Fully automated sheet metal bending cell

Abstract

The present invention relates to a method for operating a factory including an automated storage and automated sheet metal bending cell (1) with the aim of significantly increasing the operating autonomy of the cell without human assistance as well as the flexibility and productivity of the cell.

Description

[Technical Field]

[0001] The present invention relates to a coherent set of solutions or technical functions intended to very significantly increase the autonomy of operation without human intervention, the flexibility and productivity of one or more automated bending cells. The object of the invention is to obtain "long-lasting" operational autonomy, that is automated operation without assistance other than from the programming system, over long periods of time, generally at least 24 to 48 hours, that is 3 to 6 consecutive work shifts. [Background Art]

[0002] A comprehensive analysis of the prior art has been performed by the inventor, which is summarized below.

[0003] Importance of automated magazines A simplified overview of sheet metal work site planning is sufficient to understand the importance of the field specialized in material flow. A subsequent further analysis of direct handling costs (handling of workstations or machines by operators) and indirect handling costs (handling by logistics specialists) reveals that a considerable portion of workshop operating costs (25% to 35% of direct and indirect labor costs) is attributable to internal material flow.

[0004] It is known that the Industry 4.0 concept corresponds to a new way of structuring production means. Said new industry is establishing itself as a convergence between digital design management in the virtual world (operations, finance and marketing) and products and objects in the real world. It is often referred to as the Fourth Industrial Revolution. Therefore, implementing the 4.0 concept is not merely about providing workplaces with various automated production tools, - optimizing the flow of raw materials, cut parts and formed parts, and - planning and ensuring reliable supply to production machinery to optimize their operating rates, and - making handling operations safe, and - Reduce reliance on human factors and concentrate human resources on high-value-added, beneficial tasks. To achieve this, one must understand the entire functionality of the workspace and its interactions as a whole.

[0005] In Sheet Metal Plant 4.0, the automation of machines for cutting and shaping sheets is therefore inseparable from the automated magazine; in every sense of the term, the machines are connected to the automated magazine, which in a sense forms the framework of the workshop. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] International Publication No. 2012 / 063710 [Patent Document 2] U.S. Patent Application Publication No. 2018 / 056357 [Non-patent literature]

[0007] [Non-Patent Document 1] https: / / www.trumpf.com / frFR / produits / machines-systemes / systemes-de-stockage / magasins grande-capacite-stopa / [Non-Patent Document 2] https: / / www.stopa.com / referenzen / stopa-lagersysteme / binder / STOPA Binder FR.pdf [Overview of the project] [Problems that the invention aims to solve]

[0008] While many manufacturers have resolved or are in the process of resolving issues related to the reliability of automated feeding and cutting operations in cutting machines, this has not yet been achieved with regard to flow optimization and automation of the sheet forming process. Much progress is still expected to make such tools and the enormous investments they represent truly profitable. [Means for solving the problem]

[0009] After extensive market research and meetings with key parties in the relevant sector, it has become clear that Sheet Metal Plant 4.0 remains a utopia unless the level of autonomy of sheet metal forming machines and, in particular, robotic bending cells is ultimately linked to the autonomy of cutting machines.

[0010] Sheet metal forming machine In the comparative work conducted by the inventors between various sheet metal forming techniques and the level of automation provided by those techniques, in particular, - Panel machinery, - Apron bending machines have made remarkable progress in recent years, - Conventional press brakes, These were explored to understand the possibilities and, in particular, the limitations of different technologies.

[0011] Summary of a comparative analysis of bending techniques and their applicability to the 4.0 concept Panel machines are clearly the closest technology to the 4.0 concept in terms of automation, but they are also the most restrictive in terms of implementability. For example, in a particular activity of the inventor, it was found that less than 5% of the parts fit the constraints of paneling. Aware of this limitation, manufacturers of panel machines are now proposing to combine them with either a robotic press brake or a manual press brake, but balancing the load of such tandem machines is clearly impossible, and this would impair their profitability.

[0012] Today, apron bending machines have achieved a high level of automation and offer a wider range of forming possibilities than panel bending machines, but they are also very slow. The presence of an operator is unavoidable with this type of machine, and the possibilities for implementation remain very limited, especially when parts have folds on their backs or when parts come from punching machines that have undergone deformation operations (such as drilling, small stamping, or living).

[0013] The main advantages of conventional press brakes lie in their very wide range of implementability and their flexibility in adapting to the volume of production. Operator-controlled tandem CNC press brakes (CNC machine tools) remain the most flexible and profitable investment in most cases, especially when production is located in a country with low-cost labor.

[0014] Therefore, automating press brakes became a critical challenge for all manufacturers of this type of machine.

[0015] Currently, a small number of manufacturers offer automated tooling systems integrated into machines, such as SALVAGNINI (ATA System), TRUMPF (ToolMaster System), AMADA (ATC System), and BYSTRONIC (Xpert Tool Changer System). The main advantage of such types of servo control is the improved comfort for the operator. However, it is not easy to recognize the return on investment. The reduction in setup time is also very relative and never justifies the very high cost of this option.

[0016] Even today, automated bending cells are primarily tools intended for large-scale production and / or parts that are too large or heavy for a single operator to handle alone.

[0017] Despite the many advances that have been made, manufacturers are today unable to provide robotic bending cells that can operate unsupervised for more than eight consecutive hours. In addition, this very limited performance is strongly conditioned by the combination of various parameters such as batch size, volume of bent parts, and gripping possibilities.

[0018] Robotic bending cells represent a substantial investment, and their utilization rate remains strongly limited by low levels of autonomy and dependence on human factors. For the foregoing reasons, most workshops still prefer numerically controlled machine solutions controlled by operators.

[0019] Patent Document 1 discloses a press brake installation having all the features of the main apparatus claim, except for the following features. - an automated magazine, and all auxiliary automation means, wherein transfers occur between the cell and the automated magazine as described herein, such as for conveying workpieces to be bent into the cell, removing bent parts and pallets from the cell, or conveying empty pallets into the cell, - a storage system for storing a set of magazines or racks holding bending tools, and all bending tools, grippers and accessories required to ensure autonomous operation of the cell without assistance over a determined period of time, within the cell housing at configurable positions.

[0020] Therefore, it should be noted that the fact that the magazine is automated and the presence of supply and drop-off areas in communication with the automated magazine is not disclosed in said document.

[0021] Patent Document 2 discloses a press brake system having an operating device that can move freely on the ground (without fixed rails) and allow the device to move from one machine to another or to a tool magazine, and a coupling for attaching the manipulator to a given machine when the machine is operational. The objective is to improve the flexibility of the manipulator's movement relative to the press brake. However, such a solution, similar to the use of AGVs, is likely to significantly increase the cell footprint or significantly complicate flow management.

