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EP3426420B1 - Method and device for supplying a sheet metal panel to a punch press - Google Patents

Method and device for supplying a sheet metal panel to a punch press Download PDF

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Publication number
EP3426420B1
EP3426420B1 EP17717616.1A EP17717616A EP3426420B1 EP 3426420 B1 EP3426420 B1 EP 3426420B1 EP 17717616 A EP17717616 A EP 17717616A EP 3426420 B1 EP3426420 B1 EP 3426420B1
Authority
EP
European Patent Office
Prior art keywords
metal sheet
sensor
sensor means
sheet
axis
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
EP17717616.1A
Other languages
German (de)
French (fr)
Other versions
EP3426420A1 (en
Inventor
Reto WALTI
Roland Dietschi
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.)
Soudronic AG
Original Assignee
Soudronic AG
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Filing date
Publication date
Application filed by Soudronic AG filed Critical Soudronic AG
Publication of EP3426420A1 publication Critical patent/EP3426420A1/en
Application granted granted Critical
Publication of EP3426420B1 publication Critical patent/EP3426420B1/en
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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
    • 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
    • B21D43/021—Control or correction devices in association with moving strips
    • B21D43/023—Centering devices, e.g. edge guiding
    • 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
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/02—Punching blanks or articles with or without obtaining scrap; Notching
    • B21D28/04—Centering the work; Positioning the tools
    • 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
    • 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
    • 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
    • B21D43/20—Storage arrangements; Piling or unpiling
    • B21D43/24—Devices for removing sheets from a stack

