EP0300984B1 - Manipulator for metal sheets - Google Patents

Manipulator for metal sheets Download PDF

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Publication number
EP0300984B1
EP0300984B1 EP88830320A EP88830320A EP0300984B1 EP 0300984 B1 EP0300984 B1 EP 0300984B1 EP 88830320 A EP88830320 A EP 88830320A EP 88830320 A EP88830320 A EP 88830320A EP 0300984 B1 EP0300984 B1 EP 0300984B1
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EP
European Patent Office
Prior art keywords
sheet
shaft
carriage
jaw
manipulator
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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.)
Expired - Lifetime
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EP88830320A
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German (de)
French (fr)
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EP0300984A3 (en
EP0300984A2 (en
Inventor
Antonio Codatto
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Individual
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Individual
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Priority to AT88830320T priority Critical patent/ATE87244T1/en
Publication of EP0300984A2 publication Critical patent/EP0300984A2/en
Publication of EP0300984A3 publication Critical patent/EP0300984A3/en
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Publication of EP0300984B1 publication Critical patent/EP0300984B1/en
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    • 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
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53709—Overedge assembling means

Definitions

  • the present invention relates to a manipulator for sheet metal sheets.
  • a manipulator for sheet metal sheets.
  • Such a manipulator in accordance with the preamble of claim 1, is known from document JP-A-58-168 445.
  • Manipulators for metal sheets are known in the form of flat sheets, which are capable of picking them up from a loading area and then bringing them to a press brake which ensures the folding of one or more of their edges.
  • these sheets are used both in the automotive sector for the production of vehicle hulls and in the field of household appliances (refrigerators, washing machines, air conditioners) or for the production of shelving for furniture and the like.
  • manipulators comprising in particular a jaw provided with two opposite jaws oriented vertically and suitable for gripping each sheet in the loading area to bring it to the press; this jaw has the possibility of turning around its axis in one direction or the other, thereby causing the rotation of the sheet metal sheet which can be subjected to the folding operation at all its sides.
  • the two jaws of the jaw are mounted at the end of a C-profile structure which is capable of performing only a linear movement, the jaw thus always always facing towards the sheet insertion area in the press.
  • the loading of the sheets on the manipulator must necessarily be carried out in a direction transverse to that of advance of the manipulator.
  • the main disadvantage of such a device lies in the fact that it is absolutely impossible to load a sheet on the manipulator before the latter has unloaded the previous sheet and has completed the reverse return stroke so as to have rear relative to the loading device.
  • the manipulator which constitutes a large mass structure, performs a movement of advance exactly equal to that accomplished by the sheet, it is understood that It is essential to have recourse to a large power motor, which determines an increase in the cost of the device as well as an increase in the energy consumption necessary for the movements of the latter.
  • the jaw is supported by a gantry-shaped structure, which also has only one possibility of linear movement from the loading area to the press.
  • jaws which are capable of turning only at an angle of 90 ° and 180 °, which excludes for example the possibility of working a sheet of sheet metal which is not rectangular in profile.
  • the present invention proposes to produce a manipulator device for sheets which has advantageous structural and functional characteristics compared to those of similar devices of known type.
  • Another object of the invention is to provide a manipulator which includes a device for securely locking the jaw in any position desired by the user, while being capable of allowing the rotation of the jaws which grip the sheets at angles of any desired value and in particular different from 90 ° and 180 °, as is the case similar devices of known type.
  • the manipulator for sheet metal sheets according to the invention is defined in claim 1.
  • the invention in fact provides that the support structure of the upper jaw, having a double T-shaped profile, is articulated, at its side opposite to that on which said upper jaw is mounted, on a carriage which can move on a guide oriented in a direction perpendicular to that of the path taken by the sheet to reach the press.
  • the lower jaw is mounted on a vertical shaft.
  • the latter constitutes the connecting pivot between the lower lateral end of the support structure and a longitudinal carriage which is provided with the possibility of moving in the direction of advance of the sheet.
  • the transverse carriage When the longitudinal carriage is moved forward in order to determine the advance of the sheet, the transverse carriage is able to move along its guide, the whole structure thus achieving a "feathered” movement with " the pole "nevertheless mobile so that the two jaws and consequently the sheet move in a perfectly rectilinear movement.
  • an effective locking means is provided for the lower jaw, which makes it possible to stop the angular travel of this jaw at any desired value and not only at three or four pre-established positions.
  • a cylindrical annular chamber around a part of the shaft of which the jaw is integral, is arranged a cylindrical annular chamber whose partition wall with the aforementioned shaft is intended to bend once said chamber is filled with 'a fluid under pressure, in order to exert a force on the shaft to prevent rotation.
  • an automatic device for controlling the angular position of the jaws in order to satisfy the particular requirements for bending the edges of the sheet metal sheet.
  • the unloading of the folded sheet can be carried out from the moment when the two jaws open until the moment when the manipulator is ready to start again to bring a new sheet to the press.
  • the device according to the invention it is also possible to carry out the loading and unloading of the sheets of sheet metal both on the right and on the left (the loading can also be carried out from the front), reverse of similar devices of known type where the loading must necessarily take place in a single direction.
  • the device according to a particular embodiment of the invention comprises an upper support element 1 articulated in 2 to a lower support element 3; this structure affects the general shape of a double T.
  • the two support elements are connected by a hydraulic jack 4 whose body is fixed to one of said elements, while the rod is made integral with the opposite element; this jack is able to intervene to cause the rotation of the upper element 1 around the pivot 2, with a view to bringing the two wings closer to the support elements assembled by said cylinder while simultaneously moving the opposite wings apart from one another.
  • a hydraulic jack 4 whose body is fixed to one of said elements, while the rod is made integral with the opposite element; this jack is able to intervene to cause the rotation of the upper element 1 around the pivot 2, with a view to bringing the two wings closer to the support elements assembled by said cylinder while simultaneously moving the opposite wings apart from one another.
  • an upper jaw 5 oriented vertically and capable of rotating about its own axis is provided.
  • the lateral end of the lower support element 3 is profiled so as to present a series (two in this case) of teeth 6 engaged in the spaces provided between the corresponding teeth 7 provided on a longitudinal carriage 8; the lower support element 3 and the carriage 8 are connected to each other in a rotary manner by means of a shaft 9, oriented vertically and integral with a lower jaw 10, said shaft being arranged inside seats in teeth 6 and 7.
  • the lower support element 3 is extended by a pin 11 mounted on a transverse carriage 12 movable along a guide 13.
  • the entire structure is supported by a fixed base 14 which has a horizontal part facing the above-mentioned guide, while at its vertical part faces the longitudinal carriage, which is connected to it in the same way by pads 15, arranged horizontally and suitable for moving along linear guides 15 'advantageously from ball circulation type.
  • On the longitudinal carriage 8 is further provided a motor 16, electric or hydraulic, for driving in rotation a toothed wheel 17 cooperating with a rack 18 which is carried by the vertical part of the fixed base and which s' extends longitudinally.
  • On the longitudinal carriage is mounted another electric motor 19 with a vertical axis which cooperates by means of a pinion 20 with a toothed wheel 21 whose axis is oriented vertically and which is integral with the lower end of the shaft 9.
  • the sheet metal sheet 22 which has just been loaded onto the manipulator using suitable devices, not illustrated in the drawing because of known type, is intended to be gripped by the clamp formed by the two jaws, preferably at its central part.
  • the loading takes place from right to left in the transverse direction with respect to the direction of advance of the sheet from the loading zone to the press 23.
  • the transverse carriage and therefore the pivot 11 are located at the level of the anterior end of travel of the guide 13, as illustrated in the figure. On the latter, we can see that there is no problem opposing the fact that the manipulator can be loaded on the left or on the back.
  • the sheet 22 At the end of the travel of the longitudinal carriage, the sheet 22 is in position so that one of its edges can be folded by the press 23. If it is necessary to fold the other edges of this sheet, it is understood that the support elements 1 and 3 are moved back, also in this case following the rotation of the electric motor which determines the displacements of the longitudinal carriage, in order to allow the rotation of the sheet metal, determined by the movement of the electric motor 19 to through the toothed wheel 21, the shaft 9 and therefore the lower jaw 10.
  • the upper jaw can be connected to the lower jaw 10 by means of mechanical deflection devices, housed inside the body of the carriage 8 and of the support elements 1 and 3; this solution, although more complex from a structural point of view compared to the previous one, has the important advantage of allowing the two jaws to always perform the same angular movements.
  • a special mechanism is provided for blocking the angular position of the lower jaw 10 (FIG. 2).
  • annular cylindrical chamber 26 which through a pipe 27 can be filled with a hydraulic fluid , for example from a hydraulic pump or the like.
  • the inner wall which forms the chamber 26 and which constitutes the element separating it from the outer wall of the shaft 9 is very thin and can therefore be elastically deformed appreciably when the fluid pressure exceeds a certain value. predetermined, thereby interfering with the wall of the shaft and prohibiting any subsequent rotation thereof, so that the blocking is thus ensured.
  • This type of blocking has the important advantage of being extremely precise at all the angular positions of the shaft and consequently it lends itself particularly well to allow the bending of the sheet to any angular position. More specifically, this arrangement makes it possible to work sheet metal sheets having a profile different from the rectangular profile. It should also be considered that the sheets are sometimes cut irregularly with different shapes from the exact rectangular profile. In the case where two sheets must be superimposed, it is necessary that the edges correspond perfectly and by operating with the above-mentioned device, it is possible to allow the sheet to be folded so that the fold obtained is strictly parallel at the end edges of said sheet, thereby allowing the imperfection of the cut to be recovered and in particular to use a sheet which would otherwise have to be discarded.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Laminated Bodies (AREA)
  • Blow-Moulding Or Thermoforming Of Plastics Or The Like (AREA)
  • Secondary Cells (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)