[0022] Non-patent document 1 is cited from the Trumpf website regarding the large-capacity storage system STOPA. The above document discloses an automated magazine that, when combined with multiple machines including bending cells described in a general manner, ensures a flow of materials and information in a sheet metal machining process with uninterrupted productivity (24 hours a day, 7 days a week). Conveyors transfer raw materials and machined parts from one machine to another. The video does not clearly show that the drop-off area for machined parts in the bending cells is connected to the automated magazine (but not to a forklift). Even though it seems logical to those skilled in the art that the same could occur for the exit flow if the incoming flow of bending cells through one or more towers of a linear automated magazine is clearly controlled in Trump's solution, none of the many experts working for manufacturers of automated bending cells have so far seriously considered implementing such a solution, while the majority of the same manufacturers have long fully automated the incoming and exit flows of laser cutting cells and punching machines, thereby demonstrating that there are technical problems specific to robotic bending cells that remain unresolved (see, for example, Non-Patent Document 2).

[0023] Declaration of a general problem Detailed analysis indicates that one or more inventions should pursue the following various general objectives: 1. Conceptual goal The main goal is to adapt the bending cell to the Industry 4.0 concept, which is not the case with current cells. The ideal cell should be able to operate uninterrupted on Saturdays and Sundays without an operator, i.e., without human assistance, but with a level of productivity comparable to that of a state-of-the-art press brake controlled by at least a competent and motivated operator, for 48 hours of complete autonomy. 2.Technical goals - To solve all the problems that currently limit the autonomy of cells, and the problems that force all manufacturers, without exception, to say that bending cells can only operate for a few hours at best without an operator. More specifically, • Automatically supplying the parts to be bent to the cell while ensuring the availability of the parts. • Automatically removes bent parts. • Ensure the availability of several grippers and several bending tools within the cell, thereby ensuring 48 hours of complete autonomy without human assistance. - To maximize machine productivity by reducing the cumbersome operations described herein. The average productivity per hour of the cell and robot should be at least comparable to the productivity of a conventional next-generation press brake controlled by a motivated and skilled operator. This should hold true not only for heavy and bulky parts where the machine is generally more productive than the operator, but also for parts where human dexterity is usually superior to the robot's speed of execution, and more specifically, • The time required for assembly and disassembly of bending tools should be reduced. The action of controlling the positioning (indexing) of the part to be bent should be eliminated and replaced with an optical recognition system. The robot's motion on the track should be optimized through a comprehensive review of the cell architecture. 3. Economic goals The more attractive the price of the cells, the more tools become accessible to a larger number of potential users, resulting in a greater number of machines (ROI over 5 years, the possibility of phased investment, and a reduced importance of the operator's role and associated costs). 4. Goals related to various industry profiles In optimizing the bending cell, the inventors not only considered solutions that met their own needs, but also took into account the expectations of other user profiles. - Types of activities: sheet metal outsourcing, in-house production, activities with strong seasonality, etc. - Production mechanism • Large repeating series, • Large annual volume, but small-batch just-in-time production, lean production. • A small repeating series. 5. Objectives related to constraints on the integration of robotic cells The footprint of a robotic bending cell is not negligible. However, compact cell architectures offer greater flexibility in integrating into space-constrained workspaces without compromising productivity and autonomy goals. Therefore, solutions that provide greater flexibility are preferable. 6. Objectives related to cell interaction with other stations within the workspace. As explained above, the automated magazine is the substantial backbone of a 4.0 sheet metal shop. The automated magazine should also represent a crucial part of the solution if it is desirable to bring the robotic bending cell to the same level as the cutting machine.

[0024] Object of the invention In summary, the main objectives of the present invention are as follows: 1. Autonomy of operation for more than 1.48 hours. 2. Such a level of autonomy cannot be conditioned, under any circumstances, by the presence of an operator, even intermittently. 3. The goal of improving autonomy should be linked to improvements in cell flexibility, especially in the case of small cyclic series requiring a large variety of bending tools and grippers. 4. All elements necessary for the cell to achieve the target objective should either be present within the cell, or be able to be brought into or removed from the cell in a fully automated and programmable manner, and these elements include, but are not limited to, the following: - Standard bending tools, - Dedicated bending tool, - Tools provided for the exclusive use of the customer. - General-purpose gripper, - A specific gripper, - Accessories for optimizing stacking of bent parts and / or protecting fragile parts. - A container intended for dropping a large number of small-volume parts. - A palletizing system intended to supply parts to be bent to the cell. - Palletizing system for receiving bent parts, - Mixed or multi-functional palletizing systems, - Order organizer, etc.

[0025] Main features of the present invention A first aspect of the present invention relates to an industrial apparatus according to the provisions of claim 1, the industrial apparatus comprising an automated sheet metal bending cell and an automated magazine, the automated magazine having a spatial and functional mechanism aimed at automating the flow of material into and out of the cell (1) and significantly increasing the autonomy of the cell's operation without human assistance, as well as the flexibility and productivity of the cell, within a reduced enclosure, the apparatus comprising, to perform various functions of the cell, at least a press brake, a bending robot, rails commonly referred to as "tracks" on which a carriage supporting the robot moves, a system for dropping off and retrieving parts during operation, a mechanical or optical system for controlling the positioning of parts to be bent, a set of magazines or racks having bending tools, in particular punches and dies, and at least one mounting device for grippers The system includes a programming and monitoring system for the press brake, a control console, an automated magazine, a supply area for the part to be bent, and an area for dropping off the bent part, and the robot can perform a series of operations including placing one or more bending tools into the press brake, connecting to one of the grippers positioned on one of the mounting devices, transporting a flat part from the supply area into the press brake, performing all operations necessary to carry out various bending operations, including drop-off / retrieval operations, and positioning control operations, and the industrial equipment ensures that the bending cell has the resources necessary to ensure very long-term autonomy without human assistance, either entirely or partially and within limited boundaries, where applicable to its supply area and its drop-off area, i.e. - Fully automated means for transporting parts to be bent on a pallet from an automated magazine to a dedicated location in a cell via a supply area, - Fully automated means for removing bent parts from the cell and storing those parts via a drop-off area in a dedicated location in an automated magazine, - Fully automated means for removing the empty pallets from the cell and moving them to a dedicated location for the automated magazine, - Fully automated means for transporting empty pallets, intended to receive bent parts arriving from automated magazines, to dedicated locations within the cell, - Thanks to the set of multiple storage devices, it is connected to an automated magazine, and the multiple storage devices are - During a determined period of time, all bending tools necessary to ensure the autonomy of the cell's operation without assistance must be stored within the cell's housing in a configurable location. - To store all grippers necessary for manipulating all parts to be bent and for the autonomous operation of the cell within the cell housing in a configurable location during a determined time period, and / or - It can be used as a palletizing and moving interface means that enables increasing, within the limitations of motion programming capabilities, the amount of elements necessary to perform actions that are loaded into or removed from a cell by fully automated and programmable means and performed by a robot, and such elements include standard bending tools, dedicated bending tools or bending tools prepared for exclusive use by the customer, an order organizer, a general-purpose or dedicated gripper, accessories designed to optimize the stacking of complex bent parts and / or to protect fragile parts, a container for bulk drop-off of compact parts, and a means of supplying parts to be bent into the cell. The solution includes a palletizing system intended to receive or bent parts, a mixed palletizing system for handling on the same moving interface in a fully automatic and programmable manner, parts to be bent, bent parts, and any accessories necessary for operations performed on these parts, and is particularly suitable for smaller cells equipped with 1m or 1.5m press brakes without precluding the application of this option to cells equipped with larger press brakes, and / or for standard or dedicated tools intended to be used for storage in an automated magazine and to be shared among several cells in a fully automatic and programmable manner to avoid increased tool costs. It is characterized by the following:

[0026] Fully automated means for transporting the aforementioned parts or pallets into and out of the cell may include, for example, stacker cranes, horizontal or vertical chain or toothed belt conveyors, or even AGV robots.

