Device for processing material, having an at least manual feeding and / or operating function, and programming system

Abstract

The invention relates to a device and a programming system for processing material, having an at least manual feeding and / or operating function. The device comprises at least one tool (5, 6), an electronic controller (9), which is configured for selecting and / or positioning tools and for carrying out the material processing procedure, thereby changing the shape of the workpiece (13), an optical display unit (8, 10, 11, 13), and preferably a device for displaying the correct alignment of the workpiece for each processing procedure. The controller (9) is designed to determine and display an optimized grip position (15) on the workpiece (13) for each operation.

Description

[0001] MATERIAL PROCESSING DEVICE WITH AT LEAST MANUAL LOADING AND / OR OPERATION, AND PROGRAMMING SYSTEM

[0002] The invention relates to a device for material processing with manual loading and operation, in particular of metallic workpieces, especially a bending machine, according to the preamble of claim 1, as well as to an offline programming system for generating control commands for controlling such devices, according to the preamble of claim 11.

[0003] With complex bent parts, it may be unclear how the part will behave during deformation during some bending steps. This can lead to increased hazards, especially for untrained operators, as the bent part is then supported in unsuitable positions—including potential pinch and / or shear points.

[0004] With the help of the applicant's offline programming system TecZone Bend, it is now possible to determine gripper positions for robot-assisted bending cells — here, too, possible collisions must already be taken into account in the design.

[0005] EP 2 590 040 B1 discloses a bending machine in which two cameras are arranged on the press beam and in particular in the area of ​​the working and manipulation space in front of the press beam. These cameras record the working area in front of the machine, in particular the inserted sheet metal. The recorded image is transmitted to a data processing device. This device evaluates the orientation in which the sheet metal was inserted into the bending machine. If the sheet metal is incorrectly aligned for the next bending step, position correction information is created and projected onto the sheet metal by a projector, which projector is also arranged on the press beam in the front working and manipulation space. The operator thus receives a representation on the sheet metal in front of him showing in which direction the sheet metal must be moved in order to be correctly inserted into the bending machine for the next work step.

[0006] EP 3507034 B1 discloses a bending machine with a bending information display device formed by at least one projector and a display surface for the projected information. Among other things, the bending information can be formed by at least one of the following: workpiece contour, bending line, control panel, press beam status data, alignment information, target angle, piece counter, and areas on the sheet metal to be formed with an increased risk of injury during the bending process. It is also possible to visualize those areas on the workpiece where there is a risk of injury from the forming sheet metal during the bending process.

[0007] The object of the present invention was to overcome the disadvantages of the prior art and to provide a device by means of which the operator can manipulate the workpiece to be machined in a low-risk and at the same time material-friendly manner.

[0008] This object is achieved by a device and a method according to the claims.

[0009] The device according to the invention is equipped with at least one tool and an electronic control with a memory in which control commands for the tool are stored, as well as with an optical display device.

[0010] To achieve the object, such a device is characterized in that the control is designed to determine an optimized gripping posture and / or an optimized gripping position on the workpiece for each work process and to output it on the optical display device.

[0011] In the bending view of a prepared bent part, for example, the operator can be shown in color the positions and / or surfaces where they can grip the bent part in the respective bending step and guide it safely during the forming process. The aim is to exclude gripping positions and / or surfaces that potentially pose a risk to the operator's physical integrity, or to display those positions and / or surfaces where this risk is minimal.

[0012] According to a first advantageous embodiment, a design tool for determining the optimal gripping posture and / or optimal gripping position on the workpiece is implemented in the controller, in which the human gripping mechanism is mapped. Preferably, the optimized gripping posture and / or optimized gripping position on the workpiece can be stored in the controller's memory together with the bending graphic for each work process and made available for output on the optical display device.

[0013] A further embodiment of the invention provides that the memory of the control is designed so that for each work process the optimized gripping posture and / or optimized gripping position on the workpiece can be stored together with bending graphics and made available for output on the optical display device.

[0014] A preferred embodiment of the device according to the invention is characterized by a device for reading information from a library which describes the shape changes of the workpiece and the trajectories of different regions of the workpiece during and after the machining process for workpieces of different initial shapes and for different machining processes.

[0015] Preferably, a device for predicting and / or determining the areas of the workpiece with no or little shape changes and / or short trajectories is further integrated into the device or connected thereto.

[0016] Preferably, a device according to the invention also comprises a device for projecting optical markings onto the areas of the workpiece with no or slight changes in shape and / or short trajectories.

[0017] An alternative embodiment according to the invention is characterized by a device for optically displaying the changes in shape of the workpiece and the trajectories of different areas of the workpiece during and after the machining process.

[0018] The optical display can be created by AR (augmented reality) glasses and / or by a screen.

