• 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 method for transferring a workpiece (3) in a bending system (1) with at least one bending machine (4) by means of a manipulation system (2) from a first manipulator (17) to a second manipulator (18). Each manipulator (17, 18) comprises first, second and third manipulator arms (22, 22 '; 24, 24'; 26, 26 '), which are each about second axes (23, 23'), third axes (25, 25 ') ) and fourth axes (27, 27 ') and can be pivoted exclusively in parallel alignment with respect to a first axis (20) of a guide arrangement (19). The workpiece (3) is gripped by a holding arrangement (28) of the first manipulator (17). The third manipulator arms (26, 26 ') are aligned opposite one another and protruding towards one another and the same workpiece (3) is gripped by a holding arrangement (28') of the second manipulator (18) and then by the holding arrangement (28) of the first manipulator (17) released for the direct transfer process. The invention also relates to a manipulation system (2) and a bending system (1) equipped therewith.
    公开号:AT522859A1
    申请号:T50694/2019
    申请日:2019-08-01
    公开日:2021-02-15
    发明作者:
    申请人:Trumpf Maschinen Austria Gmbh & Co Kg；
    IPC主号:
    专利说明:

    like manipulation system.
    WO 2013/185834 A1 describes a multiple arrangement of gripping robots in which multiple joints are provided. The gripping robots are fixed overhead in the roof or ceiling area. In one operating mode, at least two robots can attack one and the same workpiece at the same time. A gripping of the workpiece by at least two robots against each other
    overlapping sides for the workpiece transfer is not provided.
    EP 2 195 267 B2 describes a method for unstacking plate-shaped parts, in particular sheet metal blanks, by means of a pair of robots that are independent of one another and are movable in the ceiling area along a linear guide device. Each of the robots is guided with its robot base on the linear guide device, a movement unit with a plurality of arms being arranged on the robot base. The entire movement unit is rotatably mounted on the robot base around its own vertical axis. Due to the coordinated pivoting movements and optionally possible linear adjustments, a continuous transfer process of one
    achieved a stack of parts to a storage location.
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    gripping of workpieces provided.
    A manufacturing process has become known from EP 2 875 878 A1 in which two processing steps running independently of one another and parallel to one another are automated and carried out without any manual intervention. The individual robots each have a multiple axis arrangement. Separate robots are provided for each of the production lines. A simultaneous and opposite gripping of a workpiece by two
    cooperating robots cannot be seen.
    In the manipulators used so far with four axes running parallel to one another and a fifth hand
    The handling axis was not a direct transfer between two manipulators located next to each other without the step of a clipboard of the to be transferred
    Sheet metal or workpiece possible.
    The object of the present invention was to overcome the disadvantages of the prior art and to provide a transfer method, a manipulation system and a bending system comprising such a manipulation system
    make an even faster and safer transfer process between
    two interacting manipulators can be carried out.
    This object is achieved according to a method for the transfer, a manipulation system and a bending system including such a manipulation system
    solved the claims.
    One object of the invention is achieved by the transfer method, in which a direct transfer of at least one sheet or sheet to be bent
    nem workpiece formed from the sheet metal in a bending system with at least
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    - Provision of a guide arrangement, which guide arrangement defines a common first axis for each of the manipulators in the direction of its longitudinal extension and each manipulator can be moved autonomously along the guide arrangement in the direction of the first axis,
    - Providing the first manipulator and at least the second manipulator, each of the manipulators comprises
    - a base frame,
    - A first manipulator arm, each of the first manipulator arms on the respective base frame being pivotable about a second axis,
    - a second manipulator arm, each of the second manipulator arms being pivotable about a third axis on a side facing away from the base frame on the respective first manipulator arm,
    - a third manipulator arm, each of the third manipulator arms being pivotable about a fourth axis on a side facing away from the base frame on the respective second manipulator arm,
    - wherein the second axes, the third axes and also the fourth axes each exclusively have a parallel alignment with respect to the first axis,
    a holding arrangement, which holding arrangement is arranged or formed on the respective third manipulator arm and each of the holding arrangements is rotatable about a fifth axis, each of the fifth axes having a normal orientation with respect to the respective fourth axis,
    - each of the third manipulator arms being arranged on the second manipulator arm on the side facing away from the first manipulator arm,
    - Arranging the manipulators one behind the other in the direction of the first axis on or on the common guide arrangement and in a position relative to one another in which the third manipulator arm of the first manipulator
    is arranged on that side of the second manipulator arm which the second
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    - Detecting or gripping a sheet or workpiece with the holding arrangement of the first manipulator,
    - Shifting at least one manipulator in the direction of the other manipulator and thereby aligning the respective third manipulator arms opposite one another and projecting one on the other,
    - Detecting or gripping the same sheet or workpiece with the holding arrangement of the second manipulator and releasing or releasing the
    Sheet metal or the workpiece from the holding arrangement of the first manipulator.