Abstract

The manipulator comprises a support structure 1 with a vice 5 vertically disposed capable of grasping a plate sheet 22 and carrying it to the press 23, the plate sheet performing a rigorously linear course. The support structure is intended to perform a rototranslatory motion, rotating around pivot 11 which is located corresponding to the extremity of the support structure opposite to the extremity in which the vice 5 is placed. This pivot slides along guide 13 which is located laterally with respect to the direction of advance of the plate, the direction of the guide being perpendicular with respect to the direction of advance of the plate. The energy required to transport the plate from the loading zone to the press is reduced to about one-half with respect to the energy required in similar devices of known type in which a support structure which carries the plate sheet from the loading zone to the press performs exactly the same course of the plate (see FIG. 3).

Description

La présente invention a pour objet un manipulateur pour feuilles de tôle. Un tel manipulateur, conforme au préambule de la revendication 1, est connu du document JP-A-58-168 445.The present invention relates to a manipulator for sheet metal sheets. Such a manipulator, in accordance with the preamble of claim 1, is known from document JP-A-58-168 445.

On connaît des manipulateurs pour tôles métalliques sous forme de feuilles planes, qui sont propres à prélever celles-ci depuis une zone de chargement et à les amener ensuite à une presse-plieuse qui assure le repliage d'un ou plusieurs de leurs bords.Manipulators for metal sheets are known in the form of flat sheets, which are capable of picking them up from a loading area and then bringing them to a press brake which ensures the folding of one or more of their edges.

Une fois pliées ainsi que soudées les unes aux autres de manière appropriée, ces tôles sont utilisées aussi bien dans le secteur automobile pour la réalisation de la coque des véhicules, que dans le domaine de l'électro-ménager (réfrigérateurs, machines à laver, climatiseurs) ou pour la fabrication de rayonnages pour meubles et similaires.Once folded and welded to each other appropriately, these sheets are used both in the automotive sector for the production of vehicle hulls and in the field of household appliances (refrigerators, washing machines, air conditioners) or for the production of shelving for furniture and the like.

