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WO2007019822A1 - Outil de façonnage et procede pour positionner l'outil de façonnage - Google Patents

Outil de façonnage et procede pour positionner l'outil de façonnage Download PDF

Info

Publication number
WO2007019822A1
WO2007019822A1 PCT/DE2006/001381 DE2006001381W WO2007019822A1 WO 2007019822 A1 WO2007019822 A1 WO 2007019822A1 DE 2006001381 W DE2006001381 W DE 2006001381W WO 2007019822 A1 WO2007019822 A1 WO 2007019822A1
Authority
WO
WIPO (PCT)
Prior art keywords
forming tool
component
forming
vortastelement
die
Prior art date
Application number
PCT/DE2006/001381
Other languages
German (de)
English (en)
Inventor
York Widdel
Bernhard Spies
Heiko Thaler
Sebastian Rotter
Original Assignee
Eckold Gmbh & Co. Kg
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Eckold Gmbh & Co. Kg filed Critical Eckold Gmbh & Co. Kg
Priority to EP06775818A priority Critical patent/EP1912750A1/fr
Priority to US12/063,215 priority patent/US20090199614A1/en
Publication of WO2007019822A1 publication Critical patent/WO2007019822A1/fr

Links

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
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/02—Stamping using rigid devices or tools
    • B21D22/04—Stamping using rigid devices or tools for dimpling
    • 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
    • B21D28/24—Perforating, i.e. punching holes
    • B21D28/34—Perforating tools; Die holders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37405—Contact detection between workpiece and tool, probe, feeler
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50137—Contact in probe, touch probe to detect contact, touch trigger

