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WO2004030843A1 - Procede et appareil de formage en trois dimensions de toles de metal - Google Patents

Procede et appareil de formage en trois dimensions de toles de metal Download PDF

Info

Publication number
WO2004030843A1
WO2004030843A1 PCT/FI2003/000727 FI0300727W WO2004030843A1 WO 2004030843 A1 WO2004030843 A1 WO 2004030843A1 FI 0300727 W FI0300727 W FI 0300727W WO 2004030843 A1 WO2004030843 A1 WO 2004030843A1
Authority
WO
WIPO (PCT)
Prior art keywords
sheet metal
pressing device
counter support
conveyance
forming
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.)
Ceased
Application number
PCT/FI2003/000727
Other languages
English (en)
Inventor
Timo Tuominen
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.)
TWINCAM Oy
Original Assignee
TWINCAM Oy
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 TWINCAM Oy filed Critical TWINCAM Oy
Priority to EP03748164A priority Critical patent/EP1560668A1/fr
Priority to AU2003267477A priority patent/AU2003267477A1/en
Publication of WO2004030843A1 publication Critical patent/WO2004030843A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/14—Spinning
    • B21D22/16—Spinning over shaping mandrels or formers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D25/00—Working sheet metal of limited length by stretching, e.g. for straightening
    • B21D25/02—Working sheet metal of limited length by stretching, e.g. for straightening by pulling over a die
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D31/00—Other methods for working sheet metal, metal tubes, metal profiles
    • B21D31/005—Incremental shaping or bending, e.g. stepwise moving a shaping tool along the surface of the workpiece