Definitions

  • the invention relates to a method for aligning a metal sheet when feeding the metal sheet to a processing station, in particular to a stamping press, the feed to and into the processing station being in a first direction (Y axis) of two orthogonal directions (X axis and Y axis) takes place, with the metal sheet being aligned in the first direction (Y axis) in a first alignment step and in the second direction (X axis) being aligned in a second step in order to achieve a predetermined alignment position of the metal sheet, and with the metal sheet being used to Feed is gripped by a gripper arrangement and moved to the processing station and introduced into the processing station and punched in the processing station to generate the desired processing image, in particular punched image, and preferably additionally moved back and forth in the second direction. Furthermore, the invention relates to a device for carrying out the method and a plant for the production of stamped parts with such a device.
  • tin lids or deep-drawn tins - made of steel or aluminium, round or non-round - are mostly produced on high-performance systems.
  • portal presses are used, which enable the use of multiple tools.
  • tools are used in a "zigzag" or line arrangement.
  • the basic material - made of aluminum or steel - is processed in the press in the form of sheet metal.
  • the metal sheets are fed to the tool by means of one or more gripper systems or rollers and then processed step by step.
  • the panels are moved in an orthogonal coordinate system only in the Y direction or in both the X and Y directions. Again for reasons of productivity, panels are processed which are as large as possible. The larger the panels are, the fewer panels have to be coated, cut, fed, etc. In any case, however, the metal sheets must be brought into each punching position with great accuracy.
  • the metal sheets are fed into the system in the form of a stack. Several thousand metal sheets can be stacked on a stack. As a rule, the weight limits the height of the stack.
  • the stacks are placed on chain or roller conveyors and then conveyed to the stacking position either in the production direction of the metal sheet processing in the press or in a 90° direction to the production direction.
  • An electrically or hydraulically driven lifting system raises the stack to a vertical position in which the metal sheets are gripped individually and fed in the direction of the sheet press.
  • the stacks can only be fed to the stacking position relatively imprecisely.
  • the stacking position can therefore vary by up to a few centimeters from stack to stack.
  • the stacks often have stacking errors.
  • the panels may have shifted (fanned out) either during the stacking process in the coil cutting plant or in the painting plant or during transport to the processing plant.
  • Today's modern stacking systems must be able to compensate for such errors.
  • a more accurate centering of the Stacks would require complex and expensive mechanics.
  • the unstacking process of each individual panel using suction pads is also relatively imprecise. When the metal sheet is gripped and fed in the direction of the sheet press, the sheet is also oiled if necessary. Rollers are typically used for this process, which can cause additional inaccuracies in the lateral position of the panel.
  • a sheet fed to the punching press Before a sheet fed to the punching press can be processed in the pressing tool, it must therefore be brought into a defined, precise position in an alignment arrangement. This both in the feed direction to the stamping press and in the direction perpendicular thereto. The accuracy must be in the range of +/- 0.2mm.
  • One reason for this is that the various punching positions in the metal sheet should be as close together as possible in order to achieve maximum material utilization of the metal sheet. Additional reasons can be that the panels can be lithographed (printed) and the punching has to correspond exactly to the printing, or that the remaining web width at the edge of the panel should be kept very small. When processing metal sheets on a sheet press with multiple tools, this is an important criterion in order to achieve high productivity.
  • FIG 1 X and Y axes perpendicular to each other are shown, which are used to describe the feeding of the respective metal sheet to the stamping press and the centering of the metal sheet both for the explanation of the prior art and for the explanation of the invention.
  • the stacker 2 and the press 20 are in the figure 1 also shown schematically.
  • the metal panels are centered in the X and Y direction according to the state of the art, for example using the Figures 2 to 6 shown schematically.
  • the alignment of a sheet stacked from the stack Sheet metal takes place on a centering table 15, which has conveyor belts 3, 4 and 5.
  • figure 3 shows that a sheet metal plate 1 unstacked by the stacker 2 from the sheet metal stack (not shown) has been placed on the centering table.
  • the metal sheet is pushed by means of the conveyor belts 3, 4 and 5 on the centering table 15 in the positive Y direction (Y+ direction), which is defined as the direction toward the press 20.
  • figure 4 shows the panel 1 in a position in which it has been advanced so far in the Y+ direction that the panel 1 is only lying on the conveyor belt 5. This is the reversal position, from which the panel 1 is moved in the negative Y direction (Y-) by the conveyor belt 5 for centering or alignment, ie it is moved a little further towards the stacker 2 .
  • figure 5 shows how, after being pushed with the conveyor belt 5 in the Y-direction, the metal sheet 1 rests against two stops 6 and 7, which have been raised above the table level for this purpose.
  • the panel is centered or aligned in the Y axis.
  • a stop 8 is positioned in the X+ direction close to the panel and finally a slide or further stop 9 pushes the panel in the negative X direction (X-) against the stop 8 so that the sheet metal panel is in the centered or aligned position 1 according to figure 6 results.
  • the alignment in the X and Y direction can be combined in another embodiment according to the prior art, for example by a spring-loaded vacuum gripper system pushing the panel against an X+ and Y- stop.
  • DE 43 45 184 A1 shows a centering system in which a centering station, referred to as an alignment station, is designed for metal sheets with two lateral stops and a rear stop for the metal sheet.
  • a gripper 11 is shown for this purpose, which grasps the panel 1 in its previously centred/aligned position at its rear end and feeds it onto the press 20 in the Y+ direction.
  • the gripper that advances the metal sheet in the Y+ direction and, if necessary, moves it in the X and X+ direction in order to produce the desired stamping pattern can be the same gripper that holds the centered panel 1 in the position of figure 6 grabbed.
  • a second gripper can be present, which has taken over the panel 1 from the first gripper in front of the press 20 .
  • the alignment and centering mechanism explained according to the prior art is complex and requires maintenance. Furthermore, this mechanic needs some time to align the board. During the centering or alignment process, the handling system or the gripper must not yet take over the sheet metal. On the one hand because the alignment is not yet complete and on the other hand because the alignment mechanism could cause a collision with the gripper.
  • the object of the invention is to create an improved method for aligning a sheet metal panel when the sheet metal panel is fed to a processing station.
  • the method should enable less maintenance and more rapid feeding to the press.
  • the position of the gripping assembly is adapted to the detected, deviating in the second direction position of the panel by correspondingly displacing the gripping assembly in the second direction to cause the panel to be gripped in place.
  • the object of the invention is therefore to omit the sheet metal displacement in the X axis, or the second direction, as a separate alignment step. Instead, the position of the panel in the X axis is detected by at least one sensor, preferably without contact, so that this position can be identified in a control device connected to the sensor. Instead of first bringing the panel into a defined X position and then only transferring the panel to the gripping arrangement, only the X position of the sheet metal panel is initially recorded.
  • the controller calculates the transfer position for the gripping arrangement and the gripping arrangement brings the metal sheet into the correct position with regard to the X axis when it is fed to the processing station or compensates for the deviation from the predetermined alignment position determined by the sensor device and the control device in the second Direction. This means that no alignment parts need to be adjusted and maintained for alignment in the X axis.
  • the position in the second direction is preferably determined by a stationary sensor, which results in a simple and robust structure.
  • the position in the second direction can be determined by a movable sensor, in particular by a sensor being arranged on the gripping arrangement and being moved by it over the sheet metal panel. In this way, a movable sensor can be used be, which can simplify the structure of the sensor used without requiring additional mechanics for the movement of the sensor.
  • a line sensor with or without a reflector can be used as the sensor of the sensor means, or else a camera with image processing.
  • the sensor may be located above or below the panel position, or it may be a sensor provided both above and below the panel position.
  • the invention is also based on the object of creating an improved device for aligning a metal sheet when the metal sheet is fed to a processing station, in particular to a stamping press.
  • the device should enable less maintenance and faster delivery to the processing station or press.
  • the object of the invention is therefore also with the device to avoid the metal plate displacement in the X axis or the second direction as a separate alignment and instead to make the position of the plate in the X axis detectable by at least one sensor, so that this Position can be seen in a control device connected to the sensor.
  • the device Instead of first bringing the panel into a defined X position and only then transferring the panel to the gripping arrangement, the device initially only allows the X position of the sheet metal panel to be detected.
  • the control calculates the transfer position for the gripping arrangement based on the values received and the gripping arrangement brings the metal sheet into the correct position with regard to the X axis when it is fed to the processing station. It is therefore not necessary to adjust and maintain any alignment parts for the alignment in the X axis with the device.
  • a stationary sensor is provided to determine the position in the second direction, which results in a particularly robust and maintenance-free device.
  • a movable sensor of the sensor means is provided to determine the position in the second direction, in particular that the sensor of the sensor means is arranged on the gripping arrangement and can be moved by it over the sheet metal panel, which has the advantage for Movement of the sensor does not have to use any additional mechanics, since the gripping arrangement is designed to carry out the required movement anyway.
  • a line sensor with or without a reflector can be provided as the sensor, or a camera with image processing can be provided as the sensor.
  • the sensor means can comprise sensors arranged above or below the sheet metal position.
  • the invention is also based on the object of creating an improved system for producing stamped parts from metal sheets.
  • the procedure for feeding a metal sheet to a stamping press for aligning the metal sheet in the correct position for introducing the metal sheet into the stamping press is to set the alignment position in the feed direction by means of stops. Alignment in the second direction orthogonal to the feed direction takes place in such a way that the position of the metal sheet in the second direction is determined by at least one sensor and a control device, and the deviation of the metal sheet from the predetermined alignment position in the second direction is determined by the control device. Thereafter, alignment in the second direction is performed by means of the gripping assembly provided for feeding the metal sheet to the stamping press, by controlling the gripping assembly to compensate for the deviation and correctly align the metal sheet.
  • figure 7 shows a centering table 15 of an embodiment of the invention, in which a sensor means 16 with at least one sensor and any lighting means and/or reflectors is provided, which sensor means the position of the edge of a sheet metal plate that comes to lie on the table in the detection range of the sensor means in of the X coordinate, which will be explained later.
  • a control device 18 which receives the signal from the sensor means 16, the position of the metal plate in the X coordinate can be detected or the deviation of the metal plate 1 from the desired predetermined alignment position in the X coordinate.
  • the gripping assembly is not shown to simplify the figures. A gripping arrangement is available and will later on hand figures 10 , 11 and 12 explained.
  • Conveyor belts 3, 4 and 5 are also shown, by means of which the respective metal sheet 1 can be moved back and forth on the centering table in the Y coordinate direction.
  • other means can also be provided for this movement, for example rollers arranged partially sunk in the table.
  • the table 15 can be provided, in a known manner, with means facilitating the movement of metal sheets on the table, for example with regularly arranged rolling elements or with means for generating air cushions. Such is known to the person skilled in the art and is not explained further here.
  • figure 8 shows a sheet metal 1, which has been placed on the centering table and first the conveyor belts 3 and 4.
  • the metal plate is aligned in the Y direction by means of the conveyor belts 3, 4 and 5, in that the metal plate 1 is first advanced in the Y+ direction. If the metal sheet has reached a position in which it only rests on the conveyor belt 5, as in figure 9 shown, it is pushed in the Y (Y-minus) direction against two stops 6 and 7, as has already been explained in the prior art, and here in figure 10 is shown.
  • This is the preferred way of aligning in the Y direction.
  • Other known types of alignment in the Y direction can also be used.
  • the sensor means 16 comprises at least one stationary sensor 17 with a longitudinal extent in the X coordinate direction.
  • This sensor is, for example, a line sensor that has a large number of light-sensitive sensor elements arranged in a row and is therefore a Can emit a signal that can determine the position of an object above the sensor, which sensor elements are obscured by the object and which are not obscured.
  • a sensor is arranged in a recess 13 in the table top in such a way that it comes to lie below the metal sheet 1 in each case.
  • it is arranged in such a way that, when the metal sheet 1 is aligned in the Y coordinate, it can emit the position of the edge 1′ over the sensor in the X coordinate as a sensor signal.
  • the edge 1' of the sheet metal 1 lies over the sensor, so that a part 17' of the sensor is covered by the sheet metal 1.
  • the part of the sensor of the sensor means lying in the X+ direction, which is not covered by the sheet metal panel 1, is denoted by 17".
  • the sensor is connected to a control device 18, which evaluates the sensor signal and thus the deviation in the position of the sheet metal panel 1 in the X coordinate of the desired alignment position of the metal sheet.
  • This control device also controls the drive of the gripper 11 of the gripping arrangement.
  • the detection of the exact position of the metal sheet by the sensor means can be carried out using only one sensor, e.g.
  • Lighting means and/or reflector can be designed, or the sensor means can comprise several sensors whose signals are evaluated in the control device.
  • the sensor means can also comprise an optical system, such as a camera with image processing, which is used in addition to a sensor or instead of a sensor Sensors or cameras of the Sensormitt els can be arranged above the sheet metal position and/or, as shown in the example, below the sheet metal position. Multiple detection can also be provided for reasons of accuracy.
  • the detection of the sheet position can be done on one edge or the other of the sheet, or for scrolled sheets that have two edges on each side, the This can be done on both edges of one side or on both edges of one side or both sides.
  • the sensor means can also include a detection of the sheet metal edge by means of at least one movable sensor.
  • a sensor of the sensor means can be arranged on the gripper 11 and to determine the position of the metal plate, the control device moves the gripper 11 over the metal plate in such a way that its position in the X coordinate is determined. Since the control device is known to know the position of the gripper of the gripping arrangement, it can also in this case derive the position of the sheet metal from the sensor signal. In this case, a line sensor can be dispensed with and a simpler sensor can be used.
  • the sensor means can also comprise a sensor that can be moved separately from the gripper.
  • a movable proximity switch can be provided.
  • the sheet edge can be detected by means of a time calculation. Since the initial position of the sensor is known and the speed of movement of the sensor is known, the time at which the sensor detects the edge of the sheet metal can be recorded. An exact position can be derived from this time. However, for the reason mentioned above that they are maintenance-free, preference is given to sensor means which work with a stationary sensor or with a stationary camera or with a movable sensor arranged on the gripper or with a camera arranged on the gripper.
  • the deviation can subsequently be corrected during the feeding or the transport of the metal sheet to the press.
  • the sensor 17 of the sensor means and the control device 18 have determined a deviation ⁇ X of the position of the metal sheet in the X coordinate from the desired orientation or centering. This deviation is now corrected by the gripping arrangement.
  • the deviation of the alignment position from the predetermined alignment position in the second direction (X axis) is corrected after the metal sheet has been gripped by means of the gripping arrangement, in that the gripping arrangement, controlled by the control device, moves the metal sheet into the predetermined alignment position in the second direction during the feed movement of the metal sheet to the processing station.
  • the gripping arrangement with the gripper 11 which, as is known, can be moved by the control device in the X and Y direction by means of corresponding drives of the gripper, first executes a movement in the X (Xminus) direction in order to correct the amount ⁇ X and then carries out the movement towards the press 20 in direction Y+.
  • a combined X and Y movement of the gripper 11 is preferred, so that it is moved in the direction of the arrow K, with the movement in the X ⁇ (Xminus) direction only taking place until the deviation ⁇ X is eliminated.
  • the position of the gripping arrangement is adapted to the detected position of the panel which differs in the second direction by the gripping arrangement being correspondingly displaced in the second direction in order to cause the panel to be gripped at the intended location.
  • this is shown by the gripper 11 of the gripping arrangement also being displaced essentially by the amount ⁇ X in the second direction prior to gripping, by which to grip panel 1 in the place provided for this purpose.
  • the gripper 11 brings the metal sheet into the press 20 and carries out the known punching movement in the X and Y directions, which figure 11 is shown.
  • the gripping arrangement can also have two grippers, between which the metal sheet 1 aligned by the first gripper is transferred.
  • the gripper 11 from figure 10 then performs the corrective movement in the X (Xminus) direction and the Y movement towards the punch press and performs all punching of at least one row of the punching pattern (usually two or three rows of punching), after which a second gripper of the gripping assembly takes over the sheet metal and completes the punching while the first gripper is moved back to take over the following metal sheet.
  • figure 12 shows a known gripper of the gripping arrangement as it is already used in conventional devices and as it is also used for the present invention.
  • the gripper 11 can be moved in the X direction and Y direction by appropriate drives, which drives are controlled by the control device.
  • the gripper has two tongs 19, by means of which the sheet metal plate can be gripped at its rear edge, seen in the Y+ direction, and can also be released again. This is known and will not be explained further here.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Registering Or Overturning Sheets (AREA)
  • Manipulator (AREA)
  • Details Of Cutting Devices (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)