    It is advantageous in these method steps that the mirror-symmetrical arrangement of the individual manipulator arms of the first manipulator with respect to the second manipulator creates the possibility of arranging the manipulators for direct transfer between their holding arrangements next to one another in their adjustment direction to such an extent that their holding arrangements are opposite one another as well as are arranged so as to protrude towards one another. With such simply designed manipulators, in which the pivot axes of the individual manipulator arms have a parallel alignment with respect to the axis defined by the guide arrangement, the direct transfer of workpieces between the holding arrangements of the manipulators is still possible without the intermediate step of a clipboard. This creates sufficient space and thus prevents collisions between the individual manipulators and their manipulator arms during the transfer process. In manipulators in which the first manipulator arm, which is directly facing the base housing, can also be rotated about a vertical axis of rotation, the direct transfer would be possible by turning or turning the holding arrangements towards one another, this additional turning movement in the manipulators according to the invention with the always in a parallel direction pivot axes aligned with the adjustment axis of the guide arrangement
    the manipulator arms is not provided.
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    between the base frames of the manipulators.
    Another advantageous procedure is characterized in that the second manipulator arm of the second manipulator is arranged on that side of the first manipulator arm which faces the first manipulator. This allows an additional distance between the two base frames of the manipulators
    can be achieved in the course of the handover process.
    A variant of the method is also advantageous in which the fifth axes of the third manipulator arms are arranged in parallel alignment with one another for the transfer process. The parallel alignment of the transfer devices to one another enables a safe transfer process between the two
    Holding arrangements can be achieved.
    Another approach is characterized when the fifth axes of the third manipulator arms are aligned for the transfer process
    Alignment to each other are arranged. Due to the aligned alignment of the fifth axes of the mutually facing transfer arrangements, a secure holding and gripping can also be achieved with the receiving holding arrangement.
    fen are made possible.
    Furthermore, a procedure is advantageous in which, for the transfer process, the first and second manipulator arms of the first manipulator are on a first side with respect to a vertical center plane of the guide arrangement that is oriented in the direction of the first axis and the first and second manipulator arms of the second manipulator are on one of the first Side opposite second side of the center plane of the guide arrangement are arranged. As a result, a position of the individual manipulator arms of the first and
    second manipulator can be achieved to each other. So are on everyone
    N2019 / 21600-AT-00
    horizontal arrangement of the holding arrangements can be achieved.
    Another advantageous procedure is characterized in that the first axis of the guide arrangement is aligned in parallel with respect to a bending line defined by a bending machine of the bending system. In this way, without additional transverse adjustment with respect to the first axis, the same distance between the workpiece or sheet metal to be transported with respect to the
    Bending line must be adhered to.
    However, the object of the invention is also achieved independently by a manipulation system for a bending system comprising at least one bending machine. The manipulation system is used to transfer at least one sheet to be bent or a workpiece formed from the sheet from a first manipulator to at least one second manipulator. The manipulation system includes
    a guide arrangement, which guide arrangement defines a common first axis for each of the manipulators in the direction of its longitudinal extension and each manipulator of the manipulation system can be moved autonomously along the guide arrangement in the direction of the first axis,
    - The first manipulator and the at least one second manipulator each include
    - a base frame,
    - A first manipulator arm, each of the first manipulator arms on the respective base frame being pivotable about a second axis,
    - a second manipulator arm, each of the second manipulator arms being pivotable about a third axis on a side facing away from the base frame on the respective first manipulator arm,
    - A third manipulator arm, each of the third manipulator arms on a side facing away from the base frame on the respective second machine
    nipulator arm is pivotable about a fourth axis,
    71737 N2019 / 21600-AT-00
    - A holding arrangement, which holding arrangement is arranged or formed on the respective third manipulator arm and each of the holding arrangements is rotatable about a fifth axis, each of the fifth axes having a normal orientation with respect to the respective fourth axis, wherein
    - Each of the third manipulator arms is arranged on the second manipulator arm on the side facing away from the first manipulator arm, and wherein - the first manipulator and the at least one second manipulator are arranged one behind the other in the direction of the first axis on or on the common guide arrangement, furthermore being provided - that the third manipulator arm of the first manipulator is arranged on that side of the second manipulator arm which faces the second manipulator, and - that the third manipulator arm of the second manipulator is arranged on that side of the second manipulator arm which faces the first manipulator.
    is turned.