Definitions

  • the invention relates to a method as defined in the preamble of claim 1. Further, the invention relates to an apparatus as defined in the preamble of claim 18.
  • the invention relates to the so- called dieless forming of a sheet metal.
  • a method and apparatus for dieless cold forming of a sheet metal are known in prior art e.g. from publication JP 07- 132329 and EP 0 970 764 Al (Amino Corp.)
  • a sheet metal is herein used to mean a metallic sheet metal.
  • a dieless forming is used to mean that the method and ap- paratus do not use two complementary dies defining the three-dimensional shape, of which one is a movable pressing device and the other one is a counter support against which the pressing device is moved, as is done in a conventional deep drawing method. Instead, the pressing device is a forming tool that forms in a point-form manner or in a small area, which tool is moved with respect to the sheet metal .
  • an apparatus that has a holding mechanism for clamping the sheet metal by its edge.
  • a fixed counter support is arranged underneath the sheet metal and designed to be in contact with the lower surface of the sheet metal.
  • An upright means of conveyance is arranged to move the holding mechanism in the vertical direction for moving the sheet metal with respect to the fixedly supported counter support .
  • the apparatus further comprises a pressing device which is a bar provided with a spherical point and which is arranged above the sheet metal for applying a stretching and bending force to the sheet metal on the upper surface thereof.
  • the pressing device is connected to a three- axis portal robot which is able to move the pressing device and to press it against the top surface of the sheet metal with a forming force that stretches and bends the sheet metal.
  • the control device of the apparatus is provided with program means for numerically controlling the movements of the upright means of conveyance and of the portal robot .
  • the lower surface of the sheet metal is contacted with a fixed pressing device.
  • the pressing device is used to apply pressure to the sheet metal in the vicinity of the contact point between the pressing device and the sheet metal, and the pressing device is moved based on the desired shape along a predetermined, e.g. a spiral path in the horizontal direction around the contact point between the pressing device and the sheet metal so that the pressing device moves on the top surface of the sheet metal, while at the same time pressing the sheet metal with a stretching and bending forming force .
  • the pressing device is connected to a three-axis portal robot, the pressing device only has three degrees of freedom, i.e. the possibilities of movement in the x, y and z directions, when the sheet metal is supported on the x-y plane; and the pressing device may therefore only move against the x-y plane in the perpendicular z direction in addition to the x and y directions.
  • the forming force is thus always directed only downwards, and its direction cannot be changed. Therefore, a known device cannot be used to form in the sheet metal straight an- gles or inwards turning shapes (as shown in the accompanying figures 3, 6 and 8-10), instead one must use a release that is at least of the order of 15°-30°. This fact imposes a significant limitation on the fact of what kind of three-dimensional shapes it is possible to form in the sheet metal by means of the apparatus .
  • One further problem is that to make deep shapes in the sheet metal, one must use in the forming a prolonged-arm pressing device, which results in bending and vibration of the arm, which cause measuring errors and crinkling of the sheet metal .
  • the objective of the invention is to eliminate the drawbacks referred to above .
  • One specific objective of the invention is to disclose a method and apparatus that enable inclining of the pressing device for applying the forming force to the sheet metal in a desired angle and for forming inwards turning shapes in the sheet metal .
  • One further objective is to disclose a method and apparatus that enable measuring errors as small as possible and a smooth forming imprint.
  • the method in accordance with the invention is characterised by what is presented in claim 1. Further, the apparatus in accordance with the invention is characterised by what is presented in claim 18.
  • the movement of the pressing device is controlled by at least a five-axis principle.
  • the second means of conveyance which moves the pressing device, is at least a five-axis robot.
  • the program means controlling the apparatus include instructions for controlling the robot in such a manner that the pressing device has at least five degrees of freedom.
  • the invention has the advantage that the five-axis degrees of freedom of the pressing device enable inclining of the pressing device so that the forming force can be applied to the sheet metal in the desired direction, and it is possible to form in the sheet metal inwards turning shapes .
  • the forming force can be applied perpendicularly towards the sheet metal.
  • the pressing device arm can be short-arm and sturdy, which reduces the bending and vibration of the pressing device arm and results in a bigger forming accuracy, and there will be no non- desired crinkling of the sheet metal.
  • FIG. 1 is a schematic side view of a first embodiment of the apparatus in accordance with the invention in the initial phase of a forming method in accordance with the invention
  • Fig. 2 represents section II-II of Fig. 1.
  • Fig. 3 represents the apparatus of Fig. 1 in another phase of the forming,
  • Fig. 4 represents a second embodiment of the apparatus in accordance with the invention.
  • Fig. 5 represents a third embodiment of the apparatus in accordance with the invention.
  • Fig. 6 represents a fourth embodiment of the apparatus in accordance with the invention
  • Fig. 7 represents a fifth embodiment of the apparatus in accordance with the invention
  • Fig. 8 schematically represents two different pressing devices of the apparatus in accordance with the invention in inclined positions, according to the invention, as they form a sheet metal at two points of a model being formed,
  • Figs. 9 and 10 represent a roller press in inclined positions, according to the invention, as they form a sheet metal
  • Fig. 11 is a side view illustrating a roller press
  • Fig. 12 is schematic side view illustrating a counter support which consists of support elements lo- cally supporting the sheet metal.
  • Fig. 1 shows an apparatus that can be used to form complicated three-dimensional shapes in a sheet metal 1.
  • a rectangular sheet metal 1 is attached to position so as to be horizontal with a frame-like holding mechanism 2, which clamps the edge of the sheet metal along the whole periphery (see also Fig. 2) .
  • a counter support 3 Arranged in the lower part of the sheet metal 1 is a counter support 3.
  • the counter support 3 is in this example a die 3 having a shape corresponding to the desired final three-dimensional shape of the sheet metal.
  • the apparatus can include a cooling device 16 for cooling the die 3 during the forming, especially when the sheet metal is heated as the forming goes on.
  • the die 3 that is illustrated in Fig. 1 as being cross-sectioned includes a schematic illustration of a cooling medium channel 28, via which the cooling device 16 circulates the cooling medium.
  • the die 3 can be provided with suction ducts 15, in which a vacuum device 14 creates a vacuum.
  • the suction ducts 15 open on the outer surface of the die 3 for sucking the sheet metal tightly against the outer surface of the die 3.
  • the apparatus includes a first means of conveyance 6, which is herein a hoisting device 6 which lifts the die in the vertical direction and by means of which the die is lifted upwards during the forming.
  • the hoisting device 6 includes e.g. a horizontal support plate 29 to be moved in the vertical direction by means of a ball-race screw drive, on top of which plate the die 3 is attached.