Description

Gebiet der Erfindungfield of invention

Die Erfindung betrifft ein Verfahren zur Ausrichtung einer Blechtafel bei der Zuführung der Blechtafel zu einer Bearbeitungsstation, insbesondere zu einer Stanzpresse, wobei die Zuführung zu und in die Bearbeitungsstation in einer ersten Richtung (Y Achse) von zwei orthogonalen Richtungen (X Achse und Y Achse) erfolgt, wobei in einem ersten Ausrichtungsschritt die Ausrichtung der Blechtafel in der ersten Richtung (Y Achse) und in einem zweiten Schritt die Ausrichtung in der zweiten Richtung (X Achse) erfolgt, um eine vorbestimmte Ausrichtlage der Blechtafel zu erzielen, und wobei die Blechtafel zur Zuführung durch eine Greifanordnung gegriffen und zur Bearbeitungsstation bewegt und in die Bearbeitungsstation eingeführt und in der Bearbeitungsstation zur Erzeugung des gewünschten Bearbeitungsbilds, insbesondere Stanzbilds, gestanzt und vorzugsweise zusätzlich in zweiter Richtung hin- und her bewegt wird. Ferner betrifft die Erfindung eine Vorrichtung zur Durchführung des Verfahrens und eine Anlage zur Herstellung von Stanzteilen mit einer solchen Vorrichtung.The invention relates to a method for aligning a metal sheet when feeding the metal sheet to a processing station, in particular to a stamping press, the feed to and into the processing station being in a first direction (Y axis) of two orthogonal directions (X axis and Y axis) takes place, with the metal sheet being aligned in the first direction (Y axis) in a first alignment step and in the second direction (X axis) being aligned in a second step in order to achieve a predetermined alignment position of the metal sheet, and with the metal sheet being used to Feed is gripped by a gripper arrangement and moved to the processing station and introduced into the processing station and punched in the processing station to generate the desired processing image, in particular punched image, and preferably additionally moved back and forth in the second direction. Furthermore, the invention relates to a device for carrying out the method and a plant for the production of stamped parts with such a device.

Hintergrundbackground

In der Metallverpackungsindustrie werden heute Konservendosendeckel oder tiefgezogene Konservendosen - aus Stahl oder Aluminium, rund oder unrund - mehrheitlich auf Hochleistungsanlagen hergestellt. Aus Produktivitätsgründen werden Portalpressen eingesetzt, welche den Einsatz von Mehrfachwerkzeugen ermöglichen. Je nach Pressentyp und zur Verfügung stehender Pressenkraft, kommen Werkzeuge in "Zick-Zack" oder Linien-Anordnung zum Einsatz. Bei jedem Pressenhub werden somit gleichzeitig mehrere Komponenten hergestellt. Das Grundmaterial - aus Aluminium oder Stahl - wird in der Presse in Form von Blechtafeln verarbeitet. Mittels eines oder mehrerer Greifer Systeme oder Walzen werden die Blechtafeln dem Werkzeug zugeführt und dann schrittweise verarbeitet. Je nach Werkzeug- und Vorschubsystem werden die Tafeln in einem orthogonalen Koordinatensystem nur in Y Richtung oder in X und Y Richtung bewegt. Wiederum aus Produktivitätsgründen werden Tafeln verarbeitet, die so gross wie möglich sind. Je grösser die Tafeln sind, desto weniger Tafeln müssen lackiert, geschnitten, zugeführt, usw. werden. Auf jeden Fall müssen die Blechtafeln jedoch mit einer grossen Genauigkeit in jede Stanzposition gebracht werden.In the metal packaging industry today, tin lids or deep-drawn tins - made of steel or aluminium, round or non-round - are mostly produced on high-performance systems. For reasons of productivity, portal presses are used, which enable the use of multiple tools. Depending on the type of press and the available press force, tools are used in a "zigzag" or line arrangement. With everyone press stroke, several components are produced at the same time. The basic material - made of aluminum or steel - is processed in the press in the form of sheet metal. The metal sheets are fed to the tool by means of one or more gripper systems or rollers and then processed step by step. Depending on the tool and feed system, the panels are moved in an orthogonal coordinate system only in the Y direction or in both the X and Y directions. Again for reasons of productivity, panels are processed which are as large as possible. The larger the panels are, the fewer panels have to be coated, cut, fed, etc. In any case, however, the metal sheets must be brought into each punching position with great accuracy.

Die Blechtafeln werden in Form eines Stapels der Anlage zugeführt. Auf einem Stapel können mehrere tausend Blechtafeln gestapelt sein. In der Regel limitiert das Gewicht die Höhe des Stapels. Die Stapel werden auf Ketten- oder Walzenfördermitteln platziert und anschliessend entweder in Produktionsrichtung der Blechtafelverarbeitung in der Presse oder in 90° Richtung zur Produktionsrichtung in die Abstapelposition gefördert. Ein elektrisch oder hydraulisch angetriebenes Hubsystem hebt den Stapel bis zu einer vertikalen Position an, in welcher die Blechtafeln einzeln gegriffen und in Richtung Tafelpresse zugeführt werden.The metal sheets are fed into the system in the form of a stack. Several thousand metal sheets can be stacked on a stack. As a rule, the weight limits the height of the stack. The stacks are placed on chain or roller conveyors and then conveyed to the stacking position either in the production direction of the metal sheet processing in the press or in a 90° direction to the production direction. An electrically or hydraulically driven lifting system raises the stack to a vertical position in which the metal sheets are gripped individually and fed in the direction of the sheet press.

Wegen des grossen Gewichts der Stapel (in der Regel mehrere Tonnen) können die Stapel nur relativ ungenau der Abstapelposition zugeführt werden. Die Abstapelposition kann folglich von Stapel zu Stapel bis zu einigen Zentimetern variieren. Zudem weisen die Stapel oft Stapelfehler auf. Die Tafeln können sich entweder bei dem Stapelvorgang in der Coilschnittanlage oder in der Lackieranlage oder während dem Transport zur Verarbeitungsanlage verschoben (gefächert) haben. Moderne Abstapelsysteme müssen heute in der Lage sein solche Fehler zu kompensieren. Eine genauere Zentrierung des Stapels würde eine aber aufwendige und teure Mechanik erfordern. Zudem ist das Abstapelverfahren jeder einzelnen Tafel mittels Sauggreifer auch relativ ungenau. Wenn die Blechtafel gegriffen und in Richtung Tafelpresse zugeführt wird, wird die Tafel allenfalls noch geölt. Für diesen Prozess werden in der Regel Walzen eingesetzt die zusätzliche Ungenauigkeiten in die seitliche Position der Tafel verursachen können.Because of the great weight of the stacks (usually several tons), the stacks can only be fed to the stacking position relatively imprecisely. The stacking position can therefore vary by up to a few centimeters from stack to stack. In addition, the stacks often have stacking errors. The panels may have shifted (fanned out) either during the stacking process in the coil cutting plant or in the painting plant or during transport to the processing plant. Today's modern stacking systems must be able to compensate for such errors. A more accurate centering of the Stacks would require complex and expensive mechanics. In addition, the unstacking process of each individual panel using suction pads is also relatively imprecise. When the metal sheet is gripped and fed in the direction of the sheet press, the sheet is also oiled if necessary. Rollers are typically used for this process, which can cause additional inaccuracies in the lateral position of the panel.

Bevor eine der Stanzpresse zugeführte Tafel im Presswerkzeug verarbeitet werden kann, muss diese somit in einer Ausrichtanordnung in eine definierte genaue Position gebracht werden. Dies sowohl in der Zuführrichtung zur Stanzpresse als auch in der dazu senkrechten Richtung. Die Genauigkeit muss im Bereich von +/- 0.2mm liegen. Ein Grund dafür ist, dass die verschiedenen Stanzpositionen in der Blechtafel so nahe wie möglich beieinander liegen sollen, damit eine maximale Materialausnützung der Blechtafel erreicht wird. Zusätzliche Gründe können darin liegen, dass die Tafeln lithographiert (bedruckt) sein können und die Stanzung genau der Bedruckung entsprechen muss, oder dass die Reststegbreite am Tafelrand sehr klein gehalten werden soll. Dies ist bei der Verarbeitung von Blechtafeln auf einer Tafelpresse mit Mehrfachwerkzeug ein wichtiges Kriterium um eine hohe Produktivität zu erreichen.Before a sheet fed to the punching press can be processed in the pressing tool, it must therefore be brought into a defined, precise position in an alignment arrangement. This both in the feed direction to the stamping press and in the direction perpendicular thereto. The accuracy must be in the range of +/- 0.2mm. One reason for this is that the various punching positions in the metal sheet should be as close together as possible in order to achieve maximum material utilization of the metal sheet. Additional reasons can be that the panels can be lithographed (printed) and the punching has to correspond exactly to the printing, or that the remaining web width at the edge of the panel should be kept very small. When processing metal sheets on a sheet press with multiple tools, this is an important criterion in order to achieve high productivity.