[0027] The present invention also relates to embodiments whose scope is limited by one of the features described in dependent claims 2 to 19, or even by a suitable combination of several of these features.

[0028] Another aspect of the present invention relates to a method for implementing industrial equipment including an automated sheet metal bending cell and an automated magazine, as stipulated in claim 20, intended to increase the autonomy of the cell's operation without human assistance, as well as its flexibility and productivity.

[0029] The combination of automated handling and automated removal associated with linear automated magazines is one of the essential, though not the only, conditions for increasing the autonomy of robotic bending cell operation without assistance over extremely long periods of time.

[0030] The technical solutions to be implemented should take into account the diverse needs of sheet metal workshops, the wide variety of shapes and dimensions of the parts to be manufactured, and the ever-reducing trend towards smaller series sizes to meet customer orders in a just-in-time flow.

[0031] The dimensions of the bent parts depend on the machine's characteristics, particularly their length and tonnage. A 3m press brake is potentially suitable for bending parts up to 3m in length, suggesting that the system can handle long pallets to load and unload parts of such length, ensuring automatic removal of those parts. On the other hand, a 1m press brake is necessarily dedicated to the production of smaller parts.

[0032] In particular, when bent, parts become bulkier, and if their shapes are asymmetrical, the stacking of multiple layers of parts can cause problems, especially when the parts are long and narrow. The use of interlayer plates in bending workshops is extremely common, and interlayer plates can be used to acquire a second layer, or even multiple layers, of a part, once they are placed on top of a first layer that forms the shape of the juxtaposed parts. Therefore, in cells where all incoming and outgoing flows are automated to significantly increase the autonomy of unassisted operation, it is important that a certain number of auxiliary equipment, such as intermediate layers, can be automatically brought into the cell so that the robot has what it needs to perform its role.

[0033] Furthermore, the technical solutions to be implemented should enable various functions of the bending cell to interact with the automated magazine so that all the tools or equipment necessary for long-term operational autonomy are available. In particular, the automated magazine should be able to automatically bring all the equipment and tools necessary to produce a wide variety of parts into the cell.

[0034] In the technical solution described by the present invention, the position of the auxiliary equipment brought into the cell may be configured to allow the robot's motion to be programmed.

[0035] Such technical solutions can also be used to automatically share equipment or tools among multiple bending cells connected to the same automated magazine, thereby reducing the costs imposed by the equipment if it were located within each bending cell. Such solutions can be used, in particular, to restock bent parts in a high-capacity automated magazine.

[0036] These solutions can also be used to deliver between different production tools in the workshop, both upstream and downstream of the bending cell, without creating any flow crossings within the workshop and with a smaller footprint than other known automation systems.

[0037] Any other prior art solution that could allow auxiliary equipment to be automatically brought into the cell enclosure would involve more handling and complicate the management of the workflow within the workspace.

[0038] In addition to sharing tools between multiple cells, the proposed solution also solves the delicate problems caused by effectively providing cells with all the bending tools (punches and dies) or gripping tools necessary to ensure autonomy of operation over very long periods without assistance. This allows grippers used to handle large parts, or grippers used less frequently, to be advantageously stored in towers of automated magazines.

[0039] The aforementioned points demonstrate that the raw-in, raw-out, and shared functions collaborate over a very long period of time to obtain common results consisting of complete automation of the entire flow. Together, the three functions form a mature, entirely new functional entity.

[0040] Furthermore, according to the present invention, depending on the size of the cell and the press brake, the row-in, row-out, and shared functions are either separate and associated with the connection of the cell to the magazine, or they are grouped together by the single connection of the cell to the magazine.

[0041] This goal is something that many users of vending cells eagerly anticipate, and for which current cutting-edge technology only offers partial solutions to this problem, such as some flows being automated while others are not, or even, ultimately resulting in too short an uptime.

[0042] Full automation of cell arrival and departure flows solves particularly sensitive issues in night shifts, and even more sensitive issues in weekend shifts (Saturday and Sunday).

[0043] Examples of the prior art and embodiments according to the present invention will be described in more detail below with reference to the attached drawings. [Brief explanation of the drawing]

[0044] [Figure 1] These are perspective and plan views of a robotic sheet metal bending cell using conventional technology. [Figure 2] This figure shows a first embodiment of an automated sheet metal bending cell according to the present invention, which has a tool rack installed perpendicular to the truck. [Figure 3] This figure shows a second embodiment of the automated sheet metal bending cell according to the present invention, which has a sliding rack. [Figure 4] This figure shows a third embodiment of the automated sheet metal bending cell according to the present invention, having a sliding rack parallel to the press brake and provided with an access window to the press brake. [Figure 5] This figure shows a fourth embodiment of the automated sheet metal bending cell according to the present invention, in which the rack in Figure 4 is divided. [Figure 6] This figure shows a fifth embodiment of the automated sheet metal bending cell according to the present invention, having a plurality of racks arranged parallel to each other and whose height is lower than the height of the bottom apron of the press brake. [Figure 7A] This figure shows a sixth embodiment of the automated sheet metal bending cell according to the present invention, in which the rack is double and rotatable. [Figure 7B] This figure shows a sixth embodiment of the automated sheet metal bending cell according to the present invention, in which the rack is double and rotatable. [Figure 7C] This figure shows a sixth embodiment of the automated sheet metal bending cell according to the present invention, in which the rack is double and rotatable. [Figure 8] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, in which the cell is automatically supplied with parts to be bent from an automated magazine. [Figure 9A] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, which includes both automatic feeding of parts to be bent and automatic removal of bent parts via an automated magazine. [Figure 9B] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, which includes both automatic feeding of parts to be bent and automatic removal of bent parts via an automated magazine. [Figure 10A] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, where the previous solution is completed by assigning a system for sharing tools / grippers to an automated magazine. [Figure 10B] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, where the previous solution is completed by assigning a system for sharing tools / grippers to an automated magazine. [Figure 11] This figure shows another embodiment of the automated sheet metal bending cell according to the present invention, in which the load-in and load-out are combined on the same pallet. [Figure 12] This figure shows an overall and complete embodiment of the automated sheet metal bending cell according to the present invention, in which parts are detected by a camera. [Figure 13] This figure shows an overall and complete embodiment of the automated sheet metal bending cell according to the present invention, in which parts are detected by a camera. [Figure 14] This figure shows an overall complete embodiment of the automated sheet metal bending cell according to the present invention, in which a frame for rearranging parts is used. [Figure 15]This figure shows an overall complete embodiment of the automated sheet metal bending cell according to the present invention, in which a frame for rearranging parts is used. [Figure 16A] Elevation and plan views of variant forms of compact cells associated with automated magazines via a palletizing system that may or may not mix the cells. [Figure 16B] Elevation and plan views of variant forms of compact cells associated with automated magazines via a palletizing system that may or may not mix the cells. [Figure 16C] Elevation and plan views of variant forms of compact cells associated with automated magazines via a palletizing system that may or may not mix the cells. [Figure 16D] Elevation and plan views of variant forms of compact cells associated with automated magazines via mixed or non-mixed palletizing systems. Palletizing generally refers to placing articles on a pallet or a mechanism based on the use of pallets. Thus, a palletizing system can be any means for using or replacing the use of pallets (e.g., support plates, mobile robots). [Modes for carrying out the invention]

[0045] In the following description, similar elements in the examples are assigned the same reference numeral whenever possible. All dimensions described or proposed herein are not intended to limit the scope of the invention, and such dimensions may differ from those stated herein. Similarly, specific designs of components proposed in the examples do not limit the invention in any way.