    The advantage achieved in this way is that the mirror-symmetrical arrangement of the individual manipulator arms of the first manipulator with respect to the manipulator arms of the second manipulator creates the possibility of arranging the manipulators for direct transfer between their holding arrangements next to one another in their adjustment direction so far that their holding arrangements are arranged opposite one another and protruding towards one another. With such simply designed manipulators, in which the pivot axes of the individual manipulator arms have a parallel alignment with respect to the axis defined by the guide arrangement, the direct transfer of workpieces between the holding arrangements of the manipulators is still possible without the intermediate step of a clipboard. This creates sufficient space and there are collisions between
    the individual manipulators and their manipulator arms during the transfer process
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    the manipulator arms is not provided.
    Furthermore, it can be advantageous if the second manipulator arm of the first manipulator is arranged on that side of the first manipulator arm which faces the second manipulator. This can prevent unnecessary collisions between
    the base frames of the manipulators can be prevented.
    Another embodiment is characterized in that the second manipulator arm of the second manipulator is arranged on that side of the first manipulator arm which faces the first manipulator. This allows a
    additional distancing of the two base frames of the manipulators in the course of the
    Transfer process can be achieved.
    Another possible embodiment has the features that the fifth axis of the first manipulator is arranged to run in a first normal plane with respect to the first axis and the first normal plane is arranged from the base frame of the first manipulator in the direction of the first axis and in the direction of the second manipulator around a first Is arranged spaced apart. This allows sufficient space to be created between the fifth axis of the holding arrangement and the edge-side delimitation of the base frame. This means that in the area of the second manipulator, the five-
    th axis can be achieved from the peripheral edge area of the base frame.
    Another embodiment provides that the fifth axis of the second manipulator is arranged to run in a second normal plane with respect to the first axis and the second normal plane from the base frame of the second manipulator in FIG
    Direction of the first axis as well as in the direction of the first manipulator by one
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    the transfer process can be positioned.
    Another embodiment is characterized in that a sum of the first distance plus the second distance corresponds to at least one largest dimension of one of the third manipulator arms in the direction of the first axis. With this choice of dimensions, a safe and collision-free mutual
    opposite arrangement of the two manipulator arms can be achieved.
    The object of the invention is also achieved independently by a bending system comprising at least one bending machine and a manipulation system designed according to the invention for transferring at least one sheet to be bent or a workpiece formed from the sheet from a first manipulator
    solved to at least a second manipulator.
    The advantage achieved in this way is that a bending system can be created in which a direct transfer of workpieces between the manipulators is made possible by means of the manipulation system without an additional intermediate storage step. The productive bending time of the bending machine can thus be increased, since additional clipboard processes are no longer required.
    that are.
    For a better understanding of the invention, it will be based on the following
    Figures explained in more detail. They each show in a greatly simplified, schematic representation:
    1 shows a bending system with a manipulation system for the direct transfer of a workpiece or sheet metal from a first manipulator
    a second manipulator, in side view;
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    FIG. 2 shows the manipulators of the manipulation system according to FIG. 1, in a position spaced apart from one another in the direction of the first axis, in an
    view;
    Fig. 3 the manipulators of the manipulation system in their transfer point
    ment to each other, in view;
    Fig. 4 the manipulators of the manipulation system in their transfer point
    ment to each other, in side view.
    By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference symbols or the same component designations, whereby the disclosures contained in the entire description can be transferred accordingly to the same parts with the same reference symbols or the same component names. The position details chosen in the description, such as above, below, to the side, etc., also relate to the figure immediately described and shown and are these position-
    in the event of a change in position, information must be transferred to the new position accordingly.
    The term “in particular” is understood in the following to mean that it can be a possible more specific design or more detailed specification of an object or a process step, but not necessarily a mandatory, preferred embodiment of the same or a mandatory specification.
    must represent.
    1 to 4 show a bending system 1 with a manipulation system 2 shown in a simplified manner. In the present case, the bending system 1 is designed in particular for the free bending of workpieces 3 to be manufactured from sheet metal by means of die bending, which can also be referred to as a manufacturing system. A metallic material is usually used as the starting material, which in its undeformed state can be referred to as a flat material or flat element. In FIG. 1, some system components of the bending system 1 have not been shown or only shown in stylized form for the sake of clarity.
    N2019 / 21600-AT-00
    The bending system 1 used in the present case for bending comprises at least one bending machine 4, in the present exemplary embodiment a bending press, in particular a press brake or press brake, for producing the workpieces 3 or workpieces between at least one bending tool 5 that can be adjusted relative to one another. For the sake of simplicity, only one bending machine -
    Machine 4 shown, it also being possible for several of the same to be provided.