In Figur 1 sind zueinander senkrechte X und Y Achsen dargestellt, die zur Beschreibung des Zuführens der jeweiligen Blechtafel zur Stanzpresse und des Zentrierens der Blechtafel sowohl für die Erläuterung des Stands der Technik als auch für die Erläuterung der Erfindung verwendet werden. Der Abstapler 2 und die Presse 20 sind in der Figur 1 ebenfalls schematisch dargestellt. Die Zentrierung der Blechtafeln in X und Y Richtung erfolgt nach Stand der Technik zum Beispiel wie an Hand der Figuren 2 bis 6 schematisch dargestellt. Die Ausrichtung einer vom Blechstapel abgestapelten Blechtafel erfolgt auf einem Zentriertisch 15, der Förderriemen 3, 4 und 5 aufweist. Figur 3 zeigt, dass eine vom nicht dargestellten Blechtafelstapel durch den Abstapler 2 abgestapelte Blechtafel 1 auf den Zentriertisch abgelegt worden ist. Die Blechtafel wird mittels der Förderriemen 3, 4 und 5 auf dem Zentriertisch 15 in positiver Y Richtung (Y+ Richtung) geschoben, welche als Richtung auf die Presse 20 hin definiert ist. Figur 4 zeigt die Tafel 1 in einer Position, in welcher sie soweit in Y+ Richtung vorgeschoben worden ist, dass die Tafel 1 nur noch auf dem Förderriemen 5 liegt. Dies ist die Umkehrposition, aus welcher die Tafel 1 zur Zentrierung bzw. Ausrichtung von dem Förderriemen 5 in negativer Y Richtung (Y-) bewegt wird, also wieder ein Stück auf den Abstapler 2 zu bewegt wird. Figur 5 zeigt, wie nach dem Schieben mit dem Förderriemen 5 in Y-Richtung die Blechtafel 1 an zwei Anschlägen 6 und 7 anliegt, welche zu diesem Zweck über die Tischebene hochgefahrenen worden sind. Somit ist die Tafel in der Y Achse zentriert bzw. ausgerichtet. Danach wird ein Anschlag 8 in X+ Richtung bis nahe an die Tafel positioniert und schliesslich schiebt ein Schieber bzw. weiterer Anschlag 9 die Tafel in negativer X Richtung (X-) gegen den Anschlag 8, so dass sich die zentrierte bzw. ausgerichtete Lage der Blechtafel 1 gemäss Figur 6 ergibt. Die Ausrichtung in X und Y Richtung kann bei einer anderen Ausführung nach Stand der Technik kombiniert sein, z.B. indem ein gefedertes Vakuumgreifersystem die Tafel gegen einen Anschlag X+ und Y- schiebt.In figure 1 X and Y axes perpendicular to each other are shown, which are used to describe the feeding of the respective metal sheet to the stamping press and the centering of the metal sheet both for the explanation of the prior art and for the explanation of the invention. The stacker 2 and the press 20 are in the figure 1 also shown schematically. The metal panels are centered in the X and Y direction according to the state of the art, for example using the Figures 2 to 6 shown schematically. The alignment of a sheet stacked from the stack Sheet metal takes place on a centering table 15, which has conveyor belts 3, 4 and 5. figure 3 shows that a sheet metal plate 1 unstacked by the stacker 2 from the sheet metal stack (not shown) has been placed on the centering table. The metal sheet is pushed by means of the conveyor belts 3, 4 and 5 on the centering table 15 in the positive Y direction (Y+ direction), which is defined as the direction toward the press 20. figure 4 shows the panel 1 in a position in which it has been advanced so far in the Y+ direction that the panel 1 is only lying on the conveyor belt 5. This is the reversal position, from which the panel 1 is moved in the negative Y direction (Y-) by the conveyor belt 5 for centering or alignment, ie it is moved a little further towards the stacker 2 . figure 5 shows how, after being pushed with the conveyor belt 5 in the Y-direction, the metal sheet 1 rests against two stops 6 and 7, which have been raised above the table level for this purpose. Thus, the panel is centered or aligned in the Y axis. Then a stop 8 is positioned in the X+ direction close to the panel and finally a slide or further stop 9 pushes the panel in the negative X direction (X-) against the stop 8 so that the sheet metal panel is in the centered or aligned position 1 according to figure 6 results. The alignment in the X and Y direction can be combined in another embodiment according to the prior art, for example by a spring-loaded vacuum gripper system pushing the panel against an X+ and Y- stop.

DE 43 45 184 A1 zeigt eine Zentrierung, bei welcher eine als Ausrichtstation bezeichnete Zentrierung für Blechtafeln mit zwei seitlichen Anschlägen und einem hinteren Anschlag für die Blechtafel ausgeführt ist. DE 43 45 184 A1 shows a centering system in which a centering station, referred to as an alignment station, is designed for metal sheets with two lateral stops and a rear stop for the metal sheet.

Sobald eine Blechtafel ihre definitive Orientierung und Position erreicht hat bzw. ausgerichtet ist, wird diese durch ein Handlingsystem übernommen und zur Verarbeitung im Werkzeug 20 gefördert. In Figur 6 ist dazu ein Greifer 11 dargestellt, der die Tafel 1 in ihrer zuvor zentrierten/ausgerichteten Position an ihrem hinteren Ende erfasst und in Richtung Y+ auf die Presse 20 zuführt. Der Greifer, der die Blechtafel in Y+ Richtung vorschiebt und ggf. in X- und X+ Richtung bewegt, um das gewünschte Stanzbild zu erzeugen, kann der selbe Greifer sein, der die zentrierte Tafel 1 in der Stellung von Figur 6 gegriffen hat. Es kann bekanntermassen ein zweiter Greifer vorhanden sein, der die Tafel 1 vor der Presse 20 vom ersten Greifer übernommen hat.As soon as a metal sheet has reached its definitive orientation and position or is aligned, this is taken over by a handling system and promoted for processing in tool 20. In figure 6 a gripper 11 is shown for this purpose, which grasps the panel 1 in its previously centred/aligned position at its rear end and feeds it onto the press 20 in the Y+ direction. The gripper that advances the metal sheet in the Y+ direction and, if necessary, moves it in the X and X+ direction in order to produce the desired stamping pattern can be the same gripper that holds the centered panel 1 in the position of figure 6 grabbed. As is known, a second gripper can be present, which has taken over the panel 1 from the first gripper in front of the press 20 .

Die erläuterte Ausricht- bzw. Zentriermechanik nach Stand der Technik ist aufwendig und wartungsbedürftig. Ferner benötige diese Mechanik einige Zeit, um die Tafel auszurichten. Während dem Zentriervorgang bzw. Ausrichtvorgang darf das Handlingsystem bzw. darf der Greifer die Blechtafel noch nicht übernehmen. Einerseits weil die Ausrichtung noch nicht abgeschlossen ist und anderseits weil die Ausrichtmechanik eine Kollision mit dem Greifer verursachen könnte.The alignment and centering mechanism explained according to the prior art is complex and requires maintenance. Furthermore, this mechanic needs some time to align the board. During the centering or alignment process, the handling system or the gripper must not yet take over the sheet metal. On the one hand because the alignment is not yet complete and on the other hand because the alignment mechanism could cause a collision with the gripper.

Aus der WO 91 09696 A1 ist ein Verfahren gemäß dem Oberbegriff des Anspruchs 1 und eine Vorrichtung gemäß dem Oberbegriff des Anspruchs 9 bekannt.From the WO 91 09696 A1 a method according to the preamble of claim 1 and a device according to the preamble of claim 9 are known.

Darstellung der ErfindungPresentation of the invention

Aufgabe der Erfindung ist es, ein verbessertes Verfahren zur Ausrichtung einer Blechtafel bei der Zuführung der Blechtafel zu einer Bearbeitungsstation zu schaffen. Insbesondere soll mit dem Verfahren ein geringerer Wartungsbedarf und eine raschere Zuführung zur Presse ermöglicht werden.The object of the invention is to create an improved method for aligning a sheet metal panel when the sheet metal panel is fed to a processing station. In particular, the method should enable less maintenance and more rapid feeding to the press.

Diese Aufgabe wird bei dem eingangs genannten Verfahren dadurch gelöst, dass vor dem Greifen der Tafel die Lage der Greifanordnung an die erkannte, in zweiter Richtung abweichende Lage der Tafel angepasst wird, indem die Greifanordnung entsprechend in zweiter Richtung verschoben wird, um das Greifen der Tafel an der dafür vorgesehenen Stelle zu bewirken.This object is achieved in the method mentioned in that before gripping the panel, the position of the gripping assembly is adapted to the detected, deviating in the second direction position of the panel by correspondingly displacing the gripping assembly in the second direction to cause the panel to be gripped in place.

Gegenstand der Erfindung ist es somit, die Blechtafel-Verschiebung in der X Achse, bzw. der zweiten Richtung, als separaten Ausrichtschritt entfallen zu lassen. Stattdessen wird die Position der Tafel in der X Achse durch mindestens einen Sensor erfasst, vorzugsweise berührungslos erfasst, so dass diese Position in einer mit dem Sensor verbundenen Steuereinrichtung erkennbar ist. Statt die Tafel somit zuerst in eine definierte X Position zu bringen und die Tafel dann erst der Greifanordnung zu übergeben, wird zunächst nur die X Position der Blechtafel erfasst. Die Steuerung berechnet aufgrund der erhaltenen Werte die Übernahmeposition für die Greifanordnung und die Greifanordnung bringt die Blechtafel bei der Zuführung zur Bearbeitungsstation in die korrekte Position bezüglich der X Achse bzw. kompensiert die von der Sensoreinrichtung und der Steuereinrichtung festgestellte Abweichung von der vorbestimmten Ausrichtlage in der zweiten Richtung. Es müssen somit keine Ausrichtteile für die Ausrichtung in der X Achse justiert und unterhalten werden.The object of the invention is therefore to omit the sheet metal displacement in the X axis, or the second direction, as a separate alignment step. Instead, the position of the panel in the X axis is detected by at least one sensor, preferably without contact, so that this position can be identified in a control device connected to the sensor. Instead of first bringing the panel into a defined X position and then only transferring the panel to the gripping arrangement, only the X position of the sheet metal panel is initially recorded. Based on the values received, the controller calculates the transfer position for the gripping arrangement and the gripping arrangement brings the metal sheet into the correct position with regard to the X axis when it is fed to the processing station or compensates for the deviation from the predetermined alignment position determined by the sensor device and the control device in the second Direction. This means that no alignment parts need to be adjusted and maintained for alignment in the X axis.

