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WO2019166481A1 - Procédé servant à trouver une position de maintien adaptée - Google Patents

Procédé servant à trouver une position de maintien adaptée Download PDF

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Publication number
WO2019166481A1
WO2019166481A1 PCT/EP2019/054843 EP2019054843W WO2019166481A1 WO 2019166481 A1 WO2019166481 A1 WO 2019166481A1 EP 2019054843 W EP2019054843 W EP 2019054843W WO 2019166481 A1 WO2019166481 A1 WO 2019166481A1
Authority
WO
WIPO (PCT)
Prior art keywords
force
workpiece part
holding
workpiece
gravity
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/EP2019/054843
Other languages
German (de)
English (en)
Inventor
Christoph BLOEMKER
Jens Ottnad
Fabian MATTER
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.)
Trumpf Werkzeugmaschinen SE and Co KG
Original Assignee
Trumpf Werkzeugmaschinen SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Trumpf Werkzeugmaschinen SE and Co KG filed Critical Trumpf Werkzeugmaschinen SE and Co KG
Publication of WO2019166481A1 publication Critical patent/WO2019166481A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39558—Vacuum hand has selective gripper area

Definitions

  • the present invention relates to a method for finding at least one suitable holding position for at least one holding device having a plurality of holding elements, relative to a by means of the holding device on a workpiece support (side) to be moved or one by means of
  • Holding device to be supported usually plate-shaped workpiece part.
  • the invention also relates to a computer program product for carrying out such a method.
  • a workpiece part separated from a plate-shaped workpiece is to be displaced laterally by means of a holding device alone or together with the surrounding residual grid on a workpiece support, the workpiece part can slip relative to the holding device and / or relative to the residual grid.
  • a displacement of the workpiece part relative to the residual grid may occur if, at the moment of free-cutting, forces (for example the force of an acting cutting gas during laser cutting) act on the workpiece part.
  • Holding device or the residual grid shifted workpiece part may possibly only difficult or not automated to be removed from the machine.
  • a held by means of the holding device for example sucked workpiece part to a storage location also occur centrifugal forces on the workpiece part, which may not exceed the holding force of the holding elements, for example in the form of suction pads.
  • a holding unit for example suction unit
  • the suckers are placed on the workpiece part to prevent movement of the workpiece part in and / or against the direction of gravity.
  • a stronger fixation of the workpiece part can be done by suction of the workpiece part. Since the holding unit is not allowed to collide with a machining head for separating machining of the workpiece, in the method according to DE102015223062B3 the holding unit usually does not completely cover the workpiece part.
  • Suction gripper for safe transport of the workpiece required or at least advantageous.
  • Vacuum handling device filed process model the acceleration and / or transport speed on the capabilities of a vacuum gripper
  • the suction gripper can generate a high holding force, so that a high speed can be driven.
  • the present invention has the object to provide a method by which a holding position can be found in which by means of a predetermined number and location of holding elements, in particular of suction pads, which act on the workpiece part, a reliable movement of the workpiece part on a Workpiece support and / or a safe carrying or transporting the held, in particular sucked workpiece part is possible. In this way, despite acting friction, weight and / or
  • Holding device can be achieved.
  • Holding device in which at least one holding element at least partially overlaps with the workpiece part in order to act on the workpiece part, b) determining a resulting force exerted by the workpiece part when moving or carrying on a respective effective holding element, c) evaluating the
  • Holding position as suitable for moving or carrying the workpiece part, if for all effective holding elements each transferable to the workpiece part to be displaced in a direction transverse force or a transferable to the workpiece to be supported workpiece in a transport direction holding and / or transverse force of the resulting force-dependent evaluation criterion met.
  • Holding elements are distributed, taking into account the existing geometric relationships. In other words, the forces that act on the holding device, not necessarily equally distributed to all effective
  • Holding elements that act on the workpiece part can make a statement as to whether there is a relative movement between the workpiece part and the holding device when moving or when carrying the workpiece part.