    However, independently of this, it would also be possible to design the bending machine 4 as a so-called swivel bending machine or swing bending machine. In this case, the bending system 1 can also be referred to as a swivel bending system or oscillating bending system. In this case, the bending machine 4 comprises a press, which is designed, among other things, to clamp the workpieces 3 or workpieces to be manufactured from the sheet metal between a clamping tool that can be adjusted relative to one another. The clamping tool then comprises at least one lower clamping jaw and one upper clamping jaw interacting therewith. The lower clamping jaw can also be referred to as a lower cheek or counter holder and the upper clamping jaw can also be referred to as an upper cheek or hold-down device. The lower clamping jaw can also be designed as a single punch. To carry out the bending process, the bending machine 4 of the bending system 1 also includes a bending unit, which can also be referred to as a folding unit or a forming unit. This training possibility of the bending machine 4 has only been described, but it is not shown in detail. The type and design of the bending machine 4 is not of major importance in the process sequence described below. The main building
    The focus is more on the training of the manipulation system 2.
    The bending tool 5 of the bending machine 4 shown here and designed as a bending press comprises in the present exemplary embodiment at least one bending punch 6, but mostly several bending punches 6, and at least one bending tool.
    die 7, but mostly several bending dies 7 interacting therewith.
    The at least one bending punch 6 is above the workpiece to be manufactured
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    piece 3 arranged on the bending machine 4 and held there accordingly, in particular clamped. The at least one bending die 7 is also on the
    Bending machine 4 held, in particular held clamped thereon.
    In bending machines 4 of this type, the coordinate system generally referred to as the “X” direction is that which runs in a horizontal plane and in normal alignment with respect to the longitudinal extension of the bending tool 5, in particular its bending punch 6 and bending die 7. Thus this is the direction which also corresponds to the feed direction or the removal direction. The “Y” direction is understood to mean the vertical direction, which thus runs in the vertical direction of the bending tool 5 and further in the normal direction with respect to the horizontal plane. Finally, the “Z” direction is understood to mean that direction which runs in the longitudinal direction or in the longitudinal extension of the bending tool 5, in particular its bending punch 6 and bending die 7. The longitudinal extension of the bending edge or bending defined by the bending tool 5 is thus
    The line is aligned in the "Z" direction.
    The bending machine 4 comprises a machine frame 8, which for example
    has a base plate 9 and side walls 10, 11 projecting vertically therefrom and spaced apart from one another in the transverse direction and parallel to one another. These are preferably formed by a massive cross brace 12, formed for example from a sheet metal part, at their end spaced from the base plate 9.
    areas connected to each other.
    The side cheeks 10, 11 can be designed approximately C-shaped to form a free space for the deformation of the workpiece 3. The bending tool 5 is arranged and also held on press beams 13, 14. The lower press beam 13 is usually arranged in a stationary manner and can also be referred to as a press table. The here upper press beam 14 is supported in linear guides 15 and is relatively adjustable relative to the lower press beam 13 for performing the bending process. A drive arrangement 16 is provided for this purpose. For a more detailed description and illustration of a bending machine control unit,
    an input terminal as well as the energy supply was
    N2019 / 21600-AT-00
    waived for the sake of visibility. Further details required for the operation of such a bending machine 4, such as feed devices or the like, are given in the objective description in order to avoid un-
    The necessary length of the description is also omitted.
    The manipulation system 2 comprises a first manipulator 17, at least one second manipulator 18 and a guide arrangement 19, on or on which the manipulators 17, 18 are adjustably guided along this. The adjustment movement can take place autonomously, with the transmission of drive energy and / or driving and / or adjustment commands from the guide arrangement 19 to the manipulators 17, 18 also being possible. The guide arrangement 19 can, for example, comprise guide rails, guide rods or the like, which are preferably aligned in a straight line. The guide arrangement 19 defines a first axis 20 in the direction of its longitudinal extension. The guide arrangement 19 and thus also the first axis 20 preferably have a bending line or bending edge defined by the bending tool 5 or the clamping tool in a parallel direction and is therefore also parallel with respect to the " Z "axis of the coordinate
    t system aligned.
    The most important component components of the manipulators 17, 18 are described below, the component components of which are basically of the same design, but the arrangement on the manipulators 17, 18 can differ from one another. Those components of the first manipulator 17 are
    without apostrophes or without "**" and those of the second manipulator 18
    marked with an apostrophe or with "‘ * ".
    Each of the manipulators 17, 18 comprises a base frame 21, 21 ° which is adjustably guided on the guide arrangement 19, e.g. by means of wheels and / or its own guide elements. The more detailed representation and description of drive means was dispensed with, as this is well known and according to the known
    state of the art can be freely selected.