[0046] Most of the robotic bending cells 1 are similar and include the same or similar functions, as shown in Figure 1. - Bending machines generally consist of press brakes 2 equipped with a system intended to ensure accuracy of the bending angle over the length of the bend, and sheet metal workshops, including robotic workshops, are generally equipped with multiple press brakes depending on the size of the parts to be produced. - Robot 3 is designed to adapt to all positions required by the forming of the part and includes several axes that allow the robot to accomplish functions positioned across the cell boundaries. The technical characteristics of the robot follow the same logic as that prevalent for press brakes. Heavy and bulky parts require robots designed to handle heavy loads and have large amplitudes of motion. On the other hand, small bending cells use smaller, more agile robots with high operating speeds and dimensions suitable for the compactness of the cell dimensions. - The linear translation axis 4 is commonly called a "track" and allows the robot 3 to cover a large work area and reach various functions located within its field of action. The track can be installed on the ground, mounted on a wall, or suspended from a support structure. The installation mode of the track is also related to the size of the press brake and the robot, with ground-mounted tracks being more suitable for larger machines and suspended tracks being more suitable for smaller machines. - The space is dedicated to supplying the parts to be bent to the cell (low-in)11. This space can simply constitute drop-off surfaces of various sizes and is intended to receive various numbers of pallets containing the parts to be bent (flat parts). The logic regarding machine size developed earlier is also valid for this function of the cell. - The space is dedicated to dropping off (low-out) the molded parts.12 The logic regarding machine size, as previously developed, is also valid for this function of the cell. Furthermore, since bent parts occupy a much larger volume than flat parts, some cells may be equipped with one or more roller conveyors to reduce the frequency of operations performed by operators whose role is to remove pallets containing bent parts. - Magazine 7 is dedicated to bending tools (i.e., punches and dies). The storage capacity of the tool magazine is limited and varies between 30 linear meters and 160 linear meters supporting punches and dies. The tool magazine can constitute a simple tool rack, and the bending robot performs tool assembly and disassembly using appropriate grippers. Some cells are equipped with automated tool magazines where auxiliary automated machines perform tool assembly and disassembly, and the main robot remains inactive during such operations. The frequency of tool changes is directly related to the size of the series. Smaller series involve more frequent tool changes. For this reason, tool magazines are generally installed next to the press brake or integrated within the press brake. The challenges associated with bending are complex, insofar as it needs to meet numerous requirements regarding both great diversity and the specificity of the parts to be manufactured. However, the following should be noted: Most bending can be done using standard tools, but some bending requires specialized tools. • Tool combinations often need to be considered. In most cases, these are combinations of standard tools, but sometimes combinations of standard and specialized tools must also be considered. Most tools can be used in different machine sizes. The frequency of use of standard tools is highly variable; some are used very frequently, while others are used infrequently. • Some specialized tools are provided for the exclusive use of customers who have paid the manufacturing cost. - The magazine is dedicated to a gripping tool 8 consisting of grippers 9 having suction cups, clamps, or even magnetic grippers. The number of grippers required to ensure the automatic operation of the cell is: • Variety of shapes and dimensions of parts to be manufactured, • Series sizes, • Autonomy of the desired operation It fluctuates greatly depending on the circumstances. In a scenario where a cell produces hundreds of identical parts per day, theoretically, only one gripper is needed. However, this scenario does not fit the operating modes currently employed by most production workshops and contractors, where products increasingly rely on just-in-time production, or even quick-response manufacturing (QRM), where products are manufactured one at a time according to the order flow. Under such conditions, it is not uncommon for robots to have to use up to 10 different grippers during a single 8-hour work shift, or even more if the workshop is operating in QRM mode. The evolution to Industry 4.0 has led to a demand for fully automated production in a virtually uninterrupted mode, including weekends, with six continuous 8-hour shifts. Such a strong trend suggests that for bending cells where all incoming and outgoing cell flows are automated, robots can have access to a minimum of 30 to 40 grippers within the cell housing. - An angle reference frame 6 for the part to be bent, sometimes called a centering table. This function can be replaced by an optical system (camera) placed on the robot head, which allows the robot to automatically correct the gripping angle. - A thickness control system to check that the two parts are not stuck together. Sticking the two parts together poses a risk of damaging the bending tool (not shown). The thickness control system may be combined with an angle reference frame, thereby performing the two operations together in a single step. - A device 5 for repositioning a part during bending, used to drop off the part in order to replace the gripper during the bending phase, or even to change the position of the gripper. The drop-off system generally consists of two parallel arms equipped with suction cups, the distance between the arms can be varied, and the distance between the arms is programmable according to the dimensions of the part. The repositioning system is usually installed within the radius of the robot's action when the robot is facing the press brake. - Press brake programming and monitoring system 10. - Control console 13.

[0047] Preferred embodiments of the present invention are based on, but are not limited to, current standard solutions and improvements to their functions, such as the robotic bending cell designed by Bystronic (4922, Thunstetten, Sitzerland), but are not limited or consequently restricted insofar as most manufacturers provide the same functionality for this type of cell. Hereafter, the cell will be referred to as the "standard cell." This type of cell is shown in Figure 1.

[0048] Detailed description of the present invention Achieving the four main objectives mentioned above presupposes that we have identified and resolved several problems that are gradually undermining the overall efficiency of the vending cell today. For such a holistic problem, only a holistic answer can exist. If even one of the requirements that guarantee the desired level of autonomy is missing, it will inevitably gradually undermine the entire main objective.

[0049] This overall answer stems from an entirely new combination of known technical features, used by all manufacturers of sheet metal machinery in general, and especially robotic bending cells.

[0050] These known technical features in which the present invention relates include, in particular, press brakes, robots, trucks, automated magazines, and various servo control systems consisting of AGVs (Automated Guided Vehicles, meaning robots that move autonomously without human intervention by any guidance technique), optical or mechanical recognition systems, systems for rotating or regripping parts between processes, magazines with bending tools, systems for gripping parts handled by robots, whether automatically or not, thickness control systems, and so on.