  • a respective holding position of the holding device can therefore be assessed as suitable or unsuitable.
  • the evaluation criterion for each individual effective holding element is met, the displacement or the carrying of the workpiece part can be carried out reliably. If the evaluation criterion is not met, i. if the burden is too high, the result of the evaluation will be issued or determined
  • the evaluation criterion may be to check whether the transferable by the effective holding element transverse force or the transferable holding force is at least as large or larger than the resulting force or the proportion of the resultant force in the relevant spatial direction.
  • the evaluation criterion for this includes the amount of resultant force applied to the effective holding member multiplied by a safety factor.
  • the evaluation criterion or the evaluation rule can basically be used for all processes in which a decision must be made as to whether the fixation of a (flat) workpiece part, which via a clamping or holding force and / or friction at discrete points (for example, suckers or grippers) must be moved in a spatial direction, can be carried out reliably or not, for example, in the above-described holding or transport of the plate-shaped or flat workpiece part.
  • the term "carrying the workpiece” is understood to mean a lifting of the workpiece part in the vertical direction, in which no movement of the workpiece part takes place in the horizontal direction, so that only the force of gravity and a vertical direction acting on the workpiece part
  • the carrying of the workpiece also includes one
  • Transport of the workpiece part in which the workpiece part is not only raised but in addition in at least one other spatial direction (horizontal) is moved.
  • a transport of the workpiece part act on the workpiece part both in the horizontal direction and in the vertical direction
  • steps a) to c) can be repeated with a changed number of effective holding elements and / or with a changed holding position until the stop position meets the evaluation criterion.
  • step d) those effective holding elements for which the evaluation criterion was not met, neglected and the calculation of the applied resultant force can be performed again for the remaining effective holding elements. If the evaluation criterion for all remaining effective holding elements is fulfilled, then the (initial) holding position defined in step a) is evaluated as suitable. If this is not the case, then step d) can be repeated. If, after repeated repetition of step d) if necessary, no effective holding elements remain, the holding position must be changed and then steps b), c) and if necessary d) must be repeated.
  • step c) The value required for the comparison in step c) for the transverse force transferable by a holding element, for example by a nipple or gripper, or
  • Holding force is dependent on the suction, clamping or contact force against the workpiece part and the coefficient of friction between the nipple or gripper and the workpiece part, the material or the surface finish of the workpiece part (for example, dry or oiled, etc.) and the material and the
  • Holding device for example, a vacuum cleaner manufacturer, specified or can be determined by means of displacement or by means of carrying out tests.
  • the action of the holding device can be done by applying or pressing a surface suction or the effective suction or by additional generation of a vacuum.
  • the applicable values for the transmittable shear force of a single nipple in these cases must typically be determined by test series.
  • the method is completed when a suitable holding position or holding positions for the holding device (s) has been found (s).
  • the method may be further performed after finding a suitable holding position, i. E.
  • the steps a) to c) can be repeated with changed holding positions until several process-safe holding positions are found. From the process-safe holding positions can then be selected that which the
  • Evaluation criterion best or optimally fulfilled. In the event that two or more holding devices are used to one and the same workpiece part too move or carry, the resulting force depends on a respective one
  • Holding element of a holding device typically also depends on how many
  • Holding elements of the other holding devices act on the workpiece part and where they engage the workpiece part. For the following considerations, it is assumed for the sake of simplicity that only a single holding device is used for displacing or holding the workpiece part.
  • an initial holding position of the holding device can be defined, in which a predetermined number of
  • a partial overlap is understood to mean that only a partial region of the effective surface of a holding element, for example a suction surface, overlaps the workpiece part. In other words, the edge contour of the workpiece part intersects the effective surface of the holding element.
  • the initial holding position can be determined by first a, the particular workpiece to be taken part enclosing, in particular rectangular
  • Contour contour is set.
