EP2851188A1 - Press assembly and press assembly handling device - Google Patents

Abstract

The invention relates to a press arrangement handling device (20), which is associated with a control device and / or a software algorithm, with a gripping and / or holding device for holding and transporting die-cast and / or isostatically produced or from powder and / or granules pressed pressing parts (13) and having a weight determining arrangement (30) for detecting a weight (wi) or a value determined during a weight determination of such a pressing part (13) received in the gripping and / or holding device, wherein the control device and / or the software algorithm for press control of a slip casting press or powder and / or granular press (11) is set up, which presses such pressing parts (13), which are received by the gripping and / or holding device after pressing.

Description

The invention relates to a press arrangement handling apparatus having a gripping and / or holding device for holding and transporting molded parts pressed from powder and / or granules and to a press arrangement with such a press arrangement handling apparatus.

Fig. 2 outlined a press assembly 10 * with a press 11, which is adapted for pressing of pressed parts 13 of a powder and / or granular material. The pressing member 13 is removed by a linear axis as a removal device. The pressing member 13 is fed via a conveyor belt 21 * a belt scale 22 * and weighed there after a transient phase. Following the removal takes place again via a conveyor belt 23 *. On this conveyor belt 23 * faulty pressing parts 13 are discharged. Through the balance, the feedback on the pressed part weight wi. This is used to control in the process a material dosage for producing further pressing parts 13.

The linear axis can also be replaced by a 6-axis industrial robot. In this case, the robot is used to remove the pressed parts 13 from the press 11 and to deposit the pressed parts 13 on the balance.

The current process consists of the steps "Remove", "Turn the pressed part" and "Weigh". Thus, a removal of the pressed parts by means of suitable methods, such as by means of a linear axis or robot is necessary. The pressing parts 13 must therefore be removed, fed to the balance, be led away from the scale and palletized for the subsequent process. This requires several recording and settling processes. Due to the repeated handling of the still fragile pressed parts in this phase, the risk of damage is high. Especially band transitions at the interface between conveyor belts are a danger.

The multiple pick and place processes also affect the cycle time of the overall press assembly 20 * negative. This complex process is made even more difficult by the limited degrees of freedom of the linear axis, since sometimes an additional axis is necessary. Another disadvantage of this system is the feedback of the process parameter "weight wi" in the current production process. As a result of the arrangement of the necessary components, the weight value can generally only be fed back later by 3 to 4 production strokes.

The object of the invention is to further develop a press arrangement and a press arrangement handling device such that a transport of pressed press parts out of the press causes less damage of pressed parts and, at the same time, enables faster press cycles.

This object is achieved by the press arrangement handling apparatus having the features of claim 1 and the press arrangement having the features of claim 13, respectively. Advantageous embodiments are the subject of dependent claims.

Accordingly, a press arrangement handling device, to which a control device and / or a software algorithm is assigned, is accordingly provided with a gripping and / or holding device for holding and transporting die-cast and / or isostatically produced or made Powder and / or granules pressed pressed parts and with a weight determining arrangement for detecting a weight or determined in a weight determination value of such recorded in the gripping and / or holding device pressing part, wherein the control device and / or the software algorithm for press control of a slip casting press or Powder and / or granular press is set, which presses such pressing parts, which are received after pressing by the gripping and / or holding device.

The determined value is thus in particular a value that is in a direct, in particular proportional, relation to the weight. In particular, the determined value may be a sensor value or a value calculated from a sensor value.

The assignment of the control device and / or a software algorithm may consist in that the control device or the software algorithm is located directly in a press control or as a separate or spatially separated from the press control and e.g. the handling device itself assigned control device is configured. The fact that the control device and / or the software algorithm for press control of a slip casting press or powder and / or granular press is set up means, in particular, that the control device and / or the software algorithm determine the weight or the determined value for press control of the slip casting press or Powder and / or granular press forwards or directly controls this depending on the weight or value itself.

In particular, the pressed parts are pressed parts made of ceramic and / or metallic material. Under a pressing member is understood in accordance with a pressing part, which was prepared by slip casting in particular under pressure.

This provides a manipulation process for production processes with integrated measurement technology. The production process becomes all the more stable the more promptly a change in the weight of the pressed part is reacted. By omitting a separate balance and thus a reduction of the components, the cycle time of the handling process for a pressing part can be shortened.