Vorteil dieses Vorgehens ist somit einerseits das Entfallen der aufwendigen und wartungsbedürftigen Ausrichtmechanik. Des Weiteren entfällt die Zeit welche diese Mechanik benötigt um die Tafel auszurichten.The advantage of this procedure is therefore, on the one hand, the elimination of the complex and maintenance-requiring alignment mechanism. Furthermore, the time that this mechanism requires to align the board is eliminated.

Vorzugsweise erfolgt die Ermittlung der Lage in der zweiten Richtung durch einen stationären Sensor, was einen einfachen und robusten Aufbau ergibt. Alternativ oder zusätzlich kann die Ermittlung der Lage in der zweiten Richtung durch einen beweglichen Sensor erfolgen, insbesondere indem ein Sensor an der Greifanordnung angeordnet und durch diese über die Blechtafel bewegt wird. Auf diese Weise kann ein beweglicher Sensor verwendet werden, was den Aufbau des verwendeten Sensors vereinfachen kann, ohne dass eine zusätzliche Mechanik für die Bewegung des Sensors benötigt wird.The position in the second direction is preferably determined by a stationary sensor, which results in a simple and robust structure. Alternatively or additionally, the position in the second direction can be determined by a movable sensor, in particular by a sensor being arranged on the gripping arrangement and being moved by it over the sheet metal panel. In this way, a movable sensor can be used be, which can simplify the structure of the sensor used without requiring additional mechanics for the movement of the sensor.

Als Sensor des Sensormittels kann insbesondere ein Liniensensor mit oder ohne Reflektor verwendet werden oder auch eine Kamera mit Bildverarbeitung. Der Sensor kann oberhalb oder unterhalb der Blechtafelposition angeordnet sein, oder es kann ein sowohl oberhalb wie unterhalb der Blechtafelposition vorgesehen Sensor sein. Mehrere Sensoren in allen geschilderten Varianten können die Erkennung der Lage verbessern, insbesondere beim bevorzugten Einsatz von optischen Sensoren des Sensormittels, da die Blechtafeln je nach Material und Vorbehandlung verschiedene Reflektionseigenschaften haben können. Anstelle von berührungslosen optischen Sensormitteln können aber auch durch Berührung arbeitende Sensormittel verwendet werden.In particular, a line sensor with or without a reflector can be used as the sensor of the sensor means, or else a camera with image processing. The sensor may be located above or below the panel position, or it may be a sensor provided both above and below the panel position. Several sensors in all variants described can improve the detection of the position, in particular with the preferred use of optical sensors of the sensor means, since the sheet metal panels can have different reflection properties depending on the material and pretreatment. Instead of non-contact optical sensor means, however, sensor means operating by touch can also be used.

Der Erfindung liegt weiter die Aufgabe zu Grunde eine verbesserte Vorrichtung zur Ausrichtung einer Blechtafel bei der Zuführung der Blechtafel zu einer Bearbeitungsstation, insbesondere zu einer Stanzpresse, zu schaffen. Insbesondere soll mit der Vorrichtung ein geringerer Wartungsbedarf und eine raschere Zuführung zur Bearbeitungsstation bzw. Presse ermöglicht werden.The invention is also based on the object of creating an improved device for aligning a metal sheet when the metal sheet is fed to a processing station, in particular to a stamping press. In particular, the device should enable less maintenance and faster delivery to the processing station or press.

Diese Aufgabe wird mit einer Vorrichtung mit den Merkmalen des Anspruchs 9 gelöst.This object is achieved with a device having the features of claim 9.

Gegenstand der Erfindung ist es somit auch bei der Vorrichtung, die Blechtafel-Verschiebung in der X Achse bzw. der zweiten Richtung als separate Ausrichtung zu vermeiden und stattdessen die Position der Tafel in der X Achse durch mindestens einen Sensor erfassbar zu machen, so dass diese Position in einer mit dem Sensor verbundenen Steuereinrichtung erkennbar ist. Statt die Tafel somit zuerst in eine definierte X Position zu bringen und die Tafel dann erst der Greifanordnung zu übergeben, erlaubt es die Vorrichtung zunächst nur die X Position der Blechtafel zu erfassen. Die Steuerung berechnet aufgrund der erhaltenen Werte die Übernahmeposition für die Greifanordnung und die Greifanordnung bringt die Blechtafel bei der Zuführung zur Bearbeitungsstation in die korrekte Position bezüglich der X Achse. Es müssen somit keine Ausrichtteile für die Ausrichtung in der X Achse bei Vorrichtung justiert und unterhalten werden.The object of the invention is therefore also with the device to avoid the metal plate displacement in the X axis or the second direction as a separate alignment and instead to make the position of the plate in the X axis detectable by at least one sensor, so that this Position can be seen in a control device connected to the sensor. Instead of first bringing the panel into a defined X position and only then transferring the panel to the gripping arrangement, the device initially only allows the X position of the sheet metal panel to be detected. The control calculates the transfer position for the gripping arrangement based on the values received and the gripping arrangement brings the metal sheet into the correct position with regard to the X axis when it is fed to the processing station. It is therefore not necessary to adjust and maintain any alignment parts for the alignment in the X axis with the device.

Vorteil dieser Vorrichtung ist somit einerseits das Entfallen der aufwendigen und wartungsbedürftigen Ausrichtmechanik. Des Weiteren entfällt die Zeit welche diese Mechanik benötigt um die Tafel auszurichten.The advantage of this device is therefore, on the one hand, the elimination of the complex and maintenance-requiring alignment mechanism. Furthermore, the time that this mechanism requires to align the board is eliminated.

Bevorzugt ist, dass zur Ermittlung der Lage in der zweiten Richtung ein stationärer Sensor vorgesehen ist, was eine besonders robuste und wartungsfreie Vorrichtung ergibt. Es ist indes auch möglich, dass zur Ermittlung der Lage in der zweiten Richtung ein beweglicher Sensor des Sensormittels vorgesehen ist, insbesondere, dass der Sensor des Sensormittels an der Greifanordnung angeordnet und durch diese über die Blechtafel bewegbar ist, was den Vorteil hat, für die Bewegung des Sensors keine zusätzliche Mechanik einsetzen zu müssen, da die Greifanordnung ohnehin zur Ausführung der benötigten Bewegung ausgeführt ist.It is preferred that a stationary sensor is provided to determine the position in the second direction, which results in a particularly robust and maintenance-free device. However, it is also possible that a movable sensor of the sensor means is provided to determine the position in the second direction, in particular that the sensor of the sensor means is arranged on the gripping arrangement and can be moved by it over the sheet metal panel, which has the advantage for Movement of the sensor does not have to use any additional mechanics, since the gripping arrangement is designed to carry out the required movement anyway.

Insbesondere kann als Sensor ein Liniensensor mit oder ohne Reflektor vorgesehen sein, oder es kann als Sensor eine Kamera mit Bildverarbeitung vorgesehen sein. Weiter kann das Sensormittel oberhalb oder unterhalb der Blechtafelposition angeordnete Sensoren umfassen. Diese erwähnten Massnahmen bzw. Arten und Anordnungen von Sensoren können die Erkennung der Blechtafelkante im industriellen Umfeld verbessern. Insbesondere kann es daher vorteilhaft sein, zur Erfassung der Blechtafelposition Sensormittel mit mehreren unterschiedlichen Sensoren vorzusehen.In particular, a line sensor with or without a reflector can be provided as the sensor, or a camera with image processing can be provided as the sensor. Furthermore, the sensor means can comprise sensors arranged above or below the sheet metal position. These mentioned measures or types and arrangements of sensors can improve the detection of the sheet metal edge in the industrial environment. In particular, it can therefore be advantageous to provide sensor means with a number of different sensors for detecting the position of the metal sheet.

Weiter liegt der Erfindung die Aufgabe zu Grunde eine verbesserte Anlage zur Herstellung von Stanzteilen aus Blechtafeln zu schaffen.The invention is also based on the object of creating an improved system for producing stamped parts from metal sheets.

Diese Aufgabe wird mit einer Anlage gemäss Anspruch 16 gelöst.This object is achieved with a system according to claim 16.

