Binding machine for forming sheet metal workpiece between complementary cross-section designs, has tool changing device for filling of tool carriers, and positioning unit by which the workpieces are bringable in position for machining

摘要

The binding machine for forming sheet metal workpieces (11) between complementary cross-section designs e.g. a stationary matrix (12) as bottom mold, and a stationary vertically up and down moving stamp (14) as top mold relative to bending tools rotatable to each other, comprises a tool changing device for filling of tool carriers of the machine, tools of suitable pairings for the provision of tool magazine (22, 23), and a positioning unit by which the workpieces are bringable in opposite position for machining and a complex formable process is convertible from bending to bending process. The binding machine for forming sheet metal workpieces (11) between complementary cross-section designs e.g. a stationary matrix (12) as bottom mold, and a stationary vertically up and down moving stamp (14) as top mold relative to bending tools rotatable to each other, comprises a tool changing device for filling of tool carriers of the machine, tools of suitable pairings for the provision of tool magazine (22, 23), and a positioning unit by which the workpieces are bringable in opposite position for machining and a complex formable process is convertible from bending process to bending process. The positioning of the workpieces and the execution of the working stroke of the formable workpiece is controlled by a program controller, if necessary multi-axial drive assembly. The workpiece is formable in a free formative or a three-point supported bending process. The positioning unit is formed as the program controller or multi-axial robot that holds or grips the workpieces by a gripper (34) in friction-locked manner such a way that the workpiece and the gripper form a mechanically firm unit, whose degree of freedom movement corresponds to the gripper. The individual degree of freedom movement of the gripper independently from one another is controllable for implementing its cam. The super position of the cam ensures line movement of the gripper and/or the part of the workpiece. The degree of freedom of the gripper movement assigned to the robot-axes is controllable. The overlay of the controllable axis movement within the marginal deviations, which are collectable through elastic deformation or deflections of elements of the positioning unit and/or the workpiece corresponds to the coupling of the workpieces, with which the deformation of the workpieces is correlated. The stamp is intended with a linear drive controllable through lift and clip. The gripper has three translational moving-degree of freedoms, in which one is effectivable in the Z-direction parallel to the moving direction of the stamp and other two are effectivable in X and Y-coordinate direction rectangular to the Z-direction. A rotating movement to a horizontal axis is implemented as further moving-degree of freedom of the gripper and passes parallel to the direction marking through the progress of the bending axis, which is marked through the form of the bending workpiece. An additional rotation-degree of freedom is implemented as further moving-degree of freedom and consists of a rotation of the gripper around a right-angled axis passing rectangular to rotating axis of the gripper that passes parallel to the bending edge. The gripper is rotatable around a horizontal axis that passes vertical to the plain marking through the bending axis and passes to the cutting central axis of the drive unit of the movable bending tool. The bending matrix and/or stamp is rotatable around an axis that passes in direction of the movement of the driven workpiece. The bending tools are arranged coaxial to a joint central axis and are individually or jointly rotatable around the axis. For controlling the translational gripper movement and/or movement of an orientation pivoting unit carrying the gripper, the translation axis-drive and conveying unit are implemented for the three translational movement though a coordination carriage that has a horizontally guiding socket element as longitudinal carriage relocatable in X-direction, a horizontally driven guiding skid element as transverse carriage rectangular to the movement direction, and an up and down conveying relocatable driven lifting car vertical to the transverse carrier on which the orientation pivoting unit of the manipulators is mounted. The orientation pivoting unit is arranged on up and down moving bearing block of the coordination carrier in horizontal relocatable manner. The pivot bearing is rotatably arranged by its orientation pivoting unit on the bearing head around the horizontal axis, at which the bearing head is horizontally movable.