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EP1651369A1 - Procede et dispositif pour former une piece puis soulever cette piece - Google Patents

Procede et dispositif pour former une piece puis soulever cette piece

Info

Publication number
EP1651369A1
EP1651369A1 EP04739429A EP04739429A EP1651369A1 EP 1651369 A1 EP1651369 A1 EP 1651369A1 EP 04739429 A EP04739429 A EP 04739429A EP 04739429 A EP04739429 A EP 04739429A EP 1651369 A1 EP1651369 A1 EP 1651369A1
Authority
EP
European Patent Office
Prior art keywords
time
tools
workpiece
forming
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04739429A
Other languages
German (de)
English (en)
Other versions
EP1651369B1 (fr
Inventor
Lothar Bauersachs
Harald Barnickel
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.)
Langenstein and Schemann GmbH
Original Assignee
Langenstein and Schemann GmbH
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 Langenstein and Schemann GmbH filed Critical Langenstein and Schemann GmbH
Publication of EP1651369A1 publication Critical patent/EP1651369A1/fr
Application granted granted Critical
Publication of EP1651369B1 publication Critical patent/EP1651369B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J9/00—Forging presses
    • B21J9/10—Drives for forging presses
    • B21J9/20—Control devices specially adapted to forging presses not restricted to one of the preceding subgroups