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    A first manipulator arm 22, 22 ‘is mounted on the base frame 21, 21‘ so that it can pivot about a second axis 23, 23 ‘. At each end area of the first manipulator arm 22, 22 ‘facing away from the base frame 21, 21‘, a second manipulator arm 24, 24 is mounted pivotably about a third axis 25, 25 ‘. A third manipulator arm 26, 26 'is also provided, each of the third manipulator arms 26, 26' being pivotable about a fourth axis 27, 27 'on a side facing away from the base frame 21, 21' on the respective second manipulator arm 24, 24 ' . The second axes 23, 23 ', the third axes 25, 25' and also the fourth axes 27, 27 'each and exclusively have a parallel alignment with respect to the first axis 20. So the axes listed above are also parallel with respect to the bending line of the bending
    machine 4 aligned.
    The first manipulator arms 22, 22 ‘can be arranged on the respective base frame 21, 21‘ either centrally on it or also to the side of the same, like this
    is shown in the present embodiment.
    On each of the third manipulator arms 26, 26 a holding arrangement 28, 28 ‘is also arranged or provided. The holding arrangement 28, 28 ‘can, for example, be designed as gripping pliers, vacuum suction devices, holding magnets or the like. Each of the holding arrangements 28, 28 is mounted on the respective third manipulator arm 26, 26 ‘so that it can be rotated about a fifth axis 29, 29. Each of the fifth axes 29, 29 ‘has a normal orientation with respect to the respective fourth axis 27, 27‘ and is thus oriented at right angles to this. Through this Drehbzw. The pivoting possibility can be held on the holding arrangement 28, 28 ‘
    Sheet metal or workpiece 3 can be rotated, for example, about its own axis.
    Furthermore, it is provided in each of the manipulators 17, 18 that each of the third manipulator arms 26, 26 is in each case on the one from the first manipulator arm 22, 22 ‘
    turned side on the second manipulator arm 24, 24 ‘is arranged.
    As can now be seen better from FIG. 2, are in the direction of the first axis
    20 seen, the manipulators 17, 18 one behind the other on or on the common
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    men guide arrangement 19 arranged and displaceable along this relative to it. Furthermore, the individual manipulator arms are arranged in mirror image to one another, this being done with respect to a fictitious normal plane to the first axis 20 between the two manipulators 17, 18. The third manipulator arm 26 of the first manipulator 17 is thus arranged on that side of the second manipulator arm 24 which faces the second manipulator 18. The same also applies to the third manipulator arm 26 ‘of the second manipulator 18. The third manipulator arm 26 ° of the second manipulator 18 is thus arranged on that side of the second manipulator arm 24‘ which the first manipulator 17
    is facing.
    The second manipulator arm 24 of the first manipulator 17 is arranged on that side of its first manipulator arm 22 which faces the second manipulator 18. The second manipulator arm 24 'of the second manipulator 18 is also arranged on that side of its first manipulator arm 22' which faces the first manipulator 17. Thus, each of the third manipulator arms 26, 26 Damit is not on the same side as the first manipulator arms 22, 22 ‘. There is always an arrangement in the direction of the respective opposite
    overlying manipulator 18 or 17.
    It is also shown that the fifth axis 29 of the first manipulator 17 is arranged to run in a first normal plane 30 with respect to the first axis 20. Furthermore, it is provided that the first normal plane 30 from the base frame 21
    of the first manipulator 17 in the direction of the first axis 20 and in the direction of the second manipulator 18 by a first distance 31
    is.
    The fifth axis 29 of the second manipulator 18 is arranged to run in a second normal plane 32 with respect to the first axis 20. It is also the second normal plane 32 from the base frame 21 ‘of the second manipulator 18 in the direction of the first axis 20 and in the direction of the first manipulator 17 by one
    second distance 33 arranged at a distance.
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    In order to enable the two holding arrangements 28, 28 '' to be arranged opposite one another for the transfer process, at least one of the manipulators 17, 18 is to be displaced in the direction of the other of the manipulators 18, 17. Due to the position of the third manipulator arms 26, 26 located on the outside with respect to the base frame 21, 21 ° and the manipulator 17, 18 located opposite, the manipulators 17, 18 can be directly adjacent to one another.
    can be arranged n one another.
    A sum of the first distance 31 plus the second distance 33 corresponds to at least one largest dimension of one of the third manipulator arms 26,
    26 ‘in the direction of the first axis 20.