[0019] Another device according to the invention for solving the problem posed at the outset is an offline programming system for generating control commands for controlling devices according to one of the preceding paragraphs. It is equipped with a data input device and an optical display device, as well as a data interface to the material processing device and / or to a storage medium.

[0020] According to the invention, this system is characterized in that the data input device is designed to input gripping postures and / or gripping positions on the workpiece.

[0021] It is preferably provided that the data input device and the data interface and / or the storage medium are designed to write the optimized gripping posture and / or optimized gripping position on the workpiece together with bending graphics into the memory of the device and / or onto the storage medium for each work process.

[0022] A further advantageous embodiment of the invention is characterized by a design tool for the optimal gripping posture and / or optimal gripping position on the workpiece, in which the human gripping mechanism is represented.

[0023] For a better understanding of the invention, it is explained in more detail using the following figures.

[0024] They show in a highly simplified, schematic representation:

[0025] Fig. 1 is a simplified perspective view of a bending machine with an optical bending information display device;

[0026] Fig. 2 a view of AR glasses from the user's perspective, for the configuration shown in Fig. 1

[0027] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be applied analogously to the new position in the event of a change in position.

[0028] Fig. 1 shows a bending machine 1 as a preferred example of a device according to the invention for material processing with manual loading and operation. The bending machine 1 is equipped with a sensor and display unit 2 and at least one tool, here an upper press beam 6, which is movably guided relative to the machine frame 3 with its two side parts 4 and the machine table 5, wherein the relative movement is carried out by a drive means not shown. The machine table 5 and a lower tool 7 are arranged below the press beam 6. The control of the movement sequences of the bending machine 1, including the receipt of operator inputs and the display of all process-relevant information on a screen 8 as an example of a visual display device, is carried out by an electronic controller 9 with a memory in which control commands for the at least one tool 6, 7 are stored.Another alternative for an optical display device is AR (augmented reality) glasses 10 worn by the machine operator, which receive the information to be displayed from the electrical control system 9 via cable or wireless connection. Another possibility for displaying process-relevant information is projection onto preferably reflective and color-neutral display surfaces 11, for example, on the machine table 5, for which purpose a projector 12 is attached to the machine frame 3 or the press beam 6. The workpiece 13 itself could also serve as a projection surface once it is in its intended position in the area of ​​the lower tool 7 and / or the press beam 6. Combinations of all projection or optical display variants are also possible.

[0029] The control system 9 of the bending machine 1 is now designed to either determine the deformations occurring in advance by manually entering the parameters of the workpiece 13, its position and / or the bending sequence, preferably using a simulation algorithm, and, taking these into account, to determine an optimized gripping posture, the optimized positioning of the hands and arms 14 of the operator and / or an optimized gripping position on the workpiece for each work process and to output them on the optical display device 8, 10, 11, 13. In the bending view of a prepared workpiece 13, for example, those positions and / or surfaces at which the operator can grip the workpiece 13 in the respective bending step and guide it safely during the forming process can be displayed in color.

[0030] For this purpose, the controller 9 can include a design tool for determining the optimal gripping posture and / or optimal gripping position 15 on the workpiece 13, in which the human gripping mechanism is mapped. Preferably, for each work process on the bending machine 1, taking into account the specific design of the press beam 6 and / or the lower tool 7, the optimized gripping posture and / or optimized gripping position 15 on the workpiece 13 is then stored together with a bending graphic in the memory of the controller 9 and made available for output on the optical display device 8, 10, 11, 13.

[0031] A further embodiment of the invention provides that the memory of the control is designed such that for each work process the optimized gripping posture and / or optimized gripping position 15 on the workpiece 13 can be stored together with bending graphics and made available for output on the optical display device 8, 10, 11, 13.

[0032] Fig. 2 shows a view of AR glasses 10 from the perspective of the wearer of the glasses 10, in particular a view of the display surface 16. The objects and machine areas in the field of view are depicted therein, in the same way as when looking through conventional safety glasses. For example, the operator of the bending machine 1 can see the lower tool 7, the machine table 5, and the workpiece 13, as well as their own arms and hands 14. In accordance with the present invention, the information explained above, as determined in the controller 9, is superimposed on this image, in particular those positions and / or surfaces at which the operator can grip the workpiece 13 in the respective bending step and guide it safely during the forming process.

[0033] A preferred embodiment further comprises a device for reading information from a library that describes the shape changes of the workpiece 13 and the trajectories of various regions of the workpiece 13 during and after the machining process for workpieces 13 of different initial shapes and for various machining processes, i.e., also taking into account the tools used. Advantageously, a device for predicting and / or determining the regions of the workpiece 13 with no or minimal shape changes and / or short trajectories can be integrated into the device or connected thereto, in particular a simulation tool for the respective machining type and process.