Bei der Erfindung in allen Ausführungen wird somit bei der Zuführung einer Blechtafel zu einer Stanzpresse zur Ausrichtung der Blechtafel in die korrekte Position zur Einführung der Blechtafel in die Stanzpresse so vorgegangen, dass die Ausrichtlage in Zuführrichtung mittels Anschlägen eingestellt wird. Die Ausrichtung in die zur Zuführrichtung orthogonalen zweiten Richtung erfolgt so, dass die Lage der Blechtafel in der zweiten Richtung durch mindestens einen Sensor und eine Steuereinrichtung ermittelt und die Abweichung der Blechtafel von der vorbestimmten Ausrichtlage in der zweiten Richtung von der Steuereinrichtung ermittelt wird. Danach erfolgt die Ausrichtung in der zweiten Richtung mittels der Greifanordnung, die für die Zuführung der Blechtafel zur Stanzpresse vorhanden ist, indem die Greifanordnung so gesteuert wird, dass die Abweichung kompensiert und die Blechtafel korrekt ausgerichtet wird.In the case of the invention in all embodiments, the procedure for feeding a metal sheet to a stamping press for aligning the metal sheet in the correct position for introducing the metal sheet into the stamping press is to set the alignment position in the feed direction by means of stops. Alignment in the second direction orthogonal to the feed direction takes place in such a way that the position of the metal sheet in the second direction is determined by at least one sensor and a control device, and the deviation of the metal sheet from the predetermined alignment position in the second direction is determined by the control device. Thereafter, alignment in the second direction is performed by means of the gripping assembly provided for feeding the metal sheet to the stamping press, by controlling the gripping assembly to compensate for the deviation and correctly align the metal sheet.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Weitere Ausgestaltungen, Vorteile und Anwendungen der Erfindung ergeben sich aus den abhängigen Ansprüchen und aus der nun folgenden Beschreibung anhand der Figuren. Dabei zeigen:

  • Die Figur 1 schematisch einen Abstapler und eine Stanzpresse sowie ein Koordinatensystem zur Erläuterung der Zuführung einer Blechtafel vom Abstapler zur Stanzpresse sowohl beim Stand der Technik als auch bei einem erfindungsgemässen Vorgehen;
  • Die Figuren 2 bis 6 ein Vorgehen nach Stand der Technik;
  • Die Figuren 7 bis 11 ein Vorgehen und eine Vorrichtung gemäss einem Ausführungsbeispiel der Erfindung; und
  • Figur 12 ein Beispiel für einen Greifer der Greifanordnung.
Further configurations, advantages and applications of the invention result from the dependent claims and from the following description based on the figures. show:
  • the figure 1 schematically a stacker and a stamping press as well as a coordinate system to explain the feeding of a metal sheet from the stacker to the stamping press both in the prior art and in a procedure according to the invention;
  • the Figures 2 to 6 a prior art approach;
  • the Figures 7 to 11 a procedure and a device according to an embodiment of the invention; and
  • figure 12 an example of a gripper of the gripping arrangement.

Weg(e) zur Ausführung der ErfindungWay(s) for carrying out the invention

Für die Erläuterung eines Ausführungsbeispiels der Erfindung wird ebenfalls Bezug auf das Koordinatensystem gemäss Figur 1 genommen. Der Stand der Technik ist zuvor an Hand der Figuren 2 bis 6 erläutert worden, worauf hier verwiesen werden kann.For the explanation of an exemplary embodiment of the invention, reference is also made to the coordinate system according to FIG figure 1 taken. The prior art is previously at hand Figures 2 to 6 been explained, which can be referred to here.

Figur 7 zeigt einen Zentriertisch 15 eines Ausführungsbeispiels der Erfindung, bei welchem ein Sensormittel 16 mit mindestens einem Sensor und allfälligen Beleuchtungsmitteln und/oder Reflektoren vorgesehen ist, welches Sensormittel die Lage der Kante einer Blechtafel, die auf dem Tisch im Erfassungsbereich des Sensormittels zu liegen kommt, in der X Koordinate detektieren kann, was noch erläutert wird. Somit kann zusammen mit einer Steuereinrichtung 18, welche das Signal des Sensormittels 16 erhält, die Lage der Blechtafel in der X Koordinate erkannt werden bzw. die Abweichung der Blechtafel 1 von der gewünschten vorbestimmten Ausrichtlage in der X Koordinate. In Figur 7 und auch in Figur 8 und 9 ist die Greifanordnung nicht dargestellt, um die Figuren zu vereinfachen. Eine Greifanordnung ist aber vorhanden und wird später an Hand der Figuren 10, 11 und 12 erläutert. In Figur 7 sind ebenfalls Förderbänder 3, 4 und 5 dargestellt, mittels welchen die jeweilige Blechtafel 1 auf dem Zentriertisch in Y Koordinatenrichtung vor und zurück bewegt werden kann. Anstelle oder zusätzlich von Förderbändern können auch andere Mittel für diese Bewegung vorgesehen sein, zum Beispiel im Tisch teilweise versenkt angeordnete Walzen. Der Tisch 15 kann auf bekannte Weise mit Mitteln versehen sein, welche die Bewegung von Blechtafeln auf dem Tisch erleichtern, zum Beispiel mit regelmässig angeordneten Wälzkörpern oder mit Mitteln zur Erzeugung von Luftpolstern. Solches ist dem Fachmann bekannt und wird hier nicht weiter erläutert. figure 7 shows a centering table 15 of an embodiment of the invention, in which a sensor means 16 with at least one sensor and any lighting means and/or reflectors is provided, which sensor means the position of the edge of a sheet metal plate that comes to lie on the table in the detection range of the sensor means in of the X coordinate, which will be explained later. Thus, together with a control device 18, which receives the signal from the sensor means 16, the position of the metal plate in the X coordinate can be detected or the deviation of the metal plate 1 from the desired predetermined alignment position in the X coordinate. In figure 7 and also in figure 8 and 9 the gripping assembly is not shown to simplify the figures. A gripping arrangement is available and will later on hand figures 10 , 11 and 12 explained. In figure 7 Conveyor belts 3, 4 and 5 are also shown, by means of which the respective metal sheet 1 can be moved back and forth on the centering table in the Y coordinate direction. Instead of or in addition to conveyor belts, other means can also be provided for this movement, for example rollers arranged partially sunk in the table. The table 15 can be provided, in a known manner, with means facilitating the movement of metal sheets on the table, for example with regularly arranged rolling elements or with means for generating air cushions. Such is known to the person skilled in the art and is not explained further here.

Figur 8 zeigt eine Blechtafel 1, welche auf dem Zentriertisch und zunächst den Förderbändern 3 und 4 abgelegt worden ist. Mittels der Förderbänder 3, 4 und 5 erfolgt eine Ausrichtung der Blechtafel in der Y Richtung, indem die Blechtafel 1 zunächst in Y+ Richtung vorgeschoben wird. Hat die Blechtafel eine Position erreicht, bei welcher sie nur noch auf dem Förderband 5 aufliegt, wie in Figur 9 dargestellt, wird sie in Y- (Y-minus) Richtung gegen zwei Anschläge 6 und 7 geschoben, wie das bereits beim Stand der Technik erläutert worden ist, und hier in Figur 10 dargestellt ist. Dies ist die bevorzugte Art der Ausrichtung in der Y Richtung. Auch andere bekannte Arten der Ausrichtung in Y Richtung können verwendet werden. figure 8 shows a sheet metal 1, which has been placed on the centering table and first the conveyor belts 3 and 4. The metal plate is aligned in the Y direction by means of the conveyor belts 3, 4 and 5, in that the metal plate 1 is first advanced in the Y+ direction. If the metal sheet has reached a position in which it only rests on the conveyor belt 5, as in figure 9 shown, it is pushed in the Y (Y-minus) direction against two stops 6 and 7, as has already been explained in the prior art, and here in figure 10 is shown. This is the preferred way of aligning in the Y direction. Other known types of alignment in the Y direction can also be used.