    The position of the manipulators 17, 18 and their manipulator arms before and during the transfer process can best be seen in FIGS. If, for example, a workpiece 3 or sheet metal is grasped by the holding arrangement 28 of the first manipulator 17 and this is to be transferred directly and without intermediate storage to the holding arrangement 28 'of the second manipulator 18, the third manipulator arms 26, 26' are to be aligned opposite one another and protruding towards one another . Then the same workpiece 3 or sheet metal can also be grasped by the holding arrangement 28 'of the second manipulator 18. The holding arrangement 28 of the first manipulator 17 is mostly grasped or held on a first side and the holding arrangement 28 'of the second manipulator 18 is grasped or held on the opposite, second side. If the workpiece 3 or sheet metal is also held by the holding arrangement 28 'of the second manipulator 18, the workpiece 3 or sheet metal can be released from the holding arrangement 28 of the first manipulator 17. The direct transfer process is now complete. A transfer from the holding arrangement 28 ‘of the second manipulator 18 to the holding arrangement 28 of the first manipulator 17 takes place in the same way.
    way.
    For the transfer process, the fifth axes 29, 29 of the third manipulator arms 26, 26 ‘can preferably be arranged in a parallel alignment to one another.
    be arranged. It can also be advantageous if for the transfer process
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    the fifth axes 29, 29 ‘of the third manipulator arms 26, 26‘ in alignment
    the alignment to each other are arranged.
    For the transfer process, the first manipulator arm 22 and the second manipulator arm 24 of the first manipulator 17 can be arranged on a first side with respect to a vertical center plane 34 of the guide arrangement 19 that extends in the direction of the first axis 20. The first manipulator arm 22 ‘and the second manipulator arm 24‘ of the second manipulator 18, however, can be on a second side of the center plane 34 opposite the first side
    the guide arrangement 19 be or will be arranged.
    The exemplary embodiments show possible design variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated design variants of the same, but rather various combinations of the individual design variants with one another are possible and this possibility of variation due to the teaching of technical action by the present invention in Ability to do business in this technical field
    Specialist lies.
    The scope of protection is determined by the claims. However, the description and the drawings should be used to interpret the claims. Individual features or combinations of features from the different exemplary embodiments shown and described can represent independent inventive solutions. The independent inventive solutions
    The basic task can be found in the description.
    All information on value ranges in the present description are to be understood in such a way that they include any and all sub-areas, e.g. the information 1 to 10 should be understood to include all sub-areas, starting from the lower limit 1 and the upper limit 10 , ie all sub-ranges begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, for example 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    N2019 / 21600-AT-00
    For the sake of clarity, it should finally be pointed out that, for a better understanding of the structure, some elements are not to scale and / or enlarged
    and / or shown reduced.
    N2019 / 21600-AT-00
    19th
    List of reference symbols
    Bending system Manipulation system Workpiece Bending machine Bending tool Bending punch Bending die Machine frame Base plate Side cheek Side cheek Cross brace Press beam Press beam Linear guide Drive arrangement First manipulator Second manipulator Guide arrangement First axis Base frame
    first manipulator arm second axis
    second manipulator arm third axis
    third manipulator arm fourth axis holding arrangement fifth axis
    first normal plane
    31 32 33 34
    first distance second normal plane second distance
    Middle plane
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    权利要求:
    Claims (14)
    [1]
    1. A method for transferring at least one sheet to be bent or a workpiece (3) formed from the sheet in a bending system (1) with at least one bending machine (4) by means of a manipulation system (2) from a first manipulator (17) to at least one second manipulator (18), in which the following steps are carried out:
    - Provision of a guide arrangement (19), which guide arrangement (19) defines a common first axis (20) for each of the manipulators (17) in the direction of its longitudinal extension and each manipulator (17, 18) along the guide arrangement (19) in the direction of the first Axis (20) can be moved autonomously,
    - Providing the first manipulator (17) and at least the second manipulator (18), each of the manipulators (17, 18) comprising
    - a base frame (21, 21 ‘),
    - A first manipulator arm (22, 22 ‘), each of the first manipulator arms (22, 22‘) on the respective base frame (21, 21 °) being pivotable about a second axis (23, 23 ‘),
    - A second manipulator arm (24, 24 °), each of the second manipulator arms (24, 24 ') on a side facing away from the base frame (21) on the respective first manipulator arm (22, 22') about a third axis (25, 25 ') ) is pivotable,
    - A third manipulator arm (26, 26 '), each of the third manipulator arms (26, 26 °) on a side facing away from the base frame (21, 21') on the respective second manipulator arm (24, 24 ') about a fourth axis (27 , 27 °) is pivotable,
    - wherein the second axes (23, 23 ‘), the third axes (25, 25‘) and also the fourth axes (27, 27 °) each have exclusively a parallel alignment with respect to the first axis (20),
    - A holding arrangement (28, 28 °), which holding arrangement (28, 28 ‘) is arranged or formed on the respective third manipulator arm (26, 26‘) and
    each of the holding arrangements (28, 28 ‘) is rotatable about a fifth axis (29, 29 °),