Definitions

  • the invention relates to a forming tool for sheet-metal components, in particular a forming tool, wherein the forming tool is automatically positioned and handled by means of an industrial robot system, according to the preamble of claim 1.
  • the invention relates to a method for positioning the forming tool, according to the preamble of claim 11.
  • DE 299 18 486 U1 discloses a device for positioning finished molded sheet metal stampings and a robot-controlled production tool.
  • the pressed metal parts are vehicle body parts.
  • the exact actual position of the pressed sheet metal part within the working space of the industrial robot is determined in relation to it.
  • a sensor is provided which detects a contact of the support on the sheet metal pressed part and emits appropriate signals to stop the displacement of the support to a controller.
  • the object is achieved by a forming tool having the features of claim 1.
  • the forming tool according to the invention is characterized in that it has a component Vortastsystem that contains a contact position with the component position-displaceable Vortastelement whose Lüverschie- bung can be determined by means of a measuring system ,
  • the forming tool is characterized by a relatively simple structural design and allows reliable positioning by means of an industrial robot system relative to the sheet-metal component whose exact position in the space for forming need not be known exactly.
  • the exact tool position can be determined and thus the exact component position can be calculated in space.
  • the Vortastvorgang is thus indirectly used in addition to the component position determination in the room.
  • the forming tool it is possible to carry out an exact forming process for a sheet-metal component whose position in space was initially not sufficiently known. Both the positioning and the handling of the forming tool is carried out automatically by means of the industrial robot system.
  • the forming tool may in particular be an embossing and / or punching tongs.
  • the Vortastelement is preferably positionally displaceable against a resilient restoring force.
  • the Vortastelement is preferably arranged in a die unit of the forming tool. This makes it possible to create a contact contact between the position-displaceable Vortastelement and the sheet-metal component in the immediate forming area of the forming tool. When this contact is made, the forming tool is located in a precise positionable by means of the industrial robot Vortast ein, from which then a positionally accurate Umformausgangswolf the forming tool can be taken relative to the component. This allows a reproducible accurate forming process on a respective component whose exact location in the room for this need not be known exactly.
  • the Vortastelement in Vortastwolf frontally over the die outwards and is rigidly connected to a defined in the Matrizeniser reference element.
  • Vortastelements Due to the functional and spatial separation of the Vortastelements and the reference element, it is possible to perform the actual measurement of the Vortastvorgang undisturbed. Since the Vortastelement is dimensionally stable connected to the reference element, a positional shift of the Vortastelements is precisely and directly transmitted to the reference element, so that the positional shift of Vortastelements at the same time by means of the measuring system can be determined.
  • the Vortastelement can protrude in Vortast ein the front side of the die to a defined Vortastin.
  • the Vortastrat is thus a safety distance of the die relative to the sheet-metal component after making a contact abutment of the Vortastelements with the same component.
  • the speed of movement of the forming tool approaching the component may, if necessary, be greater up to the production and verification of an abutment contact between the prestressing element and the component as far as during this contact contact until a defined Umformausgangs sued, i. when the contact between the die and the component is made when the Vortast element is fully retracted and the deformation has not yet begun.
  • the reference element and the measuring system are preferably arranged in a measuring range spaced from the forming area. This allows the Use of a relatively robust trained Vortastelements in the forming area and at the same time a geometrically highly accurate formed, sensitive measuring system in the spaced measuring range.
  • the forming tool can thus be characterized by a sufficient robustness in the forming area and at the same time by a trouble-free reproducible measurement accuracy.
  • the reference element preferably has a reference surface, which is arranged at a defined measuring distance to the measuring system.
  • the measuring system preferably includes a distance sensor, which is operatively connected to a control unit of the industrial robot system.
  • a forming tool is characterized by a structurally relatively simple structure and is suitable for use in particular in an automated series production due to their reliable positioning and handling.
  • the measuring distance is advantageously at least by a defined Umformweg greater than the Vortastrum. This makes it possible to measure a positional shift of the Vortastelements during the Vortastvorgangs means of the measuring system and immediately thereafter the Umformweg during the forming process on the sheet-metal component, since the Vortastelement is further displaced during the forming process together with the die against a resilient restoring force. This positional shift can also be measured continuously, if necessary, by means of the measuring system within the measuring distance.
  • the forming tool may additionally be formed as a punching tool, wherein the Vortastelement simultaneously has the function of a punch, which is forcibly moved away from the component by means of a displacement system after a punching.
  • This allows a correct opening of the forming tool after completion of the forming / punching process.
  • the object is achieved by a method having the features of claim 11.
  • the method according to the invention is characterized in that the forming tool is moved toward the component until an abutment contact is established between a prestressing element and the component, whereby a displacement occurs by means of a measuring system a Vortastelements is measured from a defined Vortastwolf for exact positioning of the forming tool relative to the component.
  • the pre-load element projects into contact with the component by a predefined pre-load length on the face side via the matrix to the outside before producing an abutment contact.
  • the forming tool may additionally have a punching function and the Vortastelement simultaneously have the function of a punch. After punching in the component, the punch can be forcibly moved away from the component by means of a sliding system. Thus, several processing functions can be performed by means of the forming tool on a component.
  • the industrial robot system can move the forming tool away from the component and at the same time perform a movement of Umformwerkmaschines compensating movement relative to Matrizeniser so that the forming die is continuously in abutting contact with the component and the Matrizenech while reducing the acting through them on the component Forces is moved away from the component.
  • Umformtechnikmaschines compensating movement relative to Matrizeniser so that the forming die is continuously in abutting contact with the component and the Matrizenhows is moved away from the component.
