Method for automatically changing a bending die and/or at least one guiding nozzle of a machine for bending material

Abstract

A method includes feeding material in wire, rod or band form to a bending head through the a guiding nozzle of a feeding device and bending the material via a bending die. The bent material is taken out of the bending machine by a robot gripper arm controlled via a control device, and the bending die and/or the guiding nozzle is removed from the bending machine by a, preferably the same, robot gripper arm. Optionally, a further bending die and/or a further guiding nozzle is arranged on the bending machine by a, preferably the same, robot gripper arm. Optionally, the material is fed to the bending head through the further guiding nozzle and/or bent via the further bending die. Optionally, the bent material is removed from the bending machine by a, preferably the same, robot gripper arm.

1 . A method for automatically changing at least one bending die and/or at least one guiding nozzle of a machine for bending material in wire, rod or band form, characterized by the method steps, to be carried out in particular in chronological order:
 material in wire, rod or band form is fed to at least one bending head through the at least one guiding nozzle of at least one feeding device and bent via the at least one bending die   the bent material is taken out of the bending machine by a robot gripper arm controlled via at least one control device   the at least one bending die and/or the at least one guiding nozzle is removed from the bending machine by a, preferably the same, robot gripper arm   optionally, at least one further bending die and/or at least one further guiding nozzle is arranged on the bending machine by a, preferably the same, robot gripper arm   optionally, material in wire, rod or band form is fed to the at least one bending head through the at least one further guiding nozzle and/or bent via the at least one further bending die,   optionally, the bent material is removed from the bending machine by a, preferably the same, robot gripper arm.   
     
     
         2 . The method according to  claim 1 , wherein the bent material is deposited on at least one magazine, wherein the at least one magazine is moved by a moving device, preferably rotating device, and/or is automatically maneuvered by at least one autonomous driverless transport means, preferably via at least one marker for identifying the at least one magazine. 
     
     
         3 . The method according to  claim 1 , wherein the at least one bending die is inserted in at least one bending die receiver of the bending machine orthogonally to the at least one bending die receiver and/or is pushed laterally into the at least one bending die receiver by the at least one robot gripper arm, wherein it is preferably provided that the at least one bending die is locked in place, particularly preferably by an auxiliary tool of the robot gripper arm, via at least one pin and/or at least one locking disk. 
     
     
         4 . An arrangement of at least one robot gripper arm and at least one control device for controlling the at least one robot gripper arm, wherein the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of a bending machine and to change at least one bending die and/or at least one guiding nozzle. 
     
     
         5 . A bending machine for bending material in wire, rod or band form, in particular for producing stirrups for reinforced concrete construction, comprising
 a supporting frame,   at least one bending head, preferably with two drives, which are aligned orthogonal to each other, and/or at least one bending roll,   at least one feeding device with at least one guiding nozzle, via which material to be bent can be fed to the at least one bending head,   at least one bending die, releasably arranged in a bending die receiver, for bending the material,   at least one robot gripper arm, preferably of a multi-axis robot, and   at least one control device for controlling the at least one robot gripper arm,   wherein the at least one control device is configured to move the at least one robot gripper arm to take bent material, preferably at least one stirrup, out of the bending machine and to change the at least one bending die and/or the at least one guiding nozzle.   
     
     
         6 . The bending machine according to  claim 5 , wherein a cutting device is provided arranged between the at least one bending head and the at least one feeding device, preferably formed of at least one blade and at least one counterblade movable relative to the at least one blade, wherein the at least one feeding device has a first end, facing the at least one bending head, and a second, opposite, end, wherein the at least one blade of the cutting device is arranged at the first end and at the second end the at least one feeding device is mounted on the supporting frame pivotable about a pivot point, with the result that through a pivoting movement of the at least one feeding device about the pivot point a relative movement between the at least one blade and the at least one counterblade of the cutting device can be brought about to carry out a cutting, wherein a lever arm is provided, which is connected at one end to the first end of the at least one feeding device and at an opposite end is mounted on the supporting frame of the bending machine pivotable about a pivot point, wherein it is preferably provided that the lever arm and the at least one feeding device enclose an angle of substantially 90°. 
     
     
         7 . The bending machine according to  claim 5 , wherein precisely one robot gripper arm is provided for taking out the material and for changing the at least one bending die and/or the at least one guiding nozzle, and/or the material to be bent has a diameter of between 5 mm and 20 mm, preferably between 6 mm and 16 mm. 
     
     
         8 . The bending machine according to  claim 5 , wherein at least one magazine is provided for depositing bent material, preferably at least on two sides, and/or at least one further magazine is provided for intermediate storage of the at least one bending die and/or the at least one guiding nozzle, wherein it is preferably provided that the at least one magazine and/or the at least one further magazine comprises a moving device, preferably rotating device. 
     
     
         9 . The bending machine according to  claim 8 , wherein bent material can be deposited on the at least one magazine by the at least one robot gripper arm, wherein at least one autonomous driverless transport means is provided for automatically maneuvering the at least one magazine, wherein it is preferably provided that the at least one magazine comprises at least one marker for identifying the at least one magazine. 
     
     
         10 . The bending machine according to  claim 5 , wherein the at least one bending die and/or the at least one guiding nozzle comprises at least one further marker for identifying the at least one bending die and/or the at least one guiding nozzle. 
     
     
         11 . The bending machine according to  claim 5 , wherein at least one locking device is provided for locking the at least one bending die in the at least one bending die receiver, wherein it is preferably provided that the at least one bending die can be secured via a corresponding locking device of the at least one bending die and/or in three bidirectional orthogonal spatial directions. 
     
     
         12 . The bending machine according to  claim 11 , wherein the at least one locking device comprises at least one, preferably spring-loaded, pin and/or at least one locking disk for securing the at least one bending die, wherein it is preferably provided that
 the at least one bending die receiver and/or the at least one bending die is rotatable relative to the at least one locking disk, and/or   the at least one locking disk comprises a receiver, preferably a slot, for an optionally present auxiliary tool of the at least one robot gripper arm and/or at least one, preferably spring-pretensioned, ball valve is provided for securing the at least one locking disk in an unlocked position and/or a locked position.   
     
     
         13 . The bending machine according to  claim 5 , wherein the at least one robot gripper arm comprises at least one gripper tool, which is formed to receive bent material and at least one bending die and/or at least one guiding nozzle, wherein the at least one gripper tool is formed as gripping jaws and/or comprises at least one, preferably spring-loaded, auxiliary tool to be arranged in areas inside an opening and/or drilled hole of at least one bending die. 
     
     
         14 . The bending machine according to  claim 13 , wherein the at least one auxiliary tool is formed substantially cylindrical and/or comprises at least one conical free end, preferably spaced apart by a groove, and/or at least one bending die can be locked in at least one bending die receiver, preferably by fixing a locking disk of the at least one bending die, via the at least one auxiliary tool. 
     
     
         15 . A bending die for use in the bending machine according to  claim 5  with at least one locking device, wherein the at least one locking device is arranged on at least one centering shaft for, preferably orthogonal, arrangement inside at least one bending die receiver of the bending machine and/or is formed in the form of a locking disk rotatable relative to at least one bending die receiver, wherein it is preferably provided that the bending die comprises at least one opening and/or drilled hole for receiving at least one auxiliary tool of a robot gripper arm.