Tool magazine for a manipulator

Abstract

The invention relates to a tool magazine (1) for a manipulator (4) comprising a plurality of tool holding fixtures (2) which are distributed in a preparation area (7), especially in a substantially vertical preparation plane (11). The tool magazine (1), on one side (9) of the preparation area (7), comprises a first access opening (10) facing the manipulator (4) and, on the other side (15) of the preparation area (7), a second access opening (16) facing an operator (13) and the first access opening (10) is associated with a first protective device (17) and the second access opening (16) is associated with a second protective device (18).

Claims

1. A bending cell comprising: a bending machine, a manipulator, a bending tool magazine, a first protection device, a second protection device, and a control device for safety, the control device being operatively coupled to the first protection device and to the second protection device, wherein the manipulator is configured at least for handling a workpiece and for performing bending tool exchange, the manipulator is configured for removing bending tools from the bending tool magazine and for inserting the bending tools into the bending machine, the bending tool magazine comprises a plurality of bending tool holding fixtures arranged distributed in a preparation area, the bending tool magazine further comprises a first side facing the manipulator, a first access opening in the first side, a second side opposite to the first side and facing away from the manipulator and away from the bending machine, and a second access opening in the second side, the manipulator is positioned to remove the bending tools from the bending tool magazine via the first access opening in the first side of the bending tool magazine, the manipulator is operable within the workspace, which is determined by an extension of the manipulator, between the bending tool holding fixtures arranged in the preparation area and the bending machine, the workspace comprises a first part comprising more than fifty percent of the workspace, said first part of the workspace comprising the bending machine, the first access opening is assigned the first protection device for separating the preparation area from the first part of the workspace of the manipulator, and the second access opening is assigned the second protection device for separating the preparation area from an area occupied by an operator, and via the control device, the first and the second protection devices are activated and deactivated alternately, such that only one of the first access opening and the second access opening is open at each time to allow access into the tool magazine, and in order to provide access through the first access opening, the first protection device is moved vertically in a first direction with respect to said first access opening, and in order to provide access through the second access opening, the second protection device is moved vertically in a second direction, which is opposite to the first direction, with respect to said second access opening, and such that when the preparation area is separated from the first part of the workspace by the first protection device, the first part of the workspace is available for: movements of the manipulator, supplying the workpiece to the bending machine, guiding the workpiece during a bending process, and removing the workpiece from the bending machine after the workpiece has been bent by a bending tool.

2. The bending cell as claimed in claim 1, wherein the first and second protection devices have protective dimensions greater than respectively associated internal widths of the access openings.

3. The bending cell as claimed in claim 1, wherein at least one of the first protection device and the second protection device is formed by at least one movably mounted mechanically separating protective wall element.

4. The bending cell as claimed in claim 3, wherein the at least one protective wall element works together with a position sensor connected with the control device.

5. The bending cell as claimed in claim 3, wherein the first protection device is formed by the at least one movably mounted mechanically separating protective wall element wherein the at least one protective wall element is provided with a locking device, which is coupled by control technology to the second protection device and/or the control device.

6. The bending cell as claimed in claim 3, wherein the at least one protective wall element is made from a see-through material.

7. The bending cell as claimed in claim 3, wherein the first and second protection devices are formed by respective movably mounted and mechanically coupled protective wall elements.

8. The bending cell as claimed in claim 7, wherein the respective protective wall elements are rigidly connected to one another, are arranged to be parallel and offset to one another, and are displaceable along a corresponding guide running parallel to the preparation area.

9. The bending cell as claimed in claim 8, wherein the respective protective wall elements are rigidly connected to one another via a coupling element, and displacement of the first protective element causes displacement of the second protective element.

10. The bending cell as claimed in claim 3, wherein the second protection device is formed by the at least one movably mounted mechanically separating protective wall element wherein the at least one protective wall element is provided with a locking device, which is coupled by control technology to the first protection device and/or the control device.

