EP2846943A1 - Verfahren zur automatisierten handhabung eines biegewerkzeuges und fertigungseinrichtung - Google Patents
Verfahren zur automatisierten handhabung eines biegewerkzeuges und fertigungseinrichtungInfo
- Publication number
- EP2846943A1 EP2846943A1 EP13731256.7A EP13731256A EP2846943A1 EP 2846943 A1 EP2846943 A1 EP 2846943A1 EP 13731256 A EP13731256 A EP 13731256A EP 2846943 A1 EP2846943 A1 EP 2846943A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- bending
- tool
- reference light
- light beam
- handling device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005452 bending Methods 0.000 title claims abstract description 157
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004519 manufacturing process Methods 0.000 title claims description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 46
- 238000013459 approach Methods 0.000 claims abstract description 40
- 238000003825 pressing Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 abstract 1
- 238000003780 insertion Methods 0.000 description 8
- 230000037431 insertion Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
- B21D5/0254—Tool exchanging
Definitions
- the invention relates to a method according to the preamble of claims 1 and 2 and to a production device according to the preamble of claims 10 and 11.
- the object of the invention is to provide a method with which the accuracy requirements for handling devices can be reduced or to provide a production device in which the use of industrial robots as a handling device is possible.
- the approach of the bending tool to the holding position or the approach of the gripping member to the holding portion of the bending tool or the workpiece to the bending position at least in a coordinate direction by one, in the direction srich- tion considered before the holding position or bending position and in a known measuring distance
- the measuring distance as the basis for calculation for the remaining approaching movement of the handling device from the actual position to the holding position or to the holding section or to the bending position ver the local application of the handbook bungs adopted in the vicinity of the tool holder or the bending tool lower positioning errors, since the reference light beam to the holding position or the bending position only short distances must be moved on which only small deviations can occur and resulting before referencing positioning errors are ineffective.
- the result is a non-contact position
- the positioning accuracy can be further increased if the approach movement of the handling device is continued during the calculation of the remaining distance to the holding position or the holding section without stopping, as this further sources of error by braking and accelerating the moving members of the handling device can be avoided. If the approaching movement of the handling device is reduced in its speed before reaching the reference light beam, the accuracy can be increased since dynamic influences in the referencing and the remaining approaching movement are thereby substantially reduced.
- the local referencing in the area of the tool holder can be applied for a limited time by using the position determined by a positioning controller of the handling device again for a subsequent distance movement of the handling device at a predefined distance from the holding position of the control device for the calculation of the further subsequent trajectory.
- the global coordinate system of the handling device remains unchanged in this case.
- the local referencing according to the invention can be made possible in places where a high positioning accuracy is required by providing additional light barrier arrangements. If during the approaching movement the actual position is detected in two different coordinate directions by successive interruptions of the same reference light beam by two measuring edges, in particular perpendicular to the respective coordinate directions, the process of inserting or gripping a bending machine can be detected. tool or the positioning of a workpiece are even more reliably carried out with less risk of collisions.
- the actual position in two different coordinate directions can be detected by successive interruptions of two reference light beams spaced apart in both coordinate directions by two measuring edges, whereby the same advantages are achieved in the positioning.
- One possibility for correcting angular misalignments of the bending tool is that two measuring edges which are parallel and distant relative to one another on a surface plane of the bending tool, which run perpendicular to the approaching direction and the reference light beam, are detected with a reference light beam.
- the bending tool is rotated by a first helix angle relative to the reference light beam during the approach movement before reaching the reference light beam through a perpendicular to the approach direction and the reference light beam oriented axis of rotation of the handling device, whereby the first measuring edge forms a front edge.
- the approaching movement is stopped and then the bending tool is rotated by a relative angle in the opposite direction until the second measuring edge interrupts the reference light beam.
- an angular deviation of the surface plane from the desired orientation is determined, which is subsequently compensated by a correction rotation about the axis of rotation.