En l'état actuel de la technique, on connaît des manipulateurs comprenant en particulier une mâchoire munie de deux mors opposés orientés verticalement et propre à saisir chaque tôle dans la zone de chargement pour l'amener vers la presse ; cette mâchoire a la possibilité de tourner autour de son axe dans un sens ou dans l'autre, en provoquant de la sorte la rotation de la feuille de tôle qui peut être soumise à l'opération de pliage au niveau de tous ses côtés.In the current state of the art, manipulators are known comprising in particular a jaw provided with two opposite jaws oriented vertically and suitable for gripping each sheet in the loading area to bring it to the press; this jaw has the possibility of turning around its axis in one direction or the other, thereby causing the rotation of the sheet metal sheet which can be subjected to the folding operation at all its sides.

Dans l'un de ces dispositifs, il est prévu que les deux mors de la mâchoire sont montés à l'extrémité d'une structure à profil en C qui est susceptible d'effectuer seulement un mouvement linéaire, la mâchoire restant ainsi toujours tournée vers la zone d'insertion de la tôle dans la presse.In one of these devices, it is provided that the two jaws of the jaw are mounted at the end of a C-profile structure which is capable of performing only a linear movement, the jaw thus always always facing towards the sheet insertion area in the press.

Le chargement des tôles sur le manipulateur doit nécessairement s'effectuer suivant une direction transversale par rapport à celle d'avance du manipulateur.The loading of the sheets on the manipulator must necessarily be carried out in a direction transverse to that of advance of the manipulator.

L'inconvénient principal d'un tel dispositif réside dans le fait qu'il est absolument impossible de charger une tôle sur le manipulateur avant que celui-ci ait déchargé la tôle précédente et ait accompli la course inverse de retour de façon à se disposer en arrière par rapport au dispositif de chargement. En outre et du fait que le manipulateur, qui constitue une structure de masse importante, accomplit un mouvement d'avance exactement égal à celui accompli par la tôle, on comprend qu'il est indispensable d'avoir recours à un moteur de puissance importante, ce qui détermine un accroissement du coût du dispositif ainsi qu'une augmentation de la consommation d'énergie nécessaire aux mouvements de celui-ci.The main disadvantage of such a device lies in the fact that it is absolutely impossible to load a sheet on the manipulator before the latter has unloaded the previous sheet and has completed the reverse return stroke so as to have rear relative to the loading device. In addition and the fact that the manipulator, which constitutes a large mass structure, performs a movement of advance exactly equal to that accomplished by the sheet, it is understood that It is essential to have recourse to a large power motor, which determines an increase in the cost of the device as well as an increase in the energy consumption necessary for the movements of the latter.

Dans un autre manipulateur de type connu, la mâchoire est soutenue par une structure en forme de portique, elle aussi dotée d'une seule possibilité de mouvement linéaire depuis la zone de chargement jusqu'à la presse.In another manipulator of known type, the jaw is supported by a gantry-shaped structure, which also has only one possibility of linear movement from the loading area to the press.

L'inconvénient fondamental d'une telle structure réside dans son encombrement transversal important, du fait que la distance qui sépare les deux colonnes doit être supérieure à la plus grande diagonale de la feuille de tôle afin de permettre le déplacement angulaire de celle-ci ; de plus les guides du portique sont très fortement sollicités et tendent à se déformer, en déterminant, en dernière analyse, une certaine imprécision dans l'opération de pliage. En outre même dans ce cas également, il est nécessaire de déplacer l'intégralité de la masse importante du portique d'une quantité égale au déplacement imprimé à la feuille de tôle. Par rapport au dispositif précédent, il est toutefois possible de disposer dans la zone de chargement une nouvelle feuille de tôle immédiatement après que le portique soit parti de celle-ci pour se diriger vers la zone de pliage.The fundamental drawback of such a structure lies in its large transverse size, since the distance which separates the two columns must be greater than the greatest diagonal of the sheet of metal in order to allow the angular displacement of the latter; moreover, the gantry guides are very stressed and tend to deform, determining, in the final analysis, a certain imprecision in the folding operation. In addition, even in this case also, it is necessary to move the entire large mass of the gantry by an amount equal to the displacement printed on the sheet of sheet metal. Compared to the previous device, it is however possible to have in the loading area a new sheet of sheet metal immediately after the gantry has left it to go towards the folding area.

Dans les deux dispositifs, on trouve des mâchoires qui sont susceptibles de tourner seulement suivant un angle de 90° et de 180°, ce qui exclut par exemple la possibilité de travailler une feuille de tôle qui ne soit par à profil rectangulaire.In both devices, there are jaws which are capable of turning only at an angle of 90 ° and 180 °, which excludes for example the possibility of working a sheet of sheet metal which is not rectangular in profile.

La présente invention se propose de réaliser un dispositif manipulateur pour tôles qui présente des caractéristiques structurelles et fonctionnelles avantageuses par rapport à celles des dispositifs analogues de type connu.The present invention proposes to produce a manipulator device for sheets which has advantageous structural and functional characteristics compared to those of similar devices of known type.

Un autre but de l'invention est de réaliser un manipulateur qui comporte un dispositif de blocage sûr de la mâchoire à toute position désirée par l'utilisateur, tout en étant susceptible de permettre la rotation des mâchoires qui saisissent les tôles suivant des angles de toute valeur désirée et notamment différentes de 90° et de 180°, comme c'est le cas des dispositifs similaires de type connu.Another object of the invention is to provide a manipulator which includes a device for securely locking the jaw in any position desired by the user, while being capable of allowing the rotation of the jaws which grip the sheets at angles of any desired value and in particular different from 90 ° and 180 °, as is the case similar devices of known type.

Le manipulateur pour feuilles de tôle suivant l'invention est défini à la revendication 1.The manipulator for sheet metal sheets according to the invention is defined in claim 1.