The detection of the weight or value takes place in particular during a dynamic movement and thus leads to a considerable shortening of the latency for a feedback, in particular as a controlled variable of the weight or the value as a process parameter.

In particular, measurement results are reproducibly recorded with a standard deviation of at least 6 σ. On the basis of a normal distribution, this interval corresponds to 2 ppb (parts per billion) and is considered a good measure for an almost complete coverage of all measured values and as a quality criterion in a production. In particular, a press is maximally loadable, since process reliability is guaranteed even with a cycle time of in particular not more than 3 s.

One embodiment is that the control device and / or the software algorithm is set up to regulate at least one pressing parameter of the press for pressing subsequent pressed parts, depending on a weight or determined value determined in this way.

Such a pressing parameter is, for example, a quantity of slip or pressed material for subsequent pressing cycles. Other pressing parameters may relate to the press itself and are, for example, a pressure to be applied to the slip or the material to be pressed or positions to be approached by press dies.

Subsequent pressed parts are understood in particular to be pressed parts which are pressed into this pressing part within a few, in particular a maximum of 5 or 10 subsequent pressing cycles.

In particular, the control device and / or the software algorithm are configured as or in a processor to inject a weight or a value thus determined into a press cycle into the production process, in particular to inject it clock-synchronously. This enables a process optimization with the aim of producing the produced articles as promptly as possible within the lowest possible weight tolerance.

One refinement is that the control device and / or the software algorithm is set up to regulate at least one pressing parameter for pressing subsequent pressed parts already in the immediately following or next press cycle, depending on a weight thus detected or dependent on a value thus determined during weight determination.

An improvement in weight, in particular a weight optimization can thus not in any subsequent subsequent machine or. Press cycle, but already in the next machine cycle done. Ideally, corresponding pressing parameters are thus already adapted for the subsequently produced pressed part.

Ideal is a readjustment, in which, in the case of insufficient weight already pressed immediately following pressed part has a readjusted and especially better weight. In the case of high clocking, however, a refilling of pressed material into a mold can already have taken place or be carried out before the weight has been determined, so that only then the next but one press part is readjusted.

One embodiment is that the control device and / or the software algorithm is designed to determine the weight or the value by means of a measuring block arranged in or on the gripping and / or holding device, in particular a recesses and a sensor device, in particular having piezo or strain gauge elements Determine measuring block.

One embodiment is that the control device and / or the software algorithm are designed to determine the weight or the value based on a weight force, while the gripping and / or holding device is at a standstill.

In particular, the weight or the value is determined as a function of the weight force acting on the gripping and / or holding device by the pressing part.

One embodiment of this is that the control device and / or the software algorithm is designed to determine the weight or the value based on a weight force, while the gripping and / or holding device is in a defined position when the robot axes are stationary.

In this case, robot axes are to be understood in particular as the individual movable robot components with regard to their axes of movement.

An alternative embodiment is that the control device and / or the software algorithm are designed to determine the weight or the value by means of a force which is required for moving the gripping and / or holding device.

Weight or value are thus determined indirectly by determining a force required to adjust the gripping and / or holding device that holds the pressing member during the adjustment.

An embodiment of this, in particular, is that the control device and / or the software algorithm is designed to determine the weight or value by means of a weight force during a pivoting movement of the gripping and / or holding device along a horizontal path within a tolerance, in particular an exactly horizontal path ,

This procedure saves process time. A tolerance is set so that a sufficiently correct weight value can be determined. In particular, the tolerance is at a few degrees deviation from the horizontal, in particular less than 1%, preferably less than 0.05%.

One embodiment is that the control device and / or the software algorithm is designed to perform a value comparison by means of a table or tolerance values.

An embodiment is that the control device and / or the software algorithm is set up, which detected

To use weight or the determined value for sorting out such a pressed part outside a weight tolerance.

The weighing result can thus already be used in the handling cycle for a quality assessment. Articles that are outside the permitted weight tolerance are sorted out during operation.

One embodiment is that the weight determination arrangement comprises a weight or force sensor for detecting the weight or the value.

One embodiment is that the detected weight or the determined value is stored on a non-volatile memory, in particular archived.