[0051] From the inventors' analysis of such multiple functions and their interactions, it appears that only obvious links were utilized in the prior art, while the synergistic effects of other main functions were ignored.

[0052] The solution proposed in this application relates to a new principle of spatial mechanism for cell functions, made possible by the design of a completely new servo control element program that is solely dedicated to achieving the objective being pursued.

[0053] Description of Preferred Embodiments of the Invention Regarding the autonomy of bending cell operation without human assistance, the first technical objective is to ensure the availability of the tools necessary to ensure very long periods of autonomy for the cell (see "Conceptual Objectives" above).

[0054] According to the first preferred embodiment shown in Figure 2, the press brake 2 is off-center relative to the track 4 (or moved relative to the current configuration of the standard cell), and the tool rack 7 is installed perpendicular to the track. This arrangement allows the robot to be positioned such that the vertical axis of rotation of the robot is equidistant from the tool rack and the press brake. With a simple 90° rotation, the robot can alternately face either the rack or the press brake.

[0055] The advantages of this solution are as follows: - The time required for tool assembly and disassembly is therefore significantly reduced. Compared to the current standard cell, the estimated time reduction is 50% to 60%. - Without using robots, and with robots remaining inactive during tool loading, the solution is simple and cost-negligible for comparable efficiency, especially compared to complex competing solutions. - The reduced time for tool changes increases both the productivity and flexibility of the cell, making it better suited to smaller series of parts that need to be bent.

[0056] In a variant configuration, according to the second preferred embodiment shown in Figure 3, there exists a solution that differs from the previous solution in that it includes two racks 7A and 7B positioned parallel to each other. Rack 7A, located in front of track 4, is divided into two elements 7A1 and 7A2. The two elements are mounted on a rotating track 70 placed on the ground and guided by a guide track (not shown) on its upper surface. The two elements 7A1 and 7A2 are movable and can be moved inward or outward on the track using any mechanical means (whether powered or not) to allow the robot to have access to tools on the rack located at the rear. Solutions including three or more rack planes may also be conceivable.

[0057] The advantages of the second solution are as follows: - This solution ensures very long-term autonomy of the cell without operator intervention. - Each rack plan can be used to store a large quantity of tools (for example, 50m for a rack that is 3m high). - The two rack plans can accommodate a tool stock (100m) comparable to, for example, a TRUMPF TOOL MASTER solution. - This solution is superior to competing automated loading systems thanks to its remarkable simplicity. - This solution is modular and can be adapted to customer needs. - This solution is more complex than Solution 1 because it requires slides, but it is still significantly simpler than competing automated loading / unloading systems. - The competitiveness of this solution.

[0058] According to the third preferred embodiment shown in Figure 4, the tool rack 7 is installed in a plane parallel to the plane of the front of the press brake 2.

[0059] The tool rack 7 is mounted on a rotating track 70 installed on the ground and guided by a guide track 71 on its upper surface. The rack 7 is movable and can be moved by any mechanical means (whether motor-driven or not) so as to be positioned parallel to the machine apron and opposite the press brake 2. The rack 7 is provided with a window 72 that gives access to grooves for mounting punches and dies (not shown) on the press brake 2.

[0060] The advantages of the third solution are as follows: - This solution can be used to further reduce the amplitude of the robot 3's motion, and at the same time, the tool loading / unloading time. - Compared to BYSTRONIC's current standard solution, the setup time is reduced by approximately 70%. - The suitability of cells with small-scale production series will be further enhanced.

[0061] In a variation of the third preferred embodiment, according to the fourth preferred embodiment shown in Figure 5, there is a division of racks 7A and 7B, where the positions of the racks are on the left and right sides of the machine, respectively. Both racks 7A and 7B are movable as described above, which allows them to move in front of the press brake 2.

[0062] The advantages of the fourth solution are as follows: - This solution ensures very long-term autonomy of the cell without requiring operator intervention. - In other respects, the advantages are the same as in Solution No. 3.

[0063] In a variation of the third preferred embodiment, according to the fifth preferred embodiment shown in Figure 6, the system differs from solution No. 3 in that it includes a plurality of racks 7C arranged parallel to each other, and their height is lower than the height of the bottom apron 25 of the press brake 2.

[0064] Rack 7C is surrounded by a support structure that provides a device for mounting each rack parallel to the lower apron 25 of the press brake 2 and facing the track 70.

[0065] The advantages of the fifth solution are as follows: - Large storage capacity, - Tool assembly / disassembly time reduced by approximately 60% compared to standard solutions.

[0066] According to the sixth preferred embodiment shown in Figure 7A, as in Solution No. 2, the system consists of two juxtaposed racks 7. Each rack is equipped with tools on its two faces 7A, 7B. The racks are mounted on a base that can rotate only 180°. Thus, the tools on both sides of the racks are accessible to the robot. The rotation of the racks is motor-driven and controlled by the cell's software according to the tools called by the bending program. For example, each rack has a storage capacity of 40 m.

[0067] The advantages of the sixth solution are as follows: - As with Solution No. 1, the time required to assemble / disassemble the tool is reduced by 50% to 60% compared to the current standard cell. - The robot does not operate during tool loading, and compared to particularly complex competing solutions, the solution is simple and the cost is negligible for comparable efficiency. - It requires a shorter time interval to change tools, and in addition to the productivity improvements it offers, it increases the flexibility of the cell, making it more suitable for smaller series of parts that need to be bent. - The storage capacity is, for example, approximately 80 m³. - Rotational mechanisms appear to be easier to manage than translational mechanisms.

[0068] In a variation of the sixth preferred embodiment, according to the seventh preferred embodiment shown in Figure 7B, the tilt angle of the rack may be used to optimize the robot's motion.

[0069] In a variation of the sixth preferred embodiment, according to the eighth preferred embodiment shown in Figure 7C, there exists a configuration having, for example, three racks 1 m wide, where the robot is approximately equidistant from the tool, which significantly reduces the amplitude of the robot's motion.

[0070] Furthermore, in particularly advantageous variant forms, the rotating double racks shown in Figures 7A-7C can be generalized to a rotating rack block in the form of a right-angle prism with N vertical faces (N=3, 4, 5, 6, etc.). For example, compared to a prism with three faces, the capacity in terms of the number of tools increases by 50%. The advantage of these compact configurations is that they offer many possibilities in small spaces.

[0071] The advantage of the eighth solution is the possibility of combining different functions on the same rack, such as a bending tool on one side and a gripper on the other, or a "re-gripping" system on one side and thickness control on the other.

[0072] Furthermore, regarding the autonomy of the bending cell's operation without human assistance, the second technical objective is to maximize the number of grippers available within the cell. In this regard, all of the above considerations concerning the magazine with the bending tool are, of course, applicable to the storage of grippers.

[0073] To achieve the two-part goal of allowing a small series of parts to be handled simultaneously while keeping the cell fully autonomous during six consecutive work shifts, and thus enabling more frequent gripper changes, the inventor estimated that the number of grippers to be provided should be between 30 and 40.

[0074] Furthermore, regarding the autonomy of operations without human assistance, the third technological goal is ultimately the automatic connection of cells to an automated magazine.

