, the adjustable second gripper finger may be mounted by means of a Schiebege¬lenk obliquely with respect to the longitudinal axis of the gripper body, wherein the rectilinear trajectory of the gripper finger tip is determined by the alignment of the sliding joint. For the contacting of the actuating element, it may be advantageous if the adjustable second gripper finger has an actuating extension, which protrudes in the Lö¬sestellung into a recess on the first gripper finger. Such an enlarged end section of the adjustable gripper finger ensures reliable contacting even in the case of an actuating element with small dimensions or special positioning in the gripping position.
    An embodiment in which the gripping projections are mutually parallel and silent-shaped and the undercuts are parallel and dovetail-shaped results in a tool handling system which is tolerant to small positioning errors of the gripper and thus suitable for handling devices with less positioning accuracy.
    If the offset of the adjustable gripper finger in the release position relative to the end face of the fixed gripper finger corresponds to at least one Dickenabmes the gripping projections in the direction of the gripper longitudinal axis, when inserting the fixed gripper finger in the gripping recess a sufficient distance of the adjustable gripper finger gege¬ben from the actuating element to Do not cause premature deactivation of the locking system.
    A greater tolerance to positioning errors of the tool handling system is achieved if a centering projection is formed on the stationary gripper finger and a centering recess is formed on the bending tool. The threading of the gripper fingers into the gripping recess can thereby be facilitated in the horizontal and / or vertical direction.
    If the adjustable gripper finger has a bend in the direction of the stationary gripper finger, the gripper can have a small distance between the gripper fingers even with comparatively large outer dimensions.
    The invention further relates to a method for removing or inserting a bending tool on a tool holder by means of a gripper according to the preamble of claim 14. In this case, the bending tool has a gripping recess and a locking device interacting with the tool holder, which is arranged with an actuating mechanism arranged in the gripping recess can be deactivated, and wherein the gripper comprises at least one directed in the direction of a gripper longitudinal axis first, in particular fixed, first gripper fingers and an adjustable second gripper fingers, which at their End¬abschnitten relative to the gripper longitudinal axis transversely outwardly facing and approximately opposite gripping projections for engaging behind gegen¬ have overlying undercuts in the gripping recess.
    The handling of the bending tool is inventively verbes¬sert that when removing the bending tool first the first gripper finger is brought into engagement with an undercut incomplete engagement and the adjustable second gripper finger does not contact the actuator or the locking device is not deactivated and then the adjustable zweit¬te Gripper finger is brought into engagement with the further undercut and thereby contact the actuating element or the locking device deak¬tiviert and that when inserting the bending tool, the adjustable second gripper finger is disengaged from the further undercut and thereby the actuating element is no longer contacted or Verrieg¬lungseinrichtung is activated and then the first gripper fingers except Ein¬ grip with the undercut of the gripping groove is brought.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    1 shows a view of a tool handling system with gripper fingers positioned in front of the gripper groove in the release position;
    FIG. 2 shows a further embodiment of a tool handling system with gripper fingers positioned in front of the gripper groove in the release position; FIG.
    3 shows a view of the tool handling system according to FIG. 2 with gripper fingers positioned in the gripping groove in the gripping position;
    4 shows a further embodiment of a tool handling system with an offset of the adjustable second gripper finger in the release position;
    Fig. 5 shows another embodiment of a tool handling system having a recess in the first gripper finger;
    Fig. 6 is a plan view of the tool handling system of Fig. 5;
    Fig. 7 shows another embodiment of a tool handling system with a centering projection;
    Fig. 8 is a plan view of a tool handling system of Fig. 7;
    9 shows a tool handling system with an actuating extension of an adjustable gripper finger.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts have the same reference numerals or the same component designations.
    Drawings are provided, wherein contained in the entire description revelations mutatis mutandis to like parts with the same reference numerals. same component names can be transferred. Also, the location information chosen in the description, such as up, down, laterally, etc. related to the directly described and illustrated figure and these conditions are to be transferred in a change in position mutatis mutandis to the new situation.
