METHOD AND DEVICE FOR DETERMINING A BENDING ANGLE ON A BENDING MACHINE

Abstract

The present disclosure relates to a method for determining the bending angle on a bending machine, wherein the bending machine includes an upper tool and a lower tool for reshaping a workpiece by bending along a bending line. One or more measuring arrangements are positioned on the bending machine, which together include at least one illumination device and in each case at least one image acquisition device. Each measuring arrangement is assigned a different surface portion of the workpiece which lies laterally adjacent to the bending line and extends along the bending line. A light pattern is imaged on the workpiece by means of the at least one illumination device of a respective measuring arrangement onto the assigned surface portion. The light pattern contains a plurality of zones which are arranged side by side along the bending line.

Claims

1. A method for determining the bending angle on a bending machine, wherein the bending machine comprises an upper tool and a lower tool configured to form a workpiece arranged between the upper tool and the lower tool by bending along a bending line, wherein one or more measuring arrangements are positioned on the bending machine, which together include at least one illumination device and in each case at least one image acquisition device, and wherein each measuring arrangement is assigned a different surface portion of the workpiece which lies laterally adjacent to the bending line and extends along the bending line the method comprising the steps of: imaging a light pattern on the workpiece by means of the at least one illumination device of a respective measuring arrangement onto the assigned surface portion, wherein the light pattern comprises a plurality of zones arranged side by side along the bending line, the plurality of zones are arranged immediately adjacent side by side such that the light pattern covers a surface of the assigned surface portion; acquiring the light pattern by means of the at least one image acquisition device of a measuring arrangement wherein image information of the light pattern is obtained; identifying the zones from the image information by means of an evaluation device; and determining a bending angle of an assigned surface portion of the workpiece caused by bending for each zone.

2. The method according to claim 1, further comprising the steps of acquiring three-dimensional image information via the at least one image acquisition device of at least one measuring arrangement, wherein the acquisition device is a 3D image acquisition device, and/or acquiring a two dimensional acquisition device via the at least one image acquisition device of at least one measuring arrangement, wherein the acquisition device is a 2D image acquisition device.

3. The method according to claim 1, further comprising the steps of, for at least one measuring arrangement, defining the zones in the light pattern by means of respective spatial extents along the bending line which are stored in the evaluation device, wherein the at least one image acquisition device is a 3D image acquisition device configured to determine the spatial extents of the zones from the acquired three-dimensional image information of the light pattern by comparison with the spatial extents stored in the evaluation device thereby identifying the zones.

4. The method according to claim 1, further comprising the steps of, for at least one measuring arrangement, coding the zones in the light pattern, wherein the evaluation device is configured to decode the coding from the acquired image information of the light pattern thereby identifying the zones.

5. The method according to claim 4, further comprising the steps of coding one or more zones of the plurality of zones via light frequencies and/or via brightnesses in the light pattern.

6. The method according to claim 5, one or more zones of the plurality of zones comprise stripes with different brightnesses and/or frequency spectra, and wherein the stripes extend perpendicular to the bending line on the workpiece.

7. The method according to claim 6, wherein the stripes are adjacent to one another and represent at their adjacent edges unique light frequency and/or brightness transitions, each of which occurs only once in the light pattern.

8. The method according claim 4, further comprising the steps of coding or more zones of the plurality of zones over differently patterned regions.

9. The method according to claim 8, wherein a patterned region comprises the same types of graphical elements for pattern formation in the patterned region, and wherein types of graphical elements differ between patterned regions.

10. The method according to claim 1, further comprising the steps of, for at least one measuring arrangement, imaging the light pattern onto a region of the lower tool or upper tool and, by evaluating the image information of this region acquired with the at least one image acquisition device, determining the bending angles for the zones with respect to this region by means of the evaluation device.

11. The method according to claim 1, further comprising the steps of positioning a plurality of measuring arrangements on the bending machine, the at least one illumination device of which images light patterns with the same or overlapping extensions along the bending line onto different surface portions, as a result of which a plurality of bending angles are determined in each case by means of the evaluation device for a plurality of positions or regions along the bending line, which are based on light patterns from different measuring arrangements, wherein an averaged bending angle or a bending angle between two bending regions of the workpiece bent about the bending line is calculated from the plurality of bending angles by means of the evaluation device for each position or each region, wherein all light patterns of the plurality of measuring arrangements comprise the identical division into zones along the bending line.