11. The bending cell as claimed in claim 1, wherein a signal device is provided, the signal device being connected to the control device, which acts on the manipulator.

12. The bending cell as claimed in claim 1, wherein the plurality of bending tool holding fixtures are provided with respective sensor elements for detecting a bending tool position and/or bending tool information contained on an information carrier.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) For a better understanding of the invention the latter is explained in more detail with reference to the following figures.

(2) In a much simplified schematic view:

(3) FIG. 1 shows a cross section of a tool magazine according to the invention;

(4) FIG. 2 shows a cross section of a further possible embodiment of a tool magazine with mechanically separating protective wall elements;

(5) FIG. 3 shows a cross section of a further possible embodiment of a tool magazine with non-contacting protection devices;

(6) FIG. 4 shows a view of a bending cell with a delimitation surrounding a tool magazine according to the invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(7) First of all, it should be noted that in the variously described exemplary embodiments the same parts have been given the same reference numerals and the same component names, whereby the disclosures contained throughout the entire description can be applied to the same parts with the same reference numerals and same component names. Also details relating to position used in the description, such as e.g. top, bottom, side etc. relate to the currently described and represented figure and in case of a change in position should be adjusted to the new position. Furthermore, also individual features or combinations of features from the various exemplary embodiments shown and described can represent in themselves independent or inventive solutions.

(8) All of the details relating to value ranges in the present description are defined such that the latter include any and all part ranges, e.g. a range of 1 to 10 means that all part ranges, starting from the lower limit of 1 to the upper limit 10 are included, i.e. the whole part range beginning with a lower limit of 1 or above and ending at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1 or 5.5 to 10.

(9) FIG. 1 shows a cross section of a tool magazine 1 according to the invention which comprises a plurality of tool holding fixtures 2 for providing tools 3. The tools 3 are held by the tool holding fixtures 2 in defined positions and are provided for the access of a manipulator 4 or there are empty tool holding fixtures 2 for tools 3 to be given out by the manipulator 4. The manipulator 4 can remove tools 3 from the tool magazine 1 and supply them to a production device 5. The manipulator 4 is for example in the form of an industrial robot or articulated robot arm and the production device 5 in the shown exemplary embodiment is in the form of a bending machine 6. Accordingly, the tools 3 provided in the tool magazine 1 are configured for example as bending tools and the latter are inserted by means of the manipulator 4 into the bending machine 6. The manipulator 4 can be used in addition for handling tools 3 for handling workpieces which are processed by the production device 5, which is why the use of an industrial robot for this flexible use is also possible.

(10) The tool holding fixtures 2 have adapted to the respectively used tools 3 holding devices or mechanical interfaces, which with parts of the tools 3 provide exactly defined positions of the tools 3 mounted therein. For the bending tools shown by way of example the tool holding fixtures 2 comprise corresponding grooves, in which the connecting surfaces of the bending tools are positioned. The exact gripping of the tools 3 can thereby be supported by suitable measures, such as by special gripping recesses or bores on the tools 3, into which a specially formed gripping element can engage, such as a gripping mandrel of the manipulator 4.

(11) The tools 3 are arranged distributed in a preparation area 7, wherein the latter is arranged in relation to the manipulator 4 in its workspace 8 so that the manipulator 4 can access the tool holding fixtures 2 and the tools 3 provided therein or can place tools 3 in the tool holding fixtures 2. In addition a first side 9 of the tool magazine 1 or the preparation area 7 can face the manipulator 4 and the tool magazine 1 has at least one first access opening 10, through which the manipulator 4 can access the interior of the tool magazine 1 to the tools 3.

(12) The preparation area 7 is configured in the shown exemplary embodiment as a vertically oriented preparation plane 11, however also in a different manner other basic surface forms of the preparation area 7 are possible, such as for example a curved or angled embodiment and the preparation area 7 can also be configured to be concave or convex from the viewpoint of the manipulator 4. The preparation area 7 and the tool holding fixtures 2 distributed therein are, as already mentioned, arranged inside the possible workspace 8 of the manipulator 4 determined by its extension, which normally represents a danger area 12 and within which an operator 13 is at risk from the moved manipulator 4. At this point it should be noted that the manipulator 4 shown in FIG. 1 is smaller in size in relation to the tool magazine 1 and in reality, like the production device 5 or the operator 13 is in general larger than the dimension of the tool magazine 1.