  • an undesirable reverse deformation in the forming area of the component when opening the forming tool can be avoided or at least limited to ensure a particularly high Forming accuracy on the component.
  • FIG. 1 is a schematic, partially longitudinally sectioned side view of an inventive forming tool with the Vortastelement in
  • Fig. 2 shows the forming tool of Figure 1 during the forming / stamping process
  • Fig. 3 shows the forming tool of Figure 2 after the forming / embossing process and in the open operating position.
  • FIG. 1 shows a schematic representation of a forming tool 10 which is designed to be connectable to an industrial robot (not shown in the figure).
  • the forming tool 10 may be a forming tool and in particular a stamping and / or punching pliers.
  • the forming tool 10 is provided with a component Vortastsystem 12, which includes a Vortastelement 14.
  • the Vortastelement 14 stands for this purpose by a defined Vortastaci B frontally from the forming tool 10 before.
  • the component pre-stressing system 12 it is possible to position the forming tool 10 automatically relative to a plate-shaped component 16, wherein the exact spatial position of the forming area of the component 16 need not be known exactly for this purpose.
  • the Vortastelement 14 is concentrically integrated in a die unit 20 arranged such that it (according to double arrow 42) in the plane of the drawing to the right against a resilient restoring force of a compression spring 36 is displaced position.
  • the die unit 20 further includes a die 22, which surrounds the Vortastelement 14 concentric and is held by compression springs 32 in a receiving seat 30 of a counter-holder.
  • the pincers Forming tool 10 further includes a forming die 40 which forms a gap with the die unit 20 in which, when coarse positioning of the forming tool 10 by means of the industrial robot, the forming region of the sheet-metal component 16 is located. The forming punch 40 is moved in the actual forming process against the die 22 in the drawing plane to the right.
  • the forming tool 10 is further provided with a measuring system 18 which includes a distance sensor 28, which may be formed as an analog sensor.
  • the Vortastelement 14 extends from the forming region of the forming tool 10 along the die 22 to a measuring range in which a reference element 24 which is dimensionally stable connected to the Vortastelement 14, is arranged.
  • the reference element 24 includes a flat reference surface 26, which lies in a defined measuring distance A relative to the distance sensor 28 in the Vortastwolf 14 located in Vortastwolf according to Figure 1. In this Vortast ein the Vortastelement 14 frontally protrudes beyond the die 22 to the outside, forming a defined Vortastin B relative to the end face of the die 22.
  • FIG. 1 also shows a connection punching cylinder 38.
  • the exact spatial position of the forming area of the component 16 by means of the control unit of the industrial robot and the distance of the die unit 20 and the forming punch 40 still to be traveled relative to the component 16 can be determined to assume a correct forming position.
  • the industrial robot positions the forming tool 10 until an abutment contact of the counter-holder 30 with the component 16 is established, wherein the positioning path of the forming tool 10 still to be covered is now exactly known.
  • the Vortastelement 14 is fully retracted into the die 22.
  • this defined forming position of the die unit 20 of the forming die 40 is moved against the component 16 (in the drawing to the right) and causes in cooperation with the fixed counter-holder 30 and against the spring-elastic restoring force of the compression springs 32 to the right sliding die 22 a Correct forming in the component 16.
  • the forming punch 40 cooperating with the die 22 thus pushes with its front side the deformation component of the component 16 into a cavity bounded by a counter-holder 30, which is released according to the onset axial displacement of the die 22 in the die unit 20.
  • the counter-holder 30 is stable during the actual forming process, i. immovable. This transformation is shown in FIG.
  • the pre-touch element 14 which at the same time has the function of a punch, is moved into a defined punched position by means of the connection punching cylinder 38, with the interposition of a force transmission system 48 connected to the punch 14 by a stop 46 2, to the left in the direction of the component 16.
  • the punch 14 moves relative to the displacement element 44 which is stationary during this process.
  • the component 16 is now both deformed and punched by means of the forming tool 10 according to FIG.
  • This change in the measuring distance A is determined by the distance sensor 28 precisely and simultaneously, so that a controlled positioning of the forming tool 10 relative to the sheet-shaped member 16 can be made such that the free end face of the counter-holder 30 are brought into abutting contact with the sheet-shaped member 16 to be formed in abutting contact can. At this moment, the Vortastelement 14 is fully retracted into the die 22.
  • the measuring distance A at least by a defined Umformweg is greater than the Vontastin B, the common positional shift of the Vortastelements 14 together with the die 22 and thus resulting in the component 16 Umformweg on the change of the measuring distance A due to the corresponding positional shift of the reference element 24th be determined directly during the actual forming process by means of the distance sensor 28.
  • the distance sensor 28 in addition, the forming height achieved on the component 16 (for example, the embossing height) can also be recorded.
  • a first contact between the forehand element 14, which simultaneously has the function of a punch, and the component 16 is detected by the measuring system 18.
  • the further movement can then be stopped first or even slowed down.
  • the remaining travel distance for positioning the forming tool 10 and for carrying out the forming process is determined exactly by means of the control unit of the industrial robot.
  • an automated delivery of the remaining travel in particular in crawl, i. with reduced speed, to increase the starting and thus positioning accuracy.
  • a repeated measurement with a correspondingly repeated positioning correction of the industrial robot can take place. Due to the principle mechanical part loading and thus detection of the component position in the area of action of the forming tool 10, a particularly high positioning reliability of the same can be achieved with components subject to position tolerance (components with inaccurate spatial position).
  • the industrial robot moves the forming tool 10 away from the component 16.
  • the forming die 40 simultaneously performs a movement of the forming tool 10 compensating relative movement to the die unit 20, so that the forming die 40 is continuously in abutting contact with the component 16 and the die unit 20 is moved away from the component 16 while reducing the forces acting thereon on the component 16.
  • an undesired reverse deformation in the forming region of the component 16 during opening of the forming tool 10 is avoided or at least restricted while ensuring a particularly high deformation accuracy on the component 16.
  • the forming tool 10 can then be easily completely opened to release the component 16.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)