- the light barrier arrangement comprises a laser beam generator, in particular a laser diode.
- a laser beam with its high luminous intensity and low scattering can be monitored very closely for interruption.
- the light barrier arrangement can advantageously emit two relatively distant and parallel reference light beams in a structural unit.
- the light barrier arrangement can be provided at many positions within the production facility if the light barrier arrangement comprises a transmitter unit and a receiver unit which is distant from it.
- the receiver unit monitors the impact of the reference light beam emanating from the transmitter unit and is signal-connected to the control apparatus.
- the arrangement of the light barrier arrangement if it comprises a combined transmitter-receiver unit and a beam deflection arrangement which is distant from it, in particular a mirror.
- the light barrier arrangement can be integrated in one of the tool holders and the reference light beam perpendicular to the main plane or working plane of the bending press, whereby the exact positioning of the bending tool in the longitudinal direction of the receiving groove and / or in the direction of the depth of the receiving groove can take place. If cooperating components of the light barrier arrangement are arranged on both tool holders and the reference light beam spans the distance between the tool holders parallel to the main plane, exact positioning of the bending tool as well as of a workpiece can be carried out in up to two axial directions.
- a simple and at the same time accurate mounting of the light barrier arrangement can take place if it comprises a fastening portion, whereby it can be fastened to the tool holder like a bending tool.
- FIG. 1 shows a manufacturing device according to the invention in a simplified representation
- Fig. 2 shows a phase when inserting a bending tool according to the invention in one
- FIG. 7 shows a phase when gripping a bending tool or after inserting a bending tool
- 8 shows a possible embodiment of the light barrier arrangement with a fastening section
- Fig. 11 is a plan view of another possible embodiment of the light barrier arrangement in positioning a workpiece.
- a manufacturing device 1 for the production of bending-formed workpieces with a bending press 2, a handling device 3, in particular in the form of a multi-axis robot, and a tool storage 4 is shown.
- a machine frame 5 of the bending press 2 comprises essentially two spaced apart via a transverse dressing, not shown, parallel to each other and perpendicular to a footprint 6
- an adjustable press bar 9 is guided in guide arrangements of the side stand 7 and drive connected to the side stands 7 and the machine frame 5 drive means 10, for example, hydraulic cylinders, electric spindle drives, etc. drive-connected.
- tool holders 11 Arranged on the two pressing bars are tool holders 11, which are opposite one another and are provided with fastening means, which have, for example, tool receiving openings 12.
- the tool holders 11 are provided for mounting with bending tools 13 in accordance with specifications for the respective workpiece part to be formed and bending operation, for example with a bending die 14 in the tool holder 11 of the fixed press beam 8 and with a bending punch 15 in the tool holder 11 of the press beam 9.
- the production device 1 for an automated workpiece and tool transfer comprises the handling device 3, for example in the form of a multi-axis robot 16, with a gripper 17 which has at least one gripping element 18, e.g. a pliers gripper, suction pads, etc. includes.
- the working space of the handling device 3 preferably extends over the usable working space of the bending press 2 and the tool storage 4.
- the handling device 3 can be moved in a driving arrangement 19 in parallel to a front side 20 of the press beam 8 direction.
- a stop device 22 with a stop finger 23 can be provided on the rear side 21 of the pressing bar 8, which supports the exact positioning of workpieces to be bent by CNC control.
- the production device 1 comprises a programmable control device 24 with which the functions of the production device 1 and its components are controlled, regulated, monitored, adjusted or otherwise influenced. In particular, this includes the detection and control of states and positions of articulated arms and in particular of the gripping element 18 of the handling device 3 or the manipulated workpieces or bending tools 13.
- the control device 24 can also be on the manufacturing device 1 distributed subsystems, the in signal communication with each other include, in particular a positioning control 25 for the handling device 3, with which the positions of the various movement members and adjustment axes of the handling device 3 are controlled in the execution of handling tasks.