Definitions

  • the invention relates to a method and a device for forming a workpiece.
  • Striking metal forming machines comprise a work area in which two tools, generally rectilinear, can be moved relative to one another. The workpiece is placed between the two tools and then shaped by the impact force or impact energy when the tools strike the workpiece and the resulting forming energy.
  • forging hammers are divided into scabbard hammers, which in turn are divided into drop hammers and top pressure hammers, and counterblow hammers Scraper (or: a carrier, an anvil) as a tool that is fixed relative to the workpiece and a bear or short bear as a tool that is relatively vertical to the workpiece and to the scraper, usually a vertical moving tool
  • a counterblow hammer has two against each other and each relative to the ground or Hammer frames, vertically or horizontally, move raised bear.
  • the drives for the bears of forging hammers are generally hydraulic or pneumatic.
  • the hammer frame and the hammer drives of a forging hammer are relieved of the forming force, so that forging hammers cannot be overloaded.
  • the moving tool is usually called pestle.
  • the plunger is moved in a straight line to the stationary tool by a spindle.
  • the spindle and thus the plunger are driven by a drive motor and / or a flywheel as an energy store.
  • the spindle or the ram is decoupled from the drive and the kinetic energy given to the ram is (partly) converted into forming energy (VDI-Lexikon aaO)
  • a problem with the use of such handling devices is the high impact forces in a striking metal forming machine, which can significantly strain and damage the handling device during the forming blow if the handling device holds the workpiece when the bear or ram hits.
  • DE 42 20 796 A 1 and DE 100 60 709 ⁇ 1 handling devices have been proposed which can be made flexible during the impact to dampen the impact impacts and vibrations transmitted from the workpiece to the drive and during the transport of the Workpiece are made rigid.
  • the invention is based on the object of specifying a method and a device for forming a workpiece in which the lifting of the workpiece from the tool is automated after a forming process.
  • the method according to claim 1 is suitable and intended for forming, in particular forging, at least one workpiece and comprises the following method steps: a) positioning the workpiece in a forming position on a first of at least two tools of the forming machine (positioning step), b) moving the tools the forming machine relative to one another, c) forming the workpiece between the tools, in particular in its forming position on the first tool (forming step), d) subsequent movement of the tools relative to one another, e) detecting or determining a triggering time at which, preferably Assign during the relative movement of the tools to each other, the relative position of the tools has reached or has reached a predetermined or predeterminable reference position, f) determining or selecting a lifting time depending on or as a function of the triggering time, g) lifting (or: initiating or starting) a lifting movementof the workpiece from the first tool by at least one handling device at the time of lifting.
  • the device according to claim 31 is for forming, in particular forging, at least one workpiece and in particular for use in a method according to the invention or for carrying out a method according to the invention, suitable and determines and comprises a) at least one forming machine with at least two tools which can be moved relatively towards and away from one another for forming a predetermined or predefinable one on a first of the tools Forming position of the positioned or positionable workpiece between the tools, b) at least one device for detecting a triggering time at which, preferably during the relative movement of the tools towards one another, the relative position of the tools assumes or has reached a predetermined or predefinable reference position, c) at least one handling device for handling the workpiece, d) at least one control device for controlling or regulating the movements and positions of the handling device (s), (e) the control device determining a lifting time depending on the triggering time and the w at least one handling device is controlled such that the at least one handling device begins to lift the workpiece from the first tool
  • the movement of the tools relative to one another when the forming machine strikes naturally includes both the case in which only one (the first) of the two tools moves relative to the ground or machine frame or another external reference system and the other (the second) tool to this external one System remains stationary, for example in the case of a top pressure hammer or a drop hammer or a screw press, as well as the case that both tools move relative to the external reference system, for example in the case of a counterblow hammer.
  • the forming position of the workpiece relates to its absolute and adjustable geometrical position in space with respect to an external coordinate system.
  • the invention is based on the consideration that the at least one handling device only lifts the workpiece from the first tool when the tools have reached a predetermined or predeterminable position, here called the reference position.
  • this permits precise control of the handling device in such a way that the workpiece has already been completely reshaped at the time of lifting between the tools, that is to say the time of lifting off after the time of reshaping at which the reshaping of the workpiece between the tools is complete, and / or that the tools move (again) relatively away from each other, i.e.
  • a particular advantage of controlling the handling device as a function of the tool position according to the invention is that the time of lifting can be placed very close to the time of forming or reversal, which means that tool contact times and / or cycle times can be shortened.
  • the lifting time for the at least one handling device lies in a first advantageous embodiment by a predetermined or predeterminable time difference after the forming time or after the reversing time.