L'invention prévoit en fait que la structure-support du mors supérieur, présentant un profil en forme de double T, est articulée, au niveau de son côté opposé à celui où est monté ledit mors supérieur, sur un chariot qui peut se déplacer sur un guide orienté suivant une direction perpendiculaire à celle du trajet accompli par la tôle pour arriver à la presse. Vice-versa, le mors inférieur est monté sur un arbre vertical. Ce dernier constitue le pivot de liaison entre l'extrémité latérale inférieure de la structure-support et un chariot longitudinal qui est doté de la possibilité de se déplacer suivant la direction d'avance de la tôle.The invention in fact provides that the support structure of the upper jaw, having a double T-shaped profile, is articulated, at its side opposite to that on which said upper jaw is mounted, on a carriage which can move on a guide oriented in a direction perpendicular to that of the path taken by the sheet to reach the press. Vice versa, the lower jaw is mounted on a vertical shaft. The latter constitutes the connecting pivot between the lower lateral end of the support structure and a longitudinal carriage which is provided with the possibility of moving in the direction of advance of the sheet.

Lorsque le chariot longitudinal est déplacé vers l'avant afin de déterminer l'avance de la tôle, le chariot transversal est propre à se déplacer le long de son guide, l'ensemble de la structure accomplissant ainsi un mouvement "en drapeau" avec "la hampe" néanmoins mobile de façon que les deux mors et en conséquence la tôle se déplacent suivant un mouvement parfaitement rectiligne. Il est en outre prévu des moyens propres à permettre et à déterminer la rotation des deux mors verticaux autour de leur axe propre, en vue de permettre à la presse de travailler sur tous les côtés des tôles.When the longitudinal carriage is moved forward in order to determine the advance of the sheet, the transverse carriage is able to move along its guide, the whole structure thus achieving a "feathered" movement with " the pole "nevertheless mobile so that the two jaws and consequently the sheet move in a perfectly rectilinear movement. There are also provided specific means to allow and determine the rotation of the two vertical jaws about their own axis, in order to allow the press to work on all sides of the sheets.

Dans une forme préférée de réalisation de l'invention, on prévoit un moyen de blocage efficace du mors inférieur, ce qui permet d'arrêter la course angulaire de ce mors à toute valeur désirée et non pas seulement à trois ou quatre positions pré-établies, comme dans les dispositifs de type connu. En pratique, autour d'une partie de l'arbre dont le mors est solidaire, est agencée une chambre annulaire cylindrique dont la paroi de séparation avec l'arbre sus-mentionné est destinée à s'infléchir une fois que ladite chambre est remplie d'un fluide sous pression, afin d'exercer un effort sur l'arbre pour en interdire la rotation.In a preferred embodiment of the invention, an effective locking means is provided for the lower jaw, which makes it possible to stop the angular travel of this jaw at any desired value and not only at three or four pre-established positions. , as in known type devices. In practice, around a part of the shaft of which the jaw is integral, is arranged a cylindrical annular chamber whose partition wall with the aforementioned shaft is intended to bend once said chamber is filled with 'a fluid under pressure, in order to exert a force on the shaft to prevent rotation.

Bien entendu, on prévoit des moyens propres à déterminer la rotation de l'arbre qui porte le mors inférieur, le mouvement de celui-ci étant naturellement repris par le mors supérieur.Of course, there are provided specific means for determining the rotation of the shaft which carries the lower jaw, the movement of the latter being naturally taken up by the upper jaw.

De manière avantageuse, il sera prévu un dispositif automatique pour le contrôle de la position angulaire des mors afin de satisfaire les exigences particulières de pliage des bords de la feuille de tôle.Advantageously, an automatic device will be provided for controlling the angular position of the jaws in order to satisfy the particular requirements for bending the edges of the sheet metal sheet.

On comprend sans peine que l'énergie nécessaire pour assurer le mouvement des organes mobiles du manipulateur est nettement inférieure à cette nécessaire pour opérer le déplacement des organes mobiles des manipulateurs de type connu ; en fait ces derniers organes sont destinés à suivre un trajet exactement égal à celui effectué par la tôle depuis la zone de chargement jusqu'à la presse, tandis que dans le dispositif suivant l'invention, le mouvement accompli par le baricentre des organes mobiles est pratiquement la moitié de celui accompli par la tôle. En outre, dans le dispositif suivant l'invention, il est possible de disposer une nouvelle feuille de tôle dans la zone de chargement à chaque instant qui suit le moment où la feuille précédente a été saisie par le manipulateur pour être amenée à la presse-plieuse, le chargement pouvant également survenir lorsque le manipulateur est revenu en position pour la prise d'une nouvelle feuille.It is easily understood that the energy necessary to ensure the movement of the movable members of the manipulator is much lower than that necessary to operate the movement of the movable members of the manipulators of known type; in fact these latter members are intended to follow a path exactly equal to that made by the sheet from the loading area to the press, while in the device according to the invention, the movement accomplished by the baricenter of the movable members is almost half that of sheet metal. In addition, in the device according to the invention, it is possible to have a new sheet of sheet metal in the loading area at each instant following the moment when the previous sheet was gripped by the manipulator to be brought to the press. folder, loading can also occur when the manipulator is returned to position for picking up a new sheet.

Le déchargement de la feuille de tôle pliée peut être effectué depuis le moment où les deux mors s'ouvrent jusqu'à celui où le manipulateur est prêt à repartir pour amener une nouvelle tôle vers la presse.The unloading of the folded sheet can be carried out from the moment when the two jaws open until the moment when the manipulator is ready to start again to bring a new sheet to the press.

Dans le dispositif suivant l'invention, il est en outre possible d'effectuer le chargement comme le déchargement des feuilles de tôle aussi bien sur la droite que sur la gauche (le chargement pouvant également être effectué par l'avant), à l'inverse des dispositifs similaires de type connu où le chargement doit nécessairement s'effectuer suivant une direction unique.In the device according to the invention, it is also possible to carry out the loading and unloading of the sheets of sheet metal both on the right and on the left (the loading can also be carried out from the front), reverse of similar devices of known type where the loading must necessarily take place in a single direction.