  • the die 3 is in contact with the lower surface 5 of the sheet metal 1 and supports the sheet metal 3 during the forming.
  • a means of conveyance 10 Arranged in the upper part 8 of the sheet metal 1 is a means of conveyance 10, to which the pressing device 7 is connected for moving the pressing device and pressing against a second surface 9 with a forming force stretching and bending the sheet metal .
  • the second means of conveyance 10 is an articulated arm robot 10 'to be controlled by a six-axis principle, the robot being a so-called industrial robot.
  • the base 23 of the robot 10" is attached to a fixed frame 22.
  • the base 23 is placed from the sheet metal 1 to be formed to such a distance that allows the articulated arm of the robot 10" to be stretched as straight as possible during the forming process. This is advantageous because an articulated arm robot produces a pressing force as big as possible when kept as straight as possible.
  • the articulated arm robot 10 is controlled by a control device 11 which has a computer program for numerically controlling the movements of the means of conveyance and the second means of conveyance .
  • the program contains predetermined instructions for controlling the robot 10 "in such a manner that the pressing device 7 has at least five degrees of freedom, ad- vantageously at least degrees of freedom, which are needed in order that the pressing device 7 can be inclined into a suitable angle at each point so that the forming force is directed substantially perpendicu- larly against the surface of the die 3 , and thus against the thickness direction of the sheet metal 1.
  • the apparatus can include a heating device 13 which is installed in the second means of conveyance 10 "in the vicinity of the pressing device 7 for apply- ing a local heating to the sheet metal 1.
  • the heating device 13 can include means for applying hot air, combustion gas, radiation or the like to the sheet metal, or the heating device 13 can be an electrical heating element .
  • the points to be heated can be determined based on a CAD model corresponding to the desired shape, as can be done with the path of movement of the robot 10 as well, so that heating is used just at points in which it is specifically needed.
  • the objective of the heating is to soften and plastify the material of the sheet metal to be formed to ease the forming.
  • Soft metallic sheet metals such as aluminium sheet metals, can be formed even without heating, but e.g. a steel sheet may need heating.
  • the hoisting device 6 and the articulated arm robot 10 By means of the predetermined instructions defined in the control device 11 it is possible to get the hoisting device 6 and the articulated arm robot 10 "to mutually cooperate during the forming.
  • the highest point of the die 2 and the lower surface 5 of the sheet metal are contacted with one another.
  • the pressing device 7 is pressed against the upper surface 9 of the sheet metal at a point which is in the vicinity of the contact point between the die and the sheet metal.
  • the pressing device 7 is moved on the upper surface of the sheet metal 1 based on the desired shape along a predetermined path which is growing in respect of its radius, the path being illustrated by a dot-and-dash line 30 in Fig.
  • the hoisting device 6 is used to lift the die 3 upwards as the forming goes on.
  • the instructions for controlling the path of movement of the pressing device 7 and the local heating are generated based on the CAD model that defines the desired three-dimensional shape.
  • the program means of the control device 11 are arranged to generate, based on the CAD model, a first set of instructions for controlling the movement of the pressing device 7 by a five-axis principle, and then to determine, based on the CAD model, the additional information that is related to an additional degree of freedom and local heating, which cannot be controlled by the first set of instructions.
  • the program means are arranged to generate, based on the first set of instruc- tions and the additional information, a second set of instructions which control the movement of the pressing device 7 by at least a six-axis principle, and in addition control the second heating device 13 to apply a local heating to the sheet metal at the necessary points.
  • Fig. 3 illustrates a situation in which the forming has reached a phase in which the pressing device 7, which is controlled in the aforementioned manner, has been used to form in the sheet metal 1 a shape corresponding to the die 3.
  • Fig. 4 represents an embodiment of the apparatus that differs from the embodiment of Fig. 1 in that the articulated arm robot 10 that moves the pressing device is disposed next to the sheet metal 1 to be formed.
  • the base 23 of the robot 10 is supported on guide elements 24, under whose control the robot 10 is wholly controlled so as to be movable in a direction parallel to the plane as shown in Fig. 4.
  • An actuator 25 moves the robot 10 under the control of the guide elements 24.
  • Fig. 5 represents an embodiment in which as the second means of conveyance 10 that moves the pressing device, a six-axis pusher arm robot 10" is used, which is marketed with the trademark Tricept (SMT Tricept Ab, Sweden) .
  • Tricept SMT Tricept Ab, Sweden
  • a Tricept pusher arm robot enables one to achieve a sufficiently big pressing force that remains as constant as possible throughout the whole machining area.
  • Fig. 6 represents an embodiment of the apparatus in which the sheet metal 1 is supported with a holding mechanism 2 into an upright position.
  • a counter support 3 that supports the sheet metal 1 in a small area is used, which counter support is moved by a first means of conveyance 6, which is herein an articulated arm robot that works on the first side 4 of the sheet metal.
  • the pressing device 7 is moved by a second means of conveyance 10, which also is an articulated arm robot.
  • Both robots 6 and 10 are controlled by at least a five-axis principle, advantageously a six-axis principle, and synchronically in cooperation so that the counter support substan- tially follows the path of movement of the pressing device 7.
  • Fig. 7 illustrates a schematic diagram from which it can be seen that the apparatus can also be applied to mass production, although dieless forming has been conventionally used for making individual ar- tides and prototypes.
  • the sheet metal 1 can be conveyed e.g. from a coil 26 along a horizontal path by means of some kind of conveyor 21, which conveys the sheet metal 1 to a forming station 27. If the sheet metal 1 is to be preheated, the apparatus may include e.g. an electrical heating device 12, which heats the sheet metal 1 on both sides thereof at least throughout the whole surface area to be formed.
  • the pressing device 7 as shown in the upper part in Fig. 8 includes a spherical fixed or rotating forming point 18.
  • the pressing device 7 can be a roller press, in which case it includes an arm part 19 which . can be attached to the robot, and a forming roller 20 which is rotably mounted on the arm part using bearings.
  • the arm part 19 is advantageously mounted with bearings on the robot's arm so as to rotate freely.
  • the rotation axis of the arm part 19 is disposed at a distance s aside from the rotation axis of the forming roller 20, thanks to which the rotation level of the roller automatically keeps to the direction of movement of the roller.
  • Figs. 8-10 show that by suitably inclining the pressing device 7, it is possible to form e.g. straight angles and inwards extending shapes, which were impossible to form using the previous apparatuses and methods of dieless forming.
  • Fig. 12 illustrates that instead of a die, it is possible to use as the counter support 3 several fixed support elements 17, each of which locally supports the sheet metal at different points of the desired three-dimensional shape.
  • the invention is not limited merely to examples of its embodiments, instead many variations are possible within the scope of the invention defined by the claims.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