[0075] An automated (linear) magazine refers to an automated storage system that includes storage spaces located along a walkway above ground and / or at a certain height. An automated magazine actually consists of storage towers (for example, see Figure 16, identified as 143) arranged side-by-side in a row over a variable length, depending on the dimensions of the work area and the number of machines connected to the magazine. A magazine can generally have two rows of parallel towers. Each tower 141 can accommodate a certain number of pallets, and the total number of pallets depends on the height of the towers. Standardized pallets in an automated magazine can be used as support for other forms of palletizing, such as Euro pallets. Pallets are equipped with hooks that allow the pallets to be retrieved by various devices located either on the inner side of the tower or on the outer side of the tower. A device commonly called a stacker crane 144 moves longitudinally along the tower over the length of the magazine. Furthermore, the stacker crane is equipped with a chain conveyor system that can move vertically over the height of the tower and can be used to retrieve pallets to be transferred to another housing in the magazine. The combination of vertical and horizontal movement allows the stacker crane to access all pallet housings within the magazine and to distribute pallets from one housing to another at any point within the magazine. Other standard features of automated magazines may be mounted around the outer surface of the magazine tower to bring pallets into the magazine or, conversely, to retrieve pallets for supply to machinery and workstations located around the magazine.

[0076] More generally, the inflow and outflow of equipment from automated magazines is performed by any machine, and its motion coordination and guidance are performed by management software. Such machines can be, for example, not only stacker cranes, but also conveyors, gantry, rotary conveyors, etc., which can move parts, pallets, trays, wooden boxes, etc. In this case, the materials to be stored may consist of long lengths of flat sheets, bent parts, pallets with grippers, bending tools or intermediate layers, and storage boxes for small finished parts.

[0077] According to the first preferred embodiment shown in Figure 8, the solution consists of automatically supplying the parts to be bent to the cell (within a specific region 11 called the “low-in”). The supply is carried out from the tower 141 of the automated magazine 14 onto a pallet 15 for dropping off incoming parts.

[0078] While the direct connection of cutting machines to automated magazines has long been proposed by numerous machine manufacturers, the connection of bending cells to magazines has only recently emerged at the manufacturer TRUMPF.

[0079] According to a second preferred embodiment shown in Figures 9A and 9B, the solution consists of automatically removing the bent parts from a pallet 16 located in a drop-off area (so-called load-out area) 12 to the automated magazine 14, following the aforementioned supply of sheet metal from the automated magazine 14 in the load-in area 11, for storage of the bent parts or for shipment to another station in the workshop.

[0080] Such a solution is advantageous insofar as the automated removal of bent parts is one of the essential features for achieving the initial general goal, namely maximizing the autonomy of the operation without operator assistance.

[0081] According to a third preferred embodiment shown in Figures 10A and 10B, the solution consists of connecting a Tools & Grippers Sharing System 17, which also interfaces with the cell, as well as the row-in and row-out mechanisms, to the automated magazine 14.

[0082] Direct connection of the bending cell 1 to the automated magazine 14 may have potential technical advantages of particular interest, because it allows the bending tool and gripper to be shared among multiple cells 1 connected to the magazine 14.

[0083] In this case, at least three storage towers 141 equipped with a transfer system are required.

[0084] The advantages of this solution are as follows: - The number of grippers available in automated mode is therefore virtually unlimited. - Introducing a new gripper into the cell can be done without operator assistance. - Grippers and tools specific to a particular customer or product may be shared among multiple cells and managed according to the workload of each machine. - Compared to a solution where each cell is provided with all the necessary tools, this solution can be used to limit the stockpiling of necessary tools, thereby reducing the cost of fixed equipment. The above findings apply to both bending tools and accessories related to grippers and the stacking or "dropping" of bent parts.

[0085] According to the fourth preferred embodiment shown in Figure 11, the solution consists of a combination of low-in and low-out on one identical pallet 15, 16. This solution is particularly advantageous for minicells where the press brake has a small size (1m to 1.5m).

[0086] While the previous solution involved managing the flow between cell 1 and automation magazine 14 separately, this solution involves grouping the various elements brought into and removed from the cell onto a single, identical palette 15, 16.

[0087] In the example shown above, the chain conveyor brings into the cell everything the cell needs to perform a given task, namely the part to be bent 20, the drop-off "surface" 21 or "drop box" container 19 for the bent part, the specialized tools 17 needed to bend or grip the part, and the intermediate layer 18 for stacking the bent part in layers.

[0088] Advantageously, the gripper is positioned flat within the automated magazine and vertically on the cell rack.

[0089] The technical contributions of this solution are as follows: - The pallets brought into the cell are prepared according to a detailed plan and configured to allow the robot to identify the location of the elements it must handle with the required level of precision. - This solution is particularly suitable for microcells, which, for the same reasons as larger cells, would benefit from being connected to an automated magazine. - This solution, where the palette is "multifunctional" rather than "dedicated," is also important for larger cells where the flexibility required for smaller series is needed. - With this solution, flexibility is no longer the advantage of press brakes controlled by the operator. - The versatility of automated vending cells will meet market expectations.

[0090] Finally, various preferred embodiments of the invention are described below for the overall and general spatial mechanisms of automatic and autonomous bending cells, and these embodiments take up the various principles described above. The first two solutions shown in Figures 12 and 13 respectively are based on part detection by a repositioning frame, while the other two solutions shown in Figures 14 and 15 respectively are based on the use of a reference frame (or camera).

[0091] According to the first preferred overall embodiment shown in Figure 12, the “re-gripping system” 5 is located at the left end of the cell. All current operations are accessible within the rotational boundary of the robot 3. For example, the robot slides a tool rack (in the illustrated case, there are two sliding racks 7A, 7B) to take sheet metal to be bent arriving from the automated magazine and returns the bent part to the magazine. In this specification, the magazine has two inlets 11, 12. Two double-rotating racks 7A, 7B, each having a gripper 9 on two faces, can be seen at the right end.

[0092] According to the second preferred overall embodiment shown in Figure 13, the automated magazine has three entrances 11, 12, and 17, one for flat parts, another for bent parts, and the last third entrance for a dedicated tool or gripper, with an intermediate layer intended for each stack of bent parts. Track 4 is longer than in the first case. The grippers are mounted on a horizontal or vertical wall, where they are housed by a robot from the magazine. The grippers 9 may be advantageously attached to a sheet metal of the wall by an intermediate mounting platen having four fingers (not shown). For this purpose, the sheet metal has perforations at regular intervals (e.g., every 5 cm) along the horizontal and vertical axes, which improves the optimized nesting of the grippers. The fingers of the plate are terminated by conical turned parts (or stepped shafts).

[0093] According to the third overall preferred embodiment shown in Figure 14, the repositioning frame is installed at the left end of the track. The robot's carriage, which moves along the rack, is extended according to the previous solution and supports the "re-gripping" system 5 at the far right end. Again, all functions are accessible within the robot's rotational boundary (e.g., part thickness measurement).