    1 shows a view of a tool handling system 1 for removing or inserting a bending tool 2 on a tool holder 3. The tool holder 3 is for example part of a bending machine or a storage system for bending tools 2, not shown.
    Bending tools 2, which are inserted from below into a tool holder 3, are usually fixed by means of a fixing device 4 in a receiving groove of the tool holder 3, for which the fixing device 4 may for example have a clamping element 5, which cooperates with clamping recesses 6 on Biege¬werkzeug 2. Since for changing a bending tool 2, the fi xiereinrichtung 4 must be deactivated, bending tools 2 are often provided with a locking device 7, which prevents unintentional falling out of the bending tool 2 when deactivating the fixing device 4. In the illustrated exemplary embodiment, the locking device 7 comprises, for example, an adjustable locking element 8 which, when the bending tool 2 is inserted, positively engages in a locking recess 9 in the tool holder 3 and is disengaged from the locking recess 9 only when the locking device 7 is deactivated (indicated by dotted arrow) and thus the bending tool 2 can be removed down.
    For deactivating the locking device 7, this comprises an actuating element 10, which is arranged outside the tool holder 3 and with the locking element 8 a change between a locking position and an unlocking position can be effected. For the automated removal or insertion of the bending tool 2, the tool handling system comprises a gripper 11 for manipulating the
    Bending tool 2, which also fulfills the task of actuating the Betätigungsele-element 10.
    The gripper 11 is arranged on a manipulator, not shown, for example, an industrial robot and comprises a gripper body 12, in the direction of a gripper longitudinal axis 13 at least two gripper fingers 14 and 15 go out, which are positioned in a gripping recess 16 on the bending tool 2. To a secure gripping To ensure a bending tool 2, the gripper fingers 14,15 have at their end portions 17 gripping projections 18 which, relative to the gripper longitudinal axis 13, have transverse outwards, are arranged approximately opposite each other and for engagement in opposing undercuts 19 are suitable in the gripping recess 16.
    The actuating element 10 is arranged in the gripping recess 16 and accessible in die¬ser for at least one gripper finger 14, 15.
    On the gripper 11, a first gripper finger 14 is arranged on the gripper base body 12, which is in particular fixed, and at least a second Greiferfinger15 by means of a joint 20 relative to the gripper body 12 and thus also relative to the first gripper finger 14 adjustable. Hereinafter, a position of the adjustable second gripper finger 15 approximated to the first gripper finger 14 is referred to as a release position, since in this position the gripper 11 can be detached from the bending tool 2 and a position of the adjustable second gripper finger 15 remote from the first gripper finger 14 is referred to as the gripping position Position the bending tool 2 is gripped by the gripper 11. In Fig. 1, the gripper fingers 14, 15 shown in the release position and könnendiese be inserted into the gripping recess 16 on the bending tool 2 and be removed from this.
    The first gripping finger 14 is shown in the embodiments as fixed on the Grei¬fergrundkörper 12, but as mentioned in the introduction, itself be adjustable.
    When removing the bending tool 2 from the tool holder 3, the gripper 11 is positioned so that the gripping projection 18 of the first gripper finger 14 is inserted into the upper undercut 19 in the gripping recess 16. As can be seen from the dimensions of the gripper fingers 14, 15 in comparison with the dimension of the gripping recess 16, the adjustable second gripper finger 15 does not contact the actuating element 10 arranged in the lower undercut 19 in the release position, and the locking device 7 is still activated, although First gripper finger 14 is already in engagement with the gripping recess 16. Only by adjusting the adjustable second gripper finger 15 into the gripping position, in which the gripping projection 18 of the second gripper finger 15 engages in the lower undercut 19, the actuating element 10 is actuated and thereby the locking device 7 disabled. The deactivation of the Verrie¬ gelungseinrichtung 7 takes place only at a time in which the bending tool 2 is already connected to the gripper 12 and in a derarti¬gen tool handling system 1, the fixing device 4 for the bending tool 2 already before gripping by the gripper 11 can be deactivated, since failure of the bending tool 2 is prevented by the locking device 7 which remains active until gripping. According to the invention, therefore, the actuating element 10 is not contacted in the release position of the adjustable second gripper finger 15 and thereby the locking device 7 remains active and in the gripping position of the adjustable second gripper finger 15, the actuating element 10 is contacted, thereby deactivating the locking device 7.