  • the initial definition of the holding position preferably takes place uniformly, i. the holding device has equal distances to the edges of the Umsch.ungskontur. If this is due to collisions between the holding device and other components, such as a
  • the holding device is in consideration of a minimum distance to the components, e.g. to the machining head, placed at equal distances to the edges of the enclosing contour. If two or more holding devices for moving or carrying on and
  • their initial holding positions are typically also set so that the holding means are arranged uniformly in relation to the Umsch widelyungskontur, i. the holding devices have equal distances to the edges of the enclosing contour.
  • the resultant force is determined as a vectorial sum of a first force component and a second force component, the first force component being one of the center of gravity of the one to be displaced resulting in a force acting on the workpiece part resulting total force, and wherein the second force component results from a transverse force on a respective holding element due to acting on the center of gravity of all effective holding elements containing portion of the holding means torque.
  • the resulting force on a retaining element is generally made up of the two described above
  • the center of gravity of the workpiece part coincides with the centroid of the workpiece part.
  • the center of gravity of the subregion of the holding device coincides with the area center of gravity of the subregion of FIG
  • Holding device match, if the weight of the base or suction plate of the holding device is also distributed homogeneously.
  • the first force component of the resulting force is determined by the on the center of gravity of the to be moved or to be supported
  • Workpiece part acting total force is divided evenly on the effective holding elements.
  • the first force component results from the total force by dividing the total force by the number of effective holding elements.
  • the total force is in the form of a counter to a finding of the holding position for moving the workpiece part
  • Displacement direction acting frictional force determined which is generated by a weight force of the workpiece part and a contact force of the effective holding elements on the workpiece part.
  • This adhesive frictional force acts opposite to the displacement direction and is hereinafter referred to as a replacement force (combined force) FR * .
  • the frictional force FR acting against the direction of displacement FR * is calculated from the normal force FN perpendicular to the workpiece support multiplied by the adhesion friction coefficient PR between the workpiece part and the
  • the workpiece support may, for example, be support brushes or the workpiece support may be formed by support brushes, which may be e.g. mounted on strips.
  • the adhesion friction coefficient is replaced by the sliding friction coefficient of the workpiece rest.
  • the normal force FN has a first fraction FNI, which is due to the weight of the workpiece part.
  • FNI m w g, where mw denotes the mass of the workpiece part and g the gravitational acceleration (9.81 m / s 2 ).
  • the normal force FN also has a second fraction FN2, which is due to the compressive force of the holding elements on the workpiece part.
  • the pressure force FN2 varies, depending on whether a vacuum is applied to the holding elements, for example in the form of a nipple or suction gripper, whether the holding device on which the
  • Holding elements are mounted, rests with its own weight on the workpiece part or is additionally pressed onto the workpiece part. Is that lying
  • Holding device for example in the form of a surface suction, with her
  • FN2 g ITIF nws / ns, where ITIF the weight of the holding device or the surface suction, nws the number of effective holding elements and ns the total number of holding elements of
  • the total force as the vectorial sum of an acting opposite to a direction of transport acceleration force in the center of gravity
  • the transport direction is basically arbitrary, but often the workpiece part is first raised in the vertical direction and subsequently in a direction parallel to the workpiece support horizontal Level transported or moved. It is understood that the transport direction and also the acceleration force can vary over time during the carrying of the workpiece part.
  • the evaluation criterion dependent on the resultant force can not consist of a single value, for example dependent on the magnitude of the resultant force, but two or more force components of the resultant force acting in different spatial directions can form the evaluation criterion.
  • resulting force to be compared with the transferable in the vertical direction holding force.
  • the second force component is based on a
  • Torque determines when moving the workpiece part in a
  • Displacement direction or when carrying the workpiece part in a transport direction of the workpiece part on the center of gravity of the effective holding elements containing portion is exercised.
  • the torsion or torque acts only horizontally, i. in a plane parallel to the workpiece support or to a plane in which the effective holding elements are arranged.