Abstract

L'invention concerne un outil de façonnage (10) prévu pour des éléments de type plaques de métal (16) et se présentant notamment sous forme de pince de façonnage. L'outil de façonnage (10) peut être positionné et manipulé au moyen d'un système de robot industriel. A cet effet, il est prévu que l'outil de façonnage (10) présente un système de prépalpation d'élément (12), qui comprend un élément de prépalpation (14) déplaçable en longueur, lorsqu'il est en position de contact avec l'élément(16) concerné, dont la variation de position peut être déterminée au moyen d'un système de mesure (18). Il est également prévu un procédé approprié pour positionner l'outil de façonnage (10).
PCT/DE2006/001381 2005-08-13 2006-08-07 Outil de façonnage et procede pour positionner l'outil de façonnage WO2007019822A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP06775818A EP1912750A1 (fr) 2005-08-13 2006-08-07 Outil de façonnage et procede pour positionner l'outil de façonnage
US12/063,215 US20090199614A1 (en) 2005-08-13 2006-08-07 Forming tool and method for positioning the forming tool

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005038470.6A DE102005038470B4 (de) 2005-08-13 2005-08-13 Umformwerkzeug und Verfahren zum Positionieren des Umformwerkzeugs
DE102005038470.6 2005-08-13

Publications (1)

Publication Number Publication Date
WO2007019822A1 true WO2007019822A1 (fr) 2007-02-22

Family

ID=37395800

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2006/001381 WO2007019822A1 (fr) 2005-08-13 2006-08-07 Outil de façonnage et procede pour positionner l'outil de façonnage

Country Status (4)

Country Link
US (1) US20090199614A1 (fr)
EP (1) EP1912750A1 (fr)
DE (1) DE102005038470B4 (fr)
WO (1) WO2007019822A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101510083B (zh) * 2009-04-01 2011-07-06 北京航空航天大学 一种飞机蒙皮横向拉形加载轨迹设计与数控代码生成方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008007284A1 (de) * 2008-02-02 2009-08-06 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum bedarfsweisen Erzeugen eines Durchbruchs in einem Karosserieabschnitt eines Fahrzeugs
DE102009050226B4 (de) * 2009-10-22 2021-07-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum bedarfsweisen Erzeugen eines Durchbruchs in einem Bauteil eines Fahrzeugs
US12097548B2 (en) 2021-08-09 2024-09-24 Kuka Systems North America Llc Apparatus and methods for forming an attachment pad in high strength steel materials