  • This time difference between the time of lifting and the time of forming or reversal is generally between 0 ms and a maximum of 300 ms and / or a maximum of 3/4 of the time for the tools to move apart, in particular between 0 ms and a maximum of 100 ms and / or a maximum of 1/4 Time for the moving apart of the tools and preferably between 0 ms and a maximum of 50 ms and / or a maximum of 1/8 of the time for the moving apart of the tools, and / or is dependent on a predetermined tool contact time.
  • At least one control device is provided that detects the movements of the at least one handling device. advises and which determines the lifting time depending on the triggering time and initiates a lifting movement or lifting routine of the handling device at the determined lifting time.
  • control device sends a start signal to the at least one handling device at a starting time, and the at least one handling device starts a lifting movement after receiving this starting signal and lifts the workpiece at the lifting time.
  • the handling device itself has a certain amount of possibilities for signal processing and the control is done via signals.
  • At least one position detection device which sends a trigger signal to the control device at the triggering time when the relative position of the tools reaches the reference position, and in which the control device determines the lift-off time depending on the input time of the trigger signal.
  • the position detection device can include a position switch assigned to the reference position or arranged at the reference position, which changes its switching state when actuated by one of the two tools, a switching state change of the position switch being used as a trigger signal or triggering time.
  • the at least one position detection device can also measure the relative position of the two tools to one another continuously or continuously or at specific measuring points and deliver a corresponding position measurement signal or a corresponding position measurement value to the control device.
  • the control device compares the position measurement signal or the position measurement value with a reference signal or reference value corresponding to the reference position and evaluates a determined match of the position measurement signal with the reference signal or the position measurement value with the reference value as the triggering time and uses this to determine the lift-off time.
  • the control device determines the lift-off time from the triggering time by adding or letting a predetermined delay time to the triggering time, for example by means of a digital counter or a clock.
  • control device can determine the starting time for the start signal by running or adding the predetermined delay time to the triggering time, the lift-off time resulting from the start time in a clear manner, generally by adding the signal running time and processing time of the start signal for the handling device.
  • the delay time is generally dependent on the course of at least one relative movement variable when the tools move relative to one another and / or is dependent on a set or adjustable forming energy.
  • the reference position for the tools is preferably selected depending on one or more of the following process variables or conditions:
  • the reference position can in particular correspond to the most distant relative position of the tools, in particular the so-called TDC (top dead center) of the forming machine, but is usually between the most distant relative position, in particular TDC, and the next relative position, the impact position, in particular the UT (bottom dead center) of the forming machine.
  • a self-learning or adaptive system in which the lifting time is automatically taught in or adjusted by determining the relative position of the tools at the lifting time in one or more forming steps (or tool movements) and adjusting the lifting time to a desired value is, in particular by adjusting the delay time after the trigger time or by adjusting the reference position.
  • the at least one handling device which lifts the workpiece, preferably also positions the workpiece in its forming position on the first tool and / or holds the workpiece in its forming position between the tools.
  • handling devices that are at least partially or at times different for the different manipulations.
  • the workpiece is preferably held or gripped by at least two handling devices each at least during the impact of the tool (s) of the forming machine during the forming step.
  • this has the advantage that the workpiece is fixed in two places when the tool (s) collide and is therefore more secure against jumping or slipping in the tools. can be preserved.
  • Another advantage is that a longer workpiece can be prevented from kinking on one side, since the handling devices can fix the workpiece on both sides and stabilize it during the forming blow.
  • the workpiece is also handled or at least when lifting off at least two handling devices, in particular the same handling devices as when holding during the forming.
  • the movements and positions of the handling devices are automatically controlled and regulated.
  • the movement takes place according to a predefined or predeterminable movement sequence or movement profile or a correspondingly stored control program (no feedback “open-loop control”), while when regulating the movements of the handling devices are recorded by measurement technology and at predetermined ones Target movements (reference variables of the movement) are adjusted or regulated (feedback, "closed-loop-control”).
  • the movements or positions of the two handling devices are matched to one another in order to be able to handle the workpiece precisely. A kinematic coupling between the two handling devices is thus provided when handling the workpiece during its forming.
  • the two handling devices are moved synchronously and / or along trajectories which are essentially constantly spaced from one another and / or at substantially the same speed