Abstract

Dans ce procédé de formage en trois dimensions de tôles de métal (1), on installe une contrepartie support (3), on fixe la tôle de métal (1) à proximité de cette contrepartie support par sa bordure et on met en contact la contrepartie support (3) et une première surface (5) de la tôle de métal à l'aide d'un premier organe de transport (6), on utilise un deuxième organe de transport pour presser le dispositif de presse (7) contre une deuxième surface (9) de la tôle de métal, cette surface étant une surface opposée de la première surface, à un point situé à proximité du point de contact entre la contrepartie support et la tôle de métal. On déplace le dispositif de presse sur la deuxième surface de la tôle de métal en fonction de la forme souhaitée sur un trajet de déplacement prédéterminé dont le rayon augmente autour du point de contact entre la contrepartie support et la tôle de métal de sorte que le dispositif de presse presse la tôle de métal avec une force d'étirage et de cintrage. Puis on déplace la contrepartie support et/ou la tôle de métal l'une par rapport à l'autre au fur et à mesure du formage. Le déplacement du dispositif de presse est commandé par au moins un principe à cinq axes
PCT/FI2003/000727 2002-10-07 2003-10-03 Procede et appareil de formage en trois dimensions de toles de metal Ceased WO2004030843A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP03748164A EP1560668A1 (fr) 2002-10-07 2003-10-03 Procede et appareil de formage en trois dimensions de toles de metal
AU2003267477A AU2003267477A1 (en) 2002-10-07 2003-10-03 Method and apparatus for forming three-dimensional shapes in a sheet metal

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20021782A FI112042B (fi) 2002-10-07 2002-10-07 Menetelmä ja laitteisto kolmiulotteisten muotojen muovaamiseksi ohutlevyyn
FI20021782 2002-10-07

Publications (1)

Publication Number Publication Date
WO2004030843A1 true WO2004030843A1 (fr) 2004-04-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2003/000727 Ceased WO2004030843A1 (fr) 2002-10-07 2003-10-03 Procede et appareil de formage en trois dimensions de toles de metal

Country Status (4)