- the invention relates to the insertion or removal of a bending tool 13 in and out of a holding position on a tool holder 11.
- a bending die 14 and a punch 15 are shown in a respective holding position 27 on the tool storage 4, in each of which a bending tool 13 is held in a tool holder 26.
- a bending tool 13 is shown in the form of a bending die 14, which is just approximated to the tool holder 11 on the fixed pressing beam 8 or removed from this, shown.
- the bending tools 13 can be brought easily and smoothly in the intended holding position 27 on a tool holder 11, 26 of the handling device 3, it is necessary that the respective holding position 27 is approached with high accuracy.
- the production device 1 comprises at least one light barrier arrangement 28, by which the positioning accuracy of the handling device 3 in the area of the tool holders 11, 26 equipped with them is relatively low can be increased.
- the tool holder 11 on the fixed pressing beam 8 and the tool holders 26 on the tool storage 4 are each assigned a light barrier arrangement 28.
- the light barrier arrangement 28 In the area of a tool holder 11, 26, the light barrier arrangement 28 generates a reference light beam 30, which is located in a measuring distance 31, viewed from the handling device 3, in front of the holding position 27. If the reference light beam 30 is interrupted by a predefined measuring edge on the bending tool 13 or on the gripping element 18 when the handling device 3 approaches the holding position 27, this jet interruption can be detected by the light barrier arrangement 28 and supplied to the control device 24.
- the coordinate system of the handling device 3 can be re-referenced at a short distance to the holding position 27, thereby rendering any possible positioning error occurring in front of the reference light beam 30 during a larger movement of the handling device 3 or a positional deviation of the tool memory 4 ineffective.
- a measuring distance 31 is shown, which extends in the direction of the horizontal X-axis 32, but it is also possible to set a known measuring distance in the direction of the vertical Y-axis 33, as an alternative or in addition to the horizontal X-direction 32 a referencing can also take place in the direction of the vertical Y-axis 33.
- the measuring distance 31 is selected from a range of a few millimeters to a few centimeters, and is thus relatively short compared to the entire range of the handling device 3, the range of such a manufacturing device in the form of a bending cell is usually several meters.
- the mechanical deformations of the handling device 3 and / or the tool store 4 depend to a great extent on the masses of the bending tools 13 used and, because of the local referencing in the vicinity of the tool holders 11, 26, it is not necessary to the computationally consuming masses or thermal influences computationally by the positioning control 25 to be considered.
- the reference light beam 30 extends at right angles to the plane of the drawing and also at right angles to the approaching direction, which in the exemplary embodiment shown extends in the direction of the X-axis 32.
- the reference light beam 30 extends from a transmitter unit to a receiver unit, wherein the receiver unit monitors the impact of emanating from the transmitter unit reference light beam 30 and signal connected to the control device 24 and thereby the interruption of the reference light beam 30, the detection of the actual position and the following Recalculation of the remaining approaching motion can trigger.
- the referencing of the handling device 3 on the reference light beam 30 with a measuring edge on the gripping element 18 is performed and extends in this case the measuring distance 31 from the reference light beam 30 to the holding portion 29th of the bending tool 13 located in the tool holder 11, 26.
- FIG. 1 shows a bending tool 13, which is held by a gripping element 18 of the gripper 17 of the handling device 3 and in a tool holder 11, 26, which is arranged for example on the lower, fixed pressing beam 8 or on a tool storage 4, to be used.
- the holding section 29, on which the gripper 17 with the gripper ment 18, coupled here in the form of a forceps gripper, is formed in the illustrated embodiment by a gripping groove 34 into which the pliers-like gripping element 18 engages.