  • the control device controls or regulates the two handling devices, in particular their respective drive devices, in one embodiment according to a master-slave control principle, wherein a handling device serving as a slave follows a handling device serving as a master in the movements.
  • the control device controls the two handling devices, in particular their respective drive devices, independently of one another, with control processes which are matched to one another.
  • each handling device or its point of application on the workpiece moves during a movement and / or handling of the workpiece along a previously determined trajectory with a predetermined speed profile and / or follows stored successive trajectory points at regular time intervals.
  • the associated trajectory of the handling device or its point of attack on the workpiece is preferably learned in advance, but can also be calculated.
  • the trajectory of one of the at least two handling devices or its point of application on the workpiece is (only) taught in, and the trajectory of the at least one further handling device or its point of application on the workpiece is calculated and stored in advance from the taught-in trajectory of the first handling device or calculated in real time.
  • the associated trajectory is generally traversed and the trajectory points are recorded and stored in succession at regular intervals.
  • the speed curve during teaching is preferably predetermined in accordance with the later speed curve during the process.
  • the actual speed course during operation can also be taken into account later and new trajectory points can be calculated and saved.
  • the handling device or its point of attack on the workpiece during the movement and / or handling of the workpiece always follows the trajectory points stored during teaching, if necessary after speed correction, in the same time intervals and in the same order as during teaching.
  • the two handling devices are preferably located on opposite sides of the working area or the tools of the forming machine.
  • the workpiece is formed in at least two forming steps between the same tools
  • after a forming step the workpiece is lifted from the at least one handling device from the first tool and then again onto the first tool in the forming position for the subsequent forming step is positioned.
  • the workpiece is lifted from the at least one handling device by the first tool and then positioned on the first tool in another tool area or on or in another tool in the forming position for the subsequent forming step.
  • the workpiece is transported from the at least one handling device after being lifted from the tool or tool area to a storage device and is deposited there.
  • scale material is blown out under the lifted workpiece and / or by the tool by means of at least one blower.
  • This step is also known as ventilation.
  • the blower is preferably controlled, in particular by the control device, in such a way that the switch-on time or the commissioning or the introduction of the blower is determined depending on the triggering time (analogously to the lifting movement of the handling device) and preferably after the time of lifting.
  • each handling device has a) at least one gripping device with at least two gripping elements that can be moved relative to one another for gripping the workpiece, b) at least one carrier device to which the gripping device can be fastened or fastened, and c) at least one transport device for transporting the carrier device with the gripping device.
  • the device is now preferably further developed in that a flexible connection of the carrier device and the transport device in a flexible state at least partially absorbs shocks or vibrations that are transmitted from the workpiece to the handling device during the shaping process and thus protects the transport device from these mechanical loads; and that a rigid connection or position of the carrier device and transport device in a rigid state, on the other hand, is used when handling the workpiece during transport or when rotating or pivoting before or after forming steps.
  • Preferred applications of the invention are when using a forging hammer or a screw press or a crank press as a forming machine and / or for forging and / or for cold forming with a forming temperature, typically in the range from room temperature (21 ° C.), for semi-hot forming, typically between 550 ° C. and 750 ° C, or for hot forming, typically above 900 ° C, and / or for forming workpieces made of kneadable metals and metal alloys, in particular ferrous materials such as steels and non-ferrous metals such as magnesium, aluminum, titanium, copper, nickel and alloys made of them ,
  • the tools of the forming machine are shaping die tools for bound forming of the workpiece.
  • FIG. 1 shows a device with two handling devices when gripping a workpiece in a side view
  • FIG. 2 shows the device according to FIG. 1, in which the two handling devices hold the workpiece placed in a forming machine, in a side view,
  • FIG. 3 shows the device according to FIG. 1 or FIG. 2, in which the two handling devices lift or lift the workpiece located in the forming machine after the shaping blow, in a side view
  • FIG. 4 shows a device for forming a workpiece with two handling devices that move the workpiece along predetermined directions motion handle tracks, in a schematic perspective view
  • FIG 5 shows a device for forming a workpiece with two handling devices when handling the workpiece are each shown schematically in a plan view. Corresponding sizes and parts are provided with corresponding reference numerals in FIGS. 1 to 5.
  • a first handling device is designated by 2 and a second handling device by 2 '.
  • Each of the handling devices 2 and 2 ' can be designed as a manipulator or robot.
  • the two handling devices 2 and 2 ' are of essentially identical construction and each comprise a gripping device (or: gripping tongs) 3 or 3', a carrier shaft 4 or 4 ', a supporting device ( or: rigid position device) 5 or 5 ', a bearing part 6 or 6', a flexible element 7 or 7 ', a swivel drive (or: rotary drive) 8 or 8', a joint 9 or 9 ', an actuating device 1 1 or 11 'and a transport device 16 or 16'.