12. The method according to claim 1, further comprising the steps of changing one or more parameters of the bending machine during bending depending on the determined bending angles as triggered by the evaluation device.

13. The method according to claim 1, wherein the bending machine comprises an automatically operable crowning device for producing a curvature of the lower tool during bending, and wherein the curvature is configured to be adjusted depending on the determined bending angles.

14. (canceled)

15. A device for determining the bending angle on a bending machine, wherein the bending machine comprises an upper tool and a lower tool for reshaping a workpiece arranged between the upper tool and the lower tool by bending along a bending line, wherein the device comprises an evaluation device and one or more measuring arrangements, wherein the measuring arrangement or arrangements is/are configured to be positioned in an operating position of the device on the bending machine and together include at least one illumination device and at least one image acquisition device each, wherein in the operating position each measuring arrangement is assigned to a different surface portion of the workpiece which lies laterally adjacent to the bending line and extends along the bending line, wherein the device is configured such that in the operating position; wherein a light pattern is imaged on the workpiece by means of the at least one illumination device of a respective measuring arrangement onto the assigned surface portion, wherein the light pattern comprises a plurality of zones are arranged side by side along the bending line, the plurality of zones arranged immediately adjacent side by side, whereby the light pattern covers the surface of the assigned surface portion; wherein the light pattern is acquired by means of the at least one image acquisition device of the respective measuring arrangement, whereby image information of the light pattern is obtained; and the zones contained therein are identified from the image information of the light pattern of the respective measuring arrangement by means of the evaluation device and a bending angle of the assigned surface portion of the workpiece caused by bending is determined for each zone.

16. The device according to claim 15, wherein that the device is configured to: image a light pattern or the workpiece by means of the at least ore illumination device of a respective measuring arrangement onto the assigned surface portion, wherein the light pattern comprises a plurality of zones arranged side by side along the bending line, the plurality of zones are arranged immediately adjacent side by side such that the light pattern covers a surface of the assigned surface portion; acquire the light pattern by means of the at least one image acquisition device of a measuring arrangement wherein image information of the light pattern is obtained; identify the zones from the image information by means of an evaluation device; and determine a bending angle of an assigned surface portion of the workpiece caused by bending for each zone.

17. A bending machine comprising a device configured to determine a bending angle wherein: the bending machine comprises an upper tool and a lower tool for reshaping a workpiece arranged between the upper tool and the lower tool by bending along a bending line, wherein the device comprises an evaluation device and one or more measuring arrangements, wherein the measuring arrangement or arrangements is/are configured to be positioned in an operating position of the device on the bending machine and together include at least one illumination device and at least one image acquisition device each, wherein in the operating position each measuring arrangement is assigned to a different surface portion of the workpiece which lies laterally adjacent to the bending line and extends along the bending line, wherein the device is configured such that in the operating position; a light pattern is imaged on the workpiece by means of the at least ore illumination device of a respective measuring arrangement onto the assigned surface portion, the light pattern comprises a plurality of zones are arranged side by side along the bending line, the plurality of zones arranged immediately adjacent side by side, whereby the light pattern covers the surface of the assigned surface portion; the light pattern is acquired by means of the at least one image acquisition device of the respective measuring arrangement, whereby image information of the light pattern is obtained; and the zones contained therein are identified from the image information of the light pattern of the respective measuring arrangement by means of the evaluation device and a bending angle of the assigned surface portion of the workpiece caused by bending is determined for each zone.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0031] Exemplary embodiments of the invention are described in detail below with reference to the accompanying figures.

[0032] In the figures:

[0033] FIG. 1 shows a perspective view of an embodiment of a bending machine to which a variant of a device for determining a bending angle according to the invention is attached;

[0034] FIG. 2 shows a sectional view perpendicular to the bending line of the bending machine from FIG. 1, in which various options for the arrangement of corresponding measuring devices are illustrated;

[0035] FIG. 3 to FIG. 5 show various examples of light patterns that can be imaged within the scope of the invention for determining bending angles on a corresponding workpiece during the bending process in a bending machine.