Tout ceci permet de réduire considérablement les temps qui s'écoulent entre le chargement de la tôle sur le manipulateur et l'arrivée de celle-ci sur la presse plieuse. Grâce au mouvement particulier des organes mobiles du manipulateur, lequel nécessite une énergie approximativement réduite de moitié par rapport aux dispositifs similaires de type connu, on peut utiliser pour le mouvement un moteur de puissance approximativement moitié de celle nécessaire aux dispositifs précités, bien entendu à égalité de masse du manipulateur, ce qui diminue le coût de celui-ci et simultanément la consommation d'énergie nécessaire à son utilisation.All this considerably reduces the time that elapses between the loading of the sheet on the manipulator and the arrival of the latter on the press brake. Thanks to the particular movement of the movable parts of the manipulator, which requires energy approximately reduced by half compared to similar devices of known type, it is possible to use for the movement a motor of power approximately half that required for the aforementioned devices, although heard with equal mass of the manipulator, which reduces the cost of the latter and simultaneously the energy consumption necessary for its use.

Les caractéristiques qui précèdent et d'autres caractéristiques encore de l'invention vont être maintenant illustrées de manière détaillée en se référant à une forme particulière de réalisation de ladite invention, avec l'aide des dessins annexés, dans lesquels :

  • La fig. 1 est une vue en élévation de l'ensemble du dispositif suivant un mode de réalisation de l'invention.
  • La fig. 2 montre en coupe partielle un détail de ce dispositif.
  • Les fig. 3 , 4 et 5 constituent chacune une vue en plan schématique par dessus du dispositif, montré au cours de trois phases différentes du fonctionnement.
The foregoing characteristics and still other characteristics of the invention will now be illustrated in detail with reference to a particular embodiment of said invention, with the aid of the appended drawings, in which:
  • Fig. 1 is an elevational view of the entire device according to an embodiment of the invention.
  • Fig. 2 shows in partial section a detail of this device.
  • Figs. 3, 4 and 5 each constitute a schematic plan view from above of the device, shown during three different phases of operation.

En fig. 1, on peut voir que le dispositif suivant une forme particulière de réalisation de l'invention comprend un élément-support supérieur 1 articulé en 2 à un élément-support inférieur 3 ; cette structure affecte la forme générale d'un double T.In fig. 1, it can be seen that the device according to a particular embodiment of the invention comprises an upper support element 1 articulated in 2 to a lower support element 3; this structure affects the general shape of a double T.

Au niveau d'une de leurs ailes, les deux éléments-supports sont reliés par un vérin hyraulique 4 dont le corps est fixé à l'un desdits éléments, tandis que la tige est rendue solidaire de l'élément opposé ; ce vérin est apte à intervenir pour provoquer la rotation de l'élément supérieur 1 autour du pivot 2, en vue de rapprocher les deux ailes des éléments-supports assemblées par ledit vérin en éloignant simultanément l'une de l'autre les ailes opposées. Au niveau de l'aile du support supérieur 1 opposée à celle qui est associée au vérin 4, est prévu un mors supérieur 5 orienté verticalement et susceptible de tourner autour de son axe propre. l'extrémité latérale de l'élément-support inférieur 3 est profilée de manière à présenter une série (deux en l'occurence) de dents 6 engagées dans les espaces ménagés entre les dents correspondantes 7 prévues sur un chariot longitudinal 8 ; l'élément-support inférieur 3 et le chariot 8 sont reliés l'un à l'autre de manière rotative au moyen d'un arbre 9, orienté verticalement et solidaire d'un mors inférieur 10, ledit arbre étant agencé à l'intérieur de sièges pratiqués dans les dents 6 et 7.At one of their wings, the two support elements are connected by a hydraulic jack 4 whose body is fixed to one of said elements, while the rod is made integral with the opposite element; this jack is able to intervene to cause the rotation of the upper element 1 around the pivot 2, with a view to bringing the two wings closer to the support elements assembled by said cylinder while simultaneously moving the opposite wings apart from one another. At the level of the wing of the upper support 1 opposite to that which is associated with the jack 4, an upper jaw 5 oriented vertically and capable of rotating about its own axis is provided. the lateral end of the lower support element 3 is profiled so as to present a series (two in this case) of teeth 6 engaged in the spaces provided between the corresponding teeth 7 provided on a longitudinal carriage 8; the lower support element 3 and the carriage 8 are connected to each other in a rotary manner by means of a shaft 9, oriented vertically and integral with a lower jaw 10, said shaft being arranged inside seats in teeth 6 and 7.

Vers le bas, l'élément-support inférieur 3 se prolonge par un axe 11 monté sur un chariot transversal 12 mobile le long d'un guide 13. L'ensemble de la structure est supporté par une embase fixe 14 qui comporte une partie horizontale faisant face au guide sus-mentionné, tandis qu'à sa partie verticale fait face le chariot longitudinal, lequel lui est relié de la même manière par des patins 15, disposés horizontalement et propres à se déplacer le long de guides linéaires 15' avantageusement du type à circulation de billes. Sur le chariot longitudinal 8 est en outre prévu un moteur 16, électrique ou hydraulique, pour l'entraînement en rotation d'une roue dentée 17 coopérant avec une crémaillère 18 qui est portée par la partie verticale de l'embase fixe et qui s'étend dans le sens longitudinal. Sur le chariot longitudinal est monté un autre moteur électrique 19 à axe vertical qui coopère par l'intermédiaire d'un pignon 20 avec une roue dentée 21 dont l'axe est orienté verticalement et qui est solidaire de l'extrémité inférieure de l'arbre 9.Downwards, the lower support element 3 is extended by a pin 11 mounted on a transverse carriage 12 movable along a guide 13. The entire structure is supported by a fixed base 14 which has a horizontal part facing the above-mentioned guide, while at its vertical part faces the longitudinal carriage, which is connected to it in the same way by pads 15, arranged horizontally and suitable for moving along linear guides 15 'advantageously from ball circulation type. On the longitudinal carriage 8 is further provided a motor 16, electric or hydraulic, for driving in rotation a toothed wheel 17 cooperating with a rack 18 which is carried by the vertical part of the fixed base and which s' extends longitudinally. On the longitudinal carriage is mounted another electric motor 19 with a vertical axis which cooperates by means of a pinion 20 with a toothed wheel 21 whose axis is oriented vertically and which is integral with the lower end of the shaft 9.