- a two-part dashed approaching movement 35 is required, with the bending tool 13 is positioned vertically aligned over the tool holder 11, 26 and in a first step Subsequently, with a vertical lowering movement, a fixing portion 36 of the bending tool 13 in a receiving groove 37 of the tool holder 11, 26 can be introduced. Subsequently, by fixing means, not shown, for example, a terminal block, a fixing of the bending tool 13 to the tool holder 11, 26th
- the receiving groove 37 has a clear width 38, which must be greater than the outer dimension 39 of the mounting portion 36. Depending on the given positioning accuracy or repeatability of the handling device 3, the clear width 38 must be chosen so large that sufficient play for insertion the attachment portion 36 is present so that when lowering the bending tool 13 no unforeseen collision with the tool holder 11, 26 can take place.
- the task of the handling s device 3 is to position the center plane 40 of the bending tool in the main plane 41 of the tool holder 11, 26, wherein this is done using the light barrier assembly 28 with the reference light beam 30.
- the horizontal portion of the approaching movement 35 in the direction of the horizontal X-axis 32 must be at a height at which the lower edge 42 of the bending tool 13 is located above the upper edge 43 of the tool holder 11, 26.
- a measuring position is defined, which is in the measuring distance 31 relative to the tool holder 11, 26 and which defines a current position with respect to the tool holder 11, 26 for a body which interrupts the reference light beam 30 at this time .
- a reference point on the tool holder 11, 26 seen in the illustrated embodiment of the handling device 3 from the rear side surface 44 of the receiving groove 37 is used, but it can also be any, other reference point can be used.
- the selected in the embodiment side surface 44 is advantageous since, for example, the attachment portion 36 is pressed by a terminal strip against this side surface 44.
- a measuring edge 45 is selected on the bending tool 13, which is located on the mounting portion 36 of the bending tool 3.
- the measuring edge 45 lies in a surface plane 46 of the attachment portion 36 and is perpendicular to the approach direction 32 of the handling device 3 and perpendicular to the reference light beam 30. Since the receiving groove 37 forms a contour that defines the holding position 27 of the bending tool 13, it is advantageous if however, it would also be possible, for example, to use an edge on the front surface 47 of the bending tool 13 for the referencing.
- FIG. 3 shows that time of the approaching movement in which the measuring edge 45 interrupts the reference light beam 30 and the measuring edge 45 is in the known measuring distance 31 to the side surface 44 of the receiving groove 37.
- an actual position of the bending tool 13 is defined and the control device 24 can now calculate the remaining approaching movement for the handling device 3 relative to this actual position, whereby this remaining approaching movement can be carried out with high accuracy due to the short path to be traveled.
- the remaining approaching movement is determined, for example, so that the measuring edge 45 of the attachment portion 36 is located slightly in front of the side surface 44, that is, there is little play for the subsequent lowering.
- FIG. 4 shows that position of the bending tool 13 is shown, in which the horizontal-tale approaching movement in the direction of the X.-axis 32 is completed and the measuring edge 45 is just in front of the side surface 44 of the receiving groove 37 and then the bending tool 13 only still in the vertical direction 33 must be lowered into the receiving groove 37.
- FIG. 5 shows the bending tool 13 positioned in the final holding position 27, which with its fastening section 36 by means of a clamping force 48 indicated by an arrow. tet, can be fixed in the receiving groove 37 and thereby the surface plane 46 of the mounting portion 36 is brought into contact with the side surface 44 of the receiving groove 37 and an exact holding position 27 of the bending tool 13 is achieved.
- FIG. 5 shows the bending tool 13 positioned in the final holding position 27, which with its fastening section 36 by means of a clamping force 48 indicated by an arrow. tet, can be fixed in the receiving groove 37 and thereby the surface plane 46 of the mounting portion 36 is brought into contact with the side surface 44 of the
- FIG. 6 shows a further possible embodiment of a light barrier arrangement 28 which can generate and monitor for interruption two reference light beams 30 and 49 which are distanced from each other and parallel to one another.