[0094] Similarly, according to the fourth preferred overall embodiment shown in Figure 15, there is a variation of the third embodiment in which the magazine includes three inlets 11, 12, and 17 instead of two inlets 11, 12. The properties (sliding, rotating) of the tool / gripper racks 7, 7A, and 7B and their arrangement within the cell are similar to those in the first two embodiments.

[0095] Alternatively, for smaller cells (such as the "mini-cell" designed by Safan Darley), feeding can be done via a connection to an automated magazine, for example, by a small automated cart capable of supporting a pallet, and by a pantograph that moves under the rack of the automated magazine by GPS (or any other guidance system). In such cases, the track is miniaturized, the robot has faster movement and gets very close to all functions / areas (taking parts to be bent, retrieving bent parts, etc.).

[0096] Mutation form: Compact cell Finally, Figures 16A–16D show yet another, preferably compact, variant form of the bending cells associated with the automated magazine (referred to as “small,” “medium,” and “large” cells, respectively, by arbitrary / relative classification).

[0097] In smaller cells or microcells (Figure 16A), the palletizing system is mixed (only one inlet / outlet). For example, a chain pallet conveyor / distributor 142 ensures the transfer of parts (to be bent, bent) and tools or other accessories from the automated magazine 14 to the cell 1 and vice versa. As previously, intermediate low-in / low-out areas 11, 12 may be advantageously used for transfers between the magazine and the cell (and vice versa). In the illustrated configuration, the automated magazine 14 consists of two parallel rows of a tower 141 for storing pallets 143 at a certain height, and the storage positions are accessible by an elevator 144 (and / or AGV) which can also move longitudinally along the magazine. Preferably, a small-sized, high-speed robot 3 moves on a track 4 with axes parallel to both the apron of the press brake 2 and the outer surface (cell side) of the automated magazine, thereby ensuring that the robot 3 is always facing the press brake 2 and the automated magazine 14. The axle of track 4 is approximately equidistant from the press brake 2 and the automated magazine 14. This configuration makes the cell compact. Furthermore, for space reasons and in relation to the transfer of parts between the automated magazine and the cell, track 4 is advantageously suspended to avoid collisions between the size of the robot and the size of the pallet dispenser 142.

[0098] Contrary to situations encountered by some manufacturers in the prior art, the amplitude of the robot's motion is significantly reduced. Furthermore, when the robot approaches the automated magazine very closely, the outer surface of the automated magazine can, advantageously, be provided with support for a gripper or bending tool (not shown).

[0099] This configuration is particularly suitable for cells equipped with 1m to 1.5m press brakes, without excluding the case of cells equipped with larger press brakes.

[0100] The possibility of bringing all necessary tools within the small boundaries of a cell increases the cell's complete autonomy in a virtually limitless way, with the only limitation being the programming capacity of its operation.

[0101] The same configuration is applicable to intermediate or larger cells (Figures 16B and 16C), with one difference being that the palletizing system is not necessarily mixed (low-in and low-out may be separate). Note that in larger cells (Figure 16C), the tracks are no longer suspended and are mounted to the ground, as in the configuration described above.

[0102] Unlike in Figures 16A-16C, Figure 16D shows a layout in which, in a cell with sufficient space, the press brake is positioned approximately in the center of the cell's width, rather than being aligned with one of the magazine towers. In the latter case, the tool racks 7 (slides, swivels, etc.) can, advantageously, be positioned on either side of the press brake. [Explanation of Symbols]

[0103] 1. Robotic or automated sheet metal bending cell 2. Press brake 3. Robots 4. Truck 5. Re-grabbing system or drop-off / recovery system 6. Squaring or positioning control or reference system 7. Tools (magazines, racks for them) 7A and 7B are racks that slide relative to each other. 7A1, 7A2 Half of the rack that forms 7A 7C Parallel racks supporting and sliding the structure 8. Gripper mounting device 9. Grippa 10. Programming and monitoring systems 11. Supply space (low-in) 12. Bent part drop-off area (low-out) 13. Control Console 14. Automation Magazine 15. Pallet or drop-off surface (low-in) for incoming parts 16. Pallet or drop-off surface (low-out) for exiting parts. 17. Gripper / Specialized Tool (Automated Magazine) 18. Middle Class 19. Dropbox 20. Parts that should be bent 21. Drop-off surface for bent parts 25. Lower apron of press brake 70. Rotating track on the floor of the rack 71. Upper guide track for the rack 72. Window inside the rack 141. Storage tower inside automated magazine 142. Chain pallet conveyor / distributor 143. Palette 144. Elevator or stacker crane

Claims

1. Industrial equipment comprising an automated sheet metal bending cell (1) and an automated magazine (14), wherein the automated magazine (14) is intended to automate the flow of material into and out of the cell (1) and has spatial and functional mechanisms aimed at increasing the autonomy of the cell's operation without human assistance, as well as the flexibility and productivity of the cell, within a reduced enclosure, and the equipment is intended to perform various functions of the cell (1) at least, Press brake (2), Bending robot (3) and A rail commonly referred to as a "track" (4), wherein the trolley (31) supporting the robot (3) moves along the axis of the track which extends in the longitudinal direction, A drop-off / recovery system (5) for dropping off and recovering parts during operation, A mechanical or optical system (6) for controlling the positioning of the part to be bent, A tool magazine (7) for bending tools such as punches and dies, At least one mounting device (8) for the gripper (9), A programming and monitoring system (10) for the press brake (2), Control console (13), Automation Magazine (14), Including a supply area (11) for the part to be bent and a drop-off area (12) for the part after bending, The robot (3) can perform a series of operations including: placing one or more bending tools in the press brake (2); connecting to one of the grippers (9) positioned on one of the mounting devices (8); transporting a flat part from the supply area (11) into the press brake (2); performing all operations necessary to carry out various bending operations, including re-gripping and / or repositioning; and positioning control operations. The aforementioned industrial equipment, if the bending cell (1) is applicable to its supply area (11) and its drop-off area (12), may be applied to the entire or partial A fully automated means for transporting parts to be bent on a pallet (143) from the automated magazine (14) to a dedicated location in the cell (1) via the supply area (11), A fully automated means for removing the bent parts from the cell (1) and storing those parts in a dedicated location in the automated magazine (14) via the drop-off area (12), A fully automated means for removing the pallets (143) from which their contents have been removed from the cell (1) and moving those pallets to a dedicated location in the automated magazine (14), A fully automated means for transporting empty pallets (143) intended to receive bent parts arriving from the automated magazine (14) to a dedicated location within the cell (1), Multiple storage devices, Thanks to this, the automated magazine (14) is connected, and the multiple storage devices are During a determined period of time, all the bending tools (7) necessary to ensure the autonomy of the cell's operation without assistance are stored in the housing of the cell (1) in a configurable location. During the determined time period, all the grippers (9) necessary for the operation of all the parts to be bent and for the autonomous operation of the cell are to be stored in the housing of the cell in a configurable location, and / or It is used as a palletizing and moving interface means that enables increasing, within the limitations of motion programming capabilities, the number of elements required to be loaded into or removed from the cell (1) by fully automated and programmable means and to perform actions performed by the robot (3). It is possible, The elements include a standard bending tool, a dedicated bending tool or a bending tool provided for exclusive use by the customer, a general-purpose or dedicated gripper, accessories designed to optimize the stacking of complex bent parts and / or to protect fragile parts, a container for large-volume drop-off of compact parts, a palletizing system intended to supply parts to bend to the cell or to receive bent parts, a mixed palletizing system for handling on the same moving interface in a fully automatic and programmable manner, the parts to bend, these same parts after bending, any accessories necessary for the operations performed on these parts, and / or standard or dedicated tools used for storage in the automated magazine and intended to be shared among several cells (1) in an automatic and programmable manner. The industrial equipment includes a compact bending cell (1), on which the robot (3) travels, the axis of the track (4) parallel to both the front surface of the press brake (2) and the outer surface of the automated magazine (14) on the cell side, and the axis of the track (4) is equidistant from each of the surfaces. Industrial equipment characterized by the following features.

