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EP1651369B1 - Procede et dispositif pour former une piece puis soulever cette piece - Google Patents

Procede et dispositif pour former une piece puis soulever cette piece Download PDF

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Publication number
EP1651369B1
EP1651369B1 EP04739429A EP04739429A EP1651369B1 EP 1651369 B1 EP1651369 B1 EP 1651369B1 EP 04739429 A EP04739429 A EP 04739429A EP 04739429 A EP04739429 A EP 04739429A EP 1651369 B1 EP1651369 B1 EP 1651369B1
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EP
European Patent Office
Prior art keywords
tools
point
workpiece
forming
lift
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.)
Expired - Lifetime
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EP04739429A
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German (de)
English (en)
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EP1651369A1 (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
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Publication date
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Publication of EP1651369A1 publication Critical patent/EP1651369A1/fr
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    • 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 according to the preamble of claim 1 and an apparatus for forming a workpiece according to the preamble of claim 20 (see for example DE-A-4 326 924).
  • Beating forming machines comprise a working area in which two tools, generally rectilinear, are movable relative to each other. The workpiece is placed between the two tools and then reshaped by the impact or impact energy as the tools strike the workpiece and the forming energy caused thereby.
  • a scraper hammer comprises a scraper (or: a carrier, an anvil) as a tool fixed relative to the workpiece, and a striker or, in short, bears, relative to the workpiece and scraper, usually a vertical, moving tool.
  • a counter-hammer has two against each other and in each case relative to the ground or the hammer frame, vertically or horizontally, moving striker on.
  • the drives for the bears of blacksmith 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 are not overloaded.
  • the moving tool is usually called a ram.
  • the plunger is moved rectilinearly to the stationary tool by a spindle.
  • the drive of the spindle and thus of the plunger via a drive motor and / or flywheel as energy storage.
  • the spindle or the ram is decoupled from the drive and the kinetic energy given to the ram is (partly) converted into transformation energy ( VDI-Lexikon, loc. cit. )
  • Industrial robots are universally applicable automatic movement machines with a sufficient number of degrees of freedom of movement, realized by a corresponding number (5 to 6) of axes of motion, and a freely programmable controller for the realization of virtually any movement trajectories of the workpiece within the movable or reachable by the industrial robot space area.
  • a problem with the use of such handling devices are the high impact forces in a beating forming machine, which can significantly burden and damage the handling device during forming blow when the handling device holds the workpiece when the bear or tappet blows.
  • handling devices have been proposed in DE 42 20 796 A1 and DE 100 60 709 A1 , which can be made yielding during the impact for damping the impact impacts and vibrations transmitted from the workpiece to the drive and rigid in the transport of the workpiece be put.
  • 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 movement of the tools relative to each other when hitting the forming machine involves both the case of only one (the first) of the two tools moving relative to the ground or machine frame or other external reference frame and the other (the second) tool moving to that external one System remains stationary, for example in a top hammer or a monkey or a screw press, as well as the case that both tools move relative to the external reference system, for example in a counter-impact hammer.
  • the forming position of the workpiece refers to its absolute and adjustable geometric position in space with respect to an external coordinate system. Automatic means that at least when lifting itself no human intervention or detention of the workpiece is required, but this is done automatically by the handling devices (or: moving machines), generally under the control of a control device.
  • 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 predefinable position, referred to here as the reference position.
  • this allows precise control of the handling device such that the workpiece has already been completely reshaped at the time of lifting between the tools, ie the lifting time after the forming time at which the forming of the workpiece between the tools is complete, and / or that the tools move (again) relatively away from each other, so the Abhebezeittician after the reversal time of the tools, to which the direction of relative movement of the tools is reversed to each other, is located.
  • a particular advantage of the control of the handling device as a function of the tool position according to the invention is that the lifting time can be set very close to the forming or reversing time, whereby tool contact times and / or cycle times can be shortened.
  • the lifting time for the at least one handling device in a first advantageous embodiment is a predetermined or predefinable time difference after the forming time or after the reversal time.
  • This time difference between Abhebezeittician and Umformzeittician or reversal time is between 0 ms and a maximum of 300 ms and / or a maximum of 3/4 of the time for the movement apart of the tools, in particular between 0 ms and a maximum of 100 ms and / or a maximum of 1/4 of the time for the movement apart of the tools, preferably between 0 ms and a maximum of 50 ms and / or a maximum of 1/8 of the time for the movement apart of the tools, and / or is dependent on a predetermined horrberlickzeit.
  • At least one control device is provided, the movements of the at least one handling device controls and determines depending on the triggering time the Abhebezeittician and initiates a lift-off or Abheberoutewerk the handling device to the determined Abhebezeittician.
  • the control device sends a start signal to the at least one handling device, in particular at a start time, and the at least one handling device starts a lift-off movement upon receipt of this start signal and lifts the workpiece at the lift-off time.