  • the workpiece part is carried and transported only in the vertical direction, in addition acts a torsional moment on the
  • the torque T z is calculated from the frictional force FR of the workpiece part multiplied by the distance LR, X perpendicular to the direction of displacement between the (area) center of gravity of the workpiece part and the (area) center of gravity of the portion with the effective Flalte instituten.
  • Frictional force FR is considered only the weight of the workpiece part, since the normal force, which by the Flalte worn or by the effective
  • the moment T z causes a transverse force FT Z perpendicular to the distance vector between the flapping element and the center of gravity of a single flapping element
  • the amount of lateral force F Tz , i is proportional to the length of the distance vector.
  • the resulting force Fres results at a flattening element by a vectorial addition of the first
  • Force component FT ZI in the form of the transverse force resulting from the torque.
  • the resulting force is compared with the lateral force in the horizontal direction and the force of the fold in the vertical direction individually.
  • the frictional connection between the effective pad members and the workpiece member must exceed the load on the pad members when the workpiece member should not move relative to the holding device.
  • the partial area with the effective holding elements may contain both holding elements which rest completely (i.e., with the entire holding or suction surface) on the workpiece part, as well as holding elements with a partial covering. This part of the workpiece only partially
  • Covering holding elements is a reduced transmittable shear force (and carrying capacity or holding force) assigned.
  • the value of the transferable to the workpiece part transverse force for the workpiece part only partially
  • the holding force transferable to the workpiece part by a holding element can be reduced by a factor of e.g. 0.5 multiplied.
  • Another aspect of the invention relates to a computer program product which is designed to carry out all the steps of the method as described above, when the computer program runs on a data processing system.
  • the data processing system may in particular be a
  • Programming system i. a computer for programming the
  • Control programs for a numerical control device of a device for moving and / or carrying a workpiece part or a machine Arrangement act with such a device. If the computer program is running in the programming system, a processing program is generated, which includes a sequence of (control) commands for taking one for the
  • the processing program generated in this way can then be replaced by a
  • Control device of the device or a machine assembly containing this device are executed.
  • Fig. 1a is a schematic representation of an example of a machine
  • Fig. 1 b is a representation of a holding device of the device of Fig. 1 a in
  • Shape of a (vacuum) surface vacuum the holding elements in the form of suckers rest on the workpiece part and the skeleton grid in order to fix the workpiece part in a displacement relative to the skeleton grid,
  • FIG. 2a, b representations of a suction plate of the surface sucker, the one
  • FIG. 3 is an illustration of the portion of the suction plate of the surface suction with the effective suckers and the resulting force on one of the effective sucker, which forms a vectorial sum of a first and second force component
  • Fig. 4 is a representation of the mechanical arrangement of Fig. 1 a, in which the workpiece along the displaced workpiece part is lifted and transported by means of two surface suckers, and
  • Fig. 5a, b representations of the workpiece part and a surface suction of Fig. 4 in a plan view and a side view with the forces acting on the center of gravity of the workpiece part forces and acting on the center of gravity of a portion of the surface suction (Torsions-) moments.
  • FIG. 1 a shows a machine arrangement 1, which has a laser cutting machine 2 and a device for moving and supporting a workpiece part, which forms an unloading station 3 of the laser cutting machine 2.
  • the machine assembly 1 may also be used as a mechanical separator, e.g.
  • Punching machine as a punching laser combination machine, as
  • Plasma cutting machine, water jet cutting machine or similar be executed.
  • the laser cutting machine 2 shown here by way of example has a non-pictorial
  • FIG. 1 a represented guide structure with a portal cross member 4, along which a movement unit 5 with a laser cutting head 6 perpendicular to the plane of Fig. 1 a can be moved, i. in the X direction of an XYZ coordinate system.
  • the portal cross member 4 spans a workpiece support 7, which is occupied on its upper side in a conventional manner with support brushes.