DETAILED DESCRIPTION OF THE INVENTION

[0036] In the following, embodiments of the invention are described with reference to a bending machine 1 in the form of a press brake. Such a bending machine is shown in a perspective view in FIG. 1. In a manner known per se, the bending machine comprises an upper tool 2 and a lower tool 3, between which a workpiece 6 to be bent in the form of a metal sheet (see FIG. 2) is inserted. By means of an actuator, bending of the workpiece is effected by moving the upper tool 2 downward into the lower tool 3, as will be explained in more detail with reference to FIG. 2. The bending effected in this way occurs along a bending line BL extending in the longitudinal direction of the upper tool and lower tool (see FIG. 2), which corresponds to the direction y of the coordinate system shown in FIGS. 1 to 5. The x-direction of this coordinate system corresponds to the vertical height direction and the z-direction corresponds to a horizontal direction which extends opposite to the direction in which a workpiece to be reshaped is inserted into the bending machine 1 from the front.

[0037] To monitor the bending process in the bending machine 1, a device is used which comprises a measuring arrangement 4 and an evaluation device 5. The measuring arrangement 4 is positioned on the front of the bending machine 1 adjacent to the lower tool 3 and, in operation, images a light pattern onto the bottom side of the workpiece that has just been formed and also, in part, onto a region of the lower tool 3. The light pattern is then acquired as a digital image by means of the measuring arrangement, and the image information IN obtained in this way is supplied to the evaluation device 5, which is connected to the measuring arrangement 4 in a communicating manner. By means of the evaluation device 5, a plurality of bending angles BA for several different zones along the bending line or y-axis are determined from the light pattern, as will be explained in more detail below.

[0038] The evaluation device 5 is connected to a corresponding user interface on the bending machine or a user interface located remotely therefrom in a communicating manner, so that corresponding information on the bending angles can be displayed to a user. Optionally, the evaluation device can also automatically act on a control system (not shown) of the bending machine in order to compensate for irregularities during the bending process, e.g., by adjusting an automatically operable crowning device, as will be described in more detail below.

[0039] The main difference between the method for determining a bending angle described here and conventional methods is that several zones along the bending line are identified in a single light pattern that is imaged onto the workpiece, for which bending angles are determined separately. It is therefore no longer necessary to mechanically move the corresponding arrangement to different positions along the bending line in order to measure bending angles, as is the case with the background of the art.

[0040] The information about the bending angles for different sections or zones of the workpiece along the bending line is an important parameter for detecting malfunctions during bending as part of quality assurance measures or for optimising parameters of the bending machine. Often a bending machine contains an automatically operable crowning device, which effects a curvature of the lower tool, e.g., using hydraulic cylinders. This curvature of the lower tool can be adjusted, taking into account the bending angles in the various zones, to specifically counteract any curvature of the upper tool that occurs during the bending process. This ensures uniform bending of the workpiece along the bending line.

[0041] The bending machine according to FIG. 1 also includes a corresponding crowning device, which comprises four crowning cylinders 9 arranged side by side in the y-direction and shown in dashed lines, which are arranged in the lower beam below the lower tool 3. Each zone of the light pattern directed at the lower tool can be assigned to exactly one crowning cylinder. This allows the crowning to be adjusted to the angular deviation measured in the zone. Alternatively, two or more zones can be assigned to one crowning cylinder.

[0042] Even in the case that the crowning in the bending machine is adjusted mechanically in advance using suitable wedges, the crowning can be checked via the determined bending angles along the bending line during maintenance of the machine and, optionally, be suitably adjusted. In addition, by determining the bending angles in the various zones, irregularities in the rebound of the bent workpiece that occurs when the bending process is interrupted or terminated can also be easily detected.

[0043] In the embodiment of FIG. 1, only a single measuring arrangement 4 is provided on the front of the bending machine 1. Alternatively or additionally, a corresponding measuring arrangement can also be positioned on the opposite side of the lower tool 3. Preferably, the data of both measuring devices are offset with one another in the evaluation device 5 in order to determine the respective bending angles of the two bent sections of the deformed workpiece.

[0044] FIG. 2 shows a sectional view along the x-z plane of the coordinate system of FIG. 1. The cutting plane extends perpendicular to the bending line BL through a region of the upper tool 2 and the lower tool 3. The time at which a force is applied to the workpiece or metal sheet 6 is shown. FIG. 2 shows the shape of the upper tool 2 and the lower tool 3 in detail. The upper tool 2 forms a punch with a lower wedge 2a, which has a triangular cross-section. This wedge 2a is moved into a corresponding groove 3a in the lower tool 3. The lower tool is often also referred to as the die. The bending line BL corresponds to the tip of the groove 3a extending along the y-direction.