En se référant à la fig. 3, on peut voir que la feuille de tôle 22 qui vient d'être chargée sur le manipulateur à l'aide de dispositifs appropriés, non illustrés sur le dessin parce que de type connu, est destinée à être saisie par la pince formée par les deux mors, préférablement au niveau de sa partie centrale. En fig. 3, on voit que le chargement s'effectue de droite à gauche dans le sens transversal par rapport à la direction d'avance de la tôle depuis la zone de chargement jusqu'à la presse 23. A la position de chargement, le chariot transversal et donc le pivot 11 se trouvent au niveau de la fin de course antérieure du guide 13, comme illustré sur la figure. Sur cette dernière, on peut voir qu'il n'existe aucun problème s'opposant au fait que le manipulateur puisse être chargé sur la gauche ou sur l'arrière.Referring to fig. 3, it can be seen that the sheet metal sheet 22 which has just been loaded onto the manipulator using suitable devices, not illustrated in the drawing because of known type, is intended to be gripped by the clamp formed by the two jaws, preferably at its central part. In fig. 3, it can be seen that the loading takes place from right to left in the transverse direction with respect to the direction of advance of the sheet from the loading zone to the press 23. In the loading position, the transverse carriage and therefore the pivot 11 are located at the level of the anterior end of travel of the guide 13, as illustrated in the figure. On the latter, we can see that there is no problem opposing the fact that the manipulator can be loaded on the left or on the back.

Sur cette figure, on voit encore une tôle 25 déjà soumise à l'opération de pliage sur deux de ses bords, et qui est enlevée de la zone de travail, par exemple à l'aide d'une pince 24.In this figure, we can still see a sheet 25 already subjected to the folding operation on two of its edges, and which is removed from the working area, for example using pliers 24.

En fig. 4 et 5, on peut constater que lorsque le moteur électrique référencé 16 en fig. 1 commence sa rotation, il détermine le déplacement du chariot longitudinal, non représenté au dessin dans un but de simplification, par rapport à l'embase fixe, celle-ci n'ayant pas elle-même été représentée pour plus de clarté ; bien entendu le chariot transversal est destiné à se déplacer le long du guide 13, en se portant au niveau de la partie terminale dudit guide vers la moitié du trajet (fig. 5) qui va de la zone de chargement à la presse, pour retourner alors une nouvelle fois au niveau de la partie la plus avancée du guide précité (fig. 4). Il va de soi que si le chariot accomplit un mouvement rigoureusement rectiligne, l'élément-support inférieur 3 accomplit un mouvement de rotation-translation en tournant autour du pivot 11, lequel se déplace à son tour sur le guide 13 suivant un mouvement rectiligne.In fig. 4 and 5, it can be seen that when the electric motor referenced 16 in FIG. 1 begins its rotation, it determines the movement of the longitudinal carriage, not shown in the drawing for the purpose of simplification, relative to the fixed base, the latter not having itself been shown for clarity; of course the transverse carriage is intended to move along the guide 13, being carried at the end part of said guide towards the half of the path (fig. 5) which goes from the loading area to the press, to then return once again to the level of the most advanced part of the aforementioned guide (fig. 4). It goes without saying that if the carriage performs a strictly rectilinear movement, the lower support element 3 performs a rotation-translation movement by turning around the pivot 11, which in turn moves on the guide 13 in a rectilinear movement.

Au terme de la course du chariot longitudinal, la tôle 22 se trouve en position pour que l'un de ses bords puisse être plié par la presse 23. S'il est nécessaire de réaliser le pliage des autres bords de cette tôle, on comprend que les éléments-supports 1 et 3 soient reculés, également dans ce cas à la suite de la rotation du moteur électrique qui détermine les déplacements du chariot longitudinal, afin de permettre la rotation de la tôle, déterminée par le mouvement du moteur électrique 19 à travers la roue dentée 21, l'arbre 9 et donc le mors inférieur 10.At the end of the travel of the longitudinal carriage, the sheet 22 is in position so that one of its edges can be folded by the press 23. If it is necessary to fold the other edges of this sheet, it is understood that the support elements 1 and 3 are moved back, also in this case following the rotation of the electric motor which determines the displacements of the longitudinal carriage, in order to allow the rotation of the sheet metal, determined by the movement of the electric motor 19 to through the toothed wheel 21, the shaft 9 and therefore the lower jaw 10.

En fig. 5, on a illustré en tracé interrompu la limite de l'aire d'encombrement de la tôle durant cette rotation, la limite arrière de cette circonférence déterminant en pratique la position la plus avancée au niveau de laquelle peut être amenée la tôle suivante 22 qui doit être chargée au cours de la phase de pliage de la tôle précédente. Il est possible de pré-disposer le mors supérieur 5 de façon à ce qu'il soit monté fou à l'intérieur du siège ménagé sur le support supérieur 1, sa rotation étant assurée par l'effort de torsion qu'à travers la tôle exerce sur elle le mors inférieur 10.In fig. 5, there has been illustrated in broken lines the limit of the space occupied by the sheet during this rotation, the rear limit of this circumference in practice determining the most advanced position at which the next sheet 22 can be brought, which must be loaded during the folding phase of the previous sheet. It is possible to pre-arrange the upper jaw 5 so that it is mounted idly inside the seat provided on the upper support 1, its rotation being ensured by the torsional force than through the sheet exercises on it the lower jaw 10.

En variante, le mors supérieur peut être relié au mors inférieur 10 par le moyen de dispositifs mécaniques de renvoi, logés à l'intérieur du corps du chariot 8 et des éléments-supports 1 et 3 ; cette solution, bien que plus complexe d'un point de vue structurel par rapport à la précédente, présente l'avantage important de permettre aux deux mors d'accomplir toujours les mêmes mouvements angulaires.As a variant, the upper jaw can be connected to the lower jaw 10 by means of mechanical deflection devices, housed inside the body of the carriage 8 and of the support elements 1 and 3; this solution, although more complex from a structural point of view compared to the previous one, has the important advantage of allowing the two jaws to always perform the same angular movements.