  • the handling device therefore to a certain degree itself has possibilities for signal processing and the control is done via signals.
  • At least one position detection device is provided, which at the release time, when the relative position of the tools reaches the reference position, sends a trigger signal to the control device, and wherein the control device determines the lift-off time depending on the input time of the trigger signal.
  • the position detection device may comprise a position switch associated with the reference position or arranged at the reference position, which changes its switching state when actuated by one of the two tools, wherein a switching state change of the position switch is used as a trigger signal or trip time.
  • the at least one position detection device can also measure the relative position of the two tools with each other continuously or continuously or at specific measuring points and deliver to the control device a corresponding position measuring signal or a corresponding position measured value.
  • 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 coincidence of the position measurement signal with the reference signal or the position measurement value with the reference value as the triggering time and determines therefrom the release time.
  • the control device determines the lift-off time from the triggering time by adding or executing a predetermined delay time at the triggering time, for example by means of a digital counter or a clock.
  • the control device can determine the starting time for the start signal by running or adding the predetermined delay time to the triggering time, wherein the lift-off time from the start time in a unique manner, generally by adding the signal delay time and processing time of the start signal for the handling device results.
  • the delay time is generally dependent on the course of at least one relative movement variable in the relative movement of the tools towards each other and / or depending on a set or adjustable forming energy.
  • the reference position may in particular correspond to the most distant relative position of the tools, in particular the so-called TDC (upper dead center) of the forming machine, but is usually between the farthest relative position, in particular TDC, and the next relative position, the impact position, in particular the UT (bottom dead center) of the forming machine.
  • TDC upper dead center
  • UT bottom dead center
  • a self-learning or adaptive system in which lift-off time is automatically learned or adjusted by determining the relative position of the tools at the lift-off time in one or more forming steps (or tool movements) and adjusting the lift-off time to a desired value, in particular by adjusting the delay time after the triggering 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 during the forming between the tools in its forming position.
  • the workpiece is held or gripped at at least two points, each with a handling device.
  • This has the advantage that the workpiece is fixed at two points when the tool or tools (s) strike and thus more reliably prevents them from jumping or slipping in the tools can be.
  • Another advantage is that kinking of a longer workpiece on one side can be prevented because the handling devices can fix the workpiece on both sides and stabilize the forming impact.
  • the workpiece is also handled, or at least when lifting at least two handling devices, in particular the same handling devices as during holding during the forming.
  • the movements and positions of the handling devices are controlled or regulated automatically and coordinated.
  • the movement takes place in accordance with a predefined or predeterminable movement sequence or movement profile or a corresponding stored control program (no feedback "open loop control"), while the movements of the handling devices are detected during the measurement and predetermined movements ( Reference variables of the movement) are adjusted or regulated (feedback, "closed-loop-control").
  • Reference variables of the movement are adjusted or regulated (feedback, "closed-loop-control”).
  • Matched to each other are the movements or positions of the two handling devices in order to be able to handle the workpiece exactly. So there is a kinematic coupling between the two handling devices provided when handling the workpiece during its transformation.
  • the two handling devices are moved synchronously and / or along mutually substantially constantly spaced trajectories and / or at substantially the same speed, at least in a part of the manipulations of the workpiece by two handling devices
  • 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 serving as a slave handling device follows a master serving as a handling device in the movements.
  • control device controls the two handling devices, in particular their respective drive means, independently of one another, with respective control processes adapted to each other.
  • each handling device or its point of attack on the workpiece moves during a movement and / or handling of the workpiece along a previously determined trajectory with a predetermined velocity profile and / or trailing successive trajectory points at regular time intervals.
  • the associated trajectory of the handling device or its point of application on the workpiece is preferably learned in advance, but can also be calculated.
  • (only) the trajectory of at least two handling devices or its point of application is taught on the workpiece and the trajectory of the at least one further handling device or its point of attack on the workpiece is calculated in advance from the learned trajectory of the first handling device and stored or calculated in real time .
  • the associated trajectory is generally traversed, and at regular time intervals, the trajectory points are sequentially recorded and stored.
  • the speed course during training is preferably predetermined according to the later speed course in the process.
  • the actual speed profile during operation can also be considered later and new trajectory points can be calculated and stored.
  • the handling device or its point of application on the workpiece during the movement and / or handling of the workpiece in each case follows the trajectory points stored during training, possibly after speed correction, at the same time intervals and in the same sequence as during training.
  • the two handling devices are preferably located on opposite sides of the work area or the tools of the forming machine.
  • the workpiece in which the workpiece is formed in at least two forming steps between the same tools, in a variant after a forming step, the workpiece is lifted from the at least one handling device from the first tool and then back to the first tool in the forming position for the subsequent forming step is positioned.
  • the workpiece is lifted by the at least one handling device from the first tool after a forming step 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 by the at least one handling device after it has been lifted off the tool or tool area to a depositing device and deposited there.