  • the workpiece support 7 comprises a machining-side support table 8 as well as a discharge-side support table 9 aligned therewith in the horizontal direction
  • the support table 8 and the discharge-side support table 9 are separated by a support space 10 (gap) in which a suction device is located and / or one or more workpiece support slides 11 can be arranged to be movable in the X-direction perpendicular to the plane of the drawing.
  • an X direction i.
  • crossbar 12 perpendicular to the plane, extending crossbar 12 by means of a direction indicated by a double arrow movement device 13 in a positive and in the negative Y-direction guided by a motor.
  • the cross rail 12 is offset with a plurality of longitudinally of the cross rail 12 against each other
  • Spannpratzen 14 provided.
  • the clamps 14 hold a plate-like
  • Laser cutting head 6 wherein the cutting machining of the workpiece 15 in a working range of the laser cutting machine 2 between the two
  • Support tables 8, 9 takes place. As shown in Fig. 1b, hold the
  • the unloading station 3 comprises a frame 18, on which a horizontal support 19 is mounted and lowered.
  • Cantilevers 20 which are perpendicular to the plane of the drawing, along the horizontal support 19 are movable.
  • the cantilevers 20 support a guide rail 21 upon movements of the guide rail 21 perpendicular to the drawing plane, i. in X direction.
  • three holding devices 22, 23, 24 by means of a direction indicated by a double arrow movement means 25 in the positive and negative Y-direction over the
  • the first holding device 22 has a first holding device in the form of a first surface vacuum 26.
  • the second holding device 23 also has a second holding device in the form of a second planar vacuum 27, and the third holding device 24 has a third holding device in the form of a third holding device
  • pneumatic piston-cylinder units 29, 30, 31 in the vertical direction (Z direction) are shifted and delivered.
  • first surface vacuum cleaner 26 has a housing 32 with a suction plate 33, which with a plurality of non-illustrated
  • the bores are used to receive suckers 34, each of which has a bellows-like folded Saugermanschette 35.
  • Sucker cuffs 35 are in the illustrated in Fig. 1 b initial state of the surface suction 26 against the suction plate 33 of the housing 32 and are perpendicular to the suction plate 33 elastically deformable.
  • the suckers 34 can be designed as active or passive suckers.
  • a suction chamber in the interior of each Saugermanschette 35 can be switched to a vacuum generator not shown, so that the vacuum generator via the suction chambers of the suckers 34 suck air and either at all suckers 34 simultaneously or controlled on selected suckers can generate a vacuum or a suppression to suck the workpiece part 16 and the rest grid 17.
  • FIG. 1a A programmable numeric shown schematically in Fig. 1a
  • Control device 40 controls all essential functions both on the laser cutting machine 2 and on the unloading station 3 of the machine
  • Laser cutting machine 2 which is indicated in Fig. 1a by a double arrow, as well as in Fig. 1a also indicated by a double arrow motorized movement device 25 for the three holding devices 22, 23, 24.
  • a double arrow motorized movement device 25 for the three holding devices 22, 23, 24 In addition to the workpiece drive 13 and the movement device 25th for the three
  • Holding devices 22, 23, 24 are not among other things for the sake of clarity shown further motorized drives provided by means of which the lifting movements of the horizontal support 19 and the horizontal movements of the cantilever arms 20 and the guide rail 21 are executed and their control also the numerical control device 40 of the machine assembly 1 is used. Contrary to what has been described above, the numerical control device 40 may form part of the unloading station 3 or may be used for the numerical control of the laser cutting machine 2 and the
  • Entladestation 3 be provided two separate numerical control devices.
  • Controller 40 is typically generated using a programming system that runs on a separate computer.
  • the laser cutting head 6 in the working area which is formed between the two support tables 8, 9 of the workpiece support 7, carries out the final separating cut and thereby from the workpiece 15 shown in FIG. 1 b workpiece part 16 shown separated and additionally generated as a residual workpiece, the residual grid 17.