Country Link
EP (1) EP1560668A1 (fr)
AU (1) AU2003267477A1 (fr)
FI (1) FI112042B (fr)
WO (1) WO2004030843A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102172698A (zh) * 2011-02-21 2011-09-07 上海交通大学 板材复合渐进成形装置及其板料成形方法
CN102218706A (zh) * 2011-03-24 2011-10-19 上海交通大学 高压水射流板材渐进成形与切割装置
WO2012042221A1 (fr) * 2010-10-01 2012-04-05 Cambridge Enterprise Limited Processus de mise en forme par repoussage et appareil de fabrication d'objet par mise en forme par repoussage
DE102011116215A1 (de) 2011-10-17 2013-04-18 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und Vorrichtung zum Umformen flächiger Werkstücke
CN103191969A (zh) * 2013-04-19 2013-07-10 安徽工业大学 一种弹性预加载下中厚板材热态成形的方法和装置
CN103639249A (zh) * 2013-12-03 2014-03-19 上海交通大学 一种板料双点渐进成形装置及成形方法
CN104959461A (zh) * 2015-05-25 2015-10-07 上海交通大学 激光辅助加热工具
CN106040829A (zh) * 2015-04-03 2016-10-26 波音公司 拼接板的板材渐进成形方法和系统
CN113231524A (zh) * 2021-06-17 2021-08-10 上海应用技术大学 柔性成型装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2505279B1 (fr) 2011-03-29 2013-07-10 Mta Sztaki Dispositif de mise en fome incrémentale d'une tôle agissant sur les deux cotés de la tôle

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US2945528A (en) * 1956-04-30 1960-07-19 L Morane Sa Ets Machines for shaping sheet metal
US4557135A (en) * 1983-01-06 1985-12-10 Haemmerle Ag Device for manipulating workpieces
US5115661A (en) * 1987-08-18 1992-05-26 Mcgowan Joseph Forming parts from ductile materials
JPH07132329A (ja) * 1993-11-11 1995-05-23 Shigeo Matsubara 板材の成形方法及びその成形装置
EP0970764A1 (fr) * 1998-01-29 2000-01-12 Amino Corporation Appareil de formage de plaques sans matrice
US6532786B1 (en) * 2000-04-19 2003-03-18 D-J Engineering, Inc. Numerically controlled forming method

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
US2945528A (en) * 1956-04-30 1960-07-19 L Morane Sa Ets Machines for shaping sheet metal
US4557135A (en) * 1983-01-06 1985-12-10 Haemmerle Ag Device for manipulating workpieces
US5115661A (en) * 1987-08-18 1992-05-26 Mcgowan Joseph Forming parts from ductile materials
JPH07132329A (ja) * 1993-11-11 1995-05-23 Shigeo Matsubara 板材の成形方法及びその成形装置
EP0970764A1 (fr) * 1998-01-29 2000-01-12 Amino Corporation Appareil de formage de plaques sans matrice
US6532786B1 (en) * 2000-04-19 2003-03-18 D-J Engineering, Inc. Numerically controlled forming method

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PATENT ABSTRACTS OF JAPAN vol. 1995, no. 08 *

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9597721B2 (en) 2010-10-01 2017-03-21 Cambridge Enterprise Limited Spin forming process and apparatus for manufacturing articles by spin forming
WO2012042221A1 (fr) * 2010-10-01 2012-04-05 Cambridge Enterprise Limited Processus de mise en forme par repoussage et appareil de fabrication d'objet par mise en forme par repoussage
CN103108709A (zh) * 2010-10-01 2013-05-15 剑桥企业有限公司 旋压成形工艺及用于通过旋压成形来制造物品的装置
CN102172698A (zh) * 2011-02-21 2011-09-07 上海交通大学 板材复合渐进成形装置及其板料成形方法
CN102218706A (zh) * 2011-03-24 2011-10-19 上海交通大学 高压水射流板材渐进成形与切割装置
DE102011116215A1 (de) 2011-10-17 2013-04-18 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren und Vorrichtung zum Umformen flächiger Werkstücke
CN103191969A (zh) * 2013-04-19 2013-07-10 安徽工业大学 一种弹性预加载下中厚板材热态成形的方法和装置
CN103639249A (zh) * 2013-12-03 2014-03-19 上海交通大学 一种板料双点渐进成形装置及成形方法
CN103639249B (zh) * 2013-12-03 2016-07-06 上海交通大学 一种板料双点渐进成形装置及成形方法
CN106040829A (zh) * 2015-04-03 2016-10-26 波音公司 拼接板的板材渐进成形方法和系统
CN106040829B (zh) * 2015-04-03 2019-06-07 波音公司 拼接板的板材渐进成形方法和系统
CN104959461A (zh) * 2015-05-25 2015-10-07 上海交通大学 激光辅助加热工具
CN113231524A (zh) * 2021-06-17 2021-08-10 上海应用技术大学 柔性成型装置

Also Published As

Publication number Publication date
FI112042B (fi) 2003-10-31
AU2003267477A1 (en) 2004-04-23
EP1560668A1 (fr) 2005-08-10
FI20021782A0 (fi) 2002-10-07

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