    The joint 20 is formed in the embodiment of FIG. 1 by a pivot joint, but it may also be replaced by a sliding joint or other joint, with which the adjustable gripper fingers 15 can be adjusted between the release position and the gripping position. Of course, the adjustable second gripper finger 15 is also connected to an adjusting drive which, for reasons of simplicity, is not illustrated or explained in greater detail at this point.
    The gripping recess 16 can be formed in various ways, wherein an embodiment as a gripping groove 21, which extends in the viewing direction according to FIG. 1, may be advantageously designed. An alternative embodiment consists, for example, in a pot-shaped embodiment of the gripping recess 16.
    In the embodiment according to FIG. 1, the adjustment direction of the adjustable second gripper finger 15 is perpendicular to the gripper longitudinal axis 13 at right angles and the direction of actuation 22 of the actuating element 10 is indicated by an arrow.
    The locking element 8 is formed hook-shaped in the embodiment of FIG. 1, but it may also be deviating, for example, peg-shaped or bolt-shaped.
    FIGS. 2 and 3 show a further embodiment of a tool handling system 1 according to the invention, FIG. 2 showing the gripper fingers 14 and 15 positioned in front of the gripping recess 16 in the release position, and the gripper fingers 14, 15 positioned in the gripping recess 16 in the release position in broken lines and in the release position in dotted lines Fig. 3, the gripper fingers 14,15 are shown in the gripping position.
    The gripping recess 16 with the undercuts 19 has a dovetail-shaped cross-section and may be formed in the shape of a cup or a groove.
    In a gripping recess 16 in the form of a dovetail groove, the bending tool 2 in the gripping recess 16 has a groove base 24 parallel to a tool outer surface 23 and the groove cross-section decreases in the direction of the tool outer surface 23, whereby triangular undercuts 19 are formed. In the illustrated embodiment, the actuating element 10 is arranged between these undercuts 19 and extends the direction of actuation 22 or the adjustment direction of the actuating element 10 parallel to the gripper longitudinal axis 13.
    In Fig. 2, the positioning of the gripper fingers 14,15 in the gripping recess 16 is shown in dotted lines and it can be seen that in an engagement of the first gripper finger 14 in the upper undercut 19 of the release position in place settable second gripper finger 15, the actuator 10 not kon ¬ taktiert and therefore in this position, the gripper fingers 14,15 the Verriegelungsein¬richtung 7 is active, thereby falling out of the bending tool 2 is prevented even with de¬aktivierter fixing device 4. The actuation direction 22 of the actuation element 10 in this exemplary embodiment does not coincide with the adjustment direction of the adjustable gripper finger 15, as is the case, for example, in the embodiment according to FIG. The adjustment of the adjustable second gripper finger 15 is carried out in this embodiment, similar to in Fig. 1 by means of a pivot joint 25, whereby a pivot axis 26 on Greifergrundkör¬per 11, 12 is formed.
    FIG. 3 shows the bending tool 2 held by the gripper 11, wherein the gripper fingers 14, 15 are in the gripping position and thereby the actuating element 10 is contacted by the adjustable gripper finger 15 and furthermore the locking device 7 is deactivated. In the illustrated embodiment, the locking element 8 is thereby adjusted into the interior of the bending tool 2 and can therefore be removed from the tool holder 3.
    The adjustable gripper finger 15 has in this embodiment a cranked shape, whereby the gripper fingers 14,15 which can be inserted into small Greifausnehmungen16 on the gripper body 12 a comparatively larger distance to each other than at the end portion 17, wherebyim gripper body 12 sufficient space for the connection the adjustable gripper finger 15 is given with a suitable drive.
