EP2922649B1 - Walzen von federtragarmen - Google Patents

Walzen von federtragarmen Download PDF

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Publication number
EP2922649B1
EP2922649B1 EP13802457.5A EP13802457A EP2922649B1 EP 2922649 B1 EP2922649 B1 EP 2922649B1 EP 13802457 A EP13802457 A EP 13802457A EP 2922649 B1 EP2922649 B1 EP 2922649B1
Authority
EP
European Patent Office
Prior art keywords
spring carrier
carrier arm
workpiece
rolling
robot
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.)
Active
Application number
EP13802457.5A
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English (en)
French (fr)
Other versions
EP2922649A1 (de
Inventor
Derk Geert Aalderink
Pieter Arie VAN WILGEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
VDL Weweler BV
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VDL Weweler BV
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Publication date
Application filed by VDL Weweler BV filed Critical VDL Weweler BV
Publication of EP2922649A1 publication Critical patent/EP2922649A1/de
Application granted granted Critical
Publication of EP2922649B1 publication Critical patent/EP2922649B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21H—MAKING PARTICULAR METAL OBJECTS BY ROLLING, e.g. SCREWS, WHEELS, RINGS, BARRELS, BALLS
    • B21H7/00—Making articles not provided for in the preceding groups, e.g. agricultural tools, dinner forks, knives, spoons
    • B21H7/007—Taper rolling, e.g. leaf springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2205/00—Particular shaped rolled products
    • B21B2205/02—Tailored blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/02—Feeding or supporting work; Braking or tensioning arrangements, e.g. threading arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B39/20—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands
    • B21B39/24—Revolving, turning-over, or like manipulation of work, e.g. revolving in trio stands by tongs or grippers