  • scale material is now blown out below the lifted workpiece and / or from the tool.
  • This step is also called airing.
  • the blower is preferably, in particular by the control device, so controlled that the switch-on or commissioning or the pre-fan is determined depending on the triggering time (analogous to the lifting movement of the handling device) and preferably after the lifting time.
  • the device is now preferably further developed in that a flexible connection between the carrier device and the transport device in a flexible state at least partially absorbs shocks or vibrations transmitted from the workpiece to the handling device during the forming process and thus protects the transport device from these mechanical loads; and that a rigid connection or position of support means and transport means in a rigid state, however, when handling the workpiece during transport or during rotation or pivoting is used before or after forming steps.
  • Preferred applications of the invention are when using a forging or a screw press or a crank press as a forming machine and / or for forging and / or cold forming with a forming temperature typically in the range of room temperature (21 ° C), for warm forging, typically between 550 ° C and 750 ° C, or for hot forming, typically above 900 ° C, and / or for forming workpieces of malleable metals and metal alloys, especially ferrous materials such as steels and non-ferrous metals such as magnesium, aluminum, titanium, copper, nickel and alloys thereof ,
  • the tools of the forming machine are forming dies for bonded forming of the workpiece.
  • first handling device with 2 and a second handling device designated 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 substantially identical in construction and each comprise a gripping device (or gripping tongs) 3 or 3', a carrier shaft 4 or 4 ', a support device (or: Starr eins Bran) 5 or 5 ', a bearing part 6 or 6', a flexible element 7 or 7 ', a rotary actuator (or: rotary drive) 8 and 8', a joint 9 or 9 ', an actuator 11 and 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 'each having an associated gripping jaw (or: gripping element, jaw jaw) 30, 31, 30' and 31 ', which by means of the actuating device 11 or 11 'to one another in a pivot bearing 34 or 34' are pivotable for opening and closing the gripping device 3 or 3 '.
  • the actuating device 11 or 11 ' engages in an attack bearing 35 or 35' on the gripping lever 33 or 33 'and is in a pivot bearing 14 or 14' pivotally mounted on the intermediate part 6 and 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 and 7' is arranged, and via a respective flange with the intermediate part 60 and 60 'and the pivot drive 8 and 8' is connected and made of an elastic material, preferably an elastomer.
  • the support means 5 and 5 'of the handling devices 2 and 2' comprises a longitudinal connecting rod 53 or 53 ', on which a respectively transversely upwardly extending first fastening part 51 or 51' for connecting the connecting rod 53 or 53 'with the pivot drive 8 and 8' and further back a transversely extending second fastening part 52 and 52 'for connection to the hinge 9 and 9' and in the front region an upwardly projecting support member 50 and 50 'with an incision or support bearing (or: a shaft seat) for fixing or supporting the support shaft 4 and 4 'are arranged.
  • FIGS. 1 and 2 illustrate u.a. Also, the operation of the support means 5 and 5 'and the flexible element 7 and 7' of the handling devices 2 and 2 '.
  • the handling devices 2 and 2 'with open gripping devices 3 and 3' move from both sides in the direction of the illustrated arrows towards a workpiece 10 which is provided on a supply device, for example a conveyor belt 41.
  • the axes M and N and M 'and N' are coaxial with each other and directed horizontally, ie perpendicular to the gravitational force G, the flexible element 7 or 7 'is substantially undeformed and the connecting rod 53 or 53' is parallel to the axes M and N or M 'and N' and their support member 50 and 50 'supports the carrier shaft 4 and 4' and thus the associated gripping device 3 and 3 'from.
  • the support device 5 or 5 'thus represents a mechanical bridging over the flexible element 7 or 7' and thus eliminates in the position shown in FIG 1, 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 the gravity G and the horizontal direction.
  • the rigid connection is maintained solely by the weight of the parts of the handling device 2 and 2 '.
  • the gripping means 3 and 3 ' are closed and thus the workpiece 10 taken at its ends 10A and 10B and transported by the transport means 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 a rigid state via the support device 5 or 5'.
  • FIG. 2 shows the workpiece 10 in the mounted 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 FIG. 2 in a flexible or non-rigid state.
  • an upper tool or impact tool 13 strikes the workpiece 10 on the beater 15 of the forging hammer in the direction of impact or forward direction VR, resulting shock and vibration loads are damped by the elastic elements 7 and 7 'and largely by the transport device 16 or 16 'and the pivot drive 8 and 8' decoupled, so that these drive devices are protected from overloading.
  • Both in the rigid state and in the flexible state of the handling devices 2 and 2 ' can be rotated in the illustrated embodiment, the workpiece 10 before placing on the die 12, in particular about an extending through the workpiece 10 axis of rotation, for example, its longitudinal axis.
  • the gripping means 3 and 3 ' are pivoted with the gripped workpiece 10 by the desired pivot angle in the same direction of rotation and with the same rotational or angular speed.