In den Figuren des Ausführungsbeispiels umfasst das Sensormittel 16 wenigstens einen stationären Sensor 17 mit einer Längserstreckung in X Koordinatenrichtung. Dieser Sensor ist zum Beispiel ein Liniensensor, der eine Vielzahl von in Reihe angeordneten lichtempfindliche Sensorelemente aufweist und somit ein Signal abgeben kann, das die Lage eines Gegenstands oberhalb des Sensors dadurch feststellen kann, welche Sensorelemente vom Gegenstand abgedunkelt werden und welche nicht abgedunkelt werden. In diesem Beispiel ist ein solcher Sensor in einer Ausnehmung 13 der Tischplatte so angeordnet, dass er jeweils unterhalb der Blechtafel 1 zu liegen kommt. Ferner ist er so angeordnet, dass er bei in Y Koordinate ausgerichteter Blechtafel 1 die Lage der Kante 1' über dem Sensor in der X Koordinate als Sensorsignal abgeben kann. In Figur 10 ist ersichtlich, dass die Kante 1' der Blechtafel 1 über dem Sensor liegt, so dass ein Teil 17' des Sensors von der Blechtafel 1 abgedeckt wird. Der in X+ Richtung liegende Teil des Sensors des Sensormittels, der nicht von der Blechtafel 1 abgedeckt wird, ist mit 17" bezeichnet. Der Sensor ist mit einer Steuereinrichtung 18 verbunden, welche das Sensorsignal auswertet und damit die Abweichung der Lage der Blechtafel 1 in der X Koordinate von der gewünschten Ausrichtlage der Blechtafel berechnen kann. Diese Steuereinrichtung steuert auch den Antrieb des Greifers 11 der Greifanordnung. Die Erfassung der genauen Position der Blechtafel durch das Sensormittel kann mittels nur einem Sensor erfolgen, z.B. mit dem erwähnten Liniensensor, und mit oder ohne Beleuchtungsmittel und/oder Reflektor ausgeführt sein, oder das Sensormittel kann mehrere Sensoren umfassen, deren Signale in der Steuereinrichtung ausgewertet werden. Das Sensormittel kann auch ein optisches System, wie zum Beispiel eine Kamera mit Bildverarbeitung umfassen, welches zusätzlich zu einem Sensor oder statt einem Sensor verwendet wird. Sensoren oder Kameras des Sensormittels können oberhalb der Blechtafelposition angeordnet sein und/oder, wie im Beispiel dargestellt, unterhalb der Blechtafelposition. Aus Genauigkeitsgründen kann auch eine mehrfache Erfassung vorgesehen werden. Die Erfassung der Blechtafelposition kann an der einen oder anderen Kante der Blechtafel erfolgen, bzw. bei gescrollten Tafeln, die auf jeder Seite zwei Kanten haben, die abgetastet werden können kann dies an beiden Kanten einer Seite oder an beiden Kanten einer Seite oder beider Seiten erfolgen.In the figures of the exemplary embodiment, the sensor means 16 comprises at least one stationary sensor 17 with a longitudinal extent in the X coordinate direction. This sensor is, for example, a line sensor that has a large number of light-sensitive sensor elements arranged in a row and is therefore a Can emit a signal that can determine the position of an object above the sensor, which sensor elements are obscured by the object and which are not obscured. In this example, such a sensor is arranged in a recess 13 in the table top in such a way that it comes to lie below the metal sheet 1 in each case. Furthermore, it is arranged in such a way that, when the metal sheet 1 is aligned in the Y coordinate, it can emit the position of the edge 1′ over the sensor in the X coordinate as a sensor signal. In figure 10 It can be seen that the edge 1' of the sheet metal 1 lies over the sensor, so that a part 17' of the sensor is covered by the sheet metal 1. The part of the sensor of the sensor means lying in the X+ direction, which is not covered by the sheet metal panel 1, is denoted by 17". The sensor is connected to a control device 18, which evaluates the sensor signal and thus the deviation in the position of the sheet metal panel 1 in the X coordinate of the desired alignment position of the metal sheet. This control device also controls the drive of the gripper 11 of the gripping arrangement. The detection of the exact position of the metal sheet by the sensor means can be carried out using only one sensor, e.g. with the line sensor mentioned, and with or without Lighting means and/or reflector can be designed, or the sensor means can comprise several sensors whose signals are evaluated in the control device.The sensor means can also comprise an optical system, such as a camera with image processing, which is used in addition to a sensor or instead of a sensor Sensors or cameras of the Sensormitt els can be arranged above the sheet metal position and/or, as shown in the example, below the sheet metal position. Multiple detection can also be provided for reasons of accuracy. The detection of the sheet position can be done on one edge or the other of the sheet, or for scrolled sheets that have two edges on each side, the This can be done on both edges of one side or on both edges of one side or both sides.

Das Sensormittel kann anstelle mindestens eines stationären Sensors oder zusätzlich zu einem stationären Sensor auch eine Erfassung der Blechkante mittels mindestens eines beweglichen Sensors umfassen. Zum Beispiel kann ein Sensor des Sensormittels an dem Greifer 11 angeordnet sein und zur Ermittlung der Lage der Blechtafel wird von der Steuereinrichtung der Greifer 11 derart über die Blechtafel bewegt, dass deren Lage in der X Koordinate ermittelt wird. Da die Steuereinrichtung bekanntermassen die Lage des Greifers der Greifanordnung kennt, kann sie auch in diesem Fall aus dem Sensorsignal die Lage der Blechtafel ableiten. In diesem Fall kann auf einen Zeilensensor verzichtet werden und es kann ein einfacherer Sensor eingesetzt werden.Instead of at least one stationary sensor or in addition to a stationary sensor, the sensor means can also include a detection of the sheet metal edge by means of at least one movable sensor. For example, a sensor of the sensor means can be arranged on the gripper 11 and to determine the position of the metal plate, the control device moves the gripper 11 over the metal plate in such a way that its position in the X coordinate is determined. Since the control device is known to know the position of the gripper of the gripping arrangement, it can also in this case derive the position of the sheet metal from the sensor signal. In this case, a line sensor can be dispensed with and a simpler sensor can be used.

Allenfalls kann das Sensormittel auch einen separat vom Greifer beweglichen Sensor umfassen. Zum Beispiel kann ein beweglicher Näherungsschalter vorgesehen werden. In diesem Fall kann die Erfassung der Blechkante mittels einer Zeitrechnung erfolgen. Da die Ausgangsposition des Sensors bekannt ist und die Bewegungsgeschwindigkeit des Sensors bekannt ist, kann die Zeit erfasst werden zu welcher der Sensor die Blechkante erfasst. Aus dieser Zeit kann eine genaue Position abgeleitet werden. Bevorzugt sind aber aus dem eingangs genannten Grund der Wartungsfreiheit Sensormittel, welche mit stationärem Sensor oder mit stationärer Kamera arbeiten oder mit am Greifer angeordnetem beweglichen Sensor bzw. mit am Greifer angeordneter Kamera.If necessary, the sensor means can also comprise a sensor that can be moved separately from the gripper. For example, a movable proximity switch can be provided. In this case, the sheet edge can be detected by means of a time calculation. Since the initial position of the sensor is known and the speed of movement of the sensor is known, the time at which the sensor detects the edge of the sheet metal can be recorded. An exact position can be derived from this time. However, for the reason mentioned above that they are maintenance-free, preference is given to sensor means which work with a stationary sensor or with a stationary camera or with a movable sensor arranged on the gripper or with a camera arranged on the gripper.

Durch die Ermittlung der Lage der Blechtafel in der zweiten Richtung (X Achse) durch das Sensormittel 16 und die Erkennung der Abweichung der Blechtafel von ihrer vorbestimmten Ausrichtlage in der zweiten Richtung durch Auswertung des Sensorsignals mit der Steuereinrichtung kann in der Folge bei der Zufuhr bzw. dem Transport der Blechtafel zur Presse die Korrektur der Abweichung erfolgen. In Figur 10 ist dargestellt, dass durch den Sensor 17 des Sensormittels und die Steuereinrichtung 18 eine Abweichung ΔX der Lage der Blechtafel in der X Koordinate von der gewünschten Ausrichtung bzw. Zentrierung ermittelt worden ist. Diese Abweichung wird nun durch die Greifanordnung korrigiert.By determining the position of the metal sheet in the second direction (X axis) by the sensor means 16 and detecting the deviation of the metal sheet from its predetermined alignment position in the second direction by evaluating the sensor signal with the control device, the deviation can subsequently be corrected during the feeding or the transport of the metal sheet to the press. In figure 10 it is shown that the sensor 17 of the sensor means and the control device 18 have determined a deviation ΔX of the position of the metal sheet in the X coordinate from the desired orientation or centering. This deviation is now corrected by the gripping arrangement.

Die Korrektur der Abweichung der Ausrichtlage von der vorbestimmten Ausrichtlage in der zweiten Richtung (X Achse) erfolgt nach dem Greifen der Blechtafel mittels der Greifanordnung, indem die Greifanordnung gesteuert von der Steuereinrichtung die Bewegung der Blechtafel in die vorbestimmte Ausrichtlage in der zweiten Richtung während der Zuführbewegung der Blechtafel zur Bearbeitungsstation vornimmt. Dies kann so erfolgen, dass die Greifanordnung mit dem Greifer 11, der durch die Steuereinrichtung bekanntermassen in X und Y Richtung mittels entsprechender Antriebe des Greifers bewegbar ist, zunächst eine Bewegung in X- (Xminus) Richtung ausführt, um den Betrag ΔX zu korrigieren und danach die Bewegung zur Presse 20 in Richtung Y+ ausführt. Bevorzugt wird indes eine kombinierte X und Y Bewegung des Greifers 11, so dass dieser in Richtung des Pfeils K bewegt wird, wobei die Bewegung in Richtung X- (Xminus) nur soweit erfolgt, bis die Abweichung ΔX aufgehoben ist.The deviation of the alignment position from the predetermined alignment position in the second direction (X axis) is corrected after the metal sheet has been gripped by means of the gripping arrangement, in that the gripping arrangement, controlled by the control device, moves the metal sheet into the predetermined alignment position in the second direction during the feed movement of the metal sheet to the processing station. This can be done in such a way that the gripping arrangement with the gripper 11, which, as is known, can be moved by the control device in the X and Y direction by means of corresponding drives of the gripper, first executes a movement in the X (Xminus) direction in order to correct the amount ΔX and then carries out the movement towards the press 20 in direction Y+. However, a combined X and Y movement of the gripper 11 is preferred, so that it is moved in the direction of the arrow K, with the movement in the X− (Xminus) direction only taking place until the deviation ΔX is eliminated.

Gemäss der Erfindung wird vor dem Greifen der Tafel die Lage der Greifanordnung an die erkannte, in zweiter Richtung abweichende Lage der Tafel angepasst, indem die Greifanordnung entsprechend in zweiter Richtung verschoben wird, um das Greifen der Tafel an der dafür vorgesehenen Stelle zu bewirken. In Figur 10 ist dies dargestellt, indem der Greifer 11 der Greifanordnung ebenfalls vor dem Greifen im Wesentlichen um den Betrag ΔX in der zweiten Richtung verschoben worden ist, um die Tafel 1 an der Stelle zu greifen, die dafür vorgesehen ist.According to the invention, before the panel is gripped, the position of the gripping arrangement is adapted to the detected position of the panel which differs in the second direction by the gripping arrangement being correspondingly displaced in the second direction in order to cause the panel to be gripped at the intended location. In figure 10 this is shown by the gripper 11 of the gripping arrangement also being displaced essentially by the amount ΔX in the second direction prior to gripping, by which to grip panel 1 in the place provided for this purpose.