  • Each gripping device 3 or 3 ' comprises two gripping levers 32 and 33 or 32' and 33 ', respectively, which have an associated gripping jaw (or: gripping element, pliers jaw) 30 or 31 or 30' and 31 ', which are operated by means of the actuating device 11 or 11 'are pivotable relative to each other in a pivot bearing 34 or 34' for opening and closing the gripping device 3 or 3 '.
  • the actuating device 11 or 11 ' engages in an engagement bearing 35 or 35' on the gripping lever 33 or 33 'and is pivotably mounted in a pivot bearing 14 or 14' on the intermediate part 6 or 6 '.
  • the gripping lever 32 or 32 'of the gripping device 3 or 3' is connected via the carrier shaft 4 or 4 'to the intermediate part 6 or 6' coaxially along an axis M.
  • the flexible element 7 or 7' is arranged, which and via a flange with the intermediate part 60 or 60 'and the swivel drive 8 or 8' is connected and consists of an elastic material, preferably an elastomer.
  • the flexible element 7 or 7 ' are now the front unit of the handling device 2 or 2', namely the gripping device 3 or 3 ', the carrier shaft 4 or 4 'and the bearing part 6 or 6' and the actuating device 11 or 11 ', on the one hand and the rear unit of the handling device 2 or 2', namely the swivel drive 8 or 8 'and the joint 9 or 9 'and the transport device 16 or 16', and thus also their axes M and N can be pivoted or tilted relative to one another.
  • the support device 5 or 5 'of the handling devices 2 and 2' comprises a longitudinal connecting rod 53 or 53 ', on each of which a first fastening part 51 or 51' running transversely upwards for connecting the connecting rod 53 or 53 'with the swivel drive 8 or 8' and further back a transversely upwardly extending second fastening part 52 or 52 'for connection to the joint 9 or 9' and in the front region an upwardly projecting support part 50 or 50 'with an incision or support bearing (or: a shaft seat) for fixing or supporting the carrier shaft 4 or 4 'are arranged.
  • Figures 1 and 2 illustrate i.a. also the functioning of the support device 5 or 5 'and the flexible element 7 or 7' of the handling devices 2 or 2 '.
  • the handling devices 2 and 2 'with open gripping devices 3 and 3' move from both sides in the direction of the arrows shown towards a workpiece 10 which is provided on a supply device, for example a conveyor belt 41.
  • the axes M and N as well as M 'and N' are directed coaxially to one another and horizontally, ie perpendicular to the force of gravity G, the flexible element 7 and 7 'is essentially undeformed and the connecting rod 53 and 53' runs parallel to the axes M and N or M 'and N' and their support part 50 or 50 'supports the carrier shaft 4 or 4' and thus the gripping device 3 or 3 'connected to it.
  • the support device 5 or 5 'thus represents a mechanical bridging over the flexible element 7 or 7' and thus in the position according to FIG. 1 eliminates the flexibility of the handling device 2 or 2 'in the flexible element 7 or 7 'at least in the spatial direction of gravity G and in the downward lateral directions between gravity G and the horizontal direction.
  • the rigid connection is maintained solely by the weight of the parts of the handling device 2 or 2 '.
  • the gripping devices 3 and 3 ' are closed and thus the workpiece piece 10 gripped at its ends 10A and 10B and transported by means of the transport devices 16 and 16 'to a forming machine and placed there in the forming position for forming on a tool.
  • the handling device 2 or 2 ' is held in the rigid state via the support device 5 or 5'.
  • FIG. 2 shows the workpiece 10 in the placed state on the surface 22 of the lower tool or die 12 of a forging hammer as a preferred example of a forming machine.
  • the handling devices 2 and 2 ' are thus in a flexible or non-rigid state in FIG. If an upper tool or striking tool 13 strikes the workpiece 10 on the striker 15 of the forging hammer in the striking direction or forward direction VR, the resulting shock and vibration loads are dampened by the elastic elements 7 and 7 'and largely by the transport device 16 or 16 'and the swivel drive 8 or 8' decoupled, so that these drive devices are protected against overload.
  • the workpiece 10 can be rotated before being placed on the die 12, in particular about an axis of rotation running through the workpiece 10, for example its longitudinal axis.
  • the gripping devices 3 and 3 'with the gripped workpiece 10 are swiveled by the desired swivel angle in the same direction of rotation and at the same rotational or angular speed.
  • a rotary movement of an output shaft of a drive motor of the swivel drive 8 or 8 ' is arranged, possibly via a gear and a drive flange and the flexible element 7 or 7' and via a connecting flange in turn on the Transfer intermediate part 6 or 6 'and from there to the carrier shaft 4 or 4' and finally the gripping device 3 or 3 '.
  • Such pivoting movements occur, for example, when a workpiece is bent in a first forging process or forging step and during the subsequent flat forming or forging.
  • the rotatability of the gripping devices 3 and 3 ' can be omitted if rotation is not desired.
  • FIG. 3 shows, starting from FIG. 2, the situation shortly after the striking tool 13 strikes the workpiece 10 and the surrounding areas of the tool 12.
  • the striking tool 13 is again in one of the positions due to the recoil and possibly a drive Tool 12 directed upward movement in a backward direction RR.
  • the workpiece 10 is now raised or lifted from the tool 12 by a distance d.
  • This lifting or lifting movement of the two handling devices 2 and 2 'and the workpiece 10 held by them thus follows the striking tool 13 which moves upward after the shaping blow in the same direction as the backward direction RR.
  • the handling devices 2 and 2 ' can remain in the flexible position, as shown in FIG. 3, or may be set rigidly before the lifting movement as in FIG. 1.