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    wherein each of the fifth axes (29, 29 °) has a normal orientation with respect to the respective fourth axis (27, 27 °),
    - wherein each of the third manipulator arms (26, 26 ‘) is arranged on the side facing away from the first manipulator arm (22, 22‘) on the second manipulator arm (24, 24 ‘),
    - One behind the other arranging the manipulators (17, 18) in the direction of the first axis (20) on or on the common guide arrangement (19) and in a relative position to one another in which the third manipulator arm (26) of the first manipulator (17) on that Side of the second manipulator arm (24) is arranged which faces the second manipulator (18) and the third manipulator arm (26 ') of the second manipulator (18) is arranged on that side of the second manipulator arm (24 *) which faces the first manipulator (17) is facing,
    - Detecting or grasping a sheet metal or workpiece (3) with the holding arrangement (28) of the first manipulator (17),
    - Shifting at least one manipulator (17, 18) in the direction of the other manipulator (18, 17) and thereby aligning the respective third manipulator arms (26, 26 °) opposite one another and projecting one on the other,
    - Detecting or gripping the same sheet or workpiece (3) with the holding arrangement (28 °) of the second manipulator (18) and releasing or releasing the sheet or workpiece (3) from the holding arrangement (28) of the first
    Manipulator (17).
    [2]
    2. The method according to claim 1, characterized in that the second manipulator arm (24) of the first manipulator (17) is arranged on that side of the first manipulator arm (22) which faces the second manipulator (18).
    [3]
    3. The method according to claim 1 or 2, characterized in that the second manipulator arm (24 *) of the second manipulator (18) is arranged on that side of the first manipulator arm (22 °) which is to the first manipulator (17)
    is turned.
    22737 N2019 / 21600-AT-00
    [4]
    4. The method according to any one of the preceding claims, characterized in that for the transfer process in each case the fifth axes (29, 29 ‘) of the third manipulator arms (26, 26 °) are in parallel alignment to each other.
    be arranged.
    [5]
    5. The method according to any one of the preceding claims, characterized in that for the transfer process in each case the fifth axes (29, 29 ‘) of the third manipulator arms (26, 26 °) are in alignment with one another.
    be arranged.
    [6]
    6. The method according to any one of the preceding claims, characterized in that for the transfer process, the first and the second manipulator arm (22; 24) of the first manipulator (17) on a first side with respect to a vertical aligned in the direction of the first axis (20) Center plane (34) of the guide arrangement (19) and the first and second manipulator arms (22 '; 24') of the second manipulator (18) on a second side of the center plane (34) of the guide arrangement (19) opposite the first side.
    net.
    [7]
    7. The method according to any one of the preceding claims, characterized in that the first axis (20) of the guide arrangement (19) in parallel alignment with respect to one of a bending machine (4) of the bending system (1) defi-
    ned bending line is aligned.
    [8]
    8. Manipulation system (2) for a bending system (1) comprising at least one bending machine (4) for transferring at least one sheet to be bent or a workpiece (3) formed from the sheet from a first manipulator (17) to at least one second manipulator (18), the manipulation system (2) comprises
    - A guide arrangement (19), which guide arrangement (19) in
    Direction of their longitudinal extension a common first axis (20) for each of the
    23737 N2019 / 21600-AT-00
    Manipulators (17, 18) are defined and each manipulator (17, 18) of the manipulation system (2) can be moved autonomously along the guide arrangement (19) in the direction of the first axis (20),
    - The first manipulator (17) and the at least one second manipulator (18) each comprise
    - a base frame (21, 21 ‘),
    - A first manipulator arm (22, 22 ‘), each of the first manipulator arms (22, 22‘) on the respective base frame (21, 21 ‘) being pivotable about a second axis (23, 23‘),
    - A second manipulator arm (24, 24 °), each of the second manipulator arms (24, 24 ') on a side facing away from the base frame (21, 21 °) on the respective first manipulator arm (22, 22') about a third axis (25 ) is pivotable,
    - A third manipulator arm (26, 26 '), each of the third manipulator arms (26, 26 °) on a side facing away from the base frame (21, 21') on the respective second manipulator arm (24, 24 ') about a fourth axis (27 , 27 *) is pivotable,
    - The second axes (23, 23 °), the third axes (25, 25 ') and also the fourth axes (27, 27 °) of each manipulator (17, 18) each exclusively have a parallel orientation with respect to the first axis (20 ) exhibit,
    - A holding arrangement (28, 28 °), which holding arrangement (28, 28 °) is arranged or formed on the respective third manipulator arm (26, 26 ') and each of the holding arrangements (28, 28') about a fifth axis (29, 29 °) is rotatable, each of the fifth axes (29, 29 °) having a normal orientation with respect to the respective fourth axis (27, 27 °), wherein
    - Each of the third manipulator arms (26, 26 °) is arranged on the side facing away from the first manipulator arm (22, 22 ') on the second manipulator arm (24, 24'), and wherein - the first manipulator (17) and the at least one second manipulator (18) are arranged one behind the other in the direction of the first axis (20) on or on the common guide arrangement (19), in particular for implementation
    the transfer method according to one of the preceding claims,
    24737 N2019 / 21600-AT-00
    characterized,
    - That the third manipulator arm (26) of the first manipulator (17) is arranged on that side of the second manipulator arm (24) which faces the second manipulator (18), and
    - That the third manipulator arm (26 *) of the second manipulator (18) is arranged on that side of the second manipulator arm (24) which is the first
    Manipulator (17) is facing.