  • a rotational movement of an output shaft of a drive motor of the rotary actuator 8 or 8 ' is arranged, if necessary via a transmission and via a drive flange and the flexible element 7 or 7' and via a connecting flange in turn on the Intermediate part 6 or 6 'is transmitted and from there to the carrier shaft 4 or 4' and finally the gripping device 3 or 3 '.
  • Such pivotal movements occur, for example, during bending of a workpiece in a first forging or forging step and subsequent flat forming or forging.
  • the rotation of the gripping means 3 and 3 ' may be omitted if rotation is not desired.
  • FIG. 3 shows, starting from FIG. 2, the situation shortly after the impact tool 13 strikes the workpiece 10 and the surrounding areas of the tool 12.
  • the impact tool 13 is returned to the tool 12 by the recoil and optionally by a drive directed upward movement in a reverse direction RR.
  • the workpiece 10 is raised or released by the tool 12 by a distance d.
  • This lifting or lifting movement of the two handling devices 2 and 2 'and of the workpiece 10 held by them thus follows the striking tool 13, which moves upward after the forming impact, 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 be made rigid before the lifting movement as in FIG 1.
  • the lifting or lifting also shortens the contact time of the workpiece 10 with the lower tool 12th
  • either the workpiece 10 can now be placed again on the die 12 or on another die or another engraving of the die 12 and be re-formed with the striking tool 13 or another striking tool.
  • the forming process and the workpiece 10 is moved out of the illustrated in FIG 3 position of the two handling devices 2 and 2 'from the work area of the forming machine between the two tools 12 and 13 and transported to a storage device.
  • 4 shows such a handling of the workpiece 10 after forming.
  • the two handling devices 2 and 2 ' are each started at a lift-off time t1 from a starting position S (t1) and S' (t1) according to FIG 4, in which they the workpiece 10, with the gripping means 3 and 3 'at the respective end 10A or 10B gripping, hold on the die 12 of the forming machine resting.
  • the uppermost point of this lift-off movement at a time tk> t1 is denoted by S (tk) or S '(tk).
  • the handling devices 2 and 2 ' now transport the workpiece 10 along the trajectories S and S', which now extend horizontally in the illustrated example, and finally arrive at a deposit time tn at the positions S (tn) and S '(tn).
  • the workpiece 10 on a depositing device 42 which includes, for example, a conveyor belt for transporting the finished forged workpiece 10.
  • the two trajectories S and S 'of the handling devices 2 and 2' are generally parallel to each other and the handling devices 2 and 2 'are moved synchronously with each other. As a result, the workpiece 10 is moved substantially only translationally and not rotationally.
  • the difference vector A S '(tj) -S (tj) is always the same.
  • the lifting movement of the workpiece 10 with the handling devices 2 and 2 'according to FIGS. 2 to 4 is initiated or started depending on the position or the position of the striking tool 13.
  • the position of the impact tool 13 simultaneously corresponds to the relative position of the two tools 12 and 13 to each other, since the die 12 is stationary.
  • the impact tool 13 moves in its stroke and return movement, which is also referred to as stroke linearly between an upper end point x0, which is also referred to as top dead center (TDC), and a lower end point xE, which is also referred to as bottom dead center (UT) referred to as.
  • TDC top dead center
  • UT bottom dead center
  • 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 impact tool 13 reaches the reference position xR, and then corresponds to a reference position signal PR.
  • the position sensor 25 may be formed as a kind of position switch taking two values or states, namely a value or state when 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 equals xR.
  • a non-contact position sensor or position switch is usually used, which responds to a localized release point on the impact tool 13, for example, a magnetic position sensor, which responds to a mark of magnetic material on the impact tool 13.
  • the position sensor 25 can also detect and determine the position x of the striking tool 13 over the entire distance from x0 to xE and back continuously or quasi-continuously in individual measuring points xi.
  • a strip extending parallel to the path or coordinate direction x or a similarly designed marking can be provided, which enables incremental position detection by a pattern which changes in small increments or steps.
  • the aforementioned position detection systems are known per se and therefore require no further explanation.
  • the position sensor 25 may in particular be an optical, inductive or magnetic field sensor.
  • the position signal P of the position sensor 25 is supplied to a control device 43.
  • the control device 43 decides on the basis of the position signal P whether it and when it initiates a lift-off movement of the handling devices 2 and 2 '.
  • the control device 43 is in operative connection with the handling devices 2 and 2 'and controls the handling devices 2 and 2 'by means of associated control signals C and C'.
  • the control device 43 adopts the time of the input of the reference position signal PR as a triggering time tR a spin-off routine in the control device 43 is initiated.
  • 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' so controlled that at a lift-off time t1 according to FIG 4, the lifting movement of the workpiece 10 begins and the handling devices 2 and 2 'move upwards along their trajectories S and S'.