    4 shows a section of a further embodiment of a tool handling system 1, in which the first gripper finger 14 is already introduced into the upper undercut 19 of the gripping recess 16 of a bending tool 2 and the adjustable second gripper finger 15 in the release position does not contact the actuating element. In this embodiment, this is accomplished by providing an offset 29 between the end surface 27 of the first gripper finger 14 and the end surface 28 of the adjustable second gripper finger 15 in the release position in the direction of the gripper longitudinal axis 13, in order to compensate for the protrusion of the gripper finger I ncpctplli inn npnpnühpr rlpm prctpn firpifprfinger 14 back is offset. As a result, the first gripper finger 14 can be threaded with its gripping projection 18 into the upper undercut 19, without the adjustable second gripper finger 15 contacting the actuating element 10, thereby causing premature deactivation of the locking device 7. The deactivation of the locking device 7 takes place only when Verstel¬len the second gripper finger 15 in the gripping position, whereby the Actuate element 10 is actuated.
    4, a further optional feature is shown, according to which the offset 29 of the adjustable gripper finger 15 is greater than the first gripper finger 14, viewed as a thickness dimension of the gripping projection 18 of the first gripper finger 14 in the direction of the gripper longitudinal axis 13. As a result, a sufficiently large offset 29 is given for many embodiments of the actuating element 10 and it is ensured that when the first gripper finger 14 is positioned in the gripping recess 16, the actuating element 10 is not prematurely released.
    Fig. 5 shows a similar embodiment of a tool handling system 1 as in Fig. 4, in which the adjustable second gripper finger 15 in release position also has an offset with respect to the first gripper finger 14 in the direction of the gripper longitudinal axis 13. As an additional feature, the first gripper finger 14 has a recess 30 for the actuating element 10 in its frontal end face 27, whereby the first gripper finger 14 does not contact an actuating element 10 with larger dimensions when threading into the gripping recess 16.
    FIG. 6 shows, in a plan view of an arrangement according to FIG. 5, that the recess 30 on the first gripper finger 14 in this embodiment has larger dimensions than the actuating element 10 and thus no unwanted deactivation of the gripper 11 even if the positioning inaccuracies of the gripper 11 are slight Locking device 7 takes place. The first gripper finger 14 has a bifurcated shape and engages laterally adjacent to the actuator 10.
    Another possible embodiment of the tool handling system 1 is shown in Figs. 7 and 8 wherein the first gripper finger 14 is connected to or has a centering projection 31 with a centering recess 32 on the bending tool 2 during positioning of the gripper fingers 14, 15 in the gripping recess 16 cooperates. In the plan view of such a gripper finger 14 shown in Fig. 7, a wedge-shaped embodiment of the centering finger 31 is indicated, which causes an easier insertion into the centering recess 32. Additionally or alternatively, it is also possible that the centering recess 32 is formed with chamfered surfaces, whereby also easier positioning of the gripper fingers 14,15 in the gripping recess 16 is made possible.
    The centering recess 32 is formed in the illustrated embodiment as a vertical slot in the tool outer surface 23 of the bending tool 2, but are also alternative embodiment of such Zentrierausneh- 32 and the centering 31 possible, for example in the form of a conical design.
    FIG. 9 shows a further embodiment of the tool handling system, which is possibly independent of itself, wherein the same reference numerals or component designations are used again for identical parts as in the preceding FIGS. 1 to 8. To avoid unnecessary repetition, reference is made to the detailed description in the preceding FIGS. 1 to 8 or reference.
    FIG. 9 shows a further embodiment of a tool handling system 1, in which the adjustable second gripper finger 15 has an actuating extension 33, which projects into a recess 30 on the first gripper finger 14 in the release position. This allows further freedom of choice with regard to the arrangement of the actuating element 10 within the gripping recess 16 and, in particular, can be used advantageously in combination with the offset 29 described with reference to the exemplary embodiment in FIG. 4. By the Betätigungsfort¬satz 33, which is oriented in the opposite direction of the gripping projection 18, results in the gripping position shown in dashed lines an enlarged end face 28, which can be used for the contacting of the actuating element 10.