- the actual position of the bending tool 13 in the direction of the X-axis 32 and with the reference light beam 49 the actual position of the bending tool 13 in the direction of the Y-axis 33 can be detected.
- the bending tool 13 is thereby first approximated by the handling device 3, not shown, in the horizontal direction to the tool holder 11, 26 until the first measuring edge 45 interrupts the first reference light beam 30 and then lowered in the vertical direction until the lower edge 42 as the second measuring edge 50th of the bending tool 13 interrupts the second reference light beam 49.
- the horizontal approach movement is continued for a short distance after the interruption of the first reference light beam 30, so that not one corner of the bending tool 13 has to trigger the interruption of the second reference light beam 49, but instead a measuring point for the vertical actual position lies within the lower edge 42.
- a detection of the actual position can also be done with reversed flow, in which first the horizontal lower edge 42 is detected as the measuring edge and then the vertical measuring edge.
- the approach movement is accordingly modified to program.
- each further horizontal movement of the bending tool 13 is already a part of the remaining approach movement in the direction of the X-axis 32 calculated by the control device 24 and every other one after the first interruption of the second reference light beam 49 vertical movement of the bending tool 13 already a part of the remaining approaching movement in the direction of the Y-axis 33, which is also calculated by the control device 24.
- the remaining approaching movement from the reference light beams 30, 49 to the holding position 27 can be carried out with increased accuracy, since the position is referenced of the bending tool 13 can be done in two directions.
- the approach movement of the bending tool 13 may be programmed so that a short stop is provided when a reference light beam 30, 49 is interrupted, however, the approach movement is preferably continued without interruption, whereby the positioning accuracy can be further increased, since strong braking and acceleration operations, which can represent further sources of error can be reduced.
- Fig. 7 it is shown that with the light barrier assembly 28, the accuracy when removing a bending tool 13 from its holding position on the tool holder 11, 26 can be increased. This is done by the gripper 17 being guided during the approach movement 35 to the attachment section 36 of the bending tool 13 in such a way that when the gripping element 18 approaches the holding section 29, e.g. in the form of the gripping groove 34, a referencing of the handling device 3 on the reference light beam 30 of the light barrier assembly 28 can be performed.
- a further measuring edge 51 is fixed to the gripping element 18, which preferably extends at right angles to the reference light beam 30 as well as at right angles to the approaching direction.
- an actual position of the gripping member 18 is defined, from which only a short remaining approaching movement of a few centimeters to the holding section 29, here the gripping groove 34, is required can be performed with relatively high accuracy.
- a removal movement 52 of the gripper 17 is further indicated by a dotted arrow, and it is possible that the reference movement occurred at the approach movement at the light barrier assembly 28 after the bending tool 13 was discontinued in the holding position 27 is canceled again and the actual position of the gripper 17 is again determined based on the coordinates detected by the positioning controller 25, that is to say the unchanged coordinates of the handling device 3 are used.
- the local referencing on the tool holder 11, 26 is effectively canceled in this case.
- FIG. 8 shows a possible embodiment of a light barrier arrangement 28, which has a fastening section 36 and can thus be inserted directly into the receiving groove 37 of the tool holder 11, 26 like a bending tool 13. Furthermore, as in the case of a bending tool 13, a fixing can take place by means of a clamping force 48.
- a fixing can take place by means of a clamping force 48.
- FIG. 9 shows in plan view a possible further variant of the method for inserting a bending tool 13 into a tool holder 11, 26 by means of a handling device 3, not shown in FIG. 9.
- the individual phases of the approaching movement are identified by the letters a to e .
- the reference light beam 30 extends parallel to the receiving groove 37 of the tool holder 11, 26 and is monitored by the light barrier assembly 28 for interruption.
- the light barrier arrangement 28 comprises a transmitter unit 53 at the left end of the tool holder 11, 26, from which the reference light beam 30, preferably in the form of a laser beam 54, is emitted to a receiver unit 55.