  • the Abhebezeittician t1 is due to a systemic reaction time and the signal propagation times of the start signals C and C 'and the signal processing times in the handling devices 2 and 2' later than the start time in the control device 43 and by a further time difference, by the computing times in the control device 43 and the signal propagation times for the position signal P is determined later than the time at which the impact tool 13 had reached the reference position xR. Since these delay times in the system can be predetermined or within predetermined limits, the lift-off time t1 can be set very close to the time of reversal of the percussion tool 13 to which the percussion tool 13 reverses its direction from the forward direction VR to the reverse direction RR.
  • This initiation of the lifting movement of the handling devices 2 and 2 'at the moment of reversing or shortly afterwards means a short tool contact time, which in turn increases tool life and productivity.
  • the occurring delay times due to the signal transmission times and computer times are compensated by the starting of the handling devices 2 and 2 'during the downward movement of the impact tool 13.
  • a delay time is preferably allowed to pass in the control device 43 after receiving the reference position signal PR of the position sensor 25, for example by means of a digital Counter or a built-in clock. After the delay time, the start signal C or C 'is sent.
  • Each associated forming energy of the forming machine is assigned an associated delay time. This relationship between set transformation energy and delay time can be established by means of a mathematical function or a value table in the control device 43.
  • a separate reference position xR for the impact tool 13 can be assigned for each set forming energy of the forming machine and thus an individual starting point for the handling devices 2 and 2 ' be assigned.
  • This relation between reference position xR and starting point for the handling device can also be established by means of a mathematical function or a table of values in the control device 43.
  • the speed dx / dt of the impact tool 13 in the control device 43 can also be calculated, for example by numerical differentiation on the basis of the obtained values xi or x for the position of the impact tool 13. This makes it possible to control any speed to assign a separate starting point for the handling devices 2 and 2 '. 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 by means of a mathematical function or a table of values in the control device 43.
  • a starting time for the handling devices 2 and 2 ' is used in a typical operation of a forming device according to the invention. From each of the two adjustable forming energies results depending on the mathematical function or the value table by means of the control device 43, a starting time for the handling devices 2 and 2 '.
  • the set point is compared in the control device 43 as a calculated starting point with the actual value or actual position of the striking tool 13. From the comparison of the actual value and the setpoint value, the control device 43 forms the starting signal C or C 'for the handling devices 2 and 2' when the setpoint value is reached.
  • the tools 12 and 13 are usually forming tools, so-called dies with customized according to the desired shape of the workpiece engraving.
  • the handling devices 2 and 2 ' generally hold the workpiece 10 throughout the forging cycle and perform all of the handling movements necessary for the forging process jointly 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', wherein the coupling via the master-slave operation of electric drives or by the simultaneous start of independently operating drives is reached.
  • the movements of the handling devices 2 and 2 'and thus the handling movements for the workpiece 10 are usually learned in advance in a conventional manner.
  • the control device 43 can additionally perform the complete signal exchange.
  • the control device operates by means of at least one digital processor, in particular a microprocessor or a digital signal processor, and corresponding memory in which the sequence programs, control algorithms and data for the movements are stored.
  • a master-slave operation known per se master-slave control units can be used.
  • the same distances and speeds as well as error feedback and error responses between the independent drives are provided in order to ensure an exact and in case of failure safe operation.
  • FIG. 5 shows another 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 ' receive 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 impact tool of this die-forming machine is not shown and would be in the illustrated plan above the plane of the drawing.
  • the impact tool of the forming machine is triggered.
  • a new sequence for the further handling of the workpiece 10 is initiated by a time during or at the end of the impact movement of the impact tool.
  • the workpiece 10 is fixed in its forming position on the engraving 17 of the two handling devices 2 and 2 'to the impact and during the impact of the impact tool and held at both ends.
  • the workpiece 10 is handled jointly and synchronously by the two handling devices 2 and 2 'according to the stored further handling routine.
  • the workpiece 10 is released, as already explained with reference to FIG 3, and then either processed again in the first engraving 17 or immediately implemented in the second engraving 18 of the tool 12. After the conversion of the workpiece 10 in the second engraving 18 is again a forming step.
  • the further common synchronous handling of the workpiece 10 is again initiated at an adjustable time during or at the end of the impact movement. It can now again together and synchronously the workpiece from the two handling devices 2 and 2 'are released in the second engraving 18 and possibly re-inserted into the engraving 18 for a repeated processing or the workpiece 10 can equal to the storage device 42 for the finished formed workpiece 10 are implemented.
  • handling devices 2 and 2 ' in addition to the embodiments described with reference to FIGS. 1 to 5, other manipulators or industrial robots may also be used, for example those mentioned above Handling devices according to DE 42 20 796 A1 or DE 100 60 709 A1.
  • additional or alternative handling movements may also be provided by the handling devices 2 and 2 'with or without a workpiece 10.
  • the spacing of the gripping devices for example the distance vector A in FIG. 4, is generally dependent on the length or along this distance measured dimension of the workpiece and remains constant during the synchronous common handling in the rule.