Definitions

  • the present invention relates to a method for manufacturing spring carrier arms for wheel axle suspensions of a vehicle, in particular trucks trailers and semi-trailers.
  • Such spring carrier arms comprise in general at least one flexible portion (spring portion), which has a free end that in use is attached to a vehicle chassis and an axle mounting portion adjoining the flexible portion, against which in use a wheel axle is mounted.
  • the flexible portion is a leading portion of the arm which has a free end which is pivotably attached to the vehicle chassis. Often said free end of the leading portion is formed as an attachment eye.
  • the spring carrier arm may also comprise a trailing portion which adjoins the axle mounting portion, which in use is attached to an air spring or bellows supported by the chassis. Spring carrier arms of this type are in the specific field also referred to as “flexible arms” or “flexible trailing arms”.
  • leaf springs Another type of spring carrier arms are so called “parabolic springs” or leaf springs. These leaf springs may be attached to the chassis by means of a sliding part.
  • spring carrier arms are by means of a rolling process in a rolling machine.
  • a rectangular steel blank having an overall size which is an approximation to the finished spring carrier arm is passed between two rotating rolls.
  • each portion of the blank is passed between two rotating rolls of a rolling device, wherein a roll profile is followed, in order to form a desired thickness profile of the different portions of the spring carrier arm.
  • the leading portion, the axle mounting portion and, possibly, the trailing portion of the arm are formed according to a roll profile.
  • the manufacturing process is automated by the use of handling devices, in particular manipulators and industrial robots, for handling the workpieces.
  • These handling devices take the unmachined workpiece, and position the workpiece between the rolls of the rolling device.
  • the handling devices hold on to the workpiece while it is rolled. After the workpiece is rolled, the handling devices deposit it in a finished parts storage location.
  • the process reliability of the shaping process is principally a function of the precision with which the unmachined workpiece to be machined is inserted into the rolling machine, specifically, into the working region thereof.
  • the setup of the rolling machine it is necessary to adjust the handling devices precisely to the position of the working region of the tool. This is rather laborious and time-consuming, and the setup process is consequently expensive.
  • an industrial robot (articulated robot) takes the workpiece and places it on a dedicated manipulator which has a stationary base and a carriage with a gripping means for gripping the workpiece.
  • the carriage is linearly guided on the stationary base.
  • the gripping means grips the workpiece and introduces it between the rolls of the rolling device. It holds on to the workpiece during rolling. After rolling the gripping means releases the workpiece and an industrial robot takes the workpiece from the carriage and deposits it on another location.
  • a base is mounted to the robot head of an industrial robot (articulated robot) and a carriage with a gripper is linearly guided on said base.
  • the robot holds the base of the slider manipulator in a fixed position, while the linearly guided carriage and the gripper of the manipulator move with the workpiece.
  • GB 2 213 753 A shows another arrangement for taper rolling leaf springs for vehicle suspensions.
  • This arrangement has a linearly movable carriage in which the deformable blank is clamped while it is rolled by a pair of rolls.
  • the present invention has for an object to provide an alternative method for manufacturing a spring carrier arm for a wheel axle suspension of a vehicle.
  • a method for manufacturing a spring carrier arm for a wheel axle suspension of a vehicle wherein the spring carrier arm comprises at least one flexible portion, which in use is attached to a vehicle chassis, and an axle mounting portion adjoining the at least one flexible portion, against which in use a wheel axle is mounted.
  • the method comprises the steps of:
  • the workpiece that is to be rolled is held during rolling by the gripper of the robot, which gripper is directly at the head of the robot.
  • the gripper of the robot which gripper is directly at the head of the robot.
  • the robot is "free floating" in one direction, i.e. the longitudinal direction of the spring carrier arm and has normal behaviour in other directions. In this way it can be prevented that the spring carrier arm sags or curves.
  • the position of the robot gripper that holds the spring carrier arm to be formed is captured and is used to control the roll gap between the rolls of the rolling device while the profile of the different portions of the arm is rolled.
  • the robot is used as a measurement tool which "measures” the displacement and the velocity of the workpiece.
  • These "measured” parameter values are compared by a control system for the roll gap control to theoretical parameter values corresponding to the rolling profile for the spring carrier arm.
  • the gap between the rolls of the rolling device can be adjusted based on deviations between the theoretical values (reference values) and the measured values of these parameters. Also the rotational velocity of the rolls can be adjusted in this manner.
  • the location on the workpiece where the robot holds the workpiece in the first rolling run is used as a reference point for the rolling profile of the entire spring carrier arm.
  • the robot can release the workpiece in a defined position and pick it up again at another location on the workpiece, while the initial reference point remains.
  • different portions of the spring carrier arm can be rolled while the gripper holds the arm at different locations.
  • the robot gripper holds the blank at a position in the mounting portion to be when the other portions of the spring carrier arm, e.g. the leading portion and/or trailing portion is rolled.