[0045] During the bending process, the workpiece 6 to be reshaped is positioned between the upper tool 2 and the lower tool 3, so that moving the upper tool 2 into the lower tool 3 causes the workpiece 6 to bend along the bending line BL. The bending angles caused by this can be continuously acquired with corresponding measuring arrangements 4 or 4. The acquisition range of the respective measuring arrangements is indicated by dashed lines. By way of example, FIG. 2 shows a measuring system consisting of two measuring arrangements 4 positioned below the workpiece 6 and imaging respective light patterns onto separate sections of the bottom side of the workpiece. A respective light pattern also falls onto a vertically extending surface of the lower tool 3. In the present embodiment, the respective light patterns are acquired by a respective image acquisition device 8 of the corresponding measuring arrangements 4, 4. Alternatively, more than one image acquisition device 8 can be provided per measuring arrangement.

[0046] By means of an evaluation of the light patterns acquired via the measuring arrangements 4 by a corresponding evaluation device 5 (see FIG. 1), the bending of the workpiece 6 relative to the lower tool 3 can be determined. In particular, an inclined position of the upper tool and, optionally, also the wear of the tools can be acquired as well. Alternatively or additionally, one or more measuring arrangements 4 can also be positioned above the workpiece 6 to be bent in order to determine there, in combination with an evaluation device 5, the bending of the workpiece in two sections laterally next to the bending line BL.

[0047] In the following, embodiments are described in which only a single measuring arrangement 4 is used below the workpiece 6 in combination with an evaluation device 5 for determining a bending angle. However, it is considered within the scope of professionally valid actions to offset the data from several measuring arrangements to determine the bending angle more accurately.

[0048] FIG. 3 to FIG. 5 concern different realisations of a corresponding measuring arrangement 4. The figures show a front view of the bottom side of the workpiece 6 currently being bent. According to the embodiment of FIG. 3, the measuring arrangement 4 includes an illumination device 7 using which a light pattern LP is imaged onto a surface portion SP of the bottom side of the workpiece 6 and onto a side surface of the lower tool 3. The radiating area of the illumination device 7 is indicated by four dashed lines. To generate the light pattern, the illumination device 7 uses light from the visible spectrum. Nevertheless, the light pattern can optionally also be generated by light in the non-visible infrared range or ultraviolet range. In principle, at least one illumination device 7 must be provided for the measuring arrangements 4, 4 in total. Ideally, at least one illumination device 7 is provided for each of the measuring arrangements 4, 4. Alternatively, however, more than one illumination device 7 can be provided for each measuring arrangement 4, 4.

[0049] In the embodiment of FIG. 3, the illumination device 7 images light of a specific colour or a specific colour mixture (e.g., white light) onto the workpiece 6, i.e., the illumination device generates a light pattern LP of uniform colour or colour mixture. The light pattern LP generated by the illumination device 7 using an optical system known per se (e.g., a diffractive optical system) comprises a plurality of points of substantially the same colour or colour mixture on the surface portion SP and the die 3. For reasons of clarity, only some of these points are designated with the reference sign P. The light pattern LP is an irregular and preferably stochastic point pattern.

[0050] The light pattern LP is composed of several zones Z1, Z2, Z3 and Z4, which are adjacent to one another along the bending line. For illustration purposes, the zones are separated by dash-dotted lines. These lines are not part of the depicted point pattern. In the embodiment of FIG. 3, the individual zones Z1, Z2, Z3 and Z4 cannot be distinguished purely from the structure of the point pattern, i.e., the light pattern shown does not contain any coding that would enable the zones to be distinguished from one another. However, in the corresponding evaluation device 5, the individual spatial extents of zones Z1 to Z4 are specified as digital data.

[0051] In the embodiment of FIG. 3, the light pattern LP with the points P contained therein is acquired by means of a stereoscopic 3D image acquisition device, which is schematically indicated by two cameras 8. The measuring arrangement was suitably calibrated in advance so that the acquired points P can be assigned to three-dimensional positions in a stationary coordinate system. Thus, the current three-dimensional positions of the individual points P of the light pattern are calculated from the three-dimensional image information of the 3D image acquisition device, i.e., a point cloud is determined. The individual points can be assigned to the corresponding zones Z1 to Z4, since these zones are specified in the evaluation device 5. Using algorithms known per se, the evaluation device 5 performs a linear regression in each of the individual zones Z1 to Z4 based on the positions of the points contained therein to determine the slope of the individual zones. In this way, corresponding bending angles of the surface portion SP are determined in the individual zones Z1 to Z4. Due to the use of the symmetrical punch 3, the bending angle between the two regions of the workpiece bending relative to one another can be determined in the respective zones.