The weight or value is thus available for process documentation. This makes a complete documentation possible. Production plants equipped with such a handling system are capable of a complete documentation of the weight values over the manufactured articles in the form of e.g. a table. In particular, a particular pressing partial individual proof of the weight of all pressed pressed parts is possible.

A press arrangement with a press and with such a press arrangement handling device is preferred.

One embodiment is a press arrangement in which a production line from a / the press for pressing the pressing part to a position at which the weight or the value ascertained in the determination of the weight is recorded, is formed without scales.

In particular, under Libra-los to understand that the arrangement does not have a separate scale, in particular no balance is provided on which the pressing part can be stored to determine its weight.

One embodiment is a press arrangement in which the weight determination arrangement is designed as a component that can be adjusted together with the gripping and / or holding device.

In particular, the weight determining arrangement is thus part of the gripping and / or holding device, arranged on the gripping and / or holding device or on a connecting path between the gripping and / or holding device and a drive or a fixed base, e.g. a robot arranged.

Because of the achievable high precision of the particular indirect weighing result thus eliminates the process of weighing the parts by a separate, the process of gripping and first moving the pressing part downstream weighing device.

Disturbances such as Temperature-related long-term drift of the weight value are compensated by algorithms in the control device.

In particular, the control device and / or the software algorithm is set up as a processor which is set up for press control of a powder and / or granular press or slip press, which are such Presses pressed, which are received after pressing by the handling device.

Particularly preferred is also a press arrangement handling device with a gripping and / or holding device for holding and transporting pressed from powder and / or granules pressed parts and with a weight determining arrangement for detecting a weight of such received in the gripping and / or holding device pressing part.

One embodiment is that the weight determination arrangement comprises a weight or force sensor for detecting the weight.

One embodiment is that the weight determination arrangement has a control device and / or a software algorithm and is designed to determine the weight.

An embodiment of this is that the control device and / or the software algorithm are designed to determine the weight based on a force which is required for moving the gripping and / or holding device. This force results, for example, from drive or measured values of a drive which serves to move components of the handling device, e.g. used to move the gripping and / or holding device.

The measurement is carried out depending on the preferred development during a lifting and / or lateral, in particular purely lateral linear motion phase. In this case, a transient response and the influence of the movement on the measured weight for determining the weight in the dynamic motion case on the robot or one other than by a Robot trained handling device to be analyzed.

Another embodiment of this is that the control device and / or the software algorithm is designed to perform a value comparison by means of a table. In particular, the table may have comparative values of previous sample measurements by means of pressed parts or sample weights of known weight value. A weight value is to be understood as a value which directly reflects the weight or is another measured variable related to the weight, e.g. a required driving or moving force for the gripping and / or holding device.

A further embodiment consists in that the control device and / or the software algorithm is set up in a processor which is set up for press control of a powder and / or granular press which presses such pressed parts which are picked up by the handling device after pressing.

One refinement of this is that the processor is set up to regulate at least one pressing parameter for pressing subsequent pressed parts, depending on a weight thus detected or on determining the weight.

Another embodiment is that the handling device is designed as a linear handling device or as a robot.

A further embodiment consists in a press arrangement with a press and with such a press arrangement handling device.

Thus, an automated weight detection is made possible during a handling process, in which a pressing member is moved with such a press arrangement handling device. By measuring the weight value in particular a robotic gripper also accounts in particular 5 band transitions or 4 band transitions and a parts slide. This significantly reduces the risk of damaging the pressed parts.

The corresponding procedure significantly contributes to the streamlining and stability of the previous process. In particular, a measuring method for automated weight detection during a handling movement is thus also realized. The weight detection takes place in particular during the movement of the handling system without interim storage. This achieves an integration of a stable, reproducible measuring process into the working cycle of the entire system. Since the detected weight is used directly for process control, in particular a maximum weight deviation is sought, which is subject to a standard deviation of 6 σ.

Instead of equipping a majority of presses with handling systems based on linear axes, a cost-effective robot solution can be used, which can implement pressed parts without having to place them on a balance and then pick them up again. At the same time, lower susceptibility to interference, process optimization and increased ease of maintenance compared with a linear handling system are made possible. By integrating the weighing process into the robot movement, on the one hand, the costs for the entire system are reduced, and on the other hand, the overall process of the production process of such pressed parts is also timely Capturing and feedback of the weight value significantly improved.