- the transmitter unit 53 comprises a laser light source, for example in the form of a laser diode 56
- the receiver unit 55 includes, for example, a photocell 57, with which the interruption of the laser beam 54 can be monitored and is signal-connected to the control device 24, not shown.
- the light barrier arrangement 28 it would also be possible for the light barrier arrangement 28 to comprise a combined transmitter-receiver unit 58 and a mirror 59 spaced therefrom, between which the reference light beam 30, here in the form of the laser beam 54, extends.
- Fig. 9 shows the bending tool 13 in position a parallel to the receiving groove 37 and the reference light beam 30.
- a positional deviation 65 between the target position and the actual position defined by the reference light beam 30 is detected. Subsequently, an opposite rotation of the bending tool 13 takes place, for example counterclockwise, (phase d) until the second measuring edge 61 causes an interruption of the reference light beam 30 (phase e). Also at this time, a position deviation 66 between the desired position and the actual position of the measuring edge 61 is determined.
- the determined angular misalignment of the bending tool 13 can then be corrected by the control device 24, whereby the insertion of the bending tool 13 can be carried out with higher accuracy.
- FIG. 10 shows a further alternative or additional possible embodiment of the production device 1, in which the light barrier arrangement 28 is integrated in the lower tool holder 11.
- the reference light beam 30 extends in this embodiment perpendicular to a main plane 41 and can be monitored by this arrangement, the approaching movement of the bending tool 13 in the direction of the Y-axis 33.
- the insertion into the receiving groove 37 can thereby also be controlled as in the previously described directions and with little mechanical stress.
- the positioning in the longitudinal direction of the receiving groove 37 can be improved in its accuracy by the approaching movement is monitored by means of the reference light beam 30 in this direction.
- the light barrier arrangement 28 generates a reference light beam 30, which runs in the direction of the Y-axis 33 at right angles to the plane of the drawing and to the surface of the workpiece 68 to be bent. This direction is also parallel to the main plane 41.
- the method for positioning the workpiece 68 is thus performed as the previously described method for positioning the bending tool 13 by means of a non-contact referencing in the vicinity of the target position to be approached and mutatis mutandis, all method variants described in connection with the tool positioning can also be used for workpiece positioning become.
- the embodiments show possible embodiments of the method and the
- Multi-axis robot 51 Measuring edge
- Stop finger 58 Transmitter receiver unit
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA550/2012A AT511959B1 (de) | 2012-05-09 | 2012-05-09 | Verfahren zur automatisierten Handhabung eines Biegewerkzeuges und Fertigungseinrichtung |
PCT/AT2013/050103 WO2013166538A1 (de) | 2012-05-09 | 2013-05-07 | Verfahren zur automatisierten handhabung eines biegewerkzeuges und fertigungseinrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2846943A1 true EP2846943A1 (de) | 2015-03-18 |
EP2846943B1 EP2846943B1 (de) | 2016-07-27 |
Family
ID=48222582