  • the handling devices 2 and 2 can also be a volume or shape change of the workpiece after the forming process, in particular an elongation of the workpiece, are taken into account by the handling devices 2 and 2 'change their points of attack on the workpiece, for example, on the outside of an elongation of the workpiece.
  • the movement trajectories of the two handling devices can also deviate from one another in an adapted manner, for example in an offset or a correction, for example if the workpieces have different burrs or other different shape at the engagement areas.
  • An error communication via the control device 43 makes it possible to interrupt the process in an impermissible deviation of the handling devices of the prescribed trajectory at a given time, in particular to stop the handling devices.

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

Claims (23)

  1. Procédé de formage d'au moins une pièce, dans lequel
    a) la pièce (10) est positionnée dans une position de formage sur un premier outil (12) parmi au moins deux outils (12, 13) d'une machine de formage, de préférence une machine de formage par frappe, en particulier un pilon ou une presse à vis ou une presse à excentrique, les outils étant de préférence des matrices de formage pour le formage combiné de la pièce,
    b) les outils (12, 13) de la machine de formage sont déplacés en un mouvement relatif l'un vers l'autre l'autre,
    c) la pièce est formée entre les outils, et
    d) les deux outils sont ensuite déplacés en un mouvement relatif pour s'écarter l'un de l'autre, et
    e) au moins un dispositif de manipulation (2) commence à relever la pièce (10) pour la détacher du premier outil (12) à un moment de relèvement,
    caractérisé en ce que
    f) il est détecté un moment de déclenchement auquel, pendant le mouvement relatif des outils l'un vers l'autre, la position relative (x) des outils (12, 13) est amenée dans une position de référence (xR) prédéfinie ou prédéfinissable, ou a atteint cette position et
    g) le moment de relèvement est déterminé en fonction du moment de déclenchement.
  2. Procédé selon la revendication 1, dans lequel le moment de relèvement pour ledit au moins un dispositif de manipulation est choisi ou est déterminé de telle sorte qu'il ne se situe pas avant un moment de formage, auquel le formage de la pièce entre les outils est terminé, ou un moment d'inversion du mouvement auquel la direction du mouvement relatif des outils l'un par rapport à l'autre est inversée, et/ou dans lequel le moment de relèvement pour ledit au moins un dispositif de manipulation est choisi ou déterminé de telle sorte qu'il se situe, selon une différence de temps prédéfinie ou prédéfinissable, après le moment de formage ou après le moment d'inversion du mouvement, sachant que, en particulier, la différence de temps entre le moment de relèvement et le moment de formage ou moment d'inversion du mouvement se situe entre 0 ms et 300 ms maximum et/ou au maximum 3/4 du temps pour le mouvement d'écartement des outils, en particulier entre 0 ms et 100 ms maximum et/ou au maximum 1/4 du temps pour le mouvement d'écartement des outils, de préférence entre 0 ms et 50 ms maximum et/ou au maximum 1/8 du temps pour le mouvement d'écartement des outils et/ou est choisi en fonction d'un temps de contact prédéfini des outils.
  3. Procédé selon l'une quelconque des revendications précédentes, dans lequel le premier outil est sensiblement fixe par rapport à un système de référence externe, tel qu'un bâti de la machine de formage ou le sol, et le mouvement relatif et la position relative sont le mouvement ou la position du deuxième outil par rapport au système de référence externe.
  4. Procédé selon l'une quelconque des revendications précédentes, dans lequel ledit au moins un dispositif de manipulation positionne la pièce dans sa position de formage sur le premier outil, et/ou dans lequel ledit au moins un dispositif de manipulation maintient la pièce dans sa position de formage pendant le formage entre les outils.
  5. Procédé selon l'une quelconque des revendications précédentes, dans lequel la pièce est formée en au moins deux étapes de formage entre les mêmes outils, la pièce étant relevée du premier outil par ledit au moins un dispositif de manipulation après une étape de formage et étant positionnée ensuite à nouveau sur le premier outil dans la position de formage pour l'étape de formage consécutive, en particulier pour la ventilation au moyen d'un ventilateur.
  6. Procédé selon l'une quelconque des revendications précédentes, dans lequel la pièce est formée en au moins deux étapes de formage entre des outils différents ou des zones différentes de l'outil, la pièce étant relevée du premier outil par ledit au moins un dispositif de manipulation après une étape de formage et étant positionnée ensuite sur le premier outil dans une autre zone ou sur un autre outil dans la position de formage pour l'étape de formage consécutive.
  7. Procédé selon l'une quelconque des revendications précédentes, dans lequel chaque pièce après l'étape de formage ou après la dernière étape de formage est transportée par ledit au moins un dispositif de manipulation après le relèvement de l'outil ou de la zone d'outil vers un dispositif de stockage et y est stockée.