(13) The tool magazine 1 is fitted manually with tools 3 by the operator 13, wherein said fitting process occurs necessarily in the area 14 occupied by the operator 13. The tool magazine 1 has a second side 15 opposite the first side 9 which faces the operator 13 and comprises at least one second access opening 16, through which the operator has access to the tool holding fixtures 2 or the tools 3. The tool magazine 1 is thus located between the manipulator 4 and the operator 13.

(14) As the inside of the tool magazine 1 is located both in the danger area 12 in the workspace 8 of the manipulator 4 and in the area 14 occupied by the operator 13 on the inside of the tool magazine 1 there is a possible risk for the operator 13 from the manipulator 4, if for example access were to be performed by the operator 13 and the manipulator 4 at the same time.

(15) To remove this potential risk to the operator 13 on the inside of the tool magazine 1 the first access opening 10 is assigned a first protection device 17 and also the second access opening 16 is assigned a second protection device 18. By means of the first protection device 17 and the second protection device 18 the overlap of the danger area around the manipulator 4 with the area 14 occupied by the operator 13 is removed, whereby also any possible risk to the operator 13 is avoided when fitting the tool magazine 1. The first protection device 17 can preferably be configured as a mechanically separating protective wall element 19 or also as a contactless operating protection device 20 with a proximity function. Likewise the second protection device 18 can preferably be configured as a mechanically separating protective wall element 21 or as a contactless operating protection device 22 with a proximity function.

(16) The first protection device 17 and the second protection device 18 have protective dimensions 23 or 24, which are greater than the relative internal widths 25 or 26 of the respective access openings 10 or 16, whereby the access openings 10 and 16 with activated protection devices 17 and 18 are protected completely from access associated with risk by the manipulator 4 or operator 13.

(17) When using a mechanically separating protective wall element 19, 21 access is blocked mechanically, whereby such a protective wall element 19, 21 has a strength which withstands the mechanical loads to be expected in performing the protective function by the manipulator 4 or the operator 13. Furthermore, a protective wall element 19, 21 for releasing the access openings 10, 16 needs to be adjustable as indicated by arrows 27 in FIG. 1 in vertical direction. However, also other movement directions of a protective wall element 19, 21 are possible, such as for example swiveling to one side or swiveling up etc. The direction of movement of a protective wall element 19 or 21 shown by arrow 27 for reactivating or deactivating its protective function in a direction parallel to the preparation area 7 means that the workspace 8 or the occupied area 14 is influenced as little as possible by the adjusting movement.

(18) In a tool magazine 1 with a contactless protection device 20, 22 the latter can be arranged to be fixed, as here the access is not blocked by mechanical separation, but for example by light barriers 28 or light grids 29 indicated by a dashed line, an approach to or access into the inside of the tool magazine 1 is determined and directly based on this measure for removing a possible risk to the operator. The protection measures consist for example in that on the interruption of a light barrier 28 or a light grid 29 of the contactless protection device 22 facing the occupied area 14 by the operator 13 the manipulator 4 is immediately brought to a stop, whereby a collision with the operator 13 or his hands is avoided straight away.

(19) In protection devices 17, 18 in the form of protective wall elements 19, 21 the latter can be coupled together mechanically by a coupling element not shown in FIG. 1, whereby in this case the protective wall elements 19, 21 enable access into the tool magazine 1 either only for the manipulator 4 or the operator 13. In this case the protective wall elements 19 and 21 are connected together by the coupling element so that the opening of the one protective wall element 19, 21 causes the closing of the other protective wall element 21, 19 and vice versa. In this case it is an advantage for safety reasons, if the protective wall elements 19, 21 are arranged offset relative to one another so that a part of the access opening 10 already released by the first protective wall element 19 on the side 15 of the operator is already covered by the second protective wall element 21, whereby the simultaneous access to said tool holding fixture 2 and associated risk to the operator 13 are avoided.