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13731256.7A Active EP2846943B1 (de) | 2012-05-09 | 2013-05-07 | Verfahren zur automatisierten handhabung eines biegewerkzeuges und fertigungseinrichtung |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP2846943B1 (de) |
JP (1) | JP6170137B2 (de) |
AT (1) | AT511959B1 (de) |
WO (1) | WO2013166538A1 (de) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT515272B1 (de) | 2014-01-09 | 2015-10-15 | Trumpf Maschinen Austria Gmbh | Werkzeugspeichersystem für Biegewerkzeuge |
AT515781B1 (de) | 2014-10-08 | 2015-12-15 | Trumpf Maschinen Austria Gmbh | Handhabungssystem für Biegewerkzeuge |
AT517712B1 (de) | 2015-11-04 | 2017-04-15 | Trumpf Maschinen Austria Gmbh & Co Kg | Greifersystem für eine Biegepresse |
AT519480B1 (de) | 2017-02-08 | 2018-07-15 | Trumpf Maschinen Austria Gmbh & Co Kg | Biegewerkzeug-Speichervorrichtung |
US10197219B1 (en) | 2017-08-04 | 2019-02-05 | Jason Boyer | Secondary light curtain for detecting crush zone intrusion in a secondary process and associated method for use |
IT201900006656A1 (it) | 2019-05-08 | 2020-11-08 | Salvagnini Italia Spa | Macchina piegatrice per lamiere metalliche |
KR102429212B1 (ko) * | 2022-02-03 | 2022-08-03 | 최명철 | 피가공물 내측 지지가 가능한 프레스 시스템 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4166369A (en) * | 1978-04-06 | 1979-09-04 | Kabushiki Kaisha Komatsu Seisakusho | Safety device for press brake |
JPS59227379A (ja) * | 1983-06-09 | 1984-12-20 | 株式会社アマダ | 被加工物の供給方法および装置 |
JP2501194B2 (ja) * | 1986-04-11 | 1996-05-29 | 株式会社 アマダ | 線位置検出装置 |
DE3731871A1 (de) * | 1987-09-18 | 1989-04-06 | Bellheimer Metallwerk Gmbh | Umlaufregal |
JPH0549121U (ja) * | 1991-12-13 | 1993-06-29 | 株式会社小松製作所 | プレス機械におけるワークの位置決め装置 |
JP2625606B2 (ja) * | 1992-05-19 | 1997-07-02 | 富士通株式会社 | 多関節アーム式搬送装置及びその調整方法 |
JPH06234018A (ja) * | 1993-02-09 | 1994-08-23 | Komatsu Ltd | プレスブレーキの自動金型交換装置 |
US5761940A (en) * | 1994-11-09 | 1998-06-09 | Amada Company, Ltd. | Methods and apparatuses for backgaging and sensor-based control of bending operations |
DE19928831A1 (de) * | 1999-06-24 | 2000-12-28 | Fiessler Elektronik Ohg | Haltevorrichtung für Werkstücke an Biegemaschinen oder -pressen, insbesondere Abkantpressen für Bleche |
US6644080B2 (en) * | 2001-01-12 | 2003-11-11 | Finn-Power International, Inc. | Press brake worksheet positioning system |
JP4094916B2 (ja) * | 2002-09-19 | 2008-06-04 | 株式会社アマダ | 曲げ加工装置 |
AT508923B1 (de) * | 2009-11-10 | 2011-05-15 | Trumpf Maschinen Austria Gmbh | Fertigungsanlage, insbesondere für das freiformbiegen |
AT509708B1 (de) * | 2010-09-02 | 2011-11-15 | Trumpf Maschinen Austria Gmbh | Werkzeugmagazin für einen manipulator |
EP2444173B1 (de) * | 2010-10-20 | 2013-11-27 | TRUMPF Sachsen GmbH | Maschinelle Anordnung zum Bearbeiten von Blechen sowie Verfahren zum Werkzeugwechsel an einer derartigen maschinellen Anordnung |
-
2012
- 2012-05-09 AT ATA550/2012A patent/AT511959B1/de active
-
2013
- 2013-05-07 JP JP2015510572A patent/JP6170137B2/ja not_active Expired - Fee Related
- 2013-05-07 WO PCT/AT2013/050103 patent/WO2013166538A1/de active Application Filing
- 2013-05-07 EP EP13731256.7A patent/EP2846943B1/de active Active
Non-Patent Citations (1)
Title |
---|
See references of WO2013166538A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP6170137B2 (ja) | 2017-07-26 |
AT511959B1 (de) | 2013-04-15 |
WO2013166538A1 (de) | 2013-11-14 |
AT511959A4 (de) | 2013-04-15 |
JP2015517407A (ja) | 2015-06-22 |
EP2846943B1 (de) | 2016-07-27 |
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