Citations (6)

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Publication number Priority date Publication date Assignee Title
US5813263A (en) 1993-10-15 1998-09-29 Komatsu, Ltd. Ram position setting method and ram control unit for press brake
DE29918486U1 (de) 1999-04-27 1999-12-16 DaimlerChrysler AG, 70567 Stuttgart Vorrichtung zur Positionierung und Herstellung von Schraubverbindungsstellen an Blechpreßteilen einer Fahrzeugkarosserie
DE10359943A1 (de) * 2002-12-26 2004-07-22 Utica Enterprises, Inc., Shelby Township Programmierbare Vorrichtung sowie Verfahren zur Karosserieteil-Befestigung
EP1533055A1 (fr) 2003-11-19 2005-05-25 Renault S.A.S., Société par actions simplifiée Dispositif de rivetage et procédé de rivetage associé
DE102004038208A1 (de) * 2004-08-05 2006-02-23 Daimlerchrysler Ag Verfahren und Werkzeugeinrichtung zum Umformen
EP1698411A2 (fr) * 2005-03-02 2006-09-06 Böllhoff Verbindungstechnik GmbH Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage

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PT1011886E (pt) * 1997-06-20 2002-07-31 Luciano Gasparini Prensa para dobrar folhas de metal
DE19747267C2 (de) * 1997-10-25 1999-08-05 Eckold Ag Verfahren zum Durchsetzfügen und Vorrichtung zu seiner Durchführung
EP1258299B1 (fr) * 2000-01-17 2010-04-21 Amada Company, Ltd. Procede et dispositif de cintrage
WO2001053018A1 (fr) 2000-01-17 2001-07-26 Amada Company, Limited Procede de detection de l'epaisseur de toles, et dispositif a cet effet d'une plieuse, procede de detection de la distance entre lames de reference, procede de pliage et dispositif de pliage
DE10304458A1 (de) * 2003-02-04 2004-08-19 Siemens Ag Verfahren zum exakten Positionieren eines Bauteils in einer Stufenbohrung eines Gehäuses sowie Injektor für die Kraftstoffeinspritzung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5813263A (en) 1993-10-15 1998-09-29 Komatsu, Ltd. Ram position setting method and ram control unit for press brake
DE29918486U1 (de) 1999-04-27 1999-12-16 DaimlerChrysler AG, 70567 Stuttgart Vorrichtung zur Positionierung und Herstellung von Schraubverbindungsstellen an Blechpreßteilen einer Fahrzeugkarosserie
DE10359943A1 (de) * 2002-12-26 2004-07-22 Utica Enterprises, Inc., Shelby Township Programmierbare Vorrichtung sowie Verfahren zur Karosserieteil-Befestigung
EP1533055A1 (fr) 2003-11-19 2005-05-25 Renault S.A.S., Société par actions simplifiée Dispositif de rivetage et procédé de rivetage associé
DE102004038208A1 (de) * 2004-08-05 2006-02-23 Daimlerchrysler Ag Verfahren und Werkzeugeinrichtung zum Umformen
EP1698411A2 (fr) * 2005-03-02 2006-09-06 Böllhoff Verbindungstechnik GmbH Méthode et dispositif pour contrôler le mouvement d'avance d'un outil d'assemblage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101510083B (zh) * 2009-04-01 2011-07-06 北京航空航天大学 一种飞机蒙皮横向拉形加载轨迹设计与数控代码生成方法

Also Published As

Publication number Publication date
DE102005038470A1 (de) 2007-02-15
US20090199614A1 (en) 2009-08-13
DE102005038470B4 (de) 2022-08-25
EP1912750A1 (fr) 2008-04-23

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