  • scale material is removed from the lower tool 12 by means of a tool, not shown , Blower blown out. The lifting or lifting also shortens the contact time of the workpiece 10 with the lower tool 12.
  • either the workpiece 10 can be placed again on the die 12 or on another die or another engraving of the die 12 and reshaped with the striking tool 13 or another striking tool.
  • the shaping process can also be ended and the workpiece 10 can be moved out of the ventilated position shown in FIG. 3 by the two handling devices 2 and 2 'from the working area of the shaping machine between the two tools 12 and 13 and transported to a depositing device.
  • 4 shows such a handling of the workpiece 10 after the forming.
  • the two handling devices 2 and 2 ' are each started at a lifting time tl from an initial position S (tl) and S' (tl), in which they hold the workpiece 10 with the gripping devices 3 and 3 'on the respective one Gripping end 10A or 10B, hold on to die 12 of the forming machine.
  • the uppermost point of this lifting movement at a time tk> tl is designated S (tk) or S '(tk).
  • the handling devices 2 and 2 ' now transport the workpiece 10 along the trajectories S and S' which now run horizontally in the example shown and finally lay at positions S (tn) and S '(tn) at a depositing time tn.
  • the workpiece 10 on a depositing device 42 which for example comprises a conveyor belt for the removal of the forged workpiece 10.
  • the two trajectories S and S 'of the handling devices 2 and 2' generally run parallel to one another and the handling devices 2 and 2 'are moved synchronously with one another.
  • the workpiece 10 is essentially only moved in a translatory manner and not in a rotational manner.
  • the lifting movement of the workpiece 10 is initiated or started with the handling devices 2 and 2 'according to FIGS. 2 to 4 depending on the position or the position of the striking tool 13.
  • the position of the striking tool 13 corresponds at the same time to the relative position of the two tools 12 and 13 to one another, since the die 12 is stationary.
  • the striking tool 13 moves linearly between an upper end point xO, which is also referred to as top dead center (OT), and a lower end point xE, which is also referred to as bottom dead center (UT) during its striking movement and return movement, which is also referred to as a stroke. referred to as.
  • a position sensor 25 is arranged, which provides a position signal P at its output.
  • the position signal P is a measure of whether and when the striking tool 13 reaches the reference position xR and then corresponds to a reference position signal PR.
  • the position sensor 25 can be designed as a type of position switch that takes two values or states, namely a value or state if the position x of the striking tool 13 does not correspond to the reference position xR, and a second value or state, namely a reference position value or reference position state PR if x is xR.
  • a contactless position sensor or position switch which responds to a locally limited trigger point on the striking tool 13 is generally used for this purpose, for example a magnetic position sensor which responds to a marking made of magnetic material on the striking tool 13.
  • the position sensor 25 can also detect and determine the position x of the striking tool 13 continuously or quasi-continuously at individual measuring points xi over the entire distance from xO to xE and back.
  • a stripe extending parallel to the path or coordinate direction x or a similarly designed marking can be provided on the striking tool 13, which enables incremental position detection by means of a pattern that changes in small increments or steps.
  • the position detection systems mentioned are known per se and therefore do not require any further explanation.
  • the position sensor 25 can in particular be an optical, inductive or magnetic field sensor.
  • the position signal P of the position sensor 25 is fed to a control device 43.
  • the control device 43 uses the position signal P to decide whether and when it initiates a lifting movement of the handling devices 2 and 2 '.
  • the control device 43 is operatively connected to the handling devices 2 and 2 'and controls the handheld devices.
  • the control device 43 takes over the time of receipt of the reference position signal PR as the trigger time tR, at which a lifting routine is initiated in the control device 43.
  • a start time is now determined at which the start signals C and C are sent to the handling devices 2 and 2 '.
  • the drive systems of the handling devices 2 and 2', in particular the transport devices 16 and 16 ' are controlled in such a way that the lifting movement of the workpiece 10 at a lifting time t 1 according to FIG begins and the handling devices 2 and 2 'move upward along their trajectories S and S'.
  • the lift-off time t1 is later than the start time in the control device 43 and by a further time difference caused by the computing times in the control device by a system-related reaction time and the signal transit times of the start signals C and C and the signal processing times in the handling devices 2 and 2 ' 43 and the signal transit times for the position signal P is determined later than the time at which the striking tool 13 had reached the reference position xR. Since these delay times can be determined in advance in the system or lie within predetermined limits, the lifting time t 1 can be selected very close to the time of reversal of the striking tool 13 at which the striking tool 13 reverses its direction from the forward direction VR to the backward direction RR.
  • This initiation of the lifting movement of the handling devices 2 and 2 'at the moment of reversing or shortly thereafter means a short tool contact time, which in turn increases the tool life and productivity.
  • the delay times that occur due to the signal transmission times and computer times are compensated for by starting the handling devices 2 and 2 ′ during the downward movement of the striking tool 13.