  • the invention also relates to a manufacturing arrangement for manufacturing of a spring carrier arm for a wheel axle suspension of a vehicle, wherein the spring carrier arm comprises at least one flexible portion, which in use is attached to a vehicle chassis, and an axle mounting portion adjoining the at least one flexible portion, against which in use a wheel axle is mounted.
  • the arrangement comprises a rolling device for rolling different portions of the spring carrier arm, which rolling device comprises rotating rolls between which in use the workpiece is passed to apply a rolling profile on said spring carrier arm portions.
  • the arrangement furthermore comprises a robot having a head and a gripper mounted directly to said head, which robot gripper in use holds the spring carrier arm to be formed while it is passed between the rolls of the rolling device.
  • the robot is programmed such that it allows a free movement of the spring carrier arm to be formed in a longitudinal direction of the arm.
  • the robot used in the manufacturing arrangement is an articulated robot.
  • Fig. 1 a spring carrier arm 1 which is held by a robot 2.
  • the robot 2 is an articulated robot also referred to as an "industrial robot", which typically has rotary joints, which interact with each other.
  • the robot 2 has a head 3 on which a gripper 4 is mounted.
  • the gripper 4 holds the spring carrier arm 1 while a portion of the arm 1 is passed between rolls 5 of a rolling machine.
  • the rolls 5 are rotating rolls and have between them a gap indicated by reference numeral 6, a so called roll gap, which determines the thickness of the portion of the arm 1 that is rolled.
  • the roll gap 6 is variable and is varied over the length of the arm 1, whereby the arm 1 is given a thickness profile.
  • a leading portion 1 a which has a defined thickness profile.
  • the leading portion 1 a has a free end on which an attachment eye may be formed such that in use it can be pivotably attached to a vehicle chassis. Adjoining the leading portion 1 a an axle mounting portion 1 b is formed, against which in use a wheel axle is mounted.
  • the movement of the workpiece 1 is determined by the rolling movement of the rolls 5.
  • the robot 2 allows a free movement of the workpiece 1 in the longitudinal direction indicated by double arrow 7.
  • the position of the gripper 4 in the longitudinal direction 7 of the arm 1 is captured during rolling. This position of the gripper is a reference for the rolling profile that the rolling machine is applying on the workpiece.
  • the robot 2 is thus used as a measurement device which is part of the control system that controls the speed and position of the rolls 5.
  • a spring carrier arm 1 with three different sections 1a - 1c with each a different profile.
  • the arm shown in Fig. 2 comprises a leading portion 1 a, which has a defined thickness profile. Furthermore it has a trailing portion 1 c against which an air spring can be mounted and an axle mounting portion 1 b that is located between the trailing portion 1 c and the leading portion 1 a.
  • the leading portion 1 a has a free end on which an attachment eye may be formed such that it in use can be pivotably attached to a vehicle chassis.
  • the robot gripper 4 holds the arm 1 at the end of the trailing portion.
  • the robot 2 will generally hold he workpiece in the first rolling run at the location where the axle mounting portion 1 b of the arm is to be formed. This location is used as a reference point for the rolling profile of the entire spring carrier arm 1. After for example the leading part 1 a and the trailing portion 1 c have been rolled, the robot 2 can release the workpiece 1 in a defined position and pick it up again at another location on the workpiece, in the case of Fig. 2 at the end of trailing portion 1 c, in order to roll the portion 1 b. The initial reference point (at the part 1 b) remains. In this way different portions of the spring carrier arm 1 can be rolled while the gripper 4 holds the arm 1 at different locations.
  • Fig. 4 is shown schematically the control system of the rolls 5.
  • the product 1 is rolled according to a predefined profile with two rolls 5.
  • the roll gap 6 closes to its starting position.
  • the rolls 5 are driven with a predefined speed profile [a] (e.g. trapezoid). Together with the planned elongation, the resulting robot gripper position and speed are calculated [b].
  • This data is used for the planned robot gripper motion [c].
  • Differences between the planned and actual elongation of the arm portions 1a - 1 c result in a difference between planned and actual robot gripper position.
  • the actual linear speed and position [d] of the robot gripper 4 are used for the product profile generator [e]. This results in a theoretical roll gap, which is controlled by the roll gap control [f].
  • a spring carrier arm may be formed which has a thickness profile and a width profile. It can be seen that the arm is first passed between a first set of rolls 5. Then the robot gripper turns the workpiece 1 over 90° and moves it to another rolling machine and passes it through a second pair of rolls 8, which is visible in Fig. 3 . It is also possible that the workpiece is passed through the same pair of rolls, but that the rolls have different portions A and B as is indicated as well in Fig. 3 , one to form the thickness profile of the arm portions 1 a-1 c and one to form the width profile of the arm portions 1a-1c.
  • two pairs of rolls are placed behind each other, wherein the rolls of one pair are oriented with their central axes under an angle of 90° with respect to the central axes of the rolls of the other pair.
  • One pair is used for rolling the thickness profile and the other pair for rolling the width profile of the arm 1.
  • the robot does not have to move the workpiece from one rolling device to the other.
  • the pairs of rolls are not located behind each other. In that case the robot moves the workpiece from one rolling machine to another rolling machine (cf. Fig. 3 ), but does not have to turn the workpiece as is described above in relation to Fig. 3 .

