Method and device for reshaping a work piece with automatic handling

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device, wherein the at least two handling devices follows stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• learning the associated trajectory of the at least two handling device in advance.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device, wherein the at least two handling devices follow stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• learning the associated trajectory of the at least two handling device in advance;
• wherein:
• the trajectory of one of a the at least two handling devices or their the corresponding contact points on the workpiece has been learned;
• and
• the trajectory of at least one additional at least two handling device or its contact point on the workpiece has been calculated from the learned trajectory of the first at least two handling devices.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device, wherein the at least two handling devices follow stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• learning the associated trajectory of the at least two handling device in advance;
• wherein, for learning the trajectory of the at least two handling devices or the corresponding contact point on the workpiece:
• the associated trajectory has been traversed at a predetermined speed characteristic;
• and
• the trajectory points have been successively determined and stored at regular time intervals.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device, wherein the at least two handling devices follow stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• learning the associated trajectory of the at least two handling devices in advance by:
• traversing the associated trajectory;
• storing the trajectory points at regular time intervals;
• and
• calculating new trajectory points from a predetermined subsequent speed characteristic.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device, wherein the at least two handling devices follow stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• learning the associated trajectory of the at least two handling devices in advance by:
• traversing the associated trajectory;
• storing the trajectory points at regular time intervals;
• and
• calculating new trajectory points from a predetermined subsequent speed characteristic;
• wherein, during the movement and/or handling of the workpiece, the at least two handling devices follow the trajectory points stored during learning.

A method for shaping at least one workpiece, comprising:

• positioning a workpiece between two associated tools in a predetermined shaping position in at least one working region of at least one shaping machine;
• moving the two associated tools of the shaping machine relative to one another during at least one shaping step, such that the workpiece is shaped between the two associated tools;
• holding the workpiece during each shaping step in its shaping position with at least two handling devices;
• automatically controlling the motions and positions of the at least two handling devices by mutual coordination with at least one control device;
• wherein:
• the at least two handling devices follow stored successive trajectory points at regular time intervals during movement and/or handling of the workpiece;
• and
• the regular time intervals are between 1 ms and 50 ms.

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened;
• wherein:
• in a flexible state, the support apparatus and the conveying device are connected to one another in a flexible manner;
• and
• in a rigid state, the support apparatus and the conveying device are at least one of:
• connected to one another in a rigid manner;
• or
• positioned relative to one another in a rigid manner in at least one three-dimensional direction, or in each rotational position of the gripping mechanism.

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened;
• wherein each handling device has at least one rotary drive for at least one of:
• rotating the gripping mechanism about a rotational axis that extends through the gripping mechanism;
• and
• rotating at least one of the gripping elements about a rotational axis that extends through the gripping element.

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened;
• wherein:
• the support apparatus and the conveying device are connected by at least one flexible element;
• the support apparatus and the conveying device are connected only via the flexible element in the flexible state, and, in the rigid state, are supported on or against one another by at least one support device which bridges the flexible element.

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened;
• wherein the support apparatus and the conveying device are connected to one another by at least one connecting element that is flexible in the flexible state and rigid in the rigid state.

A device for shaping at least one workpiece, comprising:

• at least one shaping machine having at least two tools that are moveable with respect to one another for shaping a workpiece in a predetermined shaping position during at least one shaping step;
• at least two handling devices for holding the workpiece in the shaping position during the shaping step;
• and
• at least one control device for controlling or regulating the motions and positions of the handling devices;
• wherein:
• the at least two handling devices are situated on opposite sides of the working region of the shaping machine at least when the workpiece is held during the shaping step;
• and
• each of the two handling devices comprises:
• at least one gripping mechanism having at least two gripping elements that are movable relative to one another for gripping the workpiece;
• and
• at least one support apparatus to which the gripping mechanism is fastened;
• wherein:
• the support apparatus and the conveying device are connected to one another by at least one connecting element that is flexible in the flexible state and rigid in the rigid state;
• and
• at least one rotary drive for rotating the gripping mechanism is situated on the side of:
• the connecting element;
• or
• the flexible element facing away from the gripping mechanism and the support apparatus.