2. The industrial equipment according to claim 1, characterized in that the press brake (2), the tool magazine (7), and the track (4) are arranged within the cell (1) such that the vertical axis of rotation of the robot (3) is equidistant from the front of the press brake (2) and the front of the tool magazine (7), and there exist parallel translation positions of the robot (3) on the track (4) that allow the robot (3) to alternately face sections of the press brake (2) and the tool magazine (7) by rotations of the robot (3) between 45° and 135° around this vertical axis.

3. The industrial equipment according to claim 1 or 2, wherein the tool magazine (7) includes at least two planes of parallel, juxtaposed racks (7A, 7B), the first rack (7A) being positioned at the front and at least one second rack (7B) being positioned at the rear, at least the first rack being divided into two elements (7A1, 7A2), the two elements being mounted on a rotating track (70) which is set on the ground and guided on its top by a guide track (71), and the two elements (7A1, 7A2) being movable and movable inward or outward on the rotating track (70).

4. The industrial equipment according to claim 1, wherein the tool magazine includes at least one movable rack (7) mounted on a rotating track (70), the rotating track (70) may be mounted on the ground and guided on its upper part by a guide track (71) to be mounted opposite and parallel to the press brake (2), and the rack (7) is provided with a window (72) that allows the robot (3) to access coupling grooves for the bending tools in the press brake (2).

5. The industrial equipment according to claim 4, wherein the tool magazine includes two racks (7A, 7B) that are movable relative to the press brake (2), one of the racks (7A) being able to slide to the left of the press brake (2), and the other rack (7B) being able to slide to the right of the press brake (2).

6. The industrial equipment according to claim 4, wherein the tool magazine includes a plurality of racks (7C) arranged parallel to each other and whose height is lower than the height of the lower bed of the press brake (2), and the support structure allows each of the racks (7C) to be positioned opposite the rotating track (70) which enables each of the racks (7C) to face the lower bed.

7. The industrial equipment according to any one of claims 4 to 6, characterized in that the drop-off / recovery system (5) and the positioning control system (6) are each installed at the end of the track (4) on the side where the press brake (2) is located, thereby enabling the vertical axis of rotation of the robot (3) to be equidistant from the front of the press brake (2) and the front of the drop-off / recovery system (5) of the positioning control system (6), respectively, and enabling the existence of parallel movement positions of the robot (3) on the track (4) such that the robot (3) can alternately face the press brake (2) and the drop-off / recovery system (5) of the positioning control system (6), respectively, by rotating the robot (3) by approximately 90° around this vertical axis.

8. The industrial equipment according to claim 7, characterized in that when the positioning control system (6) is installed at the end of the track (4), the trolley supporting the robot (3) is extended to support a drop-off / recovery system (5) located distal to the positioning control system (6).

9. The industrial equipment according to claim 2, wherein the tool magazine includes at least two racks (7) arranged side by side in a row, each rack having tools on its two faces (7A, 7B) and mounted to rotate on a base, and allowing the rack to rotate by a motor by 180° to access the robot (3).

10. The industrial equipment according to claim 9, wherein the tool magazine includes two or three racks (7) that are rotatably mounted and arranged in a circular pattern to enable equidistant access by the robot (3).

11. The industrial equipment according to claim 9 or 10, characterized in that the rotatably mounted rack (7) is a rack block in the form of a straight prism having N vertical surfaces, where N = 3, 4, 5, ...

12. The industrial equipment according to claim 11, characterized in that the blocks of the rotatably mounted rack perform different functions from one face to the other.

13. The industrial equipment according to claim 12, wherein the block of the rotatably mounted rack includes a bending tool on one face, a gripper on another face, and the drop-off / recovery system or thickness control system on yet another face.

14. The industrial equipment according to claim 1, comprising: a first set (15) of pallets positioned within the supply area (11) for fully automatic supply of parts to be bent from the automated magazine (14) to the cell (1) via the supply area (11); and a second set (16) of pallets positioned within the drop-off area (12) for fully automatic removal of the bent parts from the cell (1) to the automated magazine (14) via the drop-off area (12).

15. The industrial equipment according to claim 14, characterized in that the supply area (11) and the drop-off area (12) occupy the same space, and the first set and the second set (15, 16) of pallets also occupy the same space.

16. The industrial equipment according to claim 1, characterized in that the bending cell (1) is coupled to the automated magazine (14) via a system or area for sharing tools, grippers, inserts, or other accessories (17) also disposed within the cell (1).

17. The industrial equipment according to any one of claims 1 to 16, comprising a pallet dispenser (142) capable of supporting a pallet for supplying parts from the automated magazine (14) to the cell (1), or for returning parts from the cell (1) to the automated magazine (14), or one or more automatically moving and guided AGV-type vehicles.

18. The truck (4) is suspended and mounted, as described in claim 1.

19. The industrial equipment according to claim 1, wherein the outer surface of the automated magazine (14) on the cell side is designed to receive a gripper (9) and / or a bending tool (7).

20. A method for mounting an industrial installation according to any one of claims 1 to 18, comprising an automated sheet metal bending cell (1) and an automated magazine (14), wherein the method comprises the following steps in an appropriate order: A step of automatically supplying the part to be bent from the automated magazine to the cell (1) via the supply area (11), A step of automatically removing the bent part from the cell (1) to the automated magazine via the drop-off area (12), The steps include storing and warehousing the bending tool (7) and the mounting gripper (9) on a plurality of storage devices (100, 101, 102) that serve as a tool magazine or tool rack (7) and a connecting device (8) for the gripper (9), respectively. A fully automated and programmable method comprising at least part of the steps of transporting a plurality of elements necessary to perform at least some functions of the cell (1), which are not necessarily always present in the cell, from the automated magazine to the cell (1) or removing them from the cell (1) to the automated magazine, wherein these elements include standard bending tools, dedicated bending tools, or bending tools provided for the exclusive use of a customer, general-purpose or dedicated grippers, accessories for optimizing stacking of bent parts and / or protecting fragile parts, containers for bulk drop-off of compact parts, a palletizing system intended to either supply parts to be bent to the cell or receive bent parts, and a mixed or multi-functional palletizing system.

Images