Il est effectivement structurellement impossible de s'assurer que les axes des deux mors soient parfaitement superposés ; si ces deux axes se présentent toujours dans la même position, les dimensions du pliage seront constantes pour chaque tôle, tandis que si les axes se disposent de manière décalée, chaque tôle présentera des dimensions finales différentes de la précédente.It is effectively structurally impossible to ensure that the axes of the two jaws are perfectly superimposed; if these two axes are always in the same position, the dimensions of the bending will be constant for each sheet, while if the axes are arranged offset, each sheet will have different final dimensions from the previous one.

En fig. 4 et 5, on peut voir que le déchargement de la tôle 25, déjà pliée le long de ses bords, qui sera effectué à l'aide d'un dispositif de type connu, utilisant par exemple une pince 24, peut survenir depuis le moment au cours duquel les deux mors s'ouvrent jusqu'à celui où le manipulateur, après avoir été chargé d'une tôle ultérieure, vient à nouveau à proximité de la presse ; en fait et pour des motifs de sécurité, on se limite à retarder cette opération jusqu'au moment du départ du manipulateur de la zone de chargement.In fig. 4 and 5, it can be seen that the unloading of the sheet 25, already folded along its edges, which will be carried out using a device of known type, using for example a clamp 24, can occur from the moment during which the two jaws open up to where the manipulator, after being loaded with a subsequent sheet, again comes close to the press; in fact and for safety reasons, we limit ourselves to delaying this operation until the moment the manipulator leaves the loading area.

Conformément à une forme de mise en oeuvre préférée de l'invention, on prévoit un mécanisme particulier pour le blocage de la position angulaire du mors inférieur 10 (fig. 2). Autour de la paroi extérieure de l'arbre 9 solidaire de ce mors, et sur l'une des dents 7 du chariot longitudinal 8 est en fait ménagée une chambre annulaire cylindrique 26 qui a travers une canalisation 27 peut être remplie d'un fluide hydraulique, provenant par exemple d'une pompe hydraulique ou analogue. La paroi intérieure qui forme la chambre 26 et qui constitue l'élément séparant celle-ci de la paroi extérieure de l'arbre 9 est très mince et peut de ce fait se déformer élastiquement de manière sensible lorsque la pression du fluide dépasse une certaine valeur prédéterminée, en interférant de la sorte avec la paroi de l'arbre et en interdisant toute rotation ultérieure de celui-ci, si bien que le blocage est ainsi assuré.In accordance with a preferred embodiment of the invention, a special mechanism is provided for blocking the angular position of the lower jaw 10 (FIG. 2). Around the outer wall of the shaft 9 integral with this jaw, and on one of the teeth 7 of the longitudinal carriage 8 is in fact formed an annular cylindrical chamber 26 which through a pipe 27 can be filled with a hydraulic fluid , for example from a hydraulic pump or the like. The inner wall which forms the chamber 26 and which constitutes the element separating it from the outer wall of the shaft 9 is very thin and can therefore be elastically deformed appreciably when the fluid pressure exceeds a certain value. predetermined, thereby interfering with the wall of the shaft and prohibiting any subsequent rotation thereof, so that the blocking is thus ensured.

Ce type de blocage présente l'avantage important d'être extrêmement précis à toutes les positions angulaires de l'arbre et en conséquence il se prête particulièrement bien pour permettre le pliage de la tôle à une position angulaire quelconque. Plus spécialement, cette disposition permet de travailler des feuilles de tôle présentant un profil différent du profil rectangulaire. Il y a lieu en outre de considérer que les tôles sont parfois découpées de manière irrégulière en présentant des formes différentes du profil rectangulaire exact. Dans le cas où deux tôles doivent être superposées, il est nécessaire que les bords se correspondent de manière parfaite et en opérant avec le dispositif sus-indiqué, on peut permettre le pliage de la tôle de façon à ce que la pliure obtenue soit rigoureusement parallèle aux bords d'extrémité de ladite tôle, en permettant en conséquence de récupérer l'imperfection de la découpe et notamment d'utiliser une tôle qui aurait dû autrement être mise au rebut.This type of blocking has the important advantage of being extremely precise at all the angular positions of the shaft and consequently it lends itself particularly well to allow the bending of the sheet to any angular position. More specifically, this arrangement makes it possible to work sheet metal sheets having a profile different from the rectangular profile. It should also be considered that the sheets are sometimes cut irregularly with different shapes from the exact rectangular profile. In the case where two sheets must be superimposed, it is necessary that the edges correspond perfectly and by operating with the above-mentioned device, it is possible to allow the sheet to be folded so that the fold obtained is strictly parallel at the end edges of said sheet, thereby allowing the imperfection of the cut to be recovered and in particular to use a sheet which would otherwise have to be discarded.

Claims (7)