  • the horizontal support 19 has moved so far down the frame 18 of the unloading station 3 that one or more of the attached to the extended piston rods of the pneumatic piston-cylinder units 29, 30, 31 holding means in the form of surface suckers 26, 27, 28, more precisely the Saugermanschetten 35 of the suction cups 34, abut with its underside on the upper side of the workpiece part 16.
  • Control device 40 the movement means 25 for moving the
  • Holding devices 22, 23, 24 activated to the workpiece part 16 by means of one or more of the surface suction cups 26, 27, 28 from the cutting area of
  • Surface suction cups 26, 27, 28 depends on the size and shape of the workpiece part 16. If the workpiece part 16 is surrounded differently than in Fig. 1 b shown by the skeleton 17, the skeleton grid 17 can parallel to the movement of the surface sucker 26, 27, 28 be moved by means of the cross rail 12 and the movement device 13 to the side. Relative movements between the residual grid 17 and the workpiece part 16 and relative movements between the workpiece part 16 and the surface suckers 26, 27, 28 should be avoided as completely as possible.
  • the first surface vacuum 26 transmits those suction devices 34 whose suction surfaces at least partially overlap with the workpiece part 16 (hereinafter referred to as effective suction devices 34a
  • Displacement direction Y transmittable to the workpiece part 16 transverse force FQ.I (see Fig. 3) is the same for all effective sucker 34 of the first surface vacuum 26.
  • the transmittable lateral force FQ.I of an effective sucker 34a is dependent on the contact pressure of the effective sucker 34a and the first surface suction 26 on the workpiece part 16 and the coefficient of friction between the respective effective sucker 34a and the workpiece part 16, which u.a. of the
  • the action of the first surface vacuum 26 or of the individual effective suction elements 34a can be effected by applying or pressing the surface vacuum 26 or by additionally generating a vacuum with the aid of the vacuum generator of the surface vacuum 26.
  • the values applicable in these cases for the transmittable shear force FQ.I one respective effective sucker 34a are typically determined in advance empirically by series of tests, ie the transmittable shear force FQJ is known in advance.
  • Control device 40 to find a holding position HP of the first surface suction 26 relative to the workpiece part 16, in which for each individual effective sucker 34a, the transmittable transverse force FQ meets an evaluation criterion.
  • a holding position HP of the first surface vacuum 26 is understood to be a position relative to the workpiece part 16, in which at least one of the suction elements 34a, more precisely at least one suction surface, at least partially overlaps the workpiece part 16.
  • the width B of the portion 36 corresponds to the width of the suction plate 33 and the length L of the portion 36 corresponds to an overlap length L shown in Fig. 1 b, along which the first surface suction cup 26 overlaps with the workpiece part 16.
  • Workpiece part 16 transmittable transverse force FQJ is compared with a force acting on a respective sucker 34a against the direction Y resulting force Fresj.y, i. it is checked whether the following applies to all twelve effective suckers 34a:
  • the resulting force Fres exerted on the displacement of the workpiece part 16 on a respective sucker 34a first determines the resulting force Fres on a respective effective sucker 34a.
  • the resulting force Fresj is composed of the vectorial sum of a first force component FR, I and a second force component FTZ:
  • the first force component FR, I results from a (in simplified terms) acting on the center of gravity Sw of the workpiece part 16 total force FR * (here friction force), which counteracts the displacement direction Y in the example shown and the force acting on the flange between the workpiece part 16th and the brushes of the
  • FR * FN PB, where FN denotes the normal force shown in FIG. 1 b on the workpiece part 16, simplified to the center of gravity Sw of the workpiece part 16, and PB the coefficient of friction between the workpiece part 16 and the support brushes of the workpiece support 7.
  • the normal force FN varies, depending on whether a vacuum is applied to the suckers 34a, whether the first surface vacuum 26 rests with its own weight or is pressed onto the workpiece part 16.