Danach bringt der Greifer 11 die Blechtafel in die Presse 20 und führt die bekannte Stanzbewegung in X und Y Richtung aus, was in Figur 11 dargestellt ist. Die Greifanordnung kann auf bekannte Weise auch zwei Greifer aufweisen, zwischen denen jeweils die vom ersten Greifer ausgerichtete Blechtafel 1 übergeben wird. Der Greifer 11 von Figur 10 führt dann die Korrekturbewegung in X- (Xminus) Richtung und die Y Bewegung zur Stanzpresse hin aus und führt alle Stanzungen von mindestens einer Reihe des Stanzbildes aus (in der Regel zwei oder drei Stanzreihen), wonach ein zweiter Greifer der Greifanordnung die Blechtafel übernimmt und die Stanzung zu Ende führt, während der erste Greifer wieder zur Übernahme der folgenden Blechtafel zurückgefahren wird.Then the gripper 11 brings the metal sheet into the press 20 and carries out the known punching movement in the X and Y directions, which figure 11 is shown. In a known manner, the gripping arrangement can also have two grippers, between which the metal sheet 1 aligned by the first gripper is transferred. The gripper 11 from figure 10 then performs the corrective movement in the X (Xminus) direction and the Y movement towards the punch press and performs all punching of at least one row of the punching pattern (usually two or three rows of punching), after which a second gripper of the gripping assembly takes over the sheet metal and completes the punching while the first gripper is moved back to take over the following metal sheet.

Figur 12 zeigt einen bekannten Greifer der Greifanordnung, wie er in herkömmlichen Vorrichtungen bereits zum Einsatz kommt und wie er für vorliegende Erfindung ebenfalls eingesetzt wird. Der Greifer 11 ist in X Richtung und Y Richtung durch entsprechende Antriebe bewegbar, welche Antriebe durch die Steuereinrichtung gesteuert werden. Der Greifer weist zwei Zangen 19 auf, mittels denen die Blechtafel an ihrer in Y+ Richtung gesehen hinteren Kante greifbar ist und auch wieder losgelassen werden kann. Dies ist bekannt und wird hier nicht weiter erläutert. figure 12 shows a known gripper of the gripping arrangement as it is already used in conventional devices and as it is also used for the present invention. The gripper 11 can be moved in the X direction and Y direction by appropriate drives, which drives are controlled by the control device. The gripper has two tongs 19, by means of which the sheet metal plate can be gripped at its rear edge, seen in the Y+ direction, and can also be released again. This is known and will not be explained further here.

Während in der vorliegenden Anmeldung bevorzugte Ausführungen der Erfindung beschrieben sind, ist klar darauf hinzuweisen, dass die Erfindung nicht auf diese beschränkt ist und in auch anderer Weise innerhalb des Umfangs der folgenden Ansprüche ausgeführt werden kann.While the present application describes preferred embodiments of the invention, it is to be understood that the invention is not limited thereto and may be otherwise embodied within the scope of the following claims.

Claims (16)

  1. Method for aligning a metal sheet (1) while feeding the metal sheet to a machining station (20), in particular to a punch press, wherein the feeding takes place in a first direction (Y axis) of two orthogonal directions (X axis and Y axis), wherein in a first alignment step the alignment of the metal sheet takes place in the first direction (Y axis) and in a second step the alignment takes place in the second direction (X axis), in order to achieve a predetermined alignment position of the metal sheet, and wherein the metal sheet is gripped for feeding by a gripping arrangement and moved to the machining station and introduced into the machining station and is additionally moved back and forth in the machining station in the second direction for producing the desired machining image, in particular punching image, wherein the alignment of the metal sheet in the second direction (X axis) is effected by the following steps:
    - determination of the position of the metal sheet in the second direction (X axis) by a sensor means (16) ;
    - detection of the deviation of the metal sheet from its predetermined alignment position in the second direction by evaluating the sensor signal with a control unit (18); and
    - correction of the deviation of the alignment position from the predetermined alignment position in the second direction (X axis) after gripping of the metal sheet by means of the gripping arrangement, in that the gripping arrangement, controlled by the control unit, carries out the movement of the metal sheet into the predetermined alignment position in the second direction, in particular combined with the feed movement of the metal sheet to the machining station, characterized in that, before gripping the sheet, the position of the gripping arrangement is adapted to the detected position of the sheet deviating in the second direction by displacing the gripping arrangement correspondingly in the second direction in order to effect the gripping of the sheet at the position intended for this purpose.
  2. Method according to claim 1, characterized in that the determination of the position in the second direction is performed by a stationary sensor of the sensor means.
  3. Method according to any one of the preceding claims, characterized in that the determination of the position in the second direction is performed by a movable sensor of the sensor means.
  4. Method according to claim 3, characterized in that a sensor of the sensor means is arranged on the gripping arrangement and is moved over the metal sheet by it.
  5. Method according to any one of claims 1 to 4, characterized in that a line sensor with or without reflector is used as sensor of the sensor means, and/or in that a camera with image processing is used as sensor of the sensor means.
  6. Method according to any one of claims 1 to 5, characterized in that a sensor of the sensor means is arranged above or below the metal sheet position, or that a sensor of the sensor means is provided both above and below the metal sheet position.
  7. Method according to any one of claims 1 to 6, characterized in that the detection of the metal sheet position takes place at one or the other edge of the metal sheet lying in the X direction.
  8. Method according to any one of claims 1 to 7, characterized in that the metal sheet position is detected with a plurality of different sensors of the sensor means, preferably using optical sensors operating without contact and/or sensors operating with contact.
  9. Device for carrying out the method according to any one of claims 1 to 8, which device is designed for aligning a metal sheet (1) while feeding the metal sheet to a machining station (20), in particular to a punch press, wherein the device comprises a control unit (18) and a gripping arrangement with at least one gripper (11), which gripping arrangement is designed for feeding the metal sheet to the machining station in a first direction (Y axis) of two orthogonal directions (X axis and Y axis) controlled by the control unit and additionally for moving the metal sheet in a second direction, wherein the device comprises a sensor means (16) connected to the control unit (18) and that the control unit is designed to determine the position of the metal sheet in the second direction (X axis) by evaluating the sensor signal obtained from the sensor means and to determine the deviation from the predetermined alignment position of the metal sheet in the second direction and in that the deviation from the predetermined alignment position determined by the control unit is correctable by the control unit by means of the gripping arrangement, in that the movement of the metal sheet into the predetermined alignment position in the second direction can be carried out by the gripping arrangement, controlled by the control unit, in particular during the feed movement of the metal sheet to the machining station,
    characterized in that the control unit (18) is designed in such a way that, before the sheet is gripped, the position of the gripping arrangement is adapted to the detected position of the sheet which deviates in the second direction, in that the gripping arrangement is displaced accordingly in the second direction in order to effect the gripping of the sheet at the position intended therefor.
  10. Device according to claim 9, characterized in that a stationary sensor (17) of the sensor means is provided for determining the position in the second direction.
  11. Device according to any one of claims 9 to 10, characterized in that a movable sensor of the sensor means is provided for determining the position in the second direction.
  12. Device according to claim 11, characterized in that one sensor of the sensor means is arranged on the gripping arrangement and is movable over the metal sheet by it.
  13. Device according to any one of claims 9 to 12, characterized in that a line sensor with or without a reflector is provided as the sensor of the sensor means, or in that a camera with image processing is provided as the sensor of the sensor means.
  14. Device according to any one of claims 9 to 13, characterized in that a sensor of the sensor means is arranged above or below the metal sheet position, or that a sensor of the sensor means is provided both above and below the metal sheet position.
  15. Device according to any one of claims 9 to 14, characterized in that sensor means comprising a plurality of different sensors are provided for detecting the metal sheet position.
  16. Arrangement for the production of punched parts from metal sheets, comprising a stacker (2) for stacking individual metal sheets (1) from a stack, a punch press (20) for forming the punched parts from the respective metal sheet, and a device according to any one of claims 9 to 15 for aligning the respective metal sheet (1) as it is fed to the punch press.
EP17717616.1A 2016-05-04 2017-04-04 Method and device for supplying a sheet metal panel to a punch press Active EP3426420B1 (en)

Applications Claiming Priority (2)

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CH00591/16A CH712435A2 (en) 2016-05-04 2016-05-04 Method and device for aligning a metal sheet during the feeding of the metal sheet to a processing station, in particular to a stamping press.
PCT/CH2017/000033 WO2017190258A1 (en) 2016-05-04 2017-04-04 Method and device for supplying a sheet metal panel to a punch press

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CN104972008B (en) * 2015-06-10 2017-03-15 南京邮电大学 A kind of sheet material positioning grasping system for being applied to automatic production line and positioning grasping means

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ES2927130T3 (en) 2022-11-02
US20190143391A1 (en) 2019-05-16
WO2017190258A1 (en) 2017-11-09
PT3426420T (en) 2022-09-13
EP3426420A1 (en) 2019-01-16
TW201741046A (en) 2017-12-01
CN109311072B (en) 2021-02-05
TWI717503B (en) 2021-02-01
CN109311072A (en) 2019-02-05
CH712435A2 (en) 2017-11-15
US10730097B2 (en) 2020-08-04

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