[0052] In the embodiment of FIG. 3, a 3D image acquisition device is required to determine the bending angle in the individual zones, since the zones are not directly coded in the corresponding light pattern LP. In the variations described below, the generated light patterns directly code the corresponding information about the zones. Accordingly, it is not absolutely necessary to acquire the light patterns by means of a 3D image acquisition device because, by coding the zones, it is possible to obtain the spatial information about the bending angles by methods known per se even when the light pattern is acquired in two dimensions.

[0053] FIG. 4 shows a variant in which the light pattern LP comprises several stripes extending perpendicular to the bending line, only some of which are designated by the reference sign S for clarity. The stripes have different shades of grey (i.e., brightness), which is expressed in the black-and-white representation in FIG. 4 by a different patterning of the individual stripes. In other words, different areas of the workpiece 6 are illuminated to different degrees. Alternatively or additionally, the individual stripes S can also be distinguished by having different colours. By means of such stripes, the individual zones for which corresponding bending angles are determined are coded in the light pattern LP.

[0054] The corresponding zones are designated in FIG. 4 by the reference signs Z1 to Z6 and each comprise sections of two adjacent stripes. In other words, each zone contains a transition between two adjacent stripes. The transition is unique, i.e., in the entire pattern this transition from one grey level to another or from one colour to another exists only once. In this way, in the image acquired by the image acquisition device, each zone can be extracted from the image itself.

[0055] In the embodiment of FIG. 4, the light pattern LP is acquired by two 2D cameras 8. Optionally, it is also possible for only one of these cameras to be used to acquire the light pattern, since the zones are already coded in the light pattern itself and thus the bending angle can be determined via the change in the respective light zones during the bending process. Nevertheless, a second 2D camera can be used to redundantly acquire the same pattern again to increase measurement accuracy. Furthermore, it is also possible to use a 3D image acquisition device to acquire the light pattern, analogous to the embodiment of FIG. 3.

[0056] In the embodiment of FIG. 4, the information regarding the slope and thus the bending angle in the individual zones is determined based on the corresponding edges or transitions between the stripes. Preferably, the light section method known per se is used for this purpose, which uses the deformation of these edges to determine the slope of the workpiece in the corresponding zones and thus the associated bending angles. Optionally, this information can also be determined from the three-dimensional position of the corresponding edges between the stripes if a 3D image acquisition device is used. The individual edges are detected by means of a common edge detection using a high-pass filter.

[0057] FIG. 5 shows another embodiment in which the zones of the light pattern LP imaged onto the workpiece 6 are distinguished from one another via differently patterned regions. Four zones Z1 to Z4 are indicated, which are separated by dashed lines. These lines are not part of the imaged light pattern. The individual zones are distinguished in the light pattern using different types of graphical elements. For reasons of clarity, the different graphical elements are always designated only once in FIG. 5 with corresponding reference signs F1 to F4 in the respective zones Z1 to Z4. In the zone Z1, ring-shaped elements F1 are used to form the pattern contained there. In contrast, zone Z2 uses stars F2, zone Z3 uses rectangles F3, and zone Z4 uses spirals F4.

[0058] By means of a 3D image acquisition device, again indicated by two cameras 8, the three-dimensional positions of the individual graphical elements in the different zones can be acquired, wherein the zones themselves are directly identified by the type of graphical elements, without the zones having to be stored in advance in a corresponding evaluation device 5. Thus, a point cloud is determined to describe the three-dimensional positions of the individual graphical elements. From this, the evaluation device determines the slope of the workpiece in the individual zones. Optionally, it is also possible to acquire the individual zones in two dimensions and to derive the bending angles by the change in the patterns in the zones caused by the bending of the metal sheet.

[0059] The embodiments of the invention described in the foregoing provide a number of advantages. In particular, without mechanical movement of a measuring arrangement, the possibility is created to determine the bending angle of a formed workpiece within a bending machine for a plurality of different positions along the bending line. This information can then be further processed in a suitable manner. For example, it can be output via a user interface or used as part of a control loop to optimise the bending machine, for example to set the crowning or adjust other parameters (e.g., the punch position).