(20) The tool magazine 1 in FIG. 1 shows by way of example four tool holding fixtures 2, which are accessible from both sides 9, 15 through a large access opening 10, 16 for the manipulator 4 or the operator 13. However, it is also possible to divide the tool holding fixtures 2 into several groups, where each group can be configured with a separate access opening 10, 16 with a corresponding protection device 17, 18. Furthermore, the grouping of tool holding fixtures 2 on the first side 9 can be different than on the second side 15, for example all tool holding fixtures 2 in FIG. 1 as shown on the side 9 of the manipulator 4 could be accessible via a large access opening 10, which is secured by the first protection device 17, whereas on the side 15 of the operator 13 two tool holding fixtures 2 are combined into a group which are accessible via two access openings 16 and are secured by two second protection devices 18. Furthermore, also every tool holding fixture 2 can be secured alone with a separate protection device 17, 18. Thus the operator 13 could have access to the tool holding fixtures 2, in that each tool holding fixture 2 is secured with a second protection device 18, for example in the form of a movable protective wall element 21 and the tool holding fixture 2, on which a manual fitting process is being performed by the operator 13 is blocked by control technology for access by the manipulator 4.

(21) In a further possible embodiment of the tool magazine 1 the first protection device 17 and the second protection device 18 are coupled by means of a control device 30 also by control technology, and the protection function is achieved in that the control device 30 operates as a function of the status of the first protection device 17 and/or the second protection device 18 on the manipulator 4.

(22) A control technology safety measure can be that on the access of the operator 13 to one of the tool holding fixtures 2 the movements of the manipulator 4 are stopped completely or the area of the tool magazine 1 is excluded from its possible workspace 8 by control technology. Access of the operator 13 to the tool magazine 1 is determined for example in that the second protection device 18 is configured as a contactless protection device 22 which determines an approach of the operator 13, for example by the interruption of a light barrier 28 or a light grid 29.

(23) In the embodiment of the second protective device 18 in the form of a movable mechanically separating protective wall element 21 the access of the operator 13 can be established for example in that the opening movement of the protective wall element 21 is detected by means of a position sensor 31, which is configured for example as a mechanical switch or as an optical, inductive, capacitive or other type of sensor. In addition or alternatively also the position of a manipulator-side protective wall element 19 can be monitored by a position sensor 32, whereby the closed position of the manipulator-side protective wall element 19 can be queried.

(24) To increase safety also the mechanically separating protective wall elements 19 and 21 can be secured by means of a locking device 33 on the operator side 15 and/or a locking device 34 on the manipulator side 9. Said locking devices 33 and 34 can be used to release an opening movement in independently adjustable, mechanically uncoupled protective wall elements 19 and 21 only when the respective other protective wall element 21, 19 has reached the closed state. The user-side locking device 33 can also be used so that it is only possible to open the outer protective wall element 21 if the area around the tool magazine 1 has been blocked by the control technology for the manipulator 4.

(25) To facilitate the manual fitting processes for the operator 13, it is an advantage when using mechanically separating protective wall elements 19, 21 if at least the user-side outer protective wall element 21 is made completely or at least partly from a see-through material, for example a grid, Plexiglas or safety glass, whereby the operator can optically determine the fitting of the tool magazine without opening the protective wall element 21.