  8. Procédé selon l'une quelconque des revendications précédentes, dans lequel il est prévu au moins un dispositif de contrôle qui commande les mouvements dudit au moins un dispositif de manipulation et qui, en fonction du moment de déclenchement, détermine le moment de relèvement, et qui, au moment de relèvement déterminé, introduit un mouvement de relèvement du dispositif de manipulation, sachant que, de préférence, le dispositif de contrôle, à un moment de démarrage, émet un signal de démarrage vers ledit au moins un dispositif de manipulation et ledit au moins un dispositif de manipulation, après réception de ce signal de démarrage, commence un mouvement de relèvement et relève la pièce au moment de relèvement.
  9. Procédé selon la revendication 8, dans lequel il est prévu au moins un dispositif de détection de position qui, au moment de déclenchement, lorsque la position relative des outils a atteint la position de référence, délivre un signal de déclenchement vers le dispositif de contrôle, et dans lequel le dispositif de contrôle détermine le moment de relèvement en fonction du moment d'entrée du signal de déclenchement, sachant que le dispositif de détection de position comporte de préférence un commutateur de position associé à la position de référence ou disposé au niveau de la position de référence, qui change d'état sous l'effet d'un actionnement par l'un des deux outils, un changement d'état du commutateur de position étant utilisé comme signal de déclenchement ou moment de déclenchement.
  10. Procédé selon la revendication 8, dans lequel il est prévu au moins un dispositif de détection de position qui mesure en continu et/ou à des moments déterminés la position relative des deux outils l'un par rapport à l'autre et transmet un signal de mesure de position correspondant ou une valeur de mesure de position correspondante vers le dispositif de contrôle, et dans lequel le dispositif de contrôle compare le signal de mesure de position ou la valeur de mesure de position à un signal de référence ou une valeur de référence correspondant à la position de référence et utilise la concordance entre le signal de mesure de position et le signal de référence ou entre la valeur de mesure de position et la valeur de référence comme le moment de déclenchement et en déduit le moment de relèvement.
  11. Procédé selon l'une quelconque des revendications précédentes, dans lequel il est déterminé au moins une position relative des outils, de préférence la position de référence, la vitesse relative et/ou l'accélération relative des deux outils et le moment de relèvement est déterminé à partir du moment de déclenchement en fonction de la vitesse relative et/ou de l'accélération relative déterminées pour les deux outils.
  12. Procédé selon l'une quelconque des revendications précédentes, dans lequel le moment de relèvement est déterminé à partir du moment de déclenchement, du fait qu'un temps de retardement prédéterminé est ajouté au moment de déclenchement ou s'est écoulé, ou dans lequel le dispositif de contrôle détermine le moment de démarrage pour le signal de démarrage au moyen de l'écoulement ou de l'addition du temps de retardement prédéterminé au moment de déclenchement et le moment de relèvement est obtenu à partir du moment de démarrage sans ambiguïté, en général par addition du temps de propagation du signal de démarrage et du temps de traitement du signal de démarrage pour le dispositif de manipulation.
  13. Procédé selon la revendication 12, dans lequel le temps de retardement sera ou est prédéterminé en fonction de l'évolution d'au moins une grandeur de mouvement relatif lors du mouvement relatif des outils l'un par rapport à l'autre et/ou en fonction d'une énergie de formage réglée ou réglable.
  14. Procédé selon l'une quelconque des revendications précédentes, dans lequel la position de référence pour les outils sera ou est prédéfinie en fonction de l'évolution dans le temps du mouvement relatif des deux outils et/ou en fonction de l'énergie de formage pour le formage de la pièce ou en fonction d'une grandeur corrélée clairement avec l'énergie de formage.
  15. Procédé selon l'une quelconque des revendications précédentes, dans lequel l'énergie de formage pour le formage de la pièce ou une grandeur corrélée clairement avec l'énergie de formage peuvent être réglées sur au moins deux valeurs différentes et la position de référence pour les outils est détectée en fonction de la valeur réglée pour l'énergie de formage ou pour la grandeur corrélée.
  16. Procédé selon l'une quelconque des revendications précédentes, dans lequel la position de référence pour les outils est ou sera prédéfinie de telle sorte que la somme des temps de propagation des signaux et données ou les temps de traitement des signaux et données, au moins nécessaires pour déterminer le moment de relèvement à partir du moment de déclenchement, est inférieure à l'intervalle de temps formé par le moment de relèvement et le moment de déclenchement, et/ou dans lequel la position de référence correspond à la position relative la plus éloignée d'un outil par rapport à l'autre, ou dans lequel la position de référence se situe entre la position relative la plus éloignée d'un outil par rapport à l'autre et la position relative la plus rapprochée d'un outil par rapport à l'autre.
  17. Procédé selon l'une quelconque des revendications précédentes, dans lequel la pièce est manipulée au moins pendant le relèvement par au moins deux dispositifs de manipulation, sachant que le mouvement et les positions des dispositifs de manipulation sont commandés ou réglés automatiquement et de manière synchronisée l'un par rapport à l'autre.