[0034] The display of the optimized gripping position can thus also be realized by providing a device for projecting optical markings onto the areas of the workpiece 13 with no or minimal deformation and / or short trajectories in or on the bending machine 1. Another alternative is a device for optically displaying the deformation of the workpiece 13 and the trajectories of various areas of the workpiece 13 during and after the machining process. The above-described design of the bending machine 1 or any similarly designed material processing device enables the determination and display of optimized gripping positions of the workpiece 13 directly during machining. By using suitable simulation tools, it is also possible to provide the same functionality using an offline programming system for generating control commands for the controller 9 of such devices.A corresponding system is equipped with a data input device and an optical display device, as well as with a data interface to the material processing device, for example a bending machine 1 and / or to a storage medium, with which the control commands can be made available for and imported into any controller 9 equipped with corresponding interfaces.

[0035] The data input device is preferably designed for entering gripping postures and / or gripping positions on the workpiece. A further embodiment of the invention provides a design of the data input device and the data interface and / or the storage medium that writes the optimized gripping posture and / or optimized gripping position on the workpiece, together with a bending graphic, into the memory of the device and / or onto the storage medium for each work process. A further advantageous embodiment of the invention is characterized by a design tool for the optimal gripping posture and / or optimal gripping position on the workpiece, in which the human gripping mechanism is mapped.

[0036] Reference symbol list

[0037] Bending machine

[0038] Sensor and display unit

[0039] Machine frame

[0040] side panel

[0041] machine table

[0042] Press beam

[0043] Lower tool

[0044] Screen

[0045] steering

[0046] AR glasses

[0047] Display area

[0048] projector

[0049] workpiece

[0050] arm and hand

[0051] Gripping position

[0052] Display area

Claims

Patent claims 1. Device for material processing with at least manual loading and / or operation, in particular for processing metallic workpieces (13), specifically a bending machine (1), with at least one tool (5, 6) and an electronic control device (9) which is configured to select and / or position tools and to carry out the processing operation with a change in the shape of the workpiece (13), as well as with an optical display device (8, 10, 11, 13), and preferably a device for displaying the correct alignment of the workpiece for the respective processing operation, characterized in that the control device (9) is designed to determine and display an optimized gripping posture and / or an optimized gripping position (15) on the workpiece (13) for each work operation.

2. Device according to claim 1, characterized in that a design tool for determining the optimal gripping posture and / or optimal gripping position (15) on the workpiece (13) is implemented in the controller (9), in which the human gripping mechanism is represented.

3. Device according to claim 1, characterized in that for each work process, the optimized gripping posture and / or optimized gripping position (15) on the workpiece (13) is stored together with bending graphics in the memory of the controller (9) and is made available for output on the optical display device (8, 10, 11, 13).

4. Device according to claim 1, characterized in that the memory of the control (9) is designed such that for each work process the optimized gripping posture and / or optimized gripping position (15) on the workpiece (13) can be stored together with bending graphics and made available for output on the optical display device (8, 10, 11, 13).

5. Device according to one of claims 1 to 4, characterized by a device for reading information from a library which is available for workpieces (13) different initial shapes and for different machining operations, describes the shape changes of the workpiece (13) and the trajectories of different areas of the workpiece during and after the machining operation.

6. Device according to claim 5, characterized by a device for predicting and / or determining the areas of the workpiece (13) with no or little shape changes and / or short trajectories.

7. Device according to claim 6, characterized by a device for projecting optical markings (15) onto the areas of the workpiece (13) with no or slight changes in shape and / or short trajectories.

8. Device according to claim 6, characterized by a device (8, 10, 11, 13) for optically displaying the changes in shape of the workpiece (13) and the trajectories of various regions of the workpiece during and after the machining process.

9. Device according to claim 8, characterized in that the optical display is formed by AR (augmented reality) glasses (10).

10. Device according to claim 8, characterized in that the optical display is formed by a screen (8).

11. Offline programming system for generating control commands for controlling devices according to one of claims 1 to 10, with a data input device and an optical display device, as well as with a data interface to the device for material processing and / or to a storage medium, characterized in that the data input device is designed to input gripping postures and / or gripping positions on the workpiece.

12. Programming system according to claim 11, characterized in that the data input device and the data interface and / or the storage medium are designed For each work process, the optimized gripping posture and / or optimized gripping position on the workpiece together with bending graphics are to be written into the memory of the device and / or onto the storage medium.

13. Programming system according to claim 11 or 12, characterized by a design tool for the optimal gripping posture and / or optimal gripping position on the workpiece, in which the human gripping mechanism is represented.

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