    [9]
    9. Manipulation system (2) according to claim 8, characterized in that the second manipulator arm (24) of the first manipulator (17) is arranged on that side of the first manipulator arm (22) which is the second manipulator
    (18) is facing.
    [10]
    10. Manipulation system (2) according to claim 8 or 9, characterized in that the second manipulator arm (24 *) of the second manipulator (18) is arranged on that side of the first manipulator arm (22 ‘) which is the first
    Manipulator (17) is facing.
    [11]
    11. Manipulation system (2) according to one of claims 8 to 10, characterized in that the fifth axis (29) of the first manipulator (17) is arranged in a first normal plane (30) with respect to the first axis (20) and the first Normal plane (30) from the base frame (21) of the first manipulator (17) in the direction of the first axis (20) and in the direction of the second manipulator
    is arranged spaced apart by a first distance (31).
    [12]
    12. Manipulation system (2) according to one of claims 8 to 11, characterized
    characterized in that the fifth axis (29 ') of the second manipulator (18) is arranged to run in a second normal plane (32) with respect to the first axis (20) and the second normal plane (32) from the base frame (21 °) of the second manipulator ( 18) in the direction of the first axis (20) and in the direction of the first mani-
    pulator (17) is arranged spaced apart by a second distance (33).
    N2019 / 21600-AT-00
    [13]
    13. Manipulation system (2) according to claim 11 and 12, characterized in that a sum of the first distance (31) plus the second distance (33) of at least one largest dimension of one of the third manipulator
    arms (26, 26 ') in the direction of the first axis (20).
    [14]
    14. Bending system (1) comprising at least one bending machine (4) and a manipulation system (2) for transferring at least one sheet to be bent or a workpiece (3) formed from the sheet from a first manipulator (17) to at least one second manipulator ( 18), characterized in that the manipulation system (2) is designed according to one of claims 8 to 13
    is.
    N2019 / 21600-AT-00
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    同族专利:
    公开号 | 公开日
    AT522859B1|2021-12-15|
    WO2021016646A1|2021-02-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102004035797B3|2004-07-23|2006-02-16|Langenstein & Schemann Gmbh|Method and device for transferring a workpiece|
    DE102008009995A1|2008-02-19|2009-08-20|Kuka Systems Gmbh|Workpieces transporting method for use between processing locations of processing system, involves clamping workpieces at processing locations by gripping device, and transporting workpieces and gripping device together|
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    WO2013185834A1|2012-06-15|2013-12-19|Abb Technology Ag|Stacking line system and method for stacking blanks outputted from a blanking shear or press|CN113020359A|2021-03-01|2021-06-25|广东百能家居有限公司|Method and equipment for manufacturing water tank for stainless steel cabinet production|DE3817117C2|1988-05-19|1992-10-08|Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg, De|
    IT1295906B1|1997-10-31|1999-05-28|Antil Srl|PROCEDURE AND EQUIPMENT FOR AUTOMATIC FOLDING OF SHEETS IN SHEETS|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50694/2019A|AT522859B1|2019-08-01|2019-08-01|Transfer process, manipulation system designed for this and bending system|ATA50694/2019A| AT522859B1|2019-08-01|2019-08-01|Transfer process, manipulation system designed for this and bending system|
    PCT/AT2020/060283| WO2021016646A1|2019-08-01|2020-07-30|Transfer method, manipulation system designed therefor, and bending unit|
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