  1. Manipulator for metal sheets, of the type comprising a supporting construction with two clamping jaws (5-10) orientated vertically and aligned axially so as to grip, level with the feed zone, a horizontally arranged metal sheet (22), said construction incorporating actuating means for allowing the metal sheet to be moved linearly until it reaches a bending press (23), devices being associated with said jaws (5-10) in order to fix their rotation about their axis, so as to allow the sheet to be subjected to a bending operation on all or some of its sides,
    characterised in that the supporting construction is shaped overall like a double T with an upper element (1) which, at the extremity of one of its sides, comprises the seat for the shaft of the upper jaw (5), and a lower support element (3) articulated (at 2) to the former in the central joining region, said lower support element (1) continuing downwards by way of a trunnion (11) mounted on a transverse carriage (12) which runs along a guide (13) orientated perpendicularly to the line joining the zone for feeding the sheet metal and the press, said guide (13) being provided laterally with respect to the aforementioned line, its direction intersecting said line at the halfway level, the guide (13) being carried by a fixed shoulder (14) which laterally with respect to the jaw zone continues vertically, the lateral extremity of the lower support element (3) being articulated, by the shaft (9) which supports the lower jaw (10), to a longitudinal carriage (8) which on the side incorporates lugs (15) adapted to move along linear guides (15') provided on the vertical portion of the foregoing shoulder (14), these linear guides (15') extending parallel with respect to the line joining the feed zone and the press, means (16-17-18) being provided to ensure forward motion of the longitudinal carriage (8) along these linear guides (15') and also means (19, 20, 21) for generating rotation of the shaft (9) and hence that of the lower jaw (10).
  2. Manipulator according to claim 1, characterised in that the means for ensuring the forward motion of the longitudinal carriage (8) are constituted by a motor (16) carried by the carriage and horizontally orientated so as to rotate a toothed wheel (17) which meshes with a rack (18) provided on the vertical portion of the shoulder (14), which rack (18) extends parallel to the orientation of the linear guides (15').
  3. Manipulator according to either of claims 1 and 2, characterised in that the means for enduring the rotation of the shaft (9) are constituted by an electric motor (19) carried by the longitudinal carriage (8) in order to ensure the rotation, by way of a pinion (20), of a toothed wheel (21) rigidly joined coaxially to the aforementioned shaft (9).
  4. Manipulator according to any one of claims 1 to 3, characterised in that the two support elements (1-3) are joined to one another, at their side opposed to that carrying the jaw (5, 10), by beans of a hydraulic-type actuator (4) whose body is rigidly joined to one of the aforementioned elements (1, 3), whilst the upper extremity of the rod thereof is secured to the opposed support element, the displacement of sad rod being adapted to generate the rotational movements of the upper element (1) about the central pivot (2) of said elements.
  5. Manipulator according to any one of claims 1 to 4, characterised in that the lateral extremities of the lower support element (3) and of the longitudinal carriage (8) which mutually face one another are configured to present a set of teeth which then engage between the teeth of the opposed element.
  6. Manipulator according to any one of claims 1 to 5, characterised in that about the shaft (9) which carries the lower jaw (10) there is provided a cylindrical annular chamber (26), the wall which separates this chamber from the outer wall of the shaft (9) being made from an elastic material of reduced thickness, the device including means for ensuring entry of a pressurised fluid into the interior of said chamber via a conduit (27) incorporated in the body of the carriage (8).
  7. Manipulator according to any one of claims 1 to 6, characterised in that it comprises mechanical return means housed inside the bodies of the longitudinal carriage (8) and of the two support elements (1, 3), said means being adapted to mechanically link the two jaws (5-10) and to ensure identity of the angular displacements of said jaws about their axis.
EP88830320A 1987-07-23 1988-07-22 Manipulator for metal sheets Expired - Lifetime EP0300984B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT88830320T ATE87244T1 (en) 1987-07-23 1988-07-22 HANDLING DEVICE FOR METAL PANELS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT8558087 1987-07-23
IT85580/87A IT1220216B (en) 1987-07-23 1987-07-23 MANIPULATOR FOR SHEET METAL SHEETS

Publications (3)

Publication Number Publication Date
EP0300984A2 EP0300984A2 (en) 1989-01-25
EP0300984A3 EP0300984A3 (en) 1990-10-24
EP0300984B1 true EP0300984B1 (en) 1993-03-24

Family

ID=11328430

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88830320A Expired - Lifetime EP0300984B1 (en) 1987-07-23 1988-07-22 Manipulator for metal sheets

Country Status (7)

Country Link
US (1) US4905976A (en)
EP (1) EP0300984B1 (en)
JP (1) JP2566294B2 (en)
AT (1) ATE87244T1 (en)
DE (1) DE3879566T2 (en)
ES (1) ES2040380T3 (en)
IT (1) IT1220216B (en)

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3103354A (en) * 1961-10-25 1963-09-10 Patterson Carbon interleaver and glue tipping device
DE2740042C2 (en) * 1977-09-06 1985-10-24 L. Schuler GmbH, 7320 Göppingen Tool changing device in a multi-stage massive forming press
JPS551937A (en) * 1978-06-19 1980-01-09 Shin Meiwa Ind Co Ltd Automatic bender of plate form material
JPS58168445A (en) * 1982-03-30 1983-10-04 Murata Warner Suueeg Kk Moving device of carriage in machine tool
AT373174B (en) * 1982-06-23 1983-12-27 Voest Alpine Ag DEVICE FOR FEEDING SHEET PANELS TO A BENDING MACHINE
EP0115602A1 (en) * 1983-01-06 1984-08-15 Hämmerle AG Device for manipulating work pieces
AT378701B (en) * 1983-10-04 1985-09-25 Haemmerle Ag DEVICE FOR HANDLING TABLETS
IT1182514B (en) * 1985-07-15 1987-10-05 Imp Prima Spa PROCEDURE AND PLANT FOR CARRYING OUT THE PRECISION BENDING OF SHEETS
IT1182515B (en) * 1985-07-15 1987-10-05 Imp Prima Spa MANIPULATOR DEVICE PARTICULARLY FOR HANDLING SHEETS DURING BENDING OPERATIONS
BE904504A (en) * 1986-03-27 1986-09-29 Lvd Co Robot controlled sheet metal bending press - has computer controlled arms repositioning workpiece before each bending operation
US4808059A (en) * 1986-07-15 1989-02-28 Peak Systems, Inc. Apparatus and method for transferring workpieces
US4775281A (en) * 1986-12-02 1988-10-04 Teradyne, Inc. Apparatus and method for loading and unloading wafers

Also Published As

Publication number Publication date
DE3879566D1 (en) 1993-04-29
ES2040380T3 (en) 1993-10-16
IT8785580A0 (en) 1987-07-23
ATE87244T1 (en) 1993-04-15
EP0300984A3 (en) 1990-10-24
US4905976A (en) 1990-03-06
JPS6440289A (en) 1989-02-10
IT1220216B (en) 1990-06-06
DE3879566T2 (en) 1993-09-30
JP2566294B2 (en) 1996-12-25
EP0300984A2 (en) 1989-01-25

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