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  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Springs (AREA)

Claims (5)

  1. Verfahren zur Herstellung eines Federtragarms (1) für eine Aufhängung einer Radachse eines Fahrzeugs,
    wobei der Federtragarm (1) mindestens einen im Gebrauch an einem Fahrzeugchassis befestigten flexiblen Abschnitt (1a) und einen an den mindestens einen flexiblen Abschnitt angrenzenden Achsenbefestigungsabschnitt (1b) aufweist, an dem im Gebrauch eine Radachse angeordnet ist,
    wobei das Verfahren die folgenden Schritte aufweist:
    - Aufnehmen eines Werkstücks (1), das anfänglich ein rechteckiger Stahlrohling mit einer Gesamtgröße ist, die dem fertigen Federtragarm angenähert ist;
    - Passieren jedes Abschnitts (1a-1c) des Werkstücks zwischen zwei rotierenden Walzen (5) einer Walzvorrichtung, wobei einem Walzprofil gefolgt wird, um ein gewünschtes Dickenprofil zumindest des einen flexiblen Abschnitts (1a) und des Achsenbefestigungsabschnitts (1b) des zu bildenden Federtragarms (1) zu formen;
    dadurch gekennzeichnet, dass das Werkstück von einem Gelenkroboter (2) mit einem Kopf (3) und einem direkt am Kopf angeordneten Greifer (4) ergriffen wird, wobei der Greifer (4) des Roboters das Werkstück hält, während es zwischen den Walzen (5) der Walzvorrichtung durchläuft, wobei er eine freie Bewegung des Werkstücks in Längsrichtung des zu formenden Federtragarms (1) ermöglicht.
  2. Verfahren nach Anspruch 1, wobei die Position des das Werkstück haltenden Greifers (4) des Roboters erfasst und zur Steuerung des Walzenspalts (6) zwischen den Walzen (5) der Walzvorrichtung verwendet wird, während das Profil von unterschiedlichen Abschnitten (1a - 1c) des Federtragarms (1) gewalzt wird.
  3. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Position, an der der Greifer (4) des Roboters das Werkstück im ersten Rollgang hält, als Bezugspunkt für das Walzprofil für den gesamten Federtragarm (1) verwendet wird.
  4. Verfahren nach einem der vorhergehenden Ansprüche, wobei der Greifer (4) des Roboters das Werkstück an einer Stelle im
    Achsbefestigungsabschnitt (1b) hält, wenn die anderen Abschnitte (1a, 1c) des Federtragarms (1) gewalzt werden.
  5. Fertigungsanordnung zur Herstellung eines Federtragarms (1) für eine Radaufhängung eines Fahrzeugs,
    wobei der Federtragarm (1) mindestens einen im Gebrauch an einem Fahrzeugchassis befestigten flexiblen Abschnitt (1a) und einen an dem mindestens einen flexiblen Abschnitt (1a) angrenzenden Achsbefestigungsabschnitt (1b) aufweist, an dem im Gebrauch eine Radachse angeordnet ist,
    wobei die Anordnung eine Walzvorrichtung zum Walzen unterschiedlicher Abschnitte des Federtragarms (1) aufweist, wobei die Walzvorrichtung drehende Walzen (5) aufweist, zwischen denen im Gebrauch das Werkstück durchläuft, um ein Walzprofil auf die Abschnitte (1a - 1c) des Federtragarms zur Anwendung zu bringen, wobei die Anordnung ferner einen Greifer (4) aufweist, der im Gebrauch den zu formenden Federtragarm (1) hält, während er zwischen den Walzen (5) der Walzvorrichtung durchläuft, dadurch gekennzeichnet, dass der Greifer (4) direkt an einem Kopf (3) eines Gelenkroboters (2) angebracht ist, und dass der Roboter (2) so programmiert ist, dass er eine freie Bewegung des Federtragarms (1) in einer Längsrichtung der Federtragarms (1) ermöglicht.
EP13802457.5A 2012-11-23 2013-11-18 Walzen von federtragarmen Active EP2922649B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2009873 2012-11-23
PCT/NL2013/050828 WO2014081288A1 (en) 2012-11-23 2013-11-18 Rolling of spring carrier arms

Publications (2)

Publication Number Publication Date
EP2922649A1 EP2922649A1 (de) 2015-09-30
EP2922649B1 true EP2922649B1 (de) 2017-01-11

Family

ID=49726845

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Application Number Title Priority Date Filing Date
EP13802457.5A Active EP2922649B1 (de) 2012-11-23 2013-11-18 Walzen von federtragarmen

Country Status (3)

Country Link
EP (1) EP2922649B1 (de)
ES (1) ES2613940T3 (de)
WO (1) WO2014081288A1 (de)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017116570B4 (de) * 2017-03-22 2019-01-17 Sms Group Gmbh Reckwalzverfahren und Reckwalzwerk
AT520059B1 (de) * 2017-05-22 2023-07-15 Hendrickson Comm Vehicle Sys Europe Gmbh Federblatt für eine Blattfeder

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58209404A (ja) * 1982-05-31 1983-12-06 Mitsubishi Steel Mfg Co Ltd テ−パ圧延加工装置
US4725826A (en) * 1987-01-16 1988-02-16 Hunter Bryan D Manipulator grip slip sensor
GB8800791D0 (en) * 1988-01-14 1988-02-17 Wilson A I Taper rolling apparatus
GB8914012D0 (en) * 1989-06-19 1989-08-09 Davy Mckee Sheffield Taper rolling-direct length measurement

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP2922649A1 (de) 2015-09-30
WO2014081288A1 (en) 2014-05-30
ES2613940T3 (es) 2017-05-29

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