    The exemplary embodiments show possible embodiments of the tool handling system 1, wherein it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual Ausführungsvari¬anten are possible with each other and this variation possibility due to the teaching of technical action by objective invention in the skill of those skilled in this technical field.
    Furthermore, individual features or combinations of features from the different embodiments shown and described can also represent solutions that are inventive, inventive or inventive.
    The problem underlying the independent inventive solutions can be taken from the description. All statements on ranges of values in the description given herein are to be understood as including any and all subsections thereof, for example, the indication 1 to 10 should be understood as encompassing all subranges, starting from the lower bound 1 and the upper bound 10, i. all subregions begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    Above all, the individual in Figs. 1; 2, 3; 4; 5, 6; 7, 8; The embodiments shown in FIG. 9 form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of the sake of convenience, it should be pointed out in conclusion that to better understand the construction of the tool handling system 1, this or its constituent parts have been shown partly out of scale and / or enlarged and / or reduced in size.
    List of Reference Symbols 1 tool handling system 31 centering projection 2 bending tool 32 centering recess 3 tool holder 33 actuating extension 4 fixing device 5 clamping element 6 clamping recess 7 locking device 8 locking element 9 locking recess 10 actuating element 11 gripper 12 gripper body 13 gripper longitudinal axis 14 gripper finger 15 gripper finger 16 gripping recess 17 end section 18 gripping projection 19 undercut 20 joint 21 gripping groove 22 Operating direction 23 Tool outer surface 24 Nutgrund 25 pivot joint 26 pivot axis 27 end face 28 end face 29 offset 30 recess
    权利要求:
    Claims (14)
    [1]
    1. Tool handling system (1) for removing or inserting a bending tool (2) on a tool holder (3), comprising a bending tool (2) with a gripping recess (16) and a locking device (7) cooperating with the tool holder (3) ), which can be deactivated by means of an actuating element (10) arranged in the gripping recess (16) and accessible in it, and a gripper (11) for manipulating the bending tool (2) and the actuating element (10) with a gripper base body. by (12) with at least two gripper fingers (14, 15) directed in the direction of a gripper longitudinal axis (13), the gripping protrusions (18) pointing transversely outwards and approximately opposite relative to the gripper longitudinal axis (13) at their end portions (17). for engaging in mutually opposite undercuts (19) in the gripping recess (16), wherein at least one gripper base body (12), in particular fixed, arranged first Greifer¬finger (14) and at least one by means of a joint (20) on Greifergrundkörper (12) adjustable second gripper finger (15) is formed and the second Greifer¬finger (15) between a, based on the first gripper finger (14), In the release position, the actuating element (10) does not contact or contact the actuating element (10) in the release position when the first gripper finger (14) is positioned completely in the gripping recess (16) Do not deactivate the locking device (7) and the adjustable second gripper finger (15) in the gripping position contacts the actuating element (10) or deactivates the locking device (7).
    [2]
    2. Tool handling system (1) according to claim 1, characterized gekenn¬zeichnet that the end face (28) of the adjustable second gripper finger (15) in the release position relative to the end face (27) of the first gripper finger (14) in the direction of the gripper longitudinal axis (13) considered an offset (29) zurückver set is.
    [3]
    3. tool handling system (1) according to claim 1 or 2, characterized in that the end portion (17) of the first gripper finger (14) on sei¬ner end face (27) has a recess (30) for the actuating element (10).
    [4]
    4. tool handling system (1) according to one of claims 1 to 3, characterized in that the gripping recess (16) as a gripping groove (21) is ausge¬ formed and the undercuts (19) along the gripping groove (21), as well as the Gripping projections (18) are formed parallel to each other and strip-shaped and extend transversely to the gripper longitudinal axis (13).
    [5]
    5. tool handling system (1) according to one of claims 1 to 4, characterized in that the actuating element (10) in the Greifausneh-mung (16), in particular approximately centrally, between the undercuts (19) is arranged and the actuating direction (22) of the actuating element (10) extends approximately parallel to the gripper longitudinal axis (13).