(26) A further way of helping the operator 13 can be to fit the tool holding fixtures 2 with sensor elements 35, by means of which information about a tool 3 inserted into a tool holding fixture 2 can be determined automatically and sent to the control device 30. In particular, the tools 3 can be provided with an information carrier 36 which can contain a tool identification and/or tool data. By means of measuring sensor element 35 it is possible alternatively or in addition to determine the position of a tool 3 in relation to the tool holding fixture 2 and also transmit this position to the control device 30. In this way the tool holding fixtures 2 can be fitted flexibly with different tools 3 in different dimensions and also in variable positions. The transfer of information from the information carrier 36 can be performed for example by contact via electrical contacts or also without contact via inductive, capacitive or optical transmission. The information carrier 36 can for example be configured as a non-volatile memory chip, a RFID element, a barcode or other form of information carrier.

(27) A further support for the operator during the fitting process can consist of calculating in advance the time of the planned access of the manipulator 4 to the tool magazine 1 by means of the control device 30 and telling the operator 13 by means of a signal device 37 connected to the control device 30 of an impending access of the manipulator 4, for example by an acoustic and/or optical signal or by displaying the time remaining for the manual fitting process up to the planned access by the manipulator 4. If the operator has not yet completed the manual fitting process at this time and the user-side protection device 18 is not yet activated the program processing of the manipulator 4 is stopped.

(28) FIG. 1 also shows that the tool magazine 1 according to the invention can be part of or an addition to a flat protection device 38, in particular in the form of a protective fence 39 or a protective wall 40, with which the workspace 8 of the manipulator 4 and the danger area 12 caused thereby is delimited from the area 14 occupied by the operator 13. The tool magazine 1 thereby forms a part of the flat protection device 38.

(29) The flat protection device 38 with the tool magazine 1 according to the invention can in particular form the outer delimitation and thereby a component of a bending cell, which borders the manipulator 4 and a bending machine 6 arranged in the workspace 8 of the manipulator 4 and prevents the risk to people approaching.

(30) FIG. 2 shows a further exemplary embodiment of a tool magazine 1 according to the invention in which the first protection device 17 is formed by a movable first protective wall element 19 on the first side 9, the manipulator side, of the tool magazine 1 and the second protection device 18 in the form of a movable protective wall element 21 are arranged on the second side 15, the user side, opposite the preparation area 7. The protective wall elements 19, 21 have dimensions, which are greater than the access openings 10 and 16 protecting from access and are arranged offset relative to one another so that they overlap, at least slightly, in the frontal direction at right angles to the preparation area 7, in an overlapping area 41. In addition, the protective wall elements 19, 21 are connected together mechanically by means of a coupling element 42, that is a displacement of the protective wall element 19 at the same time causes a displacement of the opposite protective wall element 21.

(31) In the exemplary embodiment shown in FIG. 2 the protective wall elements 19 and 21 can be displaced along a guide 43 parallel to the preparation area 7, whereby both the workspace 8 of the manipulator 4, which shows the danger area 12 to be delimited, and the area 14 occupied by an operator 13 are affected as little as possible by the adjustment of the protective wall elements 19, 21. In a preparation area 7, which is not formed by a preparation plane 11, but also extends into a third dimension, the guide 43 can be adjusted according to the course of the preparation area 7, for example curved. The guide 43 can be arranged on an adjoining, flat protection device 38 in the form of a protective fence 39 or a protective wall 40 or can also be a component of the tool magazine 1 itself.

(32) FIG. 2 shows clearly the reciprocal activation or deactivation of the respective protection device 17 and 18 by adjusting the corresponding protective wall elements 19 and 21 and is shown in an initial position shown in solid lines, in which access to the tool holding fixtures 2 is possible through the first access opening 10 and access is blocked through the second access opening 16, and in dashed lines in the alternative position in which the access to the first access opening 10 is blocked and in turn access is permitted through the second access opening 16.

(33) The adjusting movement of the movable protective wall elements 19, 21 can be performed in different ways in different embodiments of the invention. Thus for example the adjusting movement can be performed manually by the operator 13 or can also be performed or supported by suitable, not shown adjusting drives, for example linear drives, pneumatic cylinders, toothed belt drives etc. Of course, in all of the embodiments as also shown in FIG. 1 corresponding position sensors 31, 32 and locking devices 33, 34 can be provided which can also be connected to a control device 30 of the tool magazine 1 or the manipulator 4. Furthermore, also any drives for the movable protective wall elements 19, 21 can be connected to the control device 30 in order to allow access to the operator 13 only in safe operating conditions.