  • a delay time is preferably allowed to elapse in the control device 43 after the reference position signal PR of the position sensor 25 has been received, for example by means of a digital counter or a built-in clock. After the delay time has elapsed, the start signal C or C is sent.
  • An associated delay time is assigned to each set forming energy of the forming machine. This relationship between the set forming energy and the delay time can be established with the aid of a mathematical function or a table of values in the control device 43.
  • a separate reference position xR for the striking tool 13 can also be assigned to the forming machine for each forming energy that is set, and thus an individual starting point for the handling devices 2 and 2 ' be assigned.
  • This relationship between the reference position xR and the starting point for the handling device can also be established with the aid of a mathematical function or a table of values in the control device 43.
  • the speed dx / dt of the striking tool 13 can also be calculated in the control device 43, for example by numerical difference on the basis of the values xi or x obtained for the position of the striking tool 13. This makes it possible to to assign a separate starting point for the handling devices 2 and 2 'to each speed. This relationship between the starting point for the handling devices 2 and 2 ′ and the speed of the striking tool 13 can also be established with the aid of a mathematical function or a table of values in the control device 43.
  • the forming machine is operated, for example, with two different forming energies.
  • a start time for the handling devices 2 and 2 'in the value table with the aid of the control device 43.
  • the setpoint is compared in the control device 43 as the calculated starting point with the actual value or actual position of the striking tool 13.
  • the control device 43 forms the start signal C or C for the handling devices 2 and 2 'from the comparison of the actual value and the target value when the target value is reached.
  • the tools 12 and 13 are generally shaping tools, so-called dies, with engravings adapted to the desired shape of the workpiece.
  • the handling devices 2 and 2 ' generally hold the workpiece 10 during the entire forging cycle and carry out all the handling movements necessary for the forging process together and synchronously.
  • the common and synchronous driving of the two handling devices 2 and 2 ' is achieved via an electrical coupling between the two handling devices 2 and 2', the coupling via the master-slave operation of electrical drives or by simultaneously starting independently working drives is reached.
  • the movements of the handling devices 2 and 2 'and thus the handling movements for the workpiece 10 are generally learned in advance in a manner known per se.
  • the control device 43 can additionally carry out the complete signal exchange.
  • the control device works with the aid of at least one digital processor, in particular a microprocessor or a digital signal processor, and corresponding memories in which the sequence programs, control algorithms and data for the movements are stored.
  • Known master-slave control units can be used for master-slave operation. With independently operating drives, the same distances and speeds as well as error feedback and error reactions between the independent drives are provided in order to ensure precise and safe operation in the event of a fault.
  • FIG. 5 shows a further exemplary embodiment of a device for handling a workpiece during a forging process.
  • This device again comprises two handling devices 2 and 2 'with respective gripping devices 3 and 3 ', which are shown schematically as industrial robots.
  • the two handling devices 2 and 2 ' pick up a workpiece 10 from a supply device 41, for example a feed conveyor belt or another automated feed device, and place the workpiece in a first engraving 17 of a tool 12 of a striking die-forming machine.
  • the counter tool or striking tool of this die-forming machine is not shown and would be located above the drawing plane in the plan view shown.
  • the striking tool of the forming machine is triggered.
  • a new sequence for the further handling of the workpiece 10 is initiated at a point in time during or at the end of the impact movement of the impact tool.
  • the workpiece 10 is fixed in its deformed position on the engraving 17 by the two handling devices 2 and 2 'and held at both ends.
  • the workpiece 10 is handled jointly and synchronously by the two handling devices 2 and 2 'in accordance with the stored further handling routine.
  • the workpiece 10 is lifted, as already explained with reference to FIG. 3, and then either processed again in the first engraving 17 or immediately converted into the second engraving 18 of the tool 12.
  • Industrial robots are used, for example the called handling devices according to DE 42 20 796 A 1 or DE 100 60 709 A.1.
  • additional or alternative handling movements can also be provided by the handling devices 2 and 2 ′ with or without a workpiece 10.
  • the distance between the gripping devices for example the distance vector ⁇ in FIG. 4, is generally dependent on the length or dimension of the workpiece measured along this distance and generally remains constant during the synchronous joint handling.
  • a change in the volume or shape of the workpiece after the forming process in particular an elongation of the workpiece, can also be taken into account by the handling devices 2 and 2 'changing their points of attack on the workpiece, for example reaching further outside when the workpiece is elongated.
  • the movement trajectories of the two handling devices can also differ from one another in a manner adapted to one another, for example in an offset or a correction, for example if the workpieces have different burrs or other different shapes on the attack areas.
  • Error communication via the control device 43 makes it possible to interrupt the process, in particular to stop the handling devices, in the event of an impermissible deviation of one of the handling devices from the prescribed trajectory at a specific point in time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)