    [6]
    6. tool handling system (1) according to one of claims 1 to 4, characterized in that the actuating element (10) in one of the undercuts (19) is arranged.
    [7]
    7. tool handling system (1) according to one of claims 1 to 6, characterized in that the adjustable second gripper finger (15) by means of a pivot joint (25) about a pivot axis (26) on the gripper body (12) is mounted.
    [8]
    8. tool handling system (1) according to one of claims 1 to 6, characterized in that the adjustable second gripper finger (15) is mounted by means of a sliding joint obliquely with respect to the gripper longitudinal axis (13) on Greifer¬grundkörper (12).
    [9]
    9. Tool handling system (1) according to one of claims 1 to 8, characterized in that the adjustable second gripper finger (15) has a Be¬tätigungsfortsatz (33) which in the release position in a recess (30) on the stationary gripper fingers (14) protrudes.
    [10]
    10. tool handling system (1) according to one of claims 1 to 9, characterized in that the gripping projections (18) are formed parallel to each other and bar-shaped and the undercuts (19) are mutually paral¬lel and dovetail-shaped.
    [11]
    A tool handling system (1) according to any one of claims 2 to 10, characterized in that the offset (29) of the adjustable second gripper finger (15) in the release position relative to the end face (27) of the first gripper finger (14) has at least one thickness dimension of the gripping projection (18 ) on the first gripper finger (14) in the direction of the gripper longitudinal axis (13).
    [12]
    12. tool handling system (1) according to one of claims 1 to 11, characterized in that the first gripper finger (14) with a Zentrier¬ projection (31) is connected and on the bending tool (2) adapted to the Zentriervor¬sprung (31) Centering recess (32) is formed.
    [13]
    A tool handling system (1) according to any one of claims 1 to 11, characterized in that the adjustable second gripper finger (15) has a crank towards the first gripper finger (14).
    [14]
    14. A method for removing or inserting a bending tool (2) on a tool holder (3) by means of a gripper (11), wherein the Biegewerkεzeug (2) has a gripping recess (16) and one with the tool holder (3) zu¬sammenwirkende locking device (7) which can be deactivated with an actuating element (10) arranged in the gripping recess (16) and accessible in the latter, and wherein the gripper (11) has at least one, in particular stationary, direction of a gripper longitudinal axis (13) first gripper finger (14) and an adjustable second gripper finger (15) which at its end portions (17) with respect to the gripper longitudinal axis (13) transversely outwardly and approximately opposite gripping projections (18) for Hintergrei¬fen of opposing undercuts (19 ) in the gripping recess (16), characterized in that, upon removal of the bending tool (2), first the first gripper finger (14) engages with an undercut (19) and the adjustable second gripper finger (15) does not contact the actuating element (10) or deactivates the locking device (7) and then the adjustable second gripper finger (15) engages with the further undercut (19 ) while the Betä¬tigungselement (10) contacted or disabled the locking device (7) and that upon insertion of the bending tool (2) of the adjustable second Grei¬ferfinger (15) is disengaged from the further undercut (19) and thereby the Actuator (10) is no longer contacted or the locking device (7) is activated and then the first Greiferfin¬ger (14) out of engagement with the undercut (19) of the gripping groove (16) is brought.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2107650B1|2013-12-18|Press clamp with a positioning device
    EP3504755A1|2019-07-03|Spring-loaded clamping connection
    EP2424705B1|2016-03-16|Magazine for electrode caps
    DE10054334A1|2002-05-29|Retaining spring for the detachable connection of two components
    DE2806177A1|1978-10-05|DEVICE FOR FEEDING AND HOLDING PENS