(34) FIG. 3 shows a further and possibly independent embodiment of the tool magazine 1, in which the same reference numerals and component names have been used for the same parts as in the preceding FIGS. 1 and 2. To avoid unnecessary repetition reference is made to the detailed description in the preceding FIGS. 1 and 2. The exemplary embodiment according to FIG. 3 shows a tool magazine 1 according to the invention with two protection devices 17 and 18 arranged opposite the preparation area 7 or the preparation plane 11, which devices are formed by contactless operating protection devices 20 and 22 with an approach function. The function of the contactless protection devices 20, 22 has already been described in detail with reference to FIG. 1 and is not repeated at this point.

(35) A further feature for increasing the safety of the operator 13 is found in the embodiment according to FIG. 3 in that between the first contactless protection device 20 and the associated access opening 10 there is a safety distance 44 which means that between recognizing the approach of the manipulator 4 or a hand of the operator 3 to the tool magazine 1 up to the final stopping of the manipulator movement there is a sufficient distance for braking the possibly fast manipulator movement. In addition, as also shown in FIG. 3, the second contactless protection device 22 can also have a distance 45 from the associated access opening 16, whereby also there is a time delay between recognizing the approach of the operator 13 and the actual access of the operator 13 to the danger area in which the danger of the manipulator 4 for example by stopping the latter is removed.

(36) The safety distances 44 and 45 can be selected to be different or the same depending on the required stopping distances for the manipulator 4 or according to the time intervals for removing the risk.

(37) FIG. 4 shows an overall view of a bending cell 46, in which a production device 5 in the form of a bending machine 6 or bending press is combined with a manipulator 4 and the latter are surrounded by a protection device 38, in the form of a protective fence 39 or protective wall 40. By means of the manipulator 4 in addition to the workpiece handling inside the bending cell 46 a tool change can also be performed on the production device 5, the tools 3 being provided in a tool magazine 1 according to the invention. The tool magazine 1 thereby forms a part of the surrounding protection device 38.

(38) The exemplary embodiments show possible embodiment variants of the tool magazine 1, whereby it should be noted at this point that the invention is not restricted to the embodiment variants shown in particular, but rather various different combinations of the individual embodiment variants are also possible and this variability, due to the teaching on technical procedure, lies within the ability of a person skilled in the art in this technical field. Thus all conceivable embodiment variants, which are made possible by combining individual details of the embodiment variants shown and described, are also covered by the scope of protection.

(39) Finally, as a point of formality, it should be noted that for a better understanding of the structure of the tool magazine 1 the latter and its components have not been represented true to scale in part and/or have been enlarged and/or reduced in size.

(40) The underlying problems addressed by the independent solutions of the invention can be taken from the description.

(41) Mainly the individual embodiments shown in FIGS. 1; 2; 3; 4 can form the subject matter of independent solutions according to the invention. The objectives and solutions according to the invention relating thereto can be taken from the detailed descriptions of these figures.

LIST OF REFERENCE NUMERALS

(42) 1 tool magazine 2 tool holding fixture 3 tool 4 manipulator 5 production device 6 bending machine 7 preparation area 8 workspace 9 first page 10 first access opening 11 preparation plane 12 danger area 13 operator 14 occupied area 15 second page 16 second access opening 17 first protection device 18 second protection device 19 protective wall element 20 protection device 21 protective wall element 22 protection device 23 dimension 24 dimension 25 inside width 26 inside width 27 arrow 28 light barriers 29 light grid 30 control device 31 positioning sensor 32 position sensor 33 locking device 34 locking device 35 sensor element 36 information carrier 37 signal device 38 protection device 39 protective fence 40 protective wall 41 overlapping area 42 coupling element 43 guide 44 safety distance 45 safety distance 46 bending cell