Abstract

La présente invention concerne un procédé pour former au moins une pièce. Ce procédé consiste a) à placer la pièce (10) dans une position de formage sur un premier outil (12) d'au moins deux outils (12, 13) d'une machine de formage, b) à déplacer les outils (12, 13) de la machine de formage l'un par rapport à l'autre, c) à former la pièce entre les outils, d) à éloigner les deux outils l'un de l'autre, e) à déterminer, de préférence lors du déplacement relatif des outils l'un par rapport à l'autre, un moment de déclenchement auquel la position relative (x) des outils (12, 13) adopte ou a atteint une position de référence prédéfinie ou prédéfinissable (xR), puis f) à mettre en oeuvre au moins un appareil de manipulation (2) qui commence à soulever la pièce (10) du premier outil (12) à un moment de soulèvement, g) ce moment de soulèvement étant choisi ou déterminé en fonction du moment de déclenchement. La présente invention concerne également un dispositif permettant de mettre en oeuvre ce procédé.
EP04739429A 2003-08-08 2004-05-28 Procede et dispositif pour former une piece puis soulever cette piece Expired - Lifetime EP1651369B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10336469A DE10336469B4 (de) 2003-08-08 2003-08-08 Verfahren und Vorrichtung zum Umformen eines Werkstücks mit anschließendem Anheben des Werkstücks
PCT/EP2004/005779 WO2005023455A1 (fr) 2003-08-08 2004-05-28 Procede et dispositif pour former une piece puis soulever cette piece

Publications (2)

Publication Number Publication Date
EP1651369A1 true EP1651369A1 (fr) 2006-05-03
EP1651369B1 EP1651369B1 (fr) 2007-05-23

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EP04739429A Expired - Lifetime EP1651369B1 (fr) 2003-08-08 2004-05-28 Procede et dispositif pour former une piece puis soulever cette piece

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Country Link
US (1) US7415856B2 (fr)
EP (1) EP1651369B1 (fr)
DE (2) DE10336469B4 (fr)
WO (1) WO2005023455A1 (fr)

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DE202004020404U1 (de) * 2003-06-05 2005-05-25 Langenstein & Schemann Gmbh Handhabungsgerät zum Handhaben eines Werkstücks während eines Umformprozesses
WO2005053874A2 (fr) * 2003-12-01 2005-06-16 Knipex-Werk C. Gustav Putsch Kg Procede de forge et d'estampage, et dispositif d'estampage pour la mise en oeuvre de ce procede
DE102005061932A1 (de) 2005-12-23 2007-07-05 Biedermann Motech Gmbh Mehrwandiger Platzhalter
DE102006049956A1 (de) * 2006-10-19 2008-04-24 Abb Ag System und Verfahren zur automatisierten Ver- und/oder Bearbeitung von Werkstücken
TWI663005B (zh) * 2017-02-14 2019-06-21 春日機械工業股份有限公司 鍛造部品加工機的驅動裝置
CN112222346A (zh) * 2020-09-29 2021-01-15 中国重型机械研究院股份公司 一种大型操作机钳杆自适应对中控制系统及方法
DE102021113855B4 (de) 2021-05-28 2025-02-27 Langenstein & Schemann Gmbh Vorrichtung und Verfahren zum Warmumformen, insbesondere zum Schmieden, eines Werkstücks

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Also Published As

Publication number Publication date
EP1651369B1 (fr) 2007-05-23
WO2005023455A1 (fr) 2005-03-17
US20060169017A1 (en) 2006-08-03
DE502004003897D1 (de) 2007-07-05
DE10336469A1 (de) 2005-03-03
DE10336469B4 (de) 2006-06-29
US7415856B2 (en) 2008-08-26

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