    AT515781A4|2015-12-15|Handling system for bending tools
    EP3078432A1|2016-10-12|Tool for a processing machine
    WO2018166989A1|2018-09-20|Surgical clamp produced by additive manufacturing and method for producing such a clamp
    EP0124919A2|1984-11-14|Crimping tongs equipped with a stopper for crimping cable shoes
    DE102014104146A1|2015-10-01|punch
    EP3180138B1|2018-04-18|Bending tool and gripping device for manipulating the bending tool
    DE102006009432B4|2017-07-06|Gripping device for a tool changing device
    WO2017020891A1|2017-02-09|Centring clamping apparatus
    EP3453077B1|2021-06-16|Radial jack
    AT512706B1|2014-11-15|Method for punching two superimposed on one side connected flat portions of a workpiece and apparatus for performing the method
    DE202016102358U1|2016-05-23|Radial contact socket
    DE2242258B1|1973-11-08|Pliers-like device for pulling off components
    EP3362201A1|2018-08-22|Method for operating a bending press and such a bending press
    DE102010015952B4|2012-01-05|Method for punching a window fitting and punch
    AT14987U1|2016-10-15|Method for joining furniture fitting parts and furniture fitting
    DE202020100662U1|2020-02-21|Gripper with at least two gripping jaws
    EP2995525B1|2019-12-04|Coupling head for a rail-guided vehicle
    DE102014115060A1|2016-04-21|connecting device
    WO2021094433A1|2021-05-20|Apparatus for reshaping a conductor piece arranged in a stator core and a corresponding method
    DE102012216244A1|2014-03-13|Plug contact for locking in plug connector of connector, has locking element whose operating arm is acted with force to change state of plug contact element to lead detent surface of locking element opposite to specific direction
    同族专利:
    公开号 | 公开日
    US20170239701A1|2017-08-24|
    EP3204175A1|2017-08-16|
    US10384249B2|2019-08-20|
    WO2016054668A1|2016-04-14|
    EP3204175B1|2018-06-13|
    AT515781B1|2015-12-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1160024A1|1999-01-13|2001-12-05|Amada Company, Limited|Bending press system|
    WO2001039906A1|1999-11-30|2001-06-07|Luciano Gasparini|Safety tool for supporting and holding at least one interchangeable utensil, particularly on a press-bending machine|
    WO2011057312A1|2009-11-10|2011-05-19|Trumpf Maschinen Austria Gmbh & Co. Kg.|Production system, in particular for free-form bending, having an integrated workpiece and tool manipulator|
    WO2012103565A1|2011-02-01|2012-08-09|Trumpf Maschinen Austria Gmbh & Co. Kg.|Production device with means for tool position sensing and method for operating said device|
    WO2013166538A1|2012-05-09|2013-11-14|Trumpf Maschinen Austria Gmbh & Co. Kg.|Method for automated manipulation of a bending tool, and manufacturing device|
    WO2014061773A1|2012-10-19|2014-04-24|株式会社 アマダ|Sheet material bending processing system|
    AT364589B|1979-08-01|1981-10-27|Haemmerle Ag|CLAMPING DEVICE FOR FASTENING A TOOL TO A TOOL HOLDER|
    US7721586B2|2005-02-08|2010-05-25|Wilson Tool International Inc.|Press brake tool seating technology|
    AT511591B1|2012-02-07|2013-01-15|Trumpf Maschinen Austria Gmbh|BENDING TOOL WITH SAFETY DEVICE|
    AT514078B1|2013-06-20|2014-10-15|Trumpf Maschinen Austria Gmbh|bending tool|CN106623615B|2016-11-25|2018-09-18|盐城工学院|A kind of numerical control bender upper mold connection handle|
    IT201900006656A1|2019-05-08|2020-11-08|Salvagnini Italia Spa|Bending machine for metal sheets|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50718/2014A|AT515781B1|2014-10-08|2014-10-08|Handling system for bending tools|ATA50718/2014A| AT515781B1|2014-10-08|2014-10-08|Handling system for bending tools|
    EP15800709.6A| EP3204175B1|2014-10-08|2015-10-08|Handling system and method for exchanging bending tools|
    US15/517,563| US10384249B2|2014-10-08|2015-10-08|Handling system for bending tools|
    PCT/AT2015/050249| WO2016054668A1|2014-10-08|2015-10-08|Handling system for bending tools|
    [返回顶部]