  • FR * (mw + ITIF * (nws / ns)) * g * PB, where mw is the mass of the workpiece part 16, ITIF the dead weight of the workpiece
  • the second force component FTZJ acting on an effective sucker 34a results from a moment Tz acting on the center of gravity Ss of the portion 36 with the effective suckers 34a (see Fig. 2b), which is displaced from the workpiece part 16 during displacement Shifting direction Y is generated.
  • the moment T z is calculated from the friction force FR of the workpiece part 16 multiplied by the distance LR, X between the (area) center of gravity Sw of the workpiece part 16 and the (area) center of gravity Ss of the portion 36 with the effective suckers 34a in X- Direction, ie perpendicular to the displacement direction Y.
  • n is the amount of the distance vector r ⁇ between the centroid Ss of the portion 36 of the sucker plate 33 and the position of the i-th effective sucker 34a considered here
  • n, x is the X component
  • n, y is the Y component of the distance vector designate r t .
  • Fres.i denotes the amount of the resultant force F res i , ie, res, i
  • Transverse force FQJ compared. It is understood that, in the case of a displacement along a displacement direction which does not run in the Y direction, according to the above procedure, the portion of the resultant force F res [ 'acting counter to the direction of displacement is used for the comparison.
  • Holding position HP found this is stored in the numerical control command set.
  • the numerical control unit 40 controls the
  • Moving device 13 to move the first surface suction cup 26 to the holding position HP shown in Fig. 2a, b relative to the workpiece part 16 and put this with the effective suckers 34a on the workpiece part 16 to move the workpiece part 16 along the workpiece support 7.
  • the evaluation of the holding position HP can be repeated by counting in the calculation of FIG the effective suckers 34a transmitted forces remain those suckers 34a disregarded, for the first step, the evaluation criterion has not been met. If, under these changed (tightened) conditions, the evaluation criterion for all remaining effective suckers 34a is fulfilled, the holding position HP is evaluated as suitable.
  • the holding position HP of the surface suction 26 is changed relative to the workpiece part 16 in the programming system. For example, in this case the number of effective suckers 34a or the overlapping partial area 36 can be increased. Also, while maintaining the number of effective suckers 34a, it may be attempted by changing the positioning of the planar suction pad 26 relative to that
  • a hold position HP suitable for shifting is determined iteratively, i. the holding position HP used for the comparison with the evaluation criterion is changed until a suitable stop position HP is found or until an abort criterion is reached.
  • the termination criterion corresponds to a predetermined number of iterations.
  • Warning message may be issued, that during the shift may be an increased risk of tilting.
  • the orientation of the workpiece part 16 within the workpiece 15 can be changed in the programming system. If the flattening devices 22, 23, 24 are implemented with variably positionable suckers instead of a surface suction, a change of the suction arrangement is also possible.
  • Holding position HP can be applied analogously to the case that the workpiece part 16 is not moved along the workpiece support 7, but with Help the first surface vacuum cleaner 26 is carried or transported without the workpiece part 16 is supported by the workpiece support 7 here.
  • Such a transport of the workpiece part 3 can also take place with the aid of the unloading station 3 of the mechanical arrangement 1, as shown below with reference to FIG. 4.
  • After removal of the workpiece part 16 from the discharge side support table up this this is held by one or more surface suckers, in the example shown by the first and second surface suction 26, 27.
  • the workpiece part is held only by the first surface suction cup 26.
  • a resultant force Fres, i, x y acts in the plane parallel to the workpiece support composed of an X-directional component Fresj.x and a Y-directional component Fres.y.
  • the horizontal direction is determined analogously to the resulting force Fres.i in the Z direction, i. the equations given above can be applied analogously, only the weight force FG is not taken into account, since it acts perpendicular to the XY plane.