Fig. 1

Komponenten einer bevorzugten Pressenanordnung mit einer Pressenanordnungs-Handhabungsvorrichtung;

Fig. 2

Komponenten einer Pressenanordnung nach dem Stand der Technik;

Fig. 3

Komponenten einer weiteren Ausgestaltung; und

Fig. 4

ein Diagramm einer Normalverteilung.

An embodiment will be explained in more detail with reference to the drawing. Show it:

Fig. 1

Components of a preferred press assembly with a press assembly handling apparatus;

Fig. 2

Components of a press arrangement according to the prior art;

Fig. 3

Components of a further embodiment; and

Fig. 4

a diagram of a normal distribution.

How out Fig. 1 can be seen in a press assembly 10 powder and / or granules pressed in a press 11 to press parts 13. The press 11 has a processor 12 which serves to control the press 11 and other components of the press arrangement 10.

A further such component is in particular a press arrangement handling device 20. The press arrangement handling device 20 has a gripping and / or holding device for holding and transporting pressed parts pressed in the press 11. In addition, the press arrangement handling apparatus 20 has a weight determining arrangement 30 for detecting a weight wi of such a pressing part 13 received in the gripping and / or holding device.

The weight determination assembly 30 may include a weight or force sensor for detecting the weight wi. The weight determination arrangement 30 has a control device and / or a software algorithm and is designed to determine the weight wi. The control device and / or the software algorithm may in particular be part of the weight determination arrangement 30, the press arrangement handling device 20 and / or the press 11 or their processor 12.

In particular, the press arrangement handling device 20 has a manipulator 40 which forms the gripping and / or holding device in order to receive and relocate pressed parts elsewhere.

In particular, a combined weight determination arrangement 30 and press arrangement handling device 20 can be realized by a combined gripper-weighing system for dynamic weight measurements, so that a weight determination in the dynamic motion case on the robot is possible.

Depending on, in particular, the specific weight wi of the pressing part 13, this is rejected or forwarded. In addition, the specific weight wi is guided into a control circuit for controlling at least one pressing parameter, so that subsequent pressed parts are pressed with, if required, adjusted pressing parameters.

Fig. 3 shows such a press arrangement handling device 20, which is associated with a control device and / or a software algorithm, with a gripping and / or holding device 32 for holding and transporting die-cast and / or isostatically produced or pressed from powder and / or granules pressed parts 13 and a weight determining arrangement 30 for detecting a weight wi or a value determined during a weight determination of a weight wi in the

Gripping and / or holding device 32 received pressing part 13. The weight determination arrangement 30 has a measuring block 33 as a preferred sensor for weight detection. The measuring block 33 is disposed between the gripping and / or holding device 32 and an arm 31 of a robot as the handling device 20. The measuring block 33 preferably has recesses in order to determine a deformation of the measuring block 33 which is dependent on the weight of a received pressed part 13 and which is dependent on the weight. For determining corresponding data, a sensor device, in particular at least one piezoelectric and / or strain-measuring element, is arranged on the measuring block. Depending on the determined value or weight wi, the press 11 is controlled as required and the pressing member 13 is stored either on a conveyor belt 34 for further processing or on a conveyor belt 35 for disposal or for recycling. The remaining components corresponding in particular to the components with the same reference numerals Fig. 1 ,

Fig. 4 shows a purely exemplary diagram of a normal distribution for a weight distribution and the selection of criteria for readjusting the press and / or to sort out an insufficient pressing part.

For determining a course of weight during a handling movement, for example, according to a development, a weight of a pressing part is detected over a number of measuring points. According to a further development, a continuous detection of the movement can be realized. In particular, phases "lifting", "linear movement" and "standstill" can be read off and determined. In particular, a statement about a transient response and an influence of the subsequent further movement of the pressing part up to a standstill by means of the handling device to the measured weight are possible. In the case of transient oscillation, in particular an interim increase in the measured values which correspond to a required lifting force beyond a measure of the subsequent measured values and optionally also an interim drop in the measured values between them can be detected below the extent of the subsequent measured values and evaluated to determine the weight.