  18. Procédé selon l'une quelconque des revendications précédentes, dans lequel le moment de relèvement est appris ou déterminé par voie adaptative, du fait que la position relative des outils est déterminée au moment de relèvement et le moment de relèvement est adapté à une valeur souhaitée, en particulier par adaptation du temps de retardement après le moment de déclenchement ou par adaptation de la position de référence.
  19. Procédé selon l'une quelconque des revendications précédentes, dans lequel la calamine présente en dessous de la pièce relevée et/ou sur le premier outil est soufflée vers l'extérieur par au moins un ventilateur, sachant que, de préférence, un moment de mise en marche du ventilateur est déterminé en fonction du moment de déclenchement et se situe de préférence après le moment de relèvement.
  20. Dispositif de formage d'au moins une pièce, destiné à être utilisé en particulier dans un procédé selon l'une des revendications 1 à 19 ou destiné à la mise en oeuvre d'un procédé selon l'une des revendications 1 à 19, comportant
    a) au moins une machine de formage, de préférence une machine de formage par frappe, en particulier un pilon ou une presse à vis ou une presse à excentrique, comportant au moins deux outils aptes à se déplacer pour se rapprocher l'un de l'autre et pour s'écarter l'un de l'autre pour le formage entre les deux outils d'une pièce positionnée sur un premier outil dans une position de formage prédéfinie ou prédéfinissable, les outils étant de préférence des matrices de formage pour le formage combiné de la pièce,
    b) au moins un dispositif de manipulation pour manipuler la pièce,
    c) au moins un dispositif de contrôle pour commander ou régler les mouvements et les positions du ou des dispositifs de manipulation,
    caractérisé
    d) en ce qu'il comporte au moins un dispositif de détection de position pour détecter un moment de déclenchement, auquel, pendant le mouvement relatif des outils l'un vers l'autre, la position relative (x) des outils (12, 13) est amenée ou a atteint une position de référence (xR) prédéfinie ou prédéfinissable, et
    e) en ce que le dispositif de contrôle est conçu de telle sorte que, en fonction du moment de déclenchement, il détermine un moment de relèvement et active ledit au moins un dispositif de manipulation (2) de telle sorte que ledit au moins un dispositif de manipulation commence à relever l'outil (10) au moment de relèvement pour le détacher du premier outil (12).
  21. Dispositif selon la revendication 20, dans lequel chaque dispositif de manipulation comporte
    a) au moins un dispositif de préhension avec au moins deux éléments de préhension, mobiles l'un par rapport à l'autre, pour saisir la pièce,
    b) au moins un dispositif de support, sur lequel est fixé ou peut être fixé le dispositif de préhension, et
    c) au moins un dispositif de transport pour transporter le dispositif de support avec le dispositif de préhension.
  22. Dispositif selon la revendication 21, dans lequel le dispositif de support et le dispositif de transport, dans une situation flexible, sont reliés de manière flexible entre eux, et, dans une situation rigide, sont reliés sensiblement de manière rigide entre eux ou sont positionnés de manière rigide l'un par rapport à l'autre au moins dans une direction dans l'espace et/ou dans chaque position de rotation du dispositif de préhension et/ou des éléments de préhension, du fait que le dispositif de support et le dispositif de transport sont reliés entre eux par au moins un élément d'assemblage qui est flexible dans la situation flexible et qui est rigide dans la situation rigide, ou du fait que le dispositif de support et le dispositif de transport sont reliés entre eux par au moins un élément flexible et dans la situation flexible sont uniquement reliés par l'élément flexible et dans la situation rigide ils sont sensiblement en appui l'un sur l'autre ou l'un contre l'autre par l'intermédiaire d'au moins un dispositif d'appui en intercalant l'élément flexible.
  23. Dispositif selon une ou plusieurs des revendications 20 à 22, comportant au moins un ventilateur pour souffler vers l'extérieur la calamine formée en dessous de la pièce relevée et/ou sur le premier outil, sachant que de préférence chaque ventilateur est mis en marche par le dispositif de contrôle à un moment de mise en marche et le dispositif de contrôle détermine le moment de mise en marche en fonction du moment de déclenchement et le situe de préférence après le moment de relèvement.
EP04739429A 2003-08-08 2004-05-28 Procede et dispositif pour former une piece puis soulever cette piece Expired - Lifetime EP1651369B1 (fr)

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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

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

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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
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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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DE502004003897D1 (de) 2007-07-05
US7415856B2 (en) 2008-08-26
DE10336469A1 (de) 2005-03-03
EP1651369A1 (fr) 2006-05-03
US20060169017A1 (en) 2006-08-03
DE10336469B4 (de) 2006-06-29
WO2005023455A1 (fr) 2005-03-17

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