Forming tool and method for positioning the forming tool

Abstract

The forming tool is provided for sheet-metal components and embodied in particular as a forming gripper. The forming tool can be positioned and handled in an automated manner by an industrial robot system. The forming tool has a component-probing system, which contains a probing element that is displaceable upon contact with the component. The displacement of the probing element can be ascertained by a measuring system. Furthermore, a suitable method for positioning the forming tool is provided.

1 - 14 . (canceled) 
   
   
       15 . A forming tool for a sheet-metal component, which is positioned and handled in an automated manner by an industrial robot system, comprising:
 a component-probing system including a probing element that is displaceable upon contact with the component; and   a measuring system configured to ascertain the displacement of the probing element.   
   
   
       16 . The forming tool according to  claim 15 , wherein the probing element is displaceable against an elastic restoring force. 
   
   
       17 . The forming tool according to  claim 15 , wherein the probing element is arranged in a die unit of the forming tool. 
   
   
       18 . The forming tool according to  claim 17 , wherein, in a probing position, the probing element projects on a front face outwards beyond the die and is rigidly connected to a reference element arranged in the die unit in a defined manner. 
   
   
       19 . The forming tool according to  claim 18 , wherein, in the probing position, the probing element projects on the front face from the die by a defined probing length (B). 
   
   
       20 . The forming tool according to  claim 18 , wherein the reference element and the measuring system are arranged in a measuring area spaced apart from a forming area. 
   
   
       21 . The forming tool according to  claim 18 , wherein the reference element has a reference surface that is arranged at a defined measuring distance (A) from the measuring system. 
   
   
       22 . The forming tool according to  claim 15 , wherein the measuring system contains a distance sensor, which is operatively connected to a control unit of the industrial robot. 
   
   
       23 . The forming tool according to  claim 21 , wherein the measuring distance (A) is greater than a probing length (B) at least by a defined forming path. 
   
   
       24 . The forming tool according to  claim 15 , wherein the forming tool is embodied as a stamping tool and the probing element has at a same time a function of a stamp, which after a stamping can be forcibly moved away from the component by a displacement system. 
   
   
       25 . A method for positioning a forming tool by an industrial robot relative to a component, the position of which is not exactly known at least in a forming area, comprising:
 moving the forming tool towards a component until a production of a contact between a probing element and the component; and   measuring a displacement of the probing element from a defined probing position by a measuring system to determine an exact position of the forming tool relative to the component.   
   
   
       26 . The method according to  claim 25 , wherein the forming tool includes a stamping function, and the probing element at a same time has a function of a stamp. 
   
   
       27 . The method according to  claim 26 , wherein after stamping has been completed in the component, the probing element is forcibly moved away from the component by a displacement system. 
   
   
       28 . The method according to  claim 25 , wherein after processing of the component has been completed by the forming tool, the industrial robot system moves the forming tool away from the component and at a same time a forming stamp carries out a movement relative to the forming tool thereby compensating for the movement of the forming tool, such that the forming stamp is continuously in contact with the component and a die unit is moved away from the component relieving forces acting on the component. 
   
   
       29 . A forming tool, comprising:
 a component-probing system having a probing element projecting by a defined probing length B on a front face beyond the forming tool;   a measuring system that contains a distance sensor which is configured to determine a displacement of the probing element; and   a reference element containing a reference surface which lies at a defined measuring distance A relative to the distance sensor at the probing element lying in a first probing position;   wherein the measuring system determines a displacement of the probing element by the distance sensor due to a beginning reduction of the defined measuring distance A.   
   
   
       30 . The forming tool according to  claim 29 , wherein, in the probing position, the probing element projects on the front face outwards beyond the die, forming the defined probing length B relative to the front face of the die, and the probing position results automatically as a normal position through a spring force of a compression spring acting on the probing element by a stud. 
   
   
       31 . The forming tool according to  claim 29 , wherein after determining a displacement of the probing element by the distance sensor due to a beginning reduction of the defined measuring distance A, the exact moment of start and of end of the displacement of the probing element are transmitted to a control unit of the industrial robot, by which an exact spatial gripper position at the start of contact and the displacement path covered by the probing element is determined. 
   
   
       32 . The forming tool according to  claim 29 , wherein the probing element is arranged concentrically integrated in a die unit such that it is displaceable against an elastic restoring force of a compression spring. 
   
   
       33 . The forming tool according to  claim 29 , wherein the forming tool is at least one of an embossing gripper and a stamping gripper.