  • a moment T x or T y leads to the center of gravity Ss of the suction plate 33, analogous to the case described above, to a (transverse) force FT X J or Fj y acting in the X direction and in the Y direction, respectively the i-th sucker 34a.
  • the two parts Fresj.x and Fresj.y the resulting force Fres.xy in the X or Y direction in the plane parallel to the workpiece support 7 are made up of the two
  • the magnitude of the resulting force Fres.xyj is typically determined, for which the following applies:
  • the holding position HP is judged to be suitable for carrying or transporting the workpiece part 16 when the
  • Evaluation criteria for the holding force FHJ and for the lateral force FQJ for all effective suckers 34a is met. Since the acceleration forces ax, ay, a z possibly change with time during the transport of the workpiece part 16, the values of the acceleration 3x, max, 3y, max, 3z, max which occur during transport at the maximum can be used for the comparison.
  • the number and the arrangement of the suction cups 34 on the suction plate 33 is basically arbitrary. In general, however, a larger number of suckers 34 is used as shown in the figures.
  • a sucker plate may have a number of 42 x 11 (passive) suckers 34.
  • the diameter of the suction surface of a respective vacuum cleaner 34 may be, for example, on the order of about 10 mm.
  • the two right outer suckers 34 a of the suction plate 36 only partially overlap with the workpiece part 16.
  • the two suckers 34 a can not transfer the entire transverse force FQ 1 or the entire holding force F HJ to the workpiece part 16 as would be the case with a complete overlap of the suckers 34a with the workpiece part 16.
  • the evaluation rule described above can in principle for all

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé servant à trouver au moins une position de maintien (HP) adaptée pour au moins un dispositif de maintien (26), qui comporte une multitude d'éléments de maintien (34), par rapport à au moins une partie de pièce (16) devant être coulissée au moyen du dispositif de maintien (26) sur un support de pièce ou devant être supportée au moyen du dispositif de maintien (26). Le procédé comprend les étapes suivantes consistant à : a) fixer une position de maintien (HP) du dispositif de maintien (26), dans laquelle au moins un élément de maintien (34) s'entrecroise au moins en partie avec la partie de pièce (16) afin d'agir sur la partie de pièce (16) en tant qu'un élément de maintien (34a) efficace ; b) la définition d'une force résultante, provenant de la partie de pièce (16), exercée sur un élément de maintien (34a) respectivement efficace lors du coulissement ou lors du support ; c) l'évaluation de la position de maintien (HP) comme étant adaptée pour le coulissement ou le support de la partie de pièce (16) quand pour tous les éléments de maintien (34a) efficaces, une force transversale pouvant être transférée respectivement sur la partie de pièce (16) devant être coulissée dans la direction de coulissement (Y) ou une force de maintien et/ou transversale pouvant être transmise respectivement sur la partie de pièce (16) devant être supportée dans une direction de transport remplit un critère de déplacement dépendant de la force en résultant.
PCT/EP2019/054843 2018-03-01 2019-02-27 Procédé servant à trouver une position de maintien adaptée Ceased WO2019166481A1 (fr)

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Application Number Priority Date Filing Date Title
DE102018203061.8 2018-03-01
DE102018203061.8A DE102018203061B4 (de) 2018-03-01 2018-03-01 Verfahren zum Auffinden einer geeigneten Halteposition

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WO2019166481A1 true WO2019166481A1 (fr) 2019-09-06

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DE102019209923B4 (de) * 2019-07-05 2025-05-22 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren zum Transportieren von Werkstückteilen
DE102020006157B3 (de) 2020-09-29 2022-03-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Verfahren zum Halten eines Objektes mit einem Greifer und ein diesbezüglicher Greifer

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WO2007115633A1 (fr) 2006-03-31 2007-10-18 J. Schmalz Gmbh Dispositif de manutention à dépression
US20160207195A1 (en) * 2015-01-16 2016-07-21 Kabushiki Kaisha Toshiba Article handling device
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