In the evaluation of measured values or the determination of the weight, particular account is taken of systematic measurement deviations, repetition precisions, comparison precision, if necessary with operator influence, possible systematic errors and environmental influences.

Thus, a handling or manipulation process for production-technical processes with integrated measuring technology is provided. The weight detection takes place in particular during the dynamic movement and thus leads inter alia to a considerable shortening of the latency for the feed back (recycling) of the process parameter weight. The production process is all the more stable the more promptly reacts to the change in weight. By reducing the structural components of the press arrangement, the cycle time of the handling operation can be shortened.

An industrial gripping system with integrated weighing technology is provided for accurate weight determination in dynamic applications. In addition to the selection, modification and integration of weighing technology into a "standard" gripper, handling, measuring and automation technology for such press arrangements will be adapted and improved accordingly.

Modifications of the procedure exist in developments such as a determination of measured values moved robot or moving handling device, with the robot stopped, in particular in closed-loop control robot or stationary robot and sunken or activated brakes. Also, different types of force measuring sensors can be used which, for example, directly detect a force additionally acting through the pressing part or a required manipulated variable change of a drive.

Claims (15)

Press arrangement handling device (20), which is associated with a control device and / or a software algorithm, with - A gripping and / or holding device for holding and transporting die-cast and / or isostatically produced or pressed from powder and / or granules pressed parts (13) and a weight determination arrangement (30) for detecting a weight (wi) or a value determined during a weight determination of such a pressing part (13) received in the gripping and / or holding device (32), - Wherein the control device and / or the software algorithm for press control of a slip casting press or powder and / or granular press (11) is set, which presses such pressing parts (13), which after pressing by the gripping and / or holding device be recorded. The device according to claim 1, wherein the control device and / or the software algorithm is set up to regulate at least one pressing parameter of the press for pressing subsequent pressed parts (13) depending on a weight (wi) or determined value. Device according to one of Claims 1 or 2, in which the control device and / or the software algorithm is set up, depending on a weight (wi) detected in this way or, depending on a value determined in the weight determination, at least one pressing parameter for pressing subsequent pressed parts (13). already in the immediately following or the next press cycle. Device according to one of the preceding claims, in which the control device and / or the software algorithm is designed to determine the weight or the value by means of a measuring block (33) arranged in or on the gripping and / or holding device (32), in particular a recess and to determine a sensor device, in particular Piezooder strain gauges having measuring block (33). Apparatus according to any preceding claim, wherein the control means and / or the software algorithm is arranged to determine the weight or the value by a weight force while the gripping and / or holding means (32) is at a standstill. The device according to claim 5, wherein the control device and / or the software algorithm are designed to determine the weight or the value based on a weight force, while the gripping and / or holding device (32) is in a defined position when the robot axes are stationary. Apparatus according to claim 1, 2, 3 or 4, wherein the control means and / or the software algorithm is arranged to determine the weight or value by means of a force required to move the gripping and / or holding means. Apparatus according to claim 1, 2, 3, 4 or 7, wherein the control means and / or the software algorithm is adapted to weight or value based on a weight force during pivotal movement of the gripping and / or holding means (32) along one within a tolerance horizontal path, in particular to determine an exactly horizontal path. Device according to one of claims 1 to 9, wherein the control device and / or the software algorithm is designed to perform a value comparison by means of a table or tolerance values. Device according to one of Claims 1 to 9, in which the control device and / or the software algorithm is set up to use the detected weight or the determined value for sorting out such a pressing part (13) which is outside a weight tolerance. Apparatus according to any preceding claim, wherein the weight determining assembly (30) comprises a weight or force sensor for detecting the weight (wi) or the value. Device according to one of the preceding claims, wherein the detected weight or the determined value is stored on a non-volatile memory, in particular archived. Press assembly comprising a press (11) and a press arrangement handling device (20) according to any preceding claim. A press arrangement according to claim 13, wherein a production line from a press for pressing the pressing part (13) to a position at which the weight (wi) or the value determined in the weight determination is detected, is formed scale-less. A press arrangement according to claim 13 or 14, wherein the weight determining arrangement (30) is formed as a component which can be adjusted together